JP2002288795A - Road information processing device and method, software for road information processing, navigation system and method, and preparation method for road information database - Google Patents

Abstract

PROBLEM TO BE SOLVED: To acquire high precision information about concrete road conditions over a wide range in real-time and low-cost fashion. SOLUTION: A side distance detecting part 101 measures a side distance to an object beside a one's own vehicle passing through a road. A vehicle position detecting part 102 detects a current position of the own vehicle. A road information recording part 103 stores road information on the road at least including a road width at every place. A road information generating part 31 acquires new road information including an environmental form at every place of the road, according to a width of the own vehicle stored in advance, the measured side distance and the detected current position. An updating part 32 updates the road information recorded in the road information recording part 103, according to the acquired new road information.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an improvement in technology related to navigation, and more particularly, to acquiring high-precision information on specific road conditions over a wide range in real time and at low cost.

[0002]

2. Description of the Related Art In recent years, with the spread of automobiles and the advancement of computer technology, navigation systems mounted on vehicles such as automobiles for guiding an optimal route to a destination are rapidly spreading. The navigation system sets an optimal route to a designated destination from road information recorded on a CD-ROM or the like, and uses a GPS (Global Positioning System).
g System) or a gyro to determine the position of the vehicle in real time, and provide guidance on the right and left turn points by map display or voice.

Recently, there has been known an example in which a specific road condition such as a road width is used for each place in order to provide more detailed guidance. For example, in Japanese Patent Application Laid-Open No. 10-86761 (vehicle information providing device), a navigation ECU (Elect.
ric Control Unit) and DGPS (Differential Global
Positioning System) device and map database are connected.

[0004] The map database stores map information including road information of the whole country. In particular, information on the width of the road, that is, information on the road configuration such as the width of the road, the width of the number of lanes, and the like. Data is stored.
According to such a configuration, the width of the road or the width of the number of lanes can be used in navigation.

Further, for example, Japanese Patent Application Laid-Open No. H11-144185
(Automatic driving control and guidance system) includes a laser radar for detecting the presence of an obstacle located in front of a vehicle, and a CCD (photographing means) for recognizing the shape of the road surface ahead and the positional relationship between the vehicle and the lane. A Charge Coupled Device) camera is provided at the front of the vehicle.

In this conventional example, an image processing ECU outputs road surface data and vehicle position data on a lane based on a video signal obtained from a CCD camera. In addition, the overall planning ECU calculates the lane based on information on obstacles ahead of the vehicle by the laser radar and road information such as road surface conditions or traffic information within a predetermined distance ahead of the vehicle from the road-to-vehicle communication device. A driving instruction such as maintenance / lane change can be determined by the driving instruction processing. According to such a configuration, the presence of an obstacle ahead of the vehicle in navigation,
The shape of the road surface ahead and the positional relationship between the vehicle and the lane can be used.

[0007]

However, the above-mentioned prior art has a problem that it is impossible to collect high-precision information on specific road conditions such as parked vehicles over a wide area at low cost.

For example, when the widths of all the roads to be used are recorded in a map database in advance in order to perform navigation using the road width, it takes an enormous amount of time to investigate and create such a detailed map database. Due to the cost, it was practically difficult to always use the latest information in navigation. Further, in this case, since the information of the road width is fixed in advance, it is impossible to perform navigation corresponding to information of a changing obstacle such as a congested vehicle row or a parked vehicle.

On the other hand, in the related art using a CCD camera or a laser radar, the width of the road ahead is calculated based on the detected obstacle data and the image of the road ahead. There is a problem that the cost is increased because the signal processing is low and requires advanced signal processing.

The present invention has been proposed in order to solve the above-mentioned problems of the prior art, and has an object to obtain high-precision information on specific road conditions over a wide range in real time and at low cost. It is an object of the present invention to provide an information processing technology, that is, a road information processing apparatus, a method and software for road information processing, a navigation system and a method, and a method of creating a road information database.

Another object of the present invention is to provide an information processing technique for realizing effective navigation such as avoiding a congested section, and specific objects correspond to the following configurations, operations and effects, respectively. It is.

[0012]

According to a first aspect of the present invention, there is provided a road information processing apparatus, comprising: means for storing road information including at least a road width for each location of a road; Means for measuring the lateral distance to the object on the side of the vehicle, means for detecting the current position of the own vehicle, the width of the own vehicle stored in advance, the measured lateral distance, and the detected Means for obtaining new road information including the shape of the environment for each road location based on the current position, and means for updating the road information based on the new road information. Features.

According to a seventh aspect of the present invention, the invention of the first aspect is grasped from the viewpoint of a method. Road information including at least a road width for each location is prepared in advance for the road, and the side of the own vehicle traveling on the road is prepared. A process of measuring a lateral distance to one object, a process of detecting the current position of the own vehicle, a width of the own vehicle stored in advance, the measured lateral distance, and the detected current position A process of obtaining new road information including the shape of the environment for each location of the road, and a process of updating the road information based on the new road information;
It is characterized by including.

According to a seventeenth aspect of the present invention, the road information processing software captures the invention of the first and seventh aspects from the viewpoint of computer software, and prepares in advance road information including at least a road width for each location with respect to a road. By controlling the computer, the lateral distance to the object on the side of the own vehicle passing through the road is measured, the current position of the own vehicle is detected, the width of the own vehicle stored in advance, and the measured Based on a lateral distance and the detected current position, new road information including a shape of an environment for each road location is obtained, and the road information is updated based on the new road information. It is characterized by.

In these embodiments, the lateral distance to the object on the left and right of the own vehicle is measured, and the position of the own vehicle in the road width direction, the traffic congestion vehicle and the like are calculated by calculating the position information of the own vehicle and the own vehicle width. New road information including the arrangement of obstacles such as parked vehicles and the shape of the environment such as the actual road shape can be calculated, and the road information can be updated. This makes it possible to acquire high-precision information on specific road conditions over a wide area in real time and at low cost, and can be used for effective navigation.

According to a second aspect of the present invention, in the road information processing apparatus according to the first aspect, the shape of the environment is discriminated between a road shape and a shape other than the road on the basis of a change before and after and a size of the environment. It is characterized by doing.

