JP2006266865A - Vehicle supporting technique - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a driving support technique capable of supporting the driving of vehicles in consideration of lanes in double-lane roads. <P>SOLUTION: A driving support apparatus 10 is provided with a storage part 120 for storing road reference information IR for indicating a road map on the basis of road reference lines along roads; lane reference information IL for indicating a road map on the basis of lane reference lines along lanes; and relation information AC for relating positional relations between the road reference information IR and the lane reference information IL; a route search part 112 for searching a route for a vehicle 800 to drive on the basis of the road reference information IR; a route specification part 114 for specifying the route search on the basis of the road reference information IR on the basis of the lane reference information IL through the use of the relation information AC; and a vehicle guidance part 116 for generating guidance information for guiding the vehicle 800 on the basis of the route specified on the basis of the lane reference information IL. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a driving support technology for supporting a vehicle traveling on a road.

  2. Description of the Related Art Conventionally, as a driving support technology, a navigation system that provides guidance information for guiding a route of a vehicle to a driver of the vehicle by an image or a voice using road map information indicating a road map has been put into practical use. Conventional driving support technologies handle road map information indicating a double-track road including a plurality of lanes as a single-track road due to restrictions on storage capacity and processing speed for handling the road map information. For example, conventional road map information includes information that specifies road nodes indicating reference points on road reference lines along roads, regardless of whether the road is a single road or a double road, and road information between a plurality of nodes. It is comprised from the information which prescribes | regulates the road link which shows a section aspect. Patent Document 1 below discloses a driving support technology that handles road-based road map information.

Japanese Patent Laid-Open No. 10-49047

  However, while the Intelligent Transport System (ITS) has been advocated, it is necessary to use lanes on double-track roads for detailed guidance information provided to drivers and vehicle control using guidance information. Although it is necessary to consider, conventionally, sufficient consideration has not been given to the handling of road map information corresponding to double track roads.

  In view of the above-described problems, an object of the present invention is to provide a driving support technology that can support driving of a vehicle in consideration of a lane on a double-track road.

  In order to solve the above-described problem, a driving support device of the present invention is a driving support device that supports a vehicle traveling on a road, and includes road reference information indicating a road map based on a road reference line along the road. Correspondence that associates the positional relationship between the road reference information and the lane reference information, the road reference storage unit that stores, the lane reference storage unit that stores the lane reference information indicating the road map based on the lane reference line along the lane, and A correspondence storage unit for storing information, a route search unit for searching for a route on which the vehicle should travel based on road reference information, and a route specification for specifying a route searched by road reference information using lane reference information using the correspondence information And a generation unit that generates guidance information for guiding the vehicle based on the route specified by the lane reference information.

  According to the driving support device of the present invention, a route search can be performed using road reference information having a relatively simple data structure, and a route guidance can be performed using lane reference information having a relatively complicated data structure. . As a result, the driving support device of the present invention can improve the accuracy in route guidance while reducing the processing load in route search.

  The driving support apparatus of the present invention described above can also take the following aspects. The guidance information may include data for outputting at least one of an image and a sound that can be recognized by a user driving the vehicle. Accordingly, it is possible to realize route guidance in consideration of the lane by causing the user who drives the vehicle to recognize the guidance information with images and sounds. Moreover, guidance information is good also as including the data which the vehicle control apparatus which controls a vehicle uses in order to control a vehicle. As a result, the vehicle control device directly controls the vehicle based on the guidance information, thereby realizing the route guidance in consideration of the lane. In this case, the guidance information used by the vehicle control device may be data for controlling a device that contributes to vehicle travel, such as a motor, a power transmission device, a braking device, and a steering device.

  In addition, there are self-supporting positioning means for positioning an autonomous position, which is a position where the vehicle is based on the direction and speed of traveling of the vehicle, and a position where the vehicle is based on positioning signals transmitted from a plurality of positioning satellites. A vehicle guidance system comprising: a unidirectional positioning means for determining a unilateral position; a lane position specifying unit for specifying a position where the vehicle is present by comparing at least one of an autonomous position and a unilateral position with lane reference information; The unit may generate guidance information for guiding the vehicle based on the position specified by the lane reference information in addition to the route specified by the lane reference information. Thereby, the positional accuracy of the vehicle necessary for route guidance considering the lane can be ensured.

