JP2005147713A - Map reliability calculation device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a map reliability calculation device capable of performing vehicle control corresponding to reliability of map information. <P>SOLUTION: This map reliability calculation device 200 has information acquisition means 210 equipped with the first version information acquisition part 211 for acquiring the first version information of the first map information utilized at present and the second version information acquisition part 213 for acquiring the second version information of the second map information acquired from the outside, a map reliability calculation means 220 for calculating reliability of the first map information based on the acquired first version information and second version information, and a control instruction generation means 230 for generating a control instruction corresponding to the calculated reliability. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a map reliability calculation device, and more particularly to a device that calculates the reliability of map information used in a travel control device or the like.

  Compare the vehicle's travel trajectory with the road shape of the map information, and if the difference between the two exceeds a certain standard, the map management base station will notify the map management base station that the road shape is different from the actual travel trajectory. There is a technique for correcting map information and sending the corrected map information to a vehicle (see Patent Document 1).

  However, when the conventional technology is used, there is a problem that the old map information has to be used until the map information is corrected and transmitted to the vehicle. In addition, in order to compare the travel locus of the vehicle with the road shape of the map information, it is necessary to travel for a predetermined time, so that there has been a problem that erroneous map information must be used until then. In addition, when a highway is newly constructed along a general road, there is almost no difference between the actual travel locus and the road shape of the existing general road, so it is possible to determine the difference between the existing road and the new road. There was a problem that it was difficult.

  As described above, when old map information that does not reflect changes in map information or the like is used, there is a disadvantage that accurate route guidance and accurate vehicle control cannot be performed.

In addition, in order to update outdated map information, map information is also downloaded at a predetermined timing (every fixed period), but map information cannot be downloaded reliably depending on the communication status or vehicle status In that case, the old map information had to be used as it was. In addition, the latest map information is downloaded every time the vehicle travels, but there is a problem that the communication cost is high.
JP-A-10-289396

The present invention has been made in view of the above problems, and an object of the present invention is to calculate the reliability of map information that changes over time and to perform vehicle control in accordance with the reliability.
According to the present invention, the information acquisition means for acquiring the first version information of the first map information currently used and the second version information of the second map information acquired from outside, the information acquisition means There is provided a map reliability calculation device comprising map reliability calculation means for calculating the reliability of the first map information based on the acquired first version information and second version information.

  The map reliability calculation device of the present invention can quantitatively calculate the reliability of a map according to the new and old map information. Further, by using the map reliability calculated by the map reliability calculation device of the present invention for route guidance and vehicle control, accurate route guidance and highly reliable vehicle control can be performed.

  Hereinafter, a vehicle control system 100 according to an embodiment of the present invention will be described based on the drawings. The vehicle control system 100 is mounted on a vehicle on which a user is boarded, and controls various in-vehicle devices mounted on the vehicle based on map information. In particular, when the map information is not the latest, the vehicle control system 100 according to the present embodiment calculates the reliability of the map information from the oldness of the map information, and uses a method of using the map information according to the calculated reliability. The vehicle is controlled according to the reliability.

  FIG. 1 shows an outline of the configuration of the vehicle control system 100. As shown in FIG. 1, a vehicle control system 100 includes a map reliability calculation device 200 that calculates the reliability of map information used by an in-vehicle device, and an in-vehicle device 300 that controls the vehicle using the map information. have. The map reliability calculation device 200 calculates the reliability of the map information based on the version information of the currently used map information. The in-vehicle device 300 performs selection of information to be used and control of traveling of the vehicle according to the reliability calculated by the map reliability calculation device 200. The in-vehicle device 300 may operate according to a control command generated by the map reliability calculation device 200, or may operate according to a control command generated by the in-vehicle device 300 based on the reliability. The map reliability calculation device 200 and the in-vehicle device 300 that exchange information with each other are connected so as to be communicable via a wired or wireless in-vehicle LAN. The navigation device 310 of the in-vehicle device 300 has a general navigation function that detects the position of the vehicle and guides a route to the destination by using a GPS function (Global Positioning System) and autonomous navigation. Information acquired by the navigation device 310 is information that can also be used by the map reliability calculation device 200 and the in-vehicle device 300.

<First Embodiment>
A block configuration of the vehicle control system 100 of the first embodiment is shown in FIG. As shown in FIG. 2, the vehicle control system 100 of the present embodiment includes a map reliability calculation device 200 and various in-vehicle devices 300.