The invention of claim 8 captures the invention of claim 2 from the viewpoint of a method. In the road information processing method according to claim 7, the shape of the environment is based on a change and a size before and after. The road shape and the shape other than the road are discriminated and recorded.

[0018] The invention of claim 18 captures the invention of claims 2 and 8 from the viewpoint of computer software. In the software for road information processing according to claim 17, the shape of the environment is determined before and after. It is characterized in that the road shape and the shape other than the road are discriminated and recorded based on the change and the size.

In these embodiments, the shape of the environment is
Roads obtained by discriminating and recording roads and other vehicles, vending machines, etc. based on changes such as whether the width changes smoothly or suddenly and whether the width is within the range of the size of the vehicle. This makes it easier to use the information for different purposes, such as avoiding congested sections or selecting wide roads.

According to a third aspect of the present invention, in the road information processing apparatus according to the second aspect, based on whether or not the determined shape other than the road falls within a predetermined size range of the vehicle. And discriminating and recording the shape of the vehicle and the shape other than the vehicle, and recording the determined arrangement of the vehicles as traffic jam information.

According to a ninth aspect of the present invention, the invention of the second aspect is grasped from the viewpoint of a method. In the road information processing method according to the eighth aspect, a vehicle is selected in advance from among the determined shapes other than the road. It is characterized in that the shape of the vehicle and the shape other than the vehicle are determined and recorded based on whether or not the vehicle is within a predetermined size range, and the determined arrangement of the vehicles is recorded as traffic congestion information.

In these embodiments, for a shape other than a road, a vehicle is determined as to whether or not it is within a predetermined size range such as a length or an aspect ratio, and the arrangement of the vehicle is recorded as congestion information. This makes it easy to distinguish between road sections where traffic tends to be congested and road sections where there are many vending machines, signboards, and pedestrians, and finer and more effective navigation becomes easier.

According to a fourth aspect of the present invention, in the road information processing apparatus according to any one of the first to third aspects, a wireless communication means for transmitting / receiving the road information to / from the outside; Means for updating the road information of the own vehicle based on the information.

According to a tenth aspect of the present invention, the invention of the fourth aspect is grasped from the viewpoint of a method. In the road information processing method according to any one of the seventh to ninth aspects, the road information is transmitted by wireless communication. , And a process of updating road information of the own vehicle based on the road information received from the outside.

In these embodiments, by transmitting and receiving road information by wireless communication between vehicles, between vehicles and between roads, and externally such as radio waves and infrared rays, it becomes possible for each vehicle to use road information more effectively.

According to a fifth aspect of the present invention, there is provided a navigation system including the road information processing apparatus according to any one of the first to fourth aspects, wherein the road information including the lateral distance information is exchanged by wireless communication between vehicles. And means for providing route guidance to the destination based on the exchanged road information.

[0027] The navigation method according to claim 11 is a method in which the invention according to claim 5 is grasped from the viewpoint of a method, wherein the road information processing method according to any one of claims 7 to 10, and The method includes a process of exchanging the road information including information by wireless communication between vehicles and a process of performing route guidance to a destination based on the exchanged road information.

In these embodiments, since road information can be exchanged between a plurality of vehicles and used, more rational navigation is possible, such as obtaining information on an area to be reached from an oncoming vehicle.

A navigation system according to a sixth aspect includes the road information processing apparatus according to any one of the first to fourth aspects, wherein the road information including the information on the lateral distance is exchanged by road-to-vehicle wireless communication. And means for providing route guidance to the destination based on the exchanged road information.

According to a twelfth aspect of the present invention, the navigation method according to the sixth aspect is obtained from the viewpoint of a method, and includes the road information processing method according to any one of the seventh to tenth aspects. And a process of performing route guidance to a destination based on the exchanged road information based on the exchanged road information.

In these modes, a large amount of road information can be accumulated and used over a wide area among a large number of vehicles by road-vehicle communication with a communication network or a server.
More rational navigation becomes possible.

According to a thirteenth aspect of the present invention, in the road information processing method according to any one of the seventh to tenth aspects, the vehicle width of each vehicle recorded in advance and the lateral distance measured for each vehicle are determined. Is exchanged between vehicles, thereby predicting a margin in passing the vehicles.

In this embodiment, the vehicles passing each other exchange the vehicle width of the own vehicle and the measured side distance with each other, and predict the margin at the time of passing each other. This facilitates the smooth operation of each vehicle by preventing accidents and accidents.

According to a fourteenth aspect of the present invention, in the road information processing method according to the ninth, tenth, or thirteenth aspect, the arrangement of the vehicles determined between the vehicles is exchanged, and each vehicle is provided from a plurality of other vehicles. The arrangement of the vehicles is collated with each other to detect an arrangement of a common vehicle and follow its movement.

In this embodiment, the arrays of vehicle lengths detected by a plurality of other vehicles are compared with each other to detect a common portion, and the movement is followed or tracked, so that the average speed and traffic congestion status in other road sections are obtained. , And effective navigation such as accurate prediction of arrival time and avoidance of congested sections becomes possible.

The fifteenth aspect of the present invention provides the ninth, tenth, and first aspects.
In the road information processing method according to any one of 3 or 14, information on where and what parking facility is located is prepared in advance for each vehicle, and the arrangement of the vehicles determined between the vehicles is exchanged. The vacancy status of the parking facility is determined from the arrangement of the vehicles determined by other vehicles at the location corresponding to the parking facility.

In this embodiment, the vacancy status such as the number of vacant spaces can be determined in advance based on the road information obtained from other vehicles passing through the parking facility such as a parking meter. Can provide effective navigation, such as guiding other nearby parking facilities.

According to a sixteenth aspect of the present invention, there is provided a method for creating a road information database, comprising: means for reading and writing removable media; and means for storing road information including at least a road width for each location of a road. Measure the lateral distance to the side object of the own vehicle to detect the current position of the own vehicle, the width of the own vehicle stored in advance, the measured side distance, and the detected current Based on the position, create new road information including the shape of the environment for each location of the road, record the new road information on the removable media respectively, collect the removable media from each vehicle, record The collected road information is read out from each of the removable media and collected, and a road information database is created based on the collected road information. .

In this embodiment, the road information detected by each vehicle is recorded and collected on a portable information recording medium such as a memory card, that is, a removable medium, and a detailed road information database is formed at low cost from the collected road information. This makes it possible to perform effective navigation according to the actual conditions of each road section.