  The driving support device of the present invention further includes a road position specifying unit that specifies a position where the vehicle is present based on the road reference information, and a destination specifying unit that specifies a destination that the vehicle is to reach based on the road reference information. The route specified by the road reference information may be a route from the position specified by the road reference information to the destination. Thereby, it is possible to realize route guidance in consideration of the lane for the route from the current location of the vehicle to the destination.

  Further, the lane reference information includes information defining a plurality of lane nodes indicating reference points on the lane reference line, and information defining a plurality of lane links indicating lane section modes between the plurality of lane nodes. Also good. This makes it easy to handle road map information in lane units.

  The road reference information includes information defining a plurality of road nodes indicating reference points on a road reference line for a plurality of road links indicating road section modes, and the correspondence information is for the road nodes. Information that associates at least one of a lane node and a lane link located in the vicinity of the road node may be included. Thereby, the lane reference information can be easily associated with the road node of the road reference information.

  Further, the road reference information includes information defining a plurality of road links indicating a section mode of the road between a plurality of road nodes indicating a reference point on the road reference line, and the correspondence information is for the road link. It is good also as including the information which matches at least one of the lane node and lane link which are located in the area of a link. Thereby, it is possible to easily associate the lane reference information with the road link of the road reference information.

  The road reference information includes information defining a plurality of road nodes indicating a reference point on the road reference line, and information defining a plurality of road links indicating a section mode of the road between the plurality of road nodes. The reference information includes information that defines a lane node group that correlates a plurality of lane nodes that are located close to each other on each adjacent lane, and the correspondence information includes at least one of a road node and a road link. It is good also as including the information which matches a node group. Accordingly, it is possible to easily associate a plurality of lane nodes with the road reference information.

  The road reference information includes information defining a plurality of road nodes indicating a reference point on the road reference line, and information defining a plurality of road links indicating a section mode of the road between the plurality of road nodes. The reference information includes information that defines a lane link group that correlates a plurality of lane links that are located close to each other on each adjacent lane, and the correspondence information includes at least one of a road node and a road link. It is good also as including the information which matches a link group. Accordingly, it is possible to easily associate a plurality of lane links with road reference information.

  The lane section indicated by the lane link is at least one of lane type, lane width, line type that divides the lane, traffic regulation in the lane, polygon shape of the lane, and shape of the lane reference line It is good also as including. Accordingly, it is possible to realize vehicle route guidance in consideration of a lane configuration having a special aspect.

  The aspect of the present invention is not limited to the driving support device, and is applied to various modes such as a program for causing a computer to realize a function of supporting a traveling vehicle, a traveling support method for supporting the traveling vehicle, and the like. can do.

  In order to solve the above-described problem, the data structure of the present invention is a data structure of road map information indicating a road map, and road reference information indicating a road map based on a road reference line along the road; Lane reference information indicating a road map based on a lane reference line along the lane, and correspondence information that associates a positional relationship between the road reference information and the lane reference information, the lane reference information is a reference on the lane reference line It includes information defining a plurality of lane nodes indicating points, and information defining a plurality of lane links indicating lane sections between the plurality of lane nodes. In order to solve the above-described problems, the recording medium of the present invention is a computer-readable recording medium on which road map information having the data structure of the present invention is recorded. According to the data structure and the recording medium of the present invention, the lane reference information is obtained by using the correspondence information while utilizing the road reference information that has been conventionally used in order to support the traveling of the vehicle in consideration of the lane. It can be handled.

  In order to further clarify the configuration and operation of the present invention described above, a driving support technology to which the present invention is applied will be described below.