  As shown in FIG. 2, the map reliability calculation device 200 includes an information acquisition unit 210 that acquires various types of information, a map reliability calculation unit 220 that calculates the reliability of map information based on the acquired information, and a calculation. And a control command generation unit 230 that generates a control command for the in-vehicle device 300 based on the reliability. Specifically, at least a program that calculates the reliability of map information and / or a program that generates a control command for the in-vehicle device 300 based on the reliability, and a program stored in the ROM are executed. Thus, a CPU that functions as the map reliability calculation unit 220 and the control command generation unit 230 and a RAM that functions as an accessible storage device (not shown) are provided.

Hereinafter, each structure of the map reliability calculation apparatus 200 is demonstrated.
The information acquisition unit 210 has at least a communication function for acquiring information by accessing an external server, and includes map information, version information relating to the newness of map information such as update date and version number of map information, current information Get information such as time. Specifically, the information acquisition unit 210 includes a first version information acquisition unit 211, a map information acquisition unit 212, a second version information acquisition unit 213, and a current time acquisition unit 214.

  The map information acquisition unit 212 acquires first map information currently used, second map information newer than the first map information, and the like. The map information acquisition part 212 of this embodiment accesses a map provision server, and acquires map information. The map information data may be downloaded from a map server connected from the Internet using a mobile phone, or from an infrastructure such as a beacon installed on the road. In that case, an antenna and a converter for receiving information from an information providing infrastructure such as a beacon and FM multiplex broadcasting are also provided. The map information to be acquired may be all of the provided map information, or may be a part of the map information for a predetermined area divided in a mesh shape. In this case, the map information of the predetermined area includes area identification information for specifying the predetermined area, and the map information to be acquired can be specified. The map information acquired by the map information acquisition unit 212 is stored in a rewritable storage medium such as an HDD.

  The first version information acquisition unit 211 acquires first version information such as the update date / time and version identifier of the first map information currently used by the in-vehicle device 300. The version identifier is information that identifies the version of information such as the version number of the version and the version update date and time. When the currently used first map information is stored in the storage means of the map reliability calculation device 200, the first version information is acquired by accessing the storage means.

  The second version information acquisition unit 213 acquires second version information such as the update date / time and version identifier of the second map information newly acquired. When the second map information is stored in the map information providing server, the second version information is acquired from the server using the communication function. Incidentally, the second map information is map information that has a later update date and a higher version number (more version upgrades) than the first map information.

  The current time acquisition unit 214 acquires the current time from a built-in timer or the outside.

  The map reliability calculation means 220 calculates the reliability of the first map information currently used based on the first version information and the second version information acquired by the information acquisition means 210. The map reliability calculation unit 220 according to the present embodiment includes a comparison unit 221, a calculation unit 222, and an output unit 223.

  The comparison unit 221 compares the first version information and the second version information. The comparison unit 221 may compare the update date / time included in the first version information with the update date / time included in the second version information to obtain a difference in time, or the version number included in the first version information The version number included in the second version information may be compared to obtain a difference in the number of times the version upgrade has been performed. In addition, the comparison unit 221 may compare the update date and time of the first version information with the current time acquired by the information acquisition unit 210 and obtain a difference between the times. In this case, the reliability (new and old) of the map information can be determined without having a means for communicating with an external map server.

  The calculation unit 222 calculates the reliability of the map information based on the temporal difference obtained by the comparison unit 221. The reliability is a value indicating reliability based on the newness of the map information. The calculation unit 222 according to the present embodiment refers to the correspondence data in which the temporal difference obtained by the comparison unit 221 is associated with the reliability, and calculates the reliability based on the comparison result. The calculation method is not particularly limited, and the calculation unit 222 may calculate the reliability using a predetermined arithmetic expression. Thereby, the reliability can be obtained as a quantitative value.

  The output unit 223 outputs the reliability of the first map information calculated by the calculation unit 222 to each device of the in-vehicle device 300 or the control command generation unit 230. The reliability of the map information output to the in-vehicle device 300 is presented to the user via the presenting means 350, is used for route guidance of the navigation device 310, is used for regeneration control of the battery regeneration control device 330, and prevents lane departure. This is used for the lane departure prevention control of the device 340. Further, the reliability of the map information sent to the control command generation unit 230 is used to generate a control command for each device of the in-vehicle device 300 or the information acquisition unit 210.

  The control command generation unit 230 generates a control command based on the reliability calculated by the map reliability calculation unit 220.

  When the calculated reliability is lower than the predetermined threshold, the control command generation unit 230 causes the information acquisition unit 210 to acquire map information that is newer than the first map information currently used from the outside. A control command for updating the map information is generated. The reliability threshold value is preferably set according to the reliability mode (update date difference, difference with current time, version number difference). When this control command is executed, the currently used map information (first map information) is updated at the timing when it is determined that the currently used map information has become old and the reliability has decreased. can do. As a result, new and highly reliable map information can always be used, and the reliability of the processing of each in-vehicle device 300 that uses the map information can be maintained.