[0040]

Next, a plurality of embodiments of the present invention (hereinafter, referred to as "embodiments") will be specifically described with reference to the accompanying drawings. Each embodiment relates to a navigation system including a road information processing apparatus of the present invention (hereinafter, referred to as “the present system”), a road information processing method and a navigation method executed on the present system, and typically includes: Is realized by controlling the CPU and peripheral devices of the computer by software.

In this case, the manner of realizing the hardware and software can be changed in various ways. For example, the above-mentioned software and a machine-readable recording medium on which such software is recorded, for example, a CD-ROM, a flash memory , A ROM chip package and the like are also one embodiment of the present invention. Therefore, in the following description, virtual circuit blocks corresponding to each function of the present invention and each embodiment are used.

[1. First Embodiment] [1-1. Configuration of First Embodiment] The first embodiment is an example in which road information is updated based on detection of a lateral distance, and includes the following components shown in the functional block diagram of FIG.
That is, the side distance detection unit 101 is a unit that measures or detects a side distance to a side object of the own vehicle traveling on the road, and includes a plurality of distance sensors 111 and 112. Here, the distance sensor 111 is configured to detect a lateral distance on the left side of the host vehicle, and the distance sensor 112 is configured to detect a lateral distance on the right side of the host vehicle. Then, the side distance detection unit 101 detects the distance from the side of the vehicle to the side obstacle from the left and right, respectively, and outputs the side distance information indicating the obtained detection result to the road information processing unit 130. Be composed.

The vehicle position detector 102 is a means for detecting the current position of the vehicle, and includes a GPS receiver 121,
It is composed of a gyro 122, a vehicle speed sensor 123, etc.
The obtained position information indicating the current position of the vehicle is output to the road information processing unit 130.

The road information recording unit 103 is means for storing road information including at least the road width of each location with respect to the road. The road information recording unit 103 stores the vehicle width and road information of the own vehicle recorded in advance in the road information processing unit 130. Is output to the road information processing unit 130 in response to a request from the user, and new road information output by the road information processing unit 130 is recorded.

Here, the road information is information indicating where and what roads are located. For example, the road information is represented by connecting nodes such as intersections and curve points with links representing distances, and as necessary. This is accompanied by information representing landmarks such as convenience stores and gas stations, and fine road information for display. The road information according to the present embodiment includes, in addition to static information such as map information including a road width, traffic congestion on roads, congestion of parking facilities,
Dynamic information such as obstacles is included. Further, part or all of the road information recording unit 103 may be a removable medium such as a memory or a disk.

The navigation unit 104 has a user interface function for displaying a map and options and accepting an operation. The navigation unit 104 performs navigation for the user using the road information output by the road information processing unit 130, and operates the user. Is output to the road information processing unit 130. The road information processing unit 130 includes side distance information output by the side distance detection unit 101, position information output by the vehicle position detection unit 102, a road information recording unit 103
Is output to the road information recording unit 103 using new road information obtained by using the road information output by the.

In particular, the road information processing unit 130 includes the following components shown in FIG. That is, the road information generation unit 31 newly includes the shape of the environment for each location on the road based on the width of the own vehicle stored in advance, the measured side distance, and the detected current position. This is means for generating simple road information. The updating unit 32 is a unit that updates the road information recorded in the road information recording unit 103 based on the obtained new road information.

The road information processing unit 130 is configured to determine and record the road shape and the non-road shape based on the change and size of the environment before and after. Further, the road information processing unit 130 determines the shape of the vehicle and the shape other than the vehicle based on whether or not the determined shape other than the road is within a predetermined size range of the vehicle. The arrangement of the vehicles determined and recorded is recorded as traffic congestion information.

[1-2. Operation of First Embodiment] The first embodiment configured as described above operates as follows. [1-2-1. Detection of Side Distance] First, the operation of side distance detection will be described in detail. Here, FIG. 2 is a conceptual plan view showing an example of the operation of the lateral distance detection in the first embodiment. In this example, the distance sensor 11
Reference numeral 1 denotes the left side of the host vehicle 200, and the distance sensor 112 faces the right side of the host vehicle 200, and is installed on each side surface of the host vehicle 200. These distance sensors 111 and 112
Is an apparatus that measures the distance to an object by transmitting ultrasonic waves, radio waves, light waves, and the like, and receiving a reflected wave from an object such as an obstacle.

In this example, the side distance detecting unit 101 shown in FIG. 1 is a distance 1 (lower case L) from the left end of the vehicle obtained by the distance sensor 111 to the obstacle 201 on the left side.
And the distance r from the right end of the vehicle to the right obstacle 202 obtained by the distance sensor 112,
To output to 0. Further, the road information recording unit 103 outputs the vehicle width w unique to the own vehicle 200 recorded in advance to the road information processing unit 130. Therefore, the road information processing unit 130 can obtain lateral distance information including the road width (l + w + r) and the position of the own vehicle in the road width direction.

[1-2-2. Generation and Update of Road Information] Next, generation and update of road information will be described in detail. That is, the road information generation unit 31 newly includes the shape of the environment for each location on the road based on the width of the own vehicle stored in advance, the measured side distance, and the detected current position. Generating road information. And the updating unit 3
2 is the road information recorded in the road information recording unit 103,
A process for updating based on the obtained new road information is performed.

Here, FIG. 3 is a conceptual plan view showing an example of generation and update of road information in the first embodiment. 3A shows the environment near the host vehicle, and FIG.
(B) is a conceptual plan view showing road information detected by the own vehicle. FIG. 4 is a flowchart showing a processing procedure in generating and updating road information.

Here, the own vehicle 3 shown in FIGS.
00 is traveling on a traveling route 311 on a road 312. In this case, the side distance detecting unit 10 shown in FIG.
1 sequentially performs the above-described distance measurement 314 in the road width direction and outputs the detected lateral distance to the road information processing unit 130 (step S101). Further, the vehicle position detection unit 102 shown in FIG. 1 outputs a detection route 321 obtained by associating the detected vehicle position with the time to the road information processing unit 130 (S102). Then, the road information processing unit 130
Calculates the shape of the environment by associating the side distance output by the side distance detection unit 101, the detection path 321 output by the vehicle position detection unit 102, and the map output by the road information recording unit 103 (S103). .