A. Configuration of the driving support device 10:
FIG. 1 is an explanatory diagram showing the configuration of the driving support device 10 mounted on the vehicle 800. A driving support apparatus 10 that is one of the embodiments of the present invention is a car navigation system that is mounted on a vehicle 800 that travels on a road and supports driving of the vehicle 800 such as route search and route guidance. The travel support device 10 exchanges information with a control unit 110 that controls each unit of the travel support device 10, a storage unit 120 that stores road map information Irm indicating a road map, and a vehicle control device 810 that controls the vehicle 800. Vehicle interface unit 130 for performing communication, user interface unit 140 for exchanging information with a user driving vehicle 800, and GPS (Global Positioning) from positioning satellite (NAVSTAR) 910 for positioning the position where vehicle 800 exists. System) GPS receiver 150 that receives signals and traffic that receives traffic information such as traffic congestion information and traffic regulation information by VICS (Vehicle Information and Communication System) via beacons 920 and FM multiplex broadcasting installed on the road An information receiving unit 160. The control unit 110 is connected to be able to receive various information from the GPS receiving unit 150 and the traffic information receiving unit 160, and is connected to be able to exchange various information with the storage unit 120, the vehicle interface unit 130, and the user interface unit 140. ing.

  The storage unit 120 of the driving support device 10 is a storage device that includes a recording medium 125 that records road map information Irm. In this embodiment, the storage unit 120 is a hard disk drive (Hard Disk Drive, hereinafter referred to as HDD) that employs a hard disk as the recording medium 125, and data stored in the recording medium 125 is based on an instruction from the control unit 110. Updated. The recording medium 125 includes road reference information IR indicating a road map based on a road reference line along the road, and lane reference information IL indicating a road map based on the lane reference line along the lane as road map information Irm. And a correspondence information table TC in which data for associating the positional relationship between the road reference information IR and the lane reference information IL is recorded. The road reference information IR includes a road node table TRn and a road link table TRk that store various data related to the road reference information IR, and the lane reference information IL stores various data related to the lane reference information IL. Lane node table TLn and lane link table TLk are included. Details of the data structure of the road map information Irm will be described later.

  The control unit 110 of the driving support device 10 searches for a route on which the vehicle 800 should travel based on the road reference information IR, and at least a part of the route searched based on the road reference information IR. A route specifying unit 114 that is used and specified by the lane reference information IL, and a vehicle guide unit 116 that generates guide information for guiding the vehicle 800 based on the route specified by the lane reference information IL. The guidance information includes data for outputting at least one of an image and sound recognizable by a user driving the vehicle 800, and data used by the vehicle control device 810 to control the vehicle 800. In the present embodiment, the control unit 110 includes a central processing unit (hereinafter referred to as a CPU) that performs various arithmetic processes, and a read-only memory (Read) that stores in advance a program that defines the arithmetic processes executed by the CPU. This is a one-chip microcomputer provided with only memory (hereinafter referred to as “ROM”) and random access memory (hereinafter referred to as “RAM”) that temporarily stores data handled by the CPU. In the present embodiment, the functions of the route search unit 112, the route specification unit 114, and the vehicle guidance unit 116 in the control unit 110 are realized by arithmetic processing of a CPU based on software. Details of the operation of the control unit 110 will be described later.

  The user interface unit 140 of the driving support device 10 includes a remote controller 142 that receives input of information from a user driving the vehicle 800, a display 144 that outputs information as an image to the user driving the vehicle 800, and the vehicle And a speaker 146 for outputting information as a voice to a user driving the 800.

  A vehicle control device 810 of the vehicle 800 controls devices (not shown) related to traveling such as an engine, a power transmission device, a braking device, and a steering device in the vehicle 800. Connected to the vehicle control device 810 are a gyro sensor 812 for detecting the traveling direction of the vehicle 800 and a vehicle speed sensor 814 for detecting the traveling speed of the vehicle 800 as sensors for detecting the behavior of the vehicle 800. The detected information on the behavior of the vehicle 800 is transferred from the vehicle control device 810 to the control unit 110 via the vehicle interface unit 130.

B. Data structure of road map information Irm:
FIG. 2 is an explanatory diagram showing the data structure of the road map information Irm. The road reference information IR in the road map information Irm includes a road node table TRn and a road link table TRk. The road node table TRn stores a plurality of road node attribute information ARn that defines a road node Rn that is a predetermined reference point on the road reference line. The road link table TRk stores a plurality of road link attribute information ARk that defines a road link Rk indicating a section of a road between a plurality of road nodes Rn. In the present specification and drawings, when each element of the road node attribute information ARn, road link attribute information ARk, road node Rn, and road link Rk is indicated individually, a code with a number after these codes is indicated. Used (for example, ARn1, ARn2, ARn3 ...). Further, in the present specification and drawings, when the same number is added after the signs of the road node attribute information ARn and the road node Rn, the road node attribute information ARn indicates the road node Rn with the same number. When the same number is attached after the signs of the road link attribute information ARk and the road link Rk, the road link attribute information ARk is information that specifies the road link Rk with the same number. (For example, the road node attribute information ARn1 is information defining the road node Rn1.)