  The control command generation unit 230 sends a control command to the in-vehicle device 300 such as the navigation device 310 that performs information processing using the map information, the travel control device 320, the battery regeneration control device 330, the lane departure prevention control device 340, and the like. .

  Further, the control command generation unit 230 generates a control command for controlling various in-vehicle devices mounted on the vehicle based on the reliability of the map information calculated by the map reliability calculation unit 220. That is, the control command generation means 230 outputs a control command for changing the map information usage method by limiting the map attribute of the information to be used (map attribute to be previewed (read) at the time of processing) among the information included in the map information. A control command is generated that changes control methods such as travel control performed using map information, battery regeneration control using map information, and lane departure prevention control using map information.

  The control command generation unit 230 selects and determines the map attribute to be used based on the reliability with reference to the correspondence information in which the map attribute of the information to be used and the reliability are associated in advance among the information included in the map information. Then, a control command for reading the map information including only the map attribute to be used is sent to the in-vehicle device 300.

  The control command generation unit 230 includes reliability-map attribute correspondence information 231 in which the reliability of map information is associated with the map attribute to be used (or the map attribute not to be used). An example of the reliability-map attribute correspondence information 231 is shown in FIG. As shown in FIG. 3, the reliability is expressed as the age of the map data, and this reliability is associated with a map attribute that is not used. As map attributes, interchange location (IC), junction location (JCT), intersection location, signal location, toll gate location, number of lanes, road width, road type, road polarity, road slope The position to pause is shown.

  The control command generation unit 230 refers to the reliability-map attribute correspondence information 231. If the map information is older than one month, the control command generation unit 230 obtains map attributes other than the road curvature, the road gradient, and the suspended map attribute. A control command is generated to select and use map information including only the selected map attribute. If the map information is older than one year, map attributes excluding map attributes such as the number of road lanes, road width, and road type are selected, and map information including only the selected map attributes is used. Generate a control instruction to that effect. In addition, if the map information is more than 3 years old, map attributes other than interchange location, junction location, signal location, toll gate location, road gradient, pause, road lane Create a control command to use the map information excluding the number, road width, and road type.

  In the reliability-map attribute correspondence information 231, information regarding the curvature and gradient of the curve and the place of temporary stop included in the map information that has not been updated for more than one month is not used. These pieces of information are important information for performing deceleration control and warning control in vehicle travel control, or charge / discharge control of an electric vehicle such as HEV (hybrid vehicle) and FCV (fuel cell electric vehicle), and are based on old information. This is to avoid a situation where incorrect control is performed. In addition, the number of lanes, road width, and road type included in the map information that has not been updated for more than one year is not used. These pieces of information are important information in lane departure prevention control, in particular, lane recognition, in order to avoid a situation where erroneous control is performed based on old information. Even if it has not been updated for more than 3 years, the location of interchanges, junctions, intersections, traffic lights, and toll gates included in the map information will be used. This is because the possibility that these positions are changed is extremely low, and the influence on traveling control, battery regeneration control, and the like is relatively low.

  Thus, the vehicle-mounted device 300 that performs control using map information by using map information that includes only useful map attributes, excluding predetermined map attributes based on the calculated reliability, is based on old map information. Therefore, it is possible to provide a highly reliable in-vehicle device 300 because accurate control is performed without making an erroneous determination based on the above.

  For example, the navigation device 310 can prevent an erroneous recommended route from being presented based on old map information, and can also prevent information different from the reality from being presented. The traveling control device 320 can prevent erroneous traveling speed control (deceleration control or acceleration control) from being performed based on old map information. The battery regeneration prevention control device 340 can prevent erroneous battery regeneration control from being performed based on old map information. The lane departure prevention control device 340 can prevent erroneous lane departure prevention control from being performed based on old map information.

Next, the operation of the map reliability calculation device 200 will be described. The control procedure of the map reliability calculation device 200 is shown in the flowchart of FIG.
The first version information acquisition unit 211 of the information acquisition unit 210 acquires the first version information (Vd) of the first map information currently used (S111). The first version information in this example is the update date (Vd) of the first map information. The target map information range may be, for example, a region where the own vehicle position is located, and may be map information of a predetermined region divided in a mesh shape, or a certain range from the own vehicle position (for example, a radius of 1 km) It is good also as map information. The current time acquisition unit 214 acquires the current date and time (Nd) (S112). The second version information acquisition unit 213 acquires the second version information (Sd) of the second map information acquired from the outside (S113). The second version information in this example is the date (Sd) of the version of the second map information. The update date and time of the second map information may be used.