The road information processing section 130 discriminates and records the road shape and the shape other than the road based on the change and size of the environment before and after. That is, the road information processing unit 130 registers, as static road information, the detected route shape 322 that can be recognized as a road shape from the width and the connection before and after (S104). If there is a detected object shape 323 that cannot be recognized as a road shape (S
111), and register as dynamic road information (S11).
2). Specifically, with respect to the detected object shape 323, whether or not there is a vehicle shape is determined by comparing the length of the object with the range of the vehicle length (S113). Is added to the dynamic road information (S114).

If the obtained static road information and dynamic road information do not exist in the road information recording unit 103 or are different from the information already recorded (S122).
The static road information and the dynamic road information are updated and output to the road information recording unit 103 (S123). The navigation unit 104 performs navigation using the road information recorded in the road information recording unit 103 (S130). [1-2-3. Specific operation of vehicle recognition)

The vehicle recognition operation in the first embodiment will be described in detail. That is, the road information generation unit 31 determines the shape of the vehicle and the shape other than the vehicle based on whether or not the determined shape other than the road is within a range of a predetermined size predetermined for the vehicle. The recorded vehicle arrangement is recorded as traffic congestion information.

First, FIG. 5 is a conceptual plan view showing an example of a vehicle recognition operation. FIG. 5A shows the environment near the host vehicle. Here, the other vehicles 511, 512, and 5 are located on the opposite lane of the road 510 on which the vehicle 500 travels.
Consider the case where 13, 13 and 14 run. FIG.
(B) shows the road information detected by the own vehicle 500. In this example, a detected route shape 520 that can be recognized as a road from the shape is used.
In addition, the detected object shapes 521 and 52 that cannot be recognized as roads
There are 2, 523 and 524.

As a vehicle recognition criterion, for example, it is conceivable to recognize a vehicle when the aspect ratio of the detected object falls within a predetermined range of about 1.2: 1 to 3: 1. That is, the detected object shapes 521, 522, 523, and 524 are lit against such a criterion.
3, d4 is recognized as a vehicle length, and those arranged side by side are defined as an array. This vehicle length array can be recorded as dynamic road information in the road information recording unit 103 and used as traffic congestion information.

When the road information recording unit 103 includes a removable medium, the creator of the road information database receives the removable medium from the user of each vehicle, collects the road information of each vehicle, and manages the collected information.
The road information database can be efficiently created and provided to the user. Specifically, it is conceivable that a road section in which vehicles are always in a line is regarded as a substantially narrow road or a road requiring a long passage time.

That is, each vehicle is provided with a read / write means for a removable medium, and each vehicle measures a lateral distance to an object on the side of the own vehicle traveling on a road, and detects a current position of the own vehicle. The width of the vehicle stored in advance,
Based on the measured lateral distance and the detected current position, new road information including an environmental shape for each road location is created, and the new road information is recorded on the removable medium. Then, the maker collects removable media from each vehicle, reads and collects recorded road information from each removable media,
A road information database is created based on the collected road information.

[1-3. Effect of First Embodiment] As described above, according to the first embodiment, the latest shape of the road environment can be detected and used for navigation. In particular, the first embodiment can be configured at low cost by using a distance sensor.

That is, in the first embodiment, first, in each vehicle, the lateral distance to the object on the left and right of the own vehicle is measured, and the position information of the own vehicle and the own vehicle width are calculated.
New road information including the position of the own vehicle in the road width direction, the arrangement of obstacles such as traffic jam vehicles and parked vehicles, and the shape of the environment such as the actual road shape can be calculated, and the road information can be updated. This makes it possible to acquire high-precision information on specific road conditions over a wide area in real time and at low cost, and can be used for effective navigation.

In the first embodiment, the road and the other vehicles are determined based on whether the width of the environment changes smoothly or suddenly and whether or not the environment is within the size range of the vehicle. By determining and recording the vending machine and the like, it becomes easy to use the obtained road information for different purposes such as avoiding a congested section or selecting a wide road.

In the first embodiment, for a shape other than a road, a vehicle is determined as to whether or not it is within a predetermined size range such as a length or an aspect ratio. By doing so, it becomes easy to distinguish between a road section where traffic tends to be congested and a road section where there are many vending machines, signboards, and pedestrians, and finer and more effective navigation becomes easier.

In the first embodiment, a road information database including the latest road shape and traffic congestion information is created at low cost by the road information database manager collecting and managing the road information detected by each vehicle. And can be provided.

That is, in the first embodiment, the road information detected by each vehicle is recorded and collected on a portable information recording medium such as a memory card, that is, a removable medium, and a detailed road information database is obtained from the collected road information. Can be created at low cost, and effective navigation can be performed according to the actual conditions of each road section.

[2. Second Embodiment] The second embodiment is an example in which communication between vehicles is performed by a communication function. [2-1. Configuration of Second Embodiment] That is, the second embodiment includes a wireless communication unit 141 as shown in the functional block diagram of FIG. 6 in addition to the configuration of the first embodiment shown in FIG. In FIG. 6, the same reference numerals are given to the same or corresponding elements as those in FIG. 1 showing the first embodiment, and description thereof will be omitted.

That is, the radio communication unit 141 is a radio communication means for transmitting / receiving road information to / from the outside. The radio communication unit 141 transmits the road information output from the road information processing unit 140 to the outside, and transmits the road information received from the outside. Road information processing unit 1
It is a means for outputting to 40. The road information processing unit 140 according to the second embodiment is configured according to the road information processing unit 130 (FIG. 1) according to the first embodiment, but includes a transmission / reception control unit 43. The road information recording unit 103 is configured to output road information including side distance information to the wireless communication unit 141 or to exchange road information with another vehicle by wireless communication between vehicles.

The updating unit 42 of the road information processing unit 140
Is also means for updating the road information of the own vehicle based on the road information received from the outside. A new road is determined by comparing the road information output by the wireless communication unit 141 with the road information output by the road information recording unit 103. It is configured to generate information and output it to the road information recording unit 103.