  The lane reference information IL in the road map information Irm includes a lane node table TLn and a lane link table TLk. The lane node table TLn stores a plurality of lane node attribute information ALn that defines a lane node Ln that is a predetermined reference point on the lane reference line. The lane link table TLk stores lane link attribute information ALk that defines a lane link Lk that indicates a lane section between a plurality of lane nodes Ln. In the present specification and drawings, in the case where each element of the lane node attribute information ALn, the lane link attribute information ALk, the lane node Ln, and the lane link Lk is individually indicated, a reference numeral added with a number after these reference numerals is used. Used (for example, ALn1, ALn2, ALn3 ...). Further, in the present specification and drawings, when the same number is added after the signs of the lane node attribute information ALn and the lane node Ln, the lane node attribute information ALn indicates the lane node Ln with the same number. When the same number is added after the signs of the lane link attribute information ALk and the lane link Lk, the lane link attribute information ALk is information that specifies the lane link Lk with the same number. (For example, the lane node attribute information ALn1 is information defining the lane node Ln1.)

  The correspondence information table TC in the road map information Irm includes a plurality of pieces of correspondence information that associates one of the road node attribute information ARn and the road link attribute information ARk with at least one of the lane node attribute information ALn and the lane link attribute information ALk. AC is stored. In the present embodiment, the correspondence information AC includes information for associating a predetermined road node Rn with a lane node Ln and a lane link Lk located in the vicinity of the predetermined road node Rn, or a predetermined road link Rk. On the other hand, information for associating the lane node Ln and the lane link Lk located in the section of the predetermined road link Rk is included. In the present specification and drawings, when the correspondence information AC is individually indicated, a code numbered after these codes is used (for example, AC1, AC2, AC3...).

  FIG. 3 is an explanatory diagram showing an example of association between road reference information IR and lane reference information IL based on correspondence information AC. An example of a road reference structure model Rst composed of a road node Rn and a road link Rk based on the road reference information IR is shown in the lower part of FIG. 3, and a lane node based on the lane reference information IL is shown in the upper part of FIG. An example of a lane reference structure model Lst composed of Ln and lane link Lk is shown. In the present embodiment, the road reference line of the road reference information IR is set to a substantially center line of the road, and the lane reference line of the lane reference information IL is set to a substantially center line of the lane.

  The road reference structure model Rst and the lane reference structure model Lst in FIG. 3 both represent the road section 700 that is a part of the road, and the shape of the road section 700 is superimposed on the lane reference structure model Lst in FIG. It is drawn. The road section 700 of the present embodiment is a peripheral portion of a branch point between a two-lane main road 710 and a two-lane branch road 720, and the aspect in which the branch road 720 branches from the main road 710 is gradually widened. This is a mode of branching from the main road 710 while expanding. In the following description, the lanes of the main road 710 and the branch road 720 are referred to as the first lane and the second lane from the left lane in the vehicle traveling direction (the right direction in FIG. 3).

  The structure of the road reference structure model Rst in the road section 700 of FIG. 3 will be described. The main road 710 by the road reference structure model Rst connects the road nodes Rn2, Rn1, Rn3, which are reference points on the center line of the main road 710, and the road nodes Rn2, Rn1 along the center line of the main road 710. The road link Rk1 and the road link Rk2 connecting the road nodes Rn1 and Rn3 along the center line of the main road 710 are configured. A branch road 720 based on the road reference structure model Rst includes a road node Rn4 that is a reference point on the center line of the branch road 720, and a road link Rk3 that connects the road nodes Rn1 and Rn4 along the center line of the branch road 720. Consists of

  The structure of the lane reference structure model Lst in the road section 700 of FIG. 3 will be described. The first lane of the main road 710 according to the lane reference structure model Lst is the lane nodes Ln1 and Ln3 which are reference points on the center line of the first lane, and the lane link connecting to the lane node Ln1 along the center line of the first lane. The lane link Lk3 connects the lane nodes Ln1 and Ln3 along the center line of the first lane, and the lane link Lk5 extends from the lane node Ln3 along the center line of the first lane. The second lane of the main road 710 according to the lane reference structure model Lst is the lane nodes Ln2 and Ln4 which are reference points on the center line of the second lane, and the lane link connecting to the lane node Ln2 along the center line of the second lane. The lane link Lk4 connects the lane nodes Ln2 and Ln4 along the center line of the second lane, and the lane link Lk6 extends from the lane node Ln4 along the center line of the second lane.