  The map reliability calculation means 220 calculates the reliability of the first map information (S114). Specifically, the calculation unit 222 calculates the difference between the update date (Vd) of the first map information (map information in use) and the version date (Sd) of the second map information (S114). If the calculated result is larger than a predetermined value Ds (for example, 7 days) (Vd−Sd> Ds), it is determined that the first map information is not the latest and the reliability is low, and S115. If not, the first map information is the latest, and the process proceeds to S117, where the reliability of the first map information (the time lag from the current time) Mn = 0 (first The map information is considered up-to-date.

  In S115, when it is determined that the first map information is old and the reliability is low, the control command generation unit 230 generates a control command for downloading the second map information and sends it to the information acquisition unit 210. . The information acquisition unit 210 downloads the second map information according to this command. Download (DL) can be set to automatic download (DL) so that it is automatically performed. When the download is automatically performed (Yes in S115), the latest map information is downloaded, and the first map information is the latest map information, and the process proceeds to S117.

  If the download (DL) is not automatically performed, the process proceeds to S118. In S118, the calculation unit 222 calculates the reliability Mn of the first map information. The reliability Mn is obtained based on the difference between the version date (Vd) of the first map information and the current date (Nd). The calculation unit 222 calculates Mn = Nd (current time) −Vd (version date).

  In addition, automatic map information download is a new map information, such as when acquiring map information from infrastructure such as beacons installed on the road, or when acquiring from a map server using a fixed-price mobile phone. It is preferable to use it when there is no charge for downloading.

Based on the calculated reliability (Mn or Ds), the control command generation unit 230 refers to the correspondence information 231 that associates the map attribute of the information to be used with the reliability among the information included in the map information. The map attribute to be used is determined, a control command for using the map information including only the map attribute to be used is generated, and output to the in-vehicle device 300. The in-vehicle device 300 previews (reads) the map information with the limited map attribute according to this control command.

  According to the present embodiment, even when old map information is used, adverse effects on route guidance, travel control, battery regeneration control, and lane departure prevention control are suppressed, and misjudgment and malfunction in these controls are prevented. You can prevent it from happening. Even in situations where the latest map information cannot be acquired, highly safe travel control, battery regeneration control, and lane departure prevention control can be executed.

Second Embodiment
The second embodiment is characterized in that the reliability of the map information is calculated based on the map matching history, and this point is different from the first embodiment. In order to avoid duplication of explanation, explanation of common parts is omitted here, and different points are mainly explained.

  The block configuration of the map information reliability calculation device 200 of the second embodiment is shown in FIG. As illustrated in FIG. 5, the information processing unit 210 of the present embodiment includes a map matching history acquisition unit 215. The map matching history acquisition unit 215 acquires a map matching history based on the first map information currently used from the navigation device 310. In the present embodiment, a map matching history performed by the navigation device 310 is acquired. Map matching is a comparison between the actual travel route (travel point) of the vehicle and the route on the first map information detected by the vehicle position detection function using the GPS function (Global Positioning System) or the like. This is a process for identifying the travel route of the vehicle while referring to the amount of deviation between the two routes. If the deviation amount between the two routes is within a predetermined amount, the vehicle is regarded as traveling on the route on the first map information, and the traveling route of the vehicle is matched with the route on the map information. This is because the vehicle position is corrected when the exact position of the vehicle cannot be specified from the GPS signal depending on the reception environment. The history of map matching in which such processing has been performed includes information regarding the amount of deviation between the position of the host vehicle and the route of the first map information.

  As shown in FIG. 6, the road information of the map information includes a node indicating the position of an intersection or a branch junction, an interpolation point for expressing a road shape between the nodes, and a link connecting them. It is composed of The map matching history may be recorded for each link, may be recorded for each section from node to node such as M0, M1, and M2, or may be recorded collectively for node sections of M0 to M2. good. In the map matching history, the amount of deviation between the travel route and the route of the first map information, or the distance that the map matching has succeeded with respect to the distance between the link and the node (the displacement is determined to be less than the predetermined amount) The percentage of map matching success is included. Together with these, the travel date and time (Rdi) may be recorded together. To do.

  Incidentally, the map matching history acquisition unit 215 of the present embodiment may acquire only the map matching history in a predetermined period, or when the reception environment of signals from GPS (Global Positioning System) is good (for example, Only the map matching history (when the number of satellites capable of receiving information is four or more) may be acquired.