Further, the road information processing section 140, based on the road information exchanged as described above, the navigation section 1
Along with 04, it is configured to provide route guidance to the destination. In particular, the passing determination unit 44 of the road information processing unit 140 predicts the margin in passing of vehicles by exchanging between the vehicles the vehicle width of each vehicle recorded in advance and the lateral distance measured by each vehicle. This is a part that controls the processing to be performed. Further, the follow-up processing unit 45 exchanges the arrangement of the vehicles determined between the vehicles with another vehicle, and compares the arrangements of the vehicles provided from the plurality of other vehicles with each other to thereby determine the arrangement of the common vehicle. This is a part for performing processing for detecting and following the movement.

The road information recording unit 103 of each vehicle prepares information on where and what parking facilities are located, and the parking facility judgment unit 46 of the road information processing unit 140 discriminates between each vehicle. This is a section for exchanging the arrangement of the vehicles and determining the availability of the parking facility from the information on the parking facility and the arrangement of the vehicles determined to be a place corresponding to the parking facility by another vehicle.

[2-2. Operation of Second Embodiment] In the second embodiment configured as described above, the process of transmitting and receiving road information to and from the outside by wireless communication and the updating of the road information of the own vehicle based on the road information received from the outside. Processing is performed. Here, a processing procedure in the second embodiment is shown in a flowchart of FIG. In FIG. 7,
The processes from steps S101 to S123 are the same as the processes indicated by the same reference numerals in FIG.

That is, in the second embodiment, when the operation of detecting road information up to step S122 or S123 is completed, the radio communication unit 141 issues a communication request to another vehicle based on the control of the transmission / reception control unit 43 (S2).
01). At this time, if communication with the outside is possible (S2
02), the wireless communication unit 141 performs transmission and reception for exchanging road information held by the own vehicle and road information held outside (S203).

The road information processing section 140 compares the received road information with the road information of the own vehicle (S2).
04) If the received road information does not exist in the road information of the own vehicle or changes the road information of the own vehicle (S205), processing is performed as new road information.

For example, when the passing information judging section 44 of the road information processing section 140 judges that there is a passing of the own vehicle and the other vehicle based on the new road information (S211), it calculates a passing margin, which will be described later, and performs navigation for navigation. It is used (S212). In addition, if the received road information includes detected vehicle information including the vehicle length of the vehicle detected by the outside (S221), the road information processing unit 140 generates vehicle following information described later (S222).

Then, the updating unit 4 of the road information processing unit 140
2 outputs these new road information to the road information recording unit 103, and the navigation unit 104 outputs the road information recording unit 1
The navigation is performed using the road information recorded in 03 (S130).

[2-2-1. Example of Navigation Using Inter-Vehicle Communication] Next, an outline of navigation using inter-vehicle communication in the second embodiment as described above will be described. In this example, the transmission / reception control unit 43 and the wireless communication unit 141
Thus, the road information including the side distance information is exchanged by wireless communication between the vehicles, and the navigation unit 104 and the road information processing unit 140 perform route guidance to the destination based on the exchanged road information.

First, FIG. 8 is a conceptual plan view for explaining navigation using inter-vehicle communication. In this case, the navigation system includes, for example, a plurality of vehicles 4
00, 410, 420, and 430 can be grasped as a complex system including a road information processing device and a navigation system mounted on the vehicle.

[2-2-2. Acquisition and Exchange of Road Information] Here, the host vehicle 400 is connected to the host vehicle route 4 on the road 440.
01 is taken as an example. First, the own vehicle 40
0, the first other vehicle 410, the second other vehicle 420, and the third other vehicle 430 are equipped with the above-described road information processing device, and obtain road information including the shape of the environment related to the traveled route and the presence of the vehicle.

That is, the first other vehicle 410 has traveled the road information around the first other vehicle route 411 and the second other vehicle 420
Is road information around the second other vehicle route 421,
The other vehicle 430 obtains road information around the third other vehicle route 431 on which it traveled. Each time the own vehicle 400 travels along the own vehicle route 401 and approaches the first other vehicle 410, the second other vehicle 420, and the third other vehicle 430, the wireless communication unit 141 , And exchanges road information with each other.

Accordingly, the host vehicle 400 is connected to the host vehicle route 40
Detailed road information including the shape of the environment and the presence of vehicles can be obtained for the first, first other vehicle route 411, the second other vehicle route 421, and the third other vehicle route 431. In addition, the own vehicle 400
By obtaining real-time road information ahead,
This can be used for determination regarding a route to be traveled. Further, not only the information of the vehicle equipped with the navigation system according to the present embodiment but also the vehicles on the route of each vehicle can be detected, so that the information of the vehicle not equipped with the navigation system according to the present embodiment can also be detected.

[2-2-3. Operation of Passing Recognition] Next, the operation of passing recognition in a navigation system using inter-vehicle communication will be described in detail. In this process, the vehicle width of each vehicle recorded in advance and the lateral distance measured by each vehicle are exchanged between the vehicles, thereby predicting a margin in passing the vehicles. Here, FIG. 9 is a conceptual plan view for explaining an example of the operation of passing recognition, and obstacles 461 and 462 such as a wall are illustrated.
Consider a case where another vehicle 451 approaches the own vehicle 450 on the narrow road where the vehicle exists.

In this case, the own vehicle 450 and the other vehicle 45
1 continuously performs the above-described road information detection, and performs inter-vehicle communication when approaching. That is, the other vehicle 4
51 transmits the vehicle width of the other vehicle 451 and the lateral distance detected by the other vehicle 451 to the host vehicle 450. Then, the wireless communication unit 141 of the own vehicle 450 receives the information transmitted by the other vehicle 451, and
0 is the vehicle width of the own vehicle 450, the vehicle width of the other vehicle 451,
Based on the lateral distance, calculate the margin of passing vehicles,
The driver is notified via the navigation unit 104.

[2-2-4. Operation of Following Vehicle] Next, the operation of following a vehicle in a navigation system using inter-vehicle communication will be described in detail. In this processing, the arrangement of the determined vehicles is exchanged between the vehicles, and the arrangement of the vehicles provided from a plurality of other vehicles is compared in each vehicle, thereby detecting the arrangement of the common vehicle and moving the vehicle. Follow. That is, the vehicle that has performed vehicle recognition as illustrated in FIG. 5 transmits the vehicle length array to other nearby vehicles. Then, the road information processing unit 103 of the other vehicle that has received the vehicle length array from the plurality of transmission sources compares the previously received vehicle length array with the newly received vehicle length array.