  The first lane of the branch road 720 based on the lane reference structure model Lst connects the lane node Ln5, which is a reference point on the center line of the first lane, and the lane nodes Ln1 and Ln5 along the center line of the first lane. A lane link Lk7 and a lane link Lk9 extending from the lane node Ln5 along the center line of the first lane are configured. The second lane of the branch road 720 based on the lane reference structure model Lst connects the lane node Ln6, which is a reference point on the center line of the second lane, and the lane nodes Ln1 and Ln6 along the center line of the second lane. A lane link Lk8 and a lane link Lk10 extending from the lane node Ln6 along the center line of the first lane are configured.

  The association of the correspondence information AC in the road section 700 of FIG. 3 will be described. The correspondence information AC of the present embodiment includes an identification code (ID) indicating the road node Rn or road link Rk of the road reference information IR to be matched, the lane node Ln and the lane of the lane reference information IL corresponding thereto. An identification code (ID) indicating at least one of the links Lk is defined.

  In the example shown in FIG. 3, the correspondence information AC1 indicating the correspondence of the lane reference information IL to the road node Rn1 includes the road node ID indicating the road node Rn1, the lane node ID indicating the lane nodes Ln1 to 6, and the lane link Lk3. , 4, 7 and 8 lane link IDs are included. The correspondence information AC2 indicating the correspondence of the lane reference information IL to the road link Rk2 includes the road link ID indicating the road link Rk2 and the lane link ID indicating the lane links Lk5 and L6. The correspondence information AC3 indicating the correspondence of the lane reference information IL to the road link Rk3 includes a road link ID indicating the road link Rk3 and lane link IDs indicating the lane links Lk9 and L10. The correspondence information AC4 indicating the correspondence of the lane reference information IL to the road link Rk1 includes the road link ID indicating the road link Rk1 and the lane link ID indicating the lane links Lk1 and Lk2. In the present specification and drawings, the codes assigned to the road nodes Rn, road links Rk, lane nodes Ln, and lane links Lk are used as identification codes (ID) (for example, road nodes Rn1 The identification code (ID) is “Rn1”.)

  FIG. 4 is an explanatory diagram showing an example of the lane node attribute information ALn stored in the lane node table TLn. In each lane node attribute information ALn, a “lane node ID” for identifying the lane node Ln defined by the lane node attribute information ALn, and a “coordinate point” indicating the position of the lane node Ln on the map. And “connection lane link number” indicating the number of lane links Lk in contact with the lane node Ln and “connection lane link ID” indicating the lane link Lk connected to the lane node Ln.

  5 and 6 are explanatory diagrams showing an example of the lane link attribute information ALk stored in the lane link table TLk. In each of the lane link attribute information ALk, “lane link ID” for identifying the lane link Lk specified by the lane link attribute information ALk, and a lane node Ln to which the lane link Lk is connected as a starting point “ The “starting lane node ID”, the “ending lane node ID” indicating the lane node Ln to which the lane link Lk is connected as the end point, and the lane number from the left in the lane indicated by the lane link Lk in the vehicle traveling direction. "Lane number" indicating whether the vehicle is a lane, "lane type" indicating the type of the lane, "lane width" indicating the width of the lane, and the line type that divides the right side of the lane in the vehicle traveling direction "Right lane line type" indicating the lane, "Left lane line type" indicating the line type that divides the left side of the lane in the vehicle traveling direction, and traffic regulation conditions in that lane And "traffic control information" indicating includes a "lane reference line shape data" representing a shape of the sequence of coordinate points of the lane reference line lane section indicated by the lane link Lk.