  The map reliability calculation means 220 calculates the reliability of the first map information based on the amount of deviation between the actual travel history route and the route of the first map information obtained from the map matching history. When the deviation amount between the actual travel history route and the route of the first map information is small, the reliability of the first map information is increased, and when the deviation amount is large, the reliability of the first map information is calculated low. To do. The deviation amount value and the reliability value may be associated in advance or may be calculated by a predetermined calculation formula. The deviation amount between the actual travel history and the route of the first map information may be an average of the deviation amounts of both routes in the map matching history within a predetermined period, or the deviation amount is within a predetermined range. The map matching success rate executed in this case (the ratio of the travel distance in which the map matching processing is performed for the predetermined distance (the deviation amount is determined to be equal to or less than the predetermined amount) may be used.

  Next, the operation procedure of the map reliability calculation apparatus 200 of the second embodiment will be described based on the flowchart shown in FIG. This control is called from the main program of the navigation device 310. The calling period is not particularly limited, and may be when the vehicle passes through the boundary boundary of the map information section divided into meshes, or at every timing when the host vehicle travels a certain distance (for example, 200 m).

  The first version information acquisition unit 211 of the information acquisition unit 210 acquires the first version information (Vd) of the first map information currently used (S211). The first version information in this example is a date for specifying a version. S112, S118, and S119 following S211 are the same as the operations of the first embodiment shown in FIG.

  In S212, it is determined whether a map matching history is recorded in the map information currently used (previewed) for use in information presentation and vehicle control. The map matching history is stored in the navigation device 310. If a map matching history is stored, the process proceeds to S213, and if not, this control is terminated.

  In S213, the average value (or the minimum value) of the map matching success rate (the rate at which the deviation amount is equal to or less than the predetermined amount) between the links or nodes in the range used (previewed) in S212 is the predetermined value Ms ( If the difference between the recorded date and time Rdi and the current date Nd is equal to or less than a predetermined value (for example, one week), it is determined that there is no change in the road shape and the process proceeds to S214. This control is terminated.

  In S214, even if the map information is old in time, map attributes (for example, curvature, gradient, road width, road type) regarding the road shape are used for information presentation and vehicle control. For example, in the deceleration control system before the curve of the travel control device 320, the curve shape of the map information currently being used (previewed) even if the update date and time of the map information is three years or more before the current date No change is made, and it is assumed that the reliability of the map information is high, and the same operation control as when the map information is the latest is performed.

  According to this embodiment, the reliability of map information can be calculated based on the deviation amount between the actual travel history acquired from the map matching history and the first map information currently used. Even if the map information is old in time, the contents of the map information may not change, and the reliability of the map information may not be determined uniformly based on the version information of the map information. In the present embodiment, since the actual change in map information is determined from the amount of shift in the map matching history, the reliability of the map information according to the actual situation can be obtained.

  As described above, a map that does not reflect changes is determined by determining the reliability of map attributes related to road shapes using the map matching history of routes that have traveled in the past, and reflecting the information in the operation of information presentation and vehicle control. Malfunctions based on information can be prevented.

  In the first embodiment and the second embodiment, the vehicle control system 100 has been described. However, when the computer control program of the present invention is executed by a computer, the vehicle control system 100 operates in the same manner and produces the same effects.

<Third Embodiment>
The third embodiment is characterized in that the in-vehicle device 300 side determines the operation content of information presentation and vehicle control. That is, each device of the in-vehicle device 300 acquires the reliability of the first map information calculated by the map reliability calculation device 200, and determines the operation content of the vehicle control according to this reliability. In the function of calculating the reliability of the first map information, the map reliability calculation device 200 of the present embodiment is common to the map reliability calculation device 200 of the first embodiment. Here, the travel control device 320, the battery regeneration control device 330, and the lane departure prevention control device 340 that perform vehicle control using the map information and the reliability of the map information will be described.

  (3-1) The travel control device 320 constituting the vehicle control system 100 cooperates with the map reliability calculation device 200 of the first embodiment or the second embodiment to control the travel speed of the vehicle based on the map information. . The travel control device 320 of the present embodiment determines the vehicle deceleration according to the reliability, and controls the vehicle travel speed based on the determined deceleration. Incidentally, as this type of apparatus, there is a vehicle control apparatus described in JP-A-11-2222055.

  The travel control device 320 includes a reliability acquisition unit 321 and a control unit 322. The reliability acquisition unit 321 acquires the reliability from the map reliability calculation means 220. The control unit 322 refers to the map information for which the reliability is calculated, and reduces the number of traveling vehicles according to the reliability so that the vehicle travels at a predetermined speed at a predetermined point (for example, before a curve or before an intersection). Determine the speed.