As a result of such a comparison, if the elements match among a plurality of vehicle length arrays, or if a certain percentage of the elements match, it is determined that the plurality of vehicle length arrays include the same vehicle. Then, the vehicle follows the vehicle by associating a plurality of received information positions with time. In other words, the travel distance and travel time of the vehicle are determined from the position and time at which the same vehicle is detected, and can be used for determining traffic congestion information such as the degree and length of traffic congestion and the estimated required transit time. As described above, the moving distance and the moving time can be obtained for the information of the vehicle not equipped with the navigation system according to the present embodiment.

[2-2-5. Route Recognition] Next, the operation of route recognition in a navigation system using inter-vehicle communication will be described. In this process, when there are a plurality of routes from which the own vehicle can be selected, the status of each route is determined (recognized) based on road information obtained from another vehicle, and a route appropriate for the own vehicle is selected. First, FIG. 10 is a conceptual plan view for explaining an example of the route recognition operation.

FIG. 10A shows two possible routes that the host vehicle 600 can take. That is, the own vehicle 60
The road 601 where the vehicle 0 is going to travel to the destination has the first
A candidate route 610 and a second candidate route 620 exist. Here, the traffic jam vehicles 604 and 6 are located halfway along the first candidate route 610.
05 and 606, and a width reduction section 607 exists in the middle of the second candidate route 620.

FIG. 10B shows the first candidate route 61.
0 indicates road information detected by the first other vehicle 611. That is, it is assumed that the first other vehicle 611 mounted with the present system and passing the own vehicle 600 has traveled on the first candidate route 610 to which the own vehicle 600 is going in the opposite direction to the own vehicle 600. In this case, the first other vehicle 611 obtains the first detected route shape 613, which is static road information, by the above-described road information detection before passing by the own vehicle 600. Further, the first other vehicle 611 includes a detected object shape 614,
By obtaining 615, 616, vehicles 604, 60
Dynamic road information including the vehicle length of 5,606 is obtained.

Then, the own vehicle 600 and the first other vehicle 611
When the vehicle approaches, the own vehicle 600 and the first other vehicle 611 perform inter-vehicle communication. As a result, the host vehicle 600 has a large number of traffic jam vehicles 604, 605, 60 on the first candidate route 610.
6 exists, and the information is transferred to the first candidate route 6.
It can be used for prediction of 10 running times.

FIG. 10C shows the second candidate route 62.
0 indicates road information detected by the second other vehicle 621. Here, similarly to the first other vehicle 611, the second other vehicle 621 that is mounted with the present system and passes by the own vehicle 600 moves the second candidate route 620 to which the own vehicle 600 is heading in the opposite direction to the own vehicle 600. Suppose you have traveled to in this case,
By passing the own vehicle 600, the second other vehicle 621 detects the second road, which is static road information, by the road information detection described above.
The detection path shape 623 is obtained.

Then, the own vehicle 600 and the second other vehicle 621
When the vehicle approaches, the own vehicle 600 and the second other vehicle 621 perform inter-vehicle communication. As a result, the host vehicle 600 recognizes that the width reduction section 607 exists on the second candidate route 620, and can use the information to predict the risk of passing.

Next, the road information processing unit 140 compares the first candidate route 610 with the second candidate route 620 based on the route selection condition input to the navigation unit 104 by the user. That is, if the user wants to avoid the risk of passing each other, the first candidate route 610 is selected, and if the user wants to avoid traffic congestion, the second candidate route 620 is selected. Then, the navigation unit 104 performs navigation for the user according to the selected candidate route. Here, the condition of the route selection is not limited to the input by the user, and a criterion set in advance with respect to allowable traffic congestion and danger may be used.

[2-2-6. Recognition of Parking Facility] Next, the operation of parking facility recognition in a navigation system using inter-vehicle communication will be described. This means that information on where and what parking facilities are available is prepared in advance for each vehicle,
The arrangement of the vehicles determined between the vehicles is exchanged, and the information on the parking facility and the arrangement of the vehicles determined by other vehicles for the location corresponding to the parking facility are used to determine the availability of the parking facility. To judge.

First, FIG. 11 is a conceptual plan view for explaining an example of the operation of parking facility recognition. Here, it is assumed that the vehicle 700 is heading for the parking facilities 711, 712, 713, and the driver wants to know the number of empty spaces in the parking facility. In this case, as a parking facility, a case of a parking meter that can easily detect a parked vehicle will be described as an example. First, FIG. 11A illustrates an environment near a parking facility to which the host vehicle 700 is heading. That is, the own vehicle 700
There are three parking spaces 711, 712, and 713 by a parking meter on the road 710 to be headed, two of which are parked spaces 711 and 713 where parked vehicles exist and one is an empty space 7.
Twelve.

FIG. 11B shows road information detected by another vehicle 730 approaching the host vehicle 700. That is, the other vehicle 7 on which the road information processing apparatus of the present embodiment is mounted.
When the vehicle 30 travels on the road 710, a detected route shape 732, which is static road information, is obtained by the above-described road information detection. When the other vehicle 730 passes through the parking spaces 711, 712, 713 of the own vehicle 700, parking space shapes 721, 722, 723 are obtained.

Then, the road information processing unit 1 of the other vehicle 730
41 is a detected parking space shape 721, 722, 7
By comparing the information 23 with the information of the parking facility recorded in the road information recording unit 103, an empty space 712 is recognized, and dynamic road information including information on the empty space is generated.

When the other vehicle 730 and the own vehicle 700 approach, the other vehicle 730 and the own vehicle 700 perform inter-vehicle communication. At this time, the other vehicle 730 transmits the static road information and the dynamic road information detected by the other vehicle 730 to the own vehicle 700. Then, the road information processing unit 14 of the own vehicle 700
0 notifies the driver of the received information on the empty space 712 via the navigation unit 104.

Here, the recognition of the empty space in the parking facility need not be performed by the detected other vehicle 730. That is, the other vehicle 730 transmits the parking space shapes 721, 722, and 723 as dynamic road information, and
00 is the received parking space shape 721, 722, 7
By comparing the information 23 with the information on the parking facility recorded in the road information recording unit 103, the empty space 712 can be recognized and a dynamic road information including the information on the empty space can be generated.