  In this embodiment, when the lane indicated by the lane link Lk has a unique shape, the lane link attribute information ALk further includes “polygon shape data” indicating the polygon shape of the lane. For example, in the case of the road section 700 shown in FIG. 3, the lanes indicated by the lane links Lk1 to Lk6 have a shape in which the lane shape can be substantially specified by the lane reference line, the width, the line type, and the like. The lanes indicated by Lk7 and 8 have a unique shape in which the lane shape cannot be specified by the lane reference line, the width, and the line type. Therefore, in this embodiment, as shown in FIG. 6, polygon shape data for depicting a specific lane shape is included in the lane link attribute information ALk7,8. When a part of each lane is merged with another lane as in the lane indicated by the lane links Lk7 and 8 shown in FIG. 3, a plurality of lanes are shown together in a single polygon shape. Polygon shape data may be used.

  FIG. 7 is an explanatory diagram showing an example of the road node attribute information ARn stored in the road node table TRn. Each of the road node attribute information ARn includes a “road node ID” for identifying the road node Rn defined by the road node attribute information ARn, and a “coordinate point” indicating the position of the road node Rn on the map. And “connection road link number” indicating the number of road links Rk in contact with the road node Rn and “connection road link ID” indicating the road link Rk connected to the road node Rn.

  FIG. 8 is an explanatory diagram showing an example of road link attribute information ARk stored in the road link table TRk. In each of the road link attribute information ARk, “road link ID” for identifying the road link Rk defined by the road link attribute information ARk, and a road node Rn to which the road link Rk is connected as a starting point “ The “starting road node ID”, the “end road node ID” indicating the road node Rn to which the road link Rk is connected as the end point, the “road width” indicating the width of the road, and the road section indicated by the road link Rk “Road reference line shape data” indicating the shape of the road reference line as a coordinate point sequence is included.

C. Operation of the driving support device 10:
FIG. 9 is a flowchart showing a driving support process executed by the control unit 110 of the driving support device 10. The driving support process by the control unit 110 is a process for searching for a route on which the vehicle 800 should travel using the road map information Irm and guiding the vehicle 800 according to the searched route. In the present embodiment, the driving support process by the control unit 110 is a process realized by an operation based on software in the CPU of the control unit 110. In the present embodiment, the driving support process by the control unit 110 is started based on instruction information input from the user via the user interface unit 140, and is repeatedly executed at a predetermined timing until the vehicle 800 reaches the destination. The

  When the driving support process of FIG. 9 is started, the control unit 110 of the driving support apparatus 10 executes a route search process (step S10) for searching for a route on which the vehicle 800 should travel using the road reference information IR. After executing the route search process (step S10), the control unit 110 executes a route specifying process (step S20) for specifying the route searched by the road reference information IR using the lane reference information IL using the correspondence information AC. To do. After executing the route specifying process (step S20), the control unit 110 performs a vehicle guidance process (step S30) for generating guidance information for guiding the vehicle 800 based on the route specified by the lane reference information IL. After that, the driving support process shown in FIG. 9 is terminated. Details of each of the route search process (step S10), the route identification process (step S20), and the vehicle guidance process (step S30) executed by the control unit 110 will be described later.

  FIG. 10 is a flowchart showing details of the route search process (step S10) executed by the control unit 110 of the driving support device 10. When starting the route search process (step S10), the control unit 110 determines whether or not a route search is necessary (step S110). When the route search is necessary, the vehicle 800 is the original when the route is not set because the driving support process is executed for the first time, or when the route needs to be searched again due to the change of the destination. There are cases where it becomes necessary to re-search for a route when the route is deviated. The case where the route search is unnecessary is a case where the route is set and does not need to be changed in the execution of the driving support process before the previous time.

  When determining that the route search is necessary (step S110), the control unit 110 specifies the vehicle position where the vehicle 800 exists based on the road reference information IR (step S120). When specifying the vehicle position, the control unit 110 calculates the autonomous position, which is the position of the vehicle 800 based on the traveling direction and the traveling speed of the vehicle 800 detected by the gyro sensor 812 and the vehicle speed sensor 814, and receives GPS signals. By calculating the other position which is the position of the vehicle 800 based on the GPS signal received by the unit 150, and referring to the calculated autonomous position and other position and the road reference information IR read from the storage unit 120 The vehicle position is specified (so-called map matching). After specifying the vehicle position based on the road reference information IR (step S120), the control unit 110 specifies the destination to be reached by the vehicle 800 based on the road reference information IR (step S130). The specified destination is based on information input from the user via the user interface unit 140 or information stored in advance in the storage unit 120. For example, the vehicle position and the destination are “a coordinate point of a predetermined road node Rn”, “a coordinate point that is a third from the start point of the predetermined road link Rk”, “a predetermined point other than the road node Rn and the road link Rk”. Is specified by the road reference information IR.