  The control unit 322 performs traveling control with the control content corresponding to the reliability. The control contents of the travel control device 320 associated with the reliability are shown in the first column of FIG. FIG. 9 shows the deceleration control content before the curve as an example of the control content. As shown in FIG. 9, the maximum deceleration xG is associated with the reliability of the map information and whether or not to perform an alarm output process that prompts a brake operation under a predetermined condition. In the example of FIG. 9, the reliability of the map information is the oldness (newness) of the map information, and is expressed by the time difference between the first version information and the second version information (or the current date and time). Of course, it can also be expressed by the amount of deviation between the actual travel route based on the map matching history and the route on the first map information.

  When it is determined that the map information is the latest (deviation amount is equal to or less than a predetermined amount), the travel control device 320 according to the present embodiment performs alarm output processing that sets the maximum deceleration to 0.3 G and prompts a brake operation under a predetermined condition. Do. As the map information becomes old (as reliability decreases), the maximum deceleration is decreased, and when the map information is older than one year, no deceleration is performed. Furthermore, when the map information is more than 3 years old, the reliability of the map information is low, and there is a possibility that appropriate alarm output and appropriate deceleration control cannot be performed. Therefore, deceleration control and alarm output are not performed.

  The control procedure of the travel control device 320 of this embodiment is shown in the flowchart of FIG. As shown in FIG. 10, the reliability acquisition unit 321 acquires the reliability from the map reliability calculation means 220 (S311). The control part 322 acquires the control content (refer FIG. 9) according to reliability (S312), and performs driving | running | working control according to reliability (S313).

  According to the travel control device 320 of the present embodiment, it is possible to prevent erroneous warning or erroneous deceleration control when the map information is old and may not match the actual road shape. For example, if the map information has not been updated even though the road that curves in an S-shape has been changed to a straight road, deceleration control using such old map information will cause deceleration on the straight road. There may be a warning or deceleration control to be urged. In addition, if the map information is not updated even though a parallel road running parallel to the existing road has been established, the travel route of the vehicle traveling on the new road is actually map-matched to the existing road. There is a risk that. When deceleration control is performed using such old map information, an alarm or deceleration control for prompting deceleration may be performed even though there is no curve in the actual travel route. The travel control device 320 according to the present embodiment calculates the reliability of the map information according to the oldness of the map information and performs control according to the reliability. Absent.

  (3-2) The battery regeneration control device 330 configuring the vehicle control system 100 cooperates with the map reliability calculation device 200 of the first embodiment or the second embodiment, and determines the charge / discharge schedule determination factor included in the map information. Based on this, the charging / discharging schedule during the running of the battery of HEV (hybrid vehicle), EV (electric vehicle), FCV (fuel cell electric vehicle) is determined. The battery regeneration control device 330 according to the present embodiment determines the charge / discharge control range (charge rate range) according to the reliability, and selects the determination factor of the charge / discharge schedule in the map information according to the reliability. Incidentally, as this type of apparatus, there is a traveling pattern generation apparatus described in Japanese Patent Laid-Open No. 2001-183150.

  The battery regeneration control device 330 includes a reliability acquisition unit 331 and a control unit 332. The reliability acquisition unit 331 acquires the reliability from the map reliability calculation means 220. The controller 332 refers to the intersection position, height difference, and other charge / discharge schedule determination factors included in the map information for which the reliability is calculated, and the reliability is set so that the regenerative charge amount of the battery of the electric vehicle is maximized. The charging / discharging schedule of the running vehicle is determined according to the above.

  The control unit 332 selects a charge / discharge schedule determination factor according to the reliability, and determines a charge / discharge control range (a range of charge rates for performing control) according to the reliability. The control contents of the battery regeneration control device 330 associated with the reliability are shown in the second column of FIG. As shown in FIG. 9, the reliability of the map information is associated with whether or not to predict a reproducible section, the limiting condition of the map attribute corresponding to the charge / discharge schedule determination factor to be used, and the charge / discharge control range. It has been. The limited range of the map attribute is determined based on the correspondence information shown in FIG. In the example of FIG. 9, the reliability of the map information is the oldness (newness) of the map information, and is expressed by the time difference between the first version information and the second version information (or the current date and time). . Of course, it can also be expressed by the amount of deviation between the actual travel route based on the map matching history and the route on the first map information.