[2-3. Effect of Second Embodiment] As described above, according to the second embodiment, the peripheral road shape,
The latest road information including traffic jam information and parking facility information can be used for navigation. In addition, a system that does not require infrastructure at low cost can be configured. Furthermore, since the vehicles equipped with the road information processing device also detect nearby non-mounted vehicles, effective road information can be obtained even in an environment where both mounted and non-mounted vehicles are mixed.

That is, in the second embodiment, by transmitting and receiving road information by wireless communication between vehicles, between vehicles and between roads, and externally such as radio waves and infrared rays, it is possible to use road information more effectively in each vehicle. Become.

In particular, in the second embodiment, since it is possible to exchange and use road information between a plurality of vehicles, it is possible to perform more rational navigation, such as obtaining information on an area to be headed from an oncoming vehicle. Become.

Further, in the second embodiment, between the vehicles passing each other, the vehicle width of the own vehicle and the measured side distance are exchanged with each other, and a margin at the time of passing each other is predicted. Smooth operation of each vehicle is facilitated, such as preventing passing or accidents at the location.

In the second embodiment, the arrays of vehicle lengths detected by a plurality of other vehicles are compared with each other to detect a common part, and the movement is followed to thereby determine the average speed and speed in other road sections. It is possible to know the traffic congestion situation, and it is possible to perform effective navigation such as accurate prediction of arrival time and avoidance of traffic congestion sections.

In the second embodiment, the vacancy status such as the number of vacant spaces can be determined in advance for parking facilities such as a parking meter based on road information obtained from other vehicles passing through the location. When there is no vacancy, effective navigation is possible, such as guiding the nearest other parking facility.

[3. Third Embodiment] Next, a third embodiment relates to a navigation system for exchanging road information obtained as described above by road-to-vehicle communication.

[3-1. Configuration of Third Embodiment] That is, in the third embodiment, road information including lateral distance information is exchanged by wireless communication between road and vehicle, and route guidance to a destination is performed based on the exchanged road information. Yes, the configuration of the third embodiment is shown in the functional block diagram of FIG.

That is, the third embodiment is different from the first and second embodiments.
At least one vehicle 441 equipped with the road information processing device as shown in the embodiment, at least one base station 442 for performing wireless communication with the wireless communication unit 141 of the road information processing device in each vehicle, and a base station 442 And server 4
This is a complex system including a communication line 443 connecting the G. 44 and a server 444 managing road information.

[3-2. Operation of Third Embodiment] In the third embodiment configured as described above, the road information including the side distance information is exchanged by wireless communication between the road and the vehicle, and each vehicle performs the operation based on the exchanged road information. Route guidance to the destination is performed.

More specifically, the road information processing device of each vehicle 441 detects the road information as described above, and detects static road information including the shape of the road and dynamic information including traffic congestion information and parking facility information. Typical road information is recorded in the road information recording unit 103. Then, the wireless communication unit 141 of each vehicle 441,
It connects to the server 444 via the nearest base station 442 and communication line 443, and transmits the road information held by the road information recording unit 103 to the server 444.

The server 444 collects road information from each vehicle, manages a road information database, and transmits necessary road information to each vehicle 441. Then, the road information processing unit 1 of the vehicle 441 that has received the road information
40 is a road information recording unit 1 based on the received road information.
03 is updated, and the navigation unit 104 performs navigation using the road information.

[3-3. Effect of Third Embodiment] According to the third embodiment described above, road information detected by many vehicles including distant ones can be used for navigation. In addition, since the server manages the road information of the entire navigation system, efficient processing can be performed. That is, in the third embodiment, since a large amount of road information can be accumulated and used in a wide range among a large number of vehicles by road-to-vehicle communication with a communication network or a server, more reasonable navigation is possible. Become.

[4. Other Embodiments] The present invention is not limited to the above embodiments, but includes other embodiments as exemplified below. For example, in each of the above-described embodiments, a typical application of the present invention is described as an application example to a navigation system. However, a navigation system is not essential, and a single-function product such as a road information detecting device or a road information processing device may be used. Is within the range.

[0113]

As described above, according to the present invention, an information processing technique for obtaining high-precision information on specific road conditions over a wide area in real time and at low cost, that is, a road information processing apparatus, method, and road information processing Software, a navigation system and method, and a method for creating a road information database can be provided.

[Brief description of the drawings]

FIG. 1 is a functional block diagram showing a configuration of a first embodiment of the present invention.

FIG. 2 is a conceptual plan view for explaining an example of lateral distance detection in the first embodiment of the present invention.

FIG. 3 is a conceptual plan view for explaining an example of road information detection in the first embodiment of the present invention.

FIG. 4 is a flowchart showing a processing procedure according to the first embodiment of the present invention.

FIG. 5 is a conceptual plan view for explaining an example of vehicle recognition in the first embodiment of the present invention.

FIG. 6 is a functional block diagram showing a configuration of a second embodiment of the present invention.

FIG. 7 is a flowchart illustrating a processing procedure of generation and communication of road information according to the second embodiment of the present invention.

FIG. 8 is a conceptual plan view for explaining an example of road information exchange in a second embodiment of the present invention.

FIG. 9 is a conceptual plan view for explaining an example of passing recognition in the second embodiment of the present invention.

FIG. 10 is a conceptual plan view for explaining an example of route recognition according to the second embodiment of the present invention.

FIG. 11 is a conceptual plan view for explaining an example of parking facility recognition according to the second embodiment of the present invention.

FIG. 12 is a configuration diagram showing a third embodiment of the present invention.