  After specifying the vehicle position and the destination (steps S120 and S130), the control unit 110 sets search conditions based on information input from the user via the user interface unit 140 or information stored in advance in the storage unit 120. Obtain (step S140). The search conditions include route points that should be routed along the route to the destination, general roads, toll roads, and expressways. The route search may be performed with priority given to.

  After acquiring the search condition (step S140), the control unit 110 searches for the vehicle route based on the road reference information IR according to the search condition (step S150). The vehicle route is searched by specifying a road node Rn and a road link Rk that connect the specified vehicle position to the destination. The road node ID and road link ID for the identified road node Rn and road link Rk are stored in the built-in memory of the control unit 110 or the storage unit 120 as the searched vehicle route. After searching for a vehicle route based on road reference information IR (step S150), control unit 110 ends the route search process shown in FIG.

  FIG. 11 is a flowchart showing details of the route specifying process (step S20) executed by the control unit 110 of the driving support device 10. When starting the route specifying process (step S20), the control unit 110 determines whether route specification based on the lane reference information IL is necessary (step S210). The case where the route specification based on the lane reference information IL is necessary is a case where the route search is executed in the immediately preceding route search process (step S10), and the route search is executed in the immediately preceding route search process (step S10). If not, it is not necessary to execute route specification based on the lane reference information IL.

  When the control unit 110 determines that the route specification based on the lane reference information IL is necessary (step S210), the road node Rn and the road link constituting the vehicle route searched in the route search process (step S10). The correspondence information AC related to Rk is searched (step S220). In the search for the correspondence information AC, the correspondence information AC defined for the road node ID and road link ID stored as the searched vehicle route is specified from the correspondence information table TC stored in the storage unit 120. Is done by.

  After retrieving the correspondence information AC (step S220), the control unit 110 identifies the vehicle route by the lane node Ln and the lane link Lk associated with the retrieved correspondence information AC (step S230). The lane node ID and lane link ID for the specified lane node Ln and lane link Lk are stored in the built-in memory of the control unit 110 or the storage unit 120 as the specified vehicle route. After specifying the vehicle route based on the lane reference information IL (step S230), the control unit 110 ends the route specifying process shown in FIG.

  For example, in the road map information Irm shown in FIG. 3, as a vehicle route based on the road reference information IR, a vehicle route including “road link Rk1”, “road node Rn1”, and “road link Rk3” is processed as a route search process ( When the search is performed in step S10), “corresponding information AC4”, “corresponding information AC1”, and “corresponding information AC3” are searched in the route specifying process (step S20) (step S220), and then the lane reference As a vehicle route based on the information IL, a vehicle route composed of “lane links Lk1, 2”, “lane nodes Ln1 to 6, lane links Lk3, 4, 7, 8”, and “lane links Lk9, 10” is specified. (Step S230).

  FIG. 12 is a flowchart showing details of the vehicle guidance process (step S30) executed by the control unit 110 of the driving support device 10. When the vehicle guidance process (step S30) is started, the control unit 110 calculates the autonomous position based on the traveling direction and the traveling speed of the vehicle 800 detected by the gyro sensor 812 and the vehicle speed sensor 814, and receives it by the GPS reception unit 150. The other position is calculated based on the obtained GPS signal, and the vehicle position is specified by referring to the calculated autonomous position and other position and the lane reference information IL read from the storage unit 120 (so-called map matching). (Step S310). After identifying the vehicle position based on the lane reference information IL (step S310), the control unit 110 generates guidance information based on the vehicle route (step S20) and the vehicle position (step S310) specified based on the lane reference information IL. (Step S320). The guidance information includes user data for outputting images and sounds that can be recognized by a user driving the vehicle 800, control data used by the vehicle control device 810 to control the vehicle 800, and the like. The control unit 110 outputs the guidance information to the display 144 and the speaker 146 via the user interface unit 140 when the guidance information is user data, and the vehicle interface unit 130 when the guidance information is control data. The guidance information is output to the vehicle control device 810 via (step S330). Then, the control apparatus 110 complete | finishes the vehicle guidance process shown in FIG.