  The battery regeneration control device 330 according to the present embodiment predicts a regenerative section when the map information is determined to be the latest (deviation amount is equal to or less than a predetermined amount), and uses without restricting all information included in the map information. Then, the charge / discharge control range is performed in the range of 20% to 90% charge rate. As the map information becomes older (as reliability decreases), the map attribute corresponding to the charge / discharge schedule determination factor is limited, and the charge / discharge control range is narrowed. If the map information is older than one month, the charging / discharging schedule is determined using the determination factors excluding the map attributes for the road curvature, road gradient, and temporary stop position (see FIG. 3). When the map information is older than one year, the charge / discharge control range is limited to 30 to 70%. Furthermore, when the map information is more than 3 years old, the reliability of the map information is low, and an appropriate charge / discharge schedule may not be determined. Therefore, the prediction of the regenerative section and the charge / discharge control are not performed.

  The control procedure of the battery regeneration control device 330 of this embodiment is shown in FIG. As shown in FIG. 10, the reliability acquisition unit 331 acquires the reliability from the map reliability calculation means 220 (S311). The control part 332 acquires the control content (refer FIG. 9) according to reliability (S312), and performs driving | running | working control according to reliability (S313).

  According to the battery regeneration control device 330 of the present embodiment, when the map information is old and may not match the actual road state, it is possible to prevent performing battery regeneration control based on an incorrect battery regeneration schedule. Can do.

  (3-3) The lane departure prevention control device 340 constituting the vehicle control system 100 cooperates with the map reliability calculation device 200 of the first embodiment or the second embodiment, and in addition to the lane image acquired by the CCD camera, The lane identification information in the map information is used as auxiliary information to recognize the lane and prevent the vehicle from deviating from the recognized lane. The lane departure prevention control device 340 according to the present embodiment determines whether to use the lane discrimination information included in the map information as auxiliary information according to the reliability, and determines the information included in the map information according to the reliability. Select the map attribute of the information to be used. Incidentally, as this type of apparatus, there is a driving support system described in JP-A-2002-109694.

  The lane departure prevention control device 340 includes a reliability acquisition unit 341 and a control unit 342. The reliability acquisition unit 341 acquires the reliability from the map reliability calculation means 220. The control unit 342 performs lane departure prevention control according to the number of lanes and the position of the traveling lane with reference to the lane discrimination information included in the map information whose reliability is calculated.

  The control unit 342 selects lane discrimination information according to the reliability. The control contents of the lane departure prevention apparatus 340 associated with the reliability are shown in the third column of FIG. As shown in FIG. 9, whether or not the lane discrimination information is selected is associated with the reliability of the map information, and the limited range of the map attribute corresponding to the selected lane discrimination information is associated. The limited range of the map attribute is determined based on the correspondence information shown in FIG. In the example of FIG. 9, the reliability of the map information is the oldness (newness) of the map information, and is expressed by the time difference between the first version information and the second version information (or the current date and time). . Of course, it can also be expressed by the amount of deviation between the actual travel route based on the map matching history and the route on the first map information.

The lane departure prevention control device 340 according to the present embodiment uses all information included in the map information without restriction when the map information is determined to be the latest (deviation amount is equal to or less than a predetermined amount). As the map information becomes old (as the reliability decreases), the map attribute corresponding to the lane discrimination information is limited. If the map information is older than one year, the number of lanes, the position of the lane, etc. are discriminated based on the map information excluding the lane discriminating information such as the number of lanes, road width and road type, and lane departure prevention control based on the recognized lanes (See Fig. 3)
The control procedure of the lane departure prevention control device 340 of this embodiment is shown in FIG. As shown in FIG. 10, the reliability acquisition unit 341 acquires the reliability from the map reliability calculation means 220 (S311). The control unit 342 acquires control contents (see FIG. 9) according to the reliability (S312), and performs lane departure prevention control according to the reliability (S313).

  According to the lane departure prevention control device 340 of the present embodiment, when the map information is old and there is a possibility that it does not coincide with the actual road state where lane addition or the like has been performed, lane departure prevention based on erroneous lane recognition is performed. It is possible to prevent control.

  As described above, according to the vehicle control system of the present embodiment, the information recorded in the map information is determined by determining the content of the information presentation and the vehicle control according to the reliability of the map information currently used. Even when actual road conditions are different, erroneous information presentation and vehicle control can be prevented.

  The embodiment described above is described for facilitating the understanding of the present invention, and is not described for limiting the present invention. Therefore, each element disclosed in the above embodiment is intended to include all design changes and equivalents belonging to the technical scope of the present invention.