[Explanation of symbols]

 31, 41 ... road information generation unit 32, 42 ... update unit 43 ... transmission / reception control unit 44 ... passing judgment unit 45 ... follow-up processing unit 46 ... parking facility judgment unit 101 ... side distance detection unit 102 ... vehicle position detection unit 103 ... Road information recording unit 104 navigation units 111, 112 distance sensor 121 GPS receiver 122 gyro 123 vehicle speed sensor 130 road information processing unit 200 own vehicle 201, 202 obstacle 300 300 own vehicle 311 travel route 312: Road 313: Other vehicle 314: Distance measurement 321: Detected path 322: Detected path shape 323: Detected object shape 500: Own vehicle 510: Road 511, 512, 513, 514 ... Other vehicle 520: Detected path shape 521, 522 , 523, 524 ... detected object shape 140 ... road information processing unit 141 ... wireless communication unit, 00 ... own vehicle 401 ... own vehicle route 410 ... first other vehicle route 411 ... first other vehicle route 420 ... second other vehicle route 420 ... third other vehicle route 421 ... third other vehicle route 440 ... Road 450 ... own vehicle 451 ... other vehicles 461, 462 ... obstacle 600 ... own vehicle 601 ... road 604, 605, 606 ... traffic jam vehicle 607 ... width reduction section 610 ... 1st candidate route 611 ... 1st other vehicle 612 ... 1st 1 detection path 613 ... first detection path shape 614, 615, 616 ... detection object shape 620 ... second candidate path 621 ... second other vehicle 622 ... second detection path 623 ... second detection path shape 700 ... own vehicle 710 ... Roads 711, 712, 713: Parking space 721, 722, 723: Parking space shape 730: Other vehicles 731 ... Detection route 732: Detection route shape 4 1 ... vehicle 442 ... base station 443 ... communication line 444 ... server

Continuation of the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat II (Reference) B60R 21/00 B60R 21/00 628F 628B G01C 21/00 G01C 21/00 A G09B 29/00 G09B 29/00 A F 29 / 10 29/10 A // G01S 5/14 G01S 5/14 G08G 1/00 G08G 1/00 A F term (reference) 2C032 HB02 HB21 HB22 HC08 HC17 HC27 HD03 HD13 HD23 HD30 2F029 AA02 AB01 AB07 AC02 AC20 5H180 AA01 BB01 BB13 CC01 CC11 CC12 CC14 EE02 FF04 FF05 FF10 FF12 KK07 5J062 AA05 BB01 CC07 EE04 FF04

Claims (18)

[Claims] 1. A means for storing road information including at least a road width for each location with respect to a road; a means for measuring a lateral distance to a side object of a host vehicle traveling on a road; and a current position of the host vehicle. Based on the width of the vehicle stored in advance, the measured lateral distance, and the detected current position. And a means for updating the road information based on the new road information. 2. The road information processing apparatus according to claim 1, wherein a road shape and a shape other than the road are determined and recorded based on a change and a size of the environment before and after the environment. 3. Among the determined shapes other than the road,
The shape of the vehicle and the shape other than the vehicle are determined and recorded based on whether or not the vehicle is within a predetermined size range determined in advance, and the determined arrangement of the vehicle is recorded as congestion information. 3. The road information processing apparatus according to claim 2, wherein 4. A wireless communication unit for transmitting and receiving the road information to and from the outside, and a unit for updating road information of the own vehicle based on the road information received from the outside. Any one of items 1 to 3
The road information processing apparatus according to any one of the above. 5. A device comprising the road information processing device according to claim 1, wherein said road information including said lateral distance information is exchanged by wireless communication between vehicles, and an exchanged road is provided. Means for providing route guidance to a destination based on information; and a navigation system comprising: 6. A device comprising the road information processing apparatus according to claim 1, wherein the road information including the lateral distance information is exchanged by road-to-vehicle wireless communication. Means for providing route guidance to a destination based on road information. 7. A process of preparing road information including at least a road width for each location with respect to a road, measuring a lateral distance to a side object of the own vehicle traveling on the road, and determining a current position of the own vehicle. Based on the process of detecting, the width of the vehicle stored in advance, the measured lateral distance, and the detected current position, new road information including the shape of the environment for each road location is generated. A road information processing method, comprising: obtaining the road information; and updating the road information based on the new road information. 8. The road information processing method according to claim 7, wherein a road shape and a shape other than the road are determined and recorded based on a change and a size of the environment before and after. 9. Among the determined shapes other than the road,
Based on whether or not the vehicle is within a predetermined size range, the shape of the vehicle and the shape other than the vehicle are determined and recorded, and the determined vehicle arrangement is recorded as traffic congestion information. 9. The road information processing method according to claim 8, wherein 10. The method according to claim 7, further comprising: transmitting and receiving the road information to and from the outside by wireless communication; and updating the road information of the own vehicle based on the road information received from the outside. 10. The road information processing method according to any one of items 1 to 9. 11. The road information processing method according to claim 7, wherein the road information including the lateral distance information is exchanged by wireless communication between vehicles, and the exchanged road information is provided. Providing a route guidance to a destination based on the navigation method. 12. A road information processing method according to claim 7, wherein the road information including the lateral distance information is exchanged by wireless communication between road and vehicle. Performing a route guidance to a destination based on road information. 13. A method for predicting a margin in passing a vehicle by exchanging the vehicle width of each vehicle recorded in advance and the lateral distance measured by each vehicle between the vehicles. The road information processing method according to any one of 7 to 10. 14. An arrangement of a common vehicle is detected by exchanging the arrangement of the vehicles determined between the vehicles and comparing the arrangements of the vehicles provided by a plurality of other vehicles in each vehicle. 14. The road information processing method according to claim 9, 10 or 13, wherein the movement is followed. 15. Information about where and what parking facilities are provided in each vehicle in advance, the arrangement of the vehicles determined between the vehicles is exchanged, and another vehicle is used for a location corresponding to the parking facility. 15. The vacancy status of the parking facility is determined from the determined arrangement of the vehicles.
The road information processing method according to any one of the above. 16. A vehicle comprising: means for reading and writing a removable medium; and means for storing road information including at least a road width for each road with respect to a road. Measuring the lateral distance, detecting the current position of the own vehicle, and, based on the width of the own vehicle stored in advance, the measured lateral distance, and the detected current position, for each location on the road. Creating new road information including the shape of the environment, recording the new road information on each of the removable media, collecting the removable media from each of the vehicles, and storing the recorded road information from each of the removable media. A method for creating a road information database, comprising: reading out and collecting; and creating a road information database based on the collected road information. 17. Preparing road information including at least a road width for each location with respect to a road, and controlling a computer to measure a lateral distance to a side object of the own vehicle traveling on the road; The current position of the vehicle is detected, and based on the width of the own vehicle stored in advance, the measured lateral distance, and the detected current position, a new shape including an environmental shape for each road location is included. Software for road information processing, wherein road information is obtained, and the road information is updated based on the new road information. 18. The software for road information processing according to claim 17, wherein a road shape and a non-road shape are discriminated and recorded based on a change and a size of the environment before and after the environment. .