It is a figure showing the outline of the vehicle control system of a 1st embodiment. It is a block block diagram of the vehicle control system of 1st Embodiment. It is an example of correspondence information between reliability and map attributes in map information. It is a figure which shows the control procedure of the map reliability calculation apparatus which concerns on 1st Embodiment. It is a block block diagram of the vehicle control system of 2nd Embodiment. It is a figure for demonstrating the recording of a map matching history. It is a figure which shows the control procedure of the map reliability calculation apparatus which concerns on 2nd Embodiment. It is a block block diagram of the vehicle control system of 3rd Embodiment. It is an example of correspondence information between reliability and control content. It is a figure which shows the vehicle control procedure which concerns on 3rd Embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 100 ... Vehicle control system 200 ... Map reliability calculation apparatus 210 ... Information acquisition means 211 ... 1st version information acquisition part 212 ... Map information acquisition part 213 ... 2nd version information acquisition part 214 ... Present Time acquisition unit 215 ... Map matching history acquisition unit 220 ... Map reliability calculation means 221 ... Comparison unit 222 ... Calculation unit 222
223... Output unit 223
230: Control command generation means 231: Reliability-control value table 300 ... On-vehicle device 310 ... Navigation device 320 ... Travel control device 330 ... Battery regeneration control device 340 ... Lane Deviation prevention control device 350... Presentation device

Claims (15)

Information acquisition means for acquiring the first version information of the first map information currently used and the second version information of the second map information acquired from outside;
A map reliability calculation device comprising: map reliability calculation means for calculating reliability of the first map information based on the first version information and the second version information acquired by the information acquisition means.   The map reliability calculation means compares the update date and time included in the first version information with the update date and time included in the second version information, and calculates the reliability of the first map information. The map reliability calculation device described.   The map reliability calculation device according to claim 1, wherein the map reliability calculation means calculates the reliability of the first map information by comparing an update date and time included in the first version information with a current time.   The first map information is map information of a predetermined area divided into a mesh shape, and includes information for specifying the predetermined area, and the second map information is map information of a predetermined area divided into a mesh shape. And the map reliability calculation apparatus in any one of Claims 1-3 containing the information which specifies the said predetermined area | region. Information acquisition means for acquiring a map matching history based on the first map information currently used;
The reliability of the first map information is calculated based on the amount of deviation between the actual travel history route and the route of the first map information obtained from the map matching history acquired by the information acquisition means. A map reliability calculation device comprising map reliability calculation means.   The map reliability calculation apparatus according to claim 1, further comprising a control command generation unit that generates a control command based on the reliability calculated by the map reliability calculation unit.   When the reliability is lower than a predetermined threshold, the control command generation unit causes the information acquisition unit to acquire map information newer than the first map information from the outside, and updates the first map information. The map reliability calculation apparatus according to claim 6, wherein a control command to be generated is generated.   The control command generation means refers to correspondence information in which the map attribute of the information to be used among the information included in the map information is associated with the reliability in advance, and the reliability calculated by the map reliability calculation means The map reliability calculation apparatus according to claim 6, wherein the map attribute to be used is selected based on the degree and a control command is generated for reading the map information including only the selected map attribute. A vehicle control system comprising: the map reliability calculation device according to any one of claims 1 to 8; and a travel control device that controls a travel speed of the vehicle based on map information,
The travel control device determines a vehicle deceleration according to the reliability, and controls a vehicle travel speed based on the determined deceleration. The map reliability calculation device according to any one of claims 1 to 8, and a battery regeneration control device that determines a charge / discharge schedule during travel of a battery for an electric vehicle based on a charge / discharge schedule determination factor included in the map information. A vehicle control system comprising:
The said battery regeneration control apparatus is a vehicle control system which selects the determination factor of the charging / discharging schedule in the said map information according to the reliability calculated by the said map reliability calculation apparatus. A vehicle control system comprising the map reliability calculation device according to any one of claims 1 to 8 and a lane departure prevention device that performs lane departure prevention control based on lane discrimination information included in map information,
The lane departure prevention device is a vehicle control system that selects lane discrimination information in the map information according to the reliability calculated by the map reliability calculation device. A computer equipped with a navigation function,
Obtaining the first version information of the first map information currently used and the second version information of the second map information obtained from outside;
Calculating a reliability of the first map information based on the acquired first version information and the second version information;
A program for a vehicle control device for executing the step of outputting the calculated reliability.   The step of calculating the reliability of the first map information includes comparing the update date and time included in the first version information with the update date and time included in the second version information, and thereby comparing the reliability of the first map information. The vehicle control device program according to claim 12, wherein the degree is calculated.   The step of calculating the reliability of the first map information includes calculating the reliability of the first map information by comparing an update date and time included in the first version information with a current time. The vehicle control device program described. A computer equipped with a navigation function,
Obtaining a map matching history based on the first map information currently used using the navigation function;
Calculating the reliability of the first map information based on the amount of deviation between the actual travel history route and the route of the first map information obtained from the acquired map matching history;
A program for a vehicle control device for executing the step of outputting the calculated reliability.

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