  FIG. 13 is an explanatory diagram showing an example of a display image G1 displayed on the display 144 based on the guidance information. The display image G1 displayed on the display 144 based on the guidance information is based on the guidance information as user data based on the image. The display image G1 includes a vehicle position image Gpo indicating a vehicle position, a travel locus image Gpl indicating a locus on which the vehicle 800 has traveled, a lane, and a road map image Grm drawn based on the lane reference information IL. A guidance trajectory image Ggl indicating a trajectory that the vehicle 800 should travel in order to guide the vehicle 800 to the vehicle path specified by the reference information IL, and an orientation image Gco indicating the orientation of the displayed road map image Grm. Prepare. In the example illustrated in FIG. 13, the vehicle position image Gpo and the travel locus image Gpl indicate that the vehicle 800 is traveling in the second lane of the main road, and the guidance trajectory image Ggl indicates that the vehicle 800 is traveling from the second lane of the main road. After the lane change to the first lane, the lane change is shown from the first lane of the main road to the second lane of the branch lane. In this case, the user driving the vehicle 800 operates the vehicle 800 according to the guidance trajectory image Ggl, so that the vehicle 800 is guided to the destination. In addition, it is good also as notifying that a lane change should be carried out with respect to a user by generating a sound from the speaker 146 according to the display of the display image G1.

  In the situation shown in FIG. 13, for example, in the situation shown in FIG. 13, the guidance information as the control data is information for reducing the running output from the motor of the vehicle 800 in preparation for the lane change from the main road to the branch lane, Information for changing the traveling gear ratio of the power transmission device, information for operating the braking device of the vehicle 800, information for designating a steering angle in the steering device of the vehicle 800, and the like may be used. In this case, the vehicle control device 810 controls each part of the vehicle 800 based on the guidance information as control data, whereby the vehicle 800 is guided to the destination.

  According to the driving support apparatus 10 of the embodiment described above, a route search is performed using road reference information IR having a relatively simple data structure, and a route is detected using lane reference information IL having a relatively complicated data structure. Guidance can be made. As a result, the driving support device 10 can improve the accuracy in route guidance while reducing the processing load in the route search.

D. Other embodiments:
As mentioned above, although embodiment of this invention was described, this invention is not limited to such embodiment at all, Of course, it can implement with various forms within the range which does not deviate from the meaning of this invention. is there. For example, instead of directly associating the lane node attribute information ALn and the lane link attribute information ALk with the correspondence information AC, the correspondence information AC is obtained via information associating a plurality of lane node attribute information ALn and lane link attribute information ALk with each other. It is good also as matching with.

  FIG. 14 is an explanatory diagram showing a data structure of road map information Irm in another embodiment. The road map information Irm in FIG. 11 is the same as the road map information Irm in FIG. 2 except that the way of correspondence between the road reference information IR and the lane reference information IL based on the correspondence information AC is different. The lane reference information IL in another embodiment further includes a node group table TGn and a link group table TGk. The node group table TGn stores node group attribute information AGn that correlates a plurality of lane node attribute information ALn with respect to a plurality of lane nodes Ln that are close reference points of adjacent lanes and that are adjacent to each other. The TGk stores link group attribute information AGk that indicates a mode of each adjacent lane and correlates a plurality of lane link attribute information ALk related to a plurality of lane links Lk that are located close to each other. The correspondence information AC in another embodiment is information for associating a plurality of lane node attribute information ALn with the road reference information IR via the node group attribute information AGn, and the plurality of lane link attribute information ALk as the link group attribute information. This is information associated with the road reference information IR via AGk. In the present specification and drawings, when each element of the node group attribute information AGn and the link group attribute information AGk is individually indicated, a code assigned a number after these codes is used.

  In another embodiment shown in FIG. 14, the node group attribute information AGn1 is information for correlating the lane node attribute information ALn1 and 2, and the node group attribute information AGn2 is for correlating the lane node attribute information ALn3 and 4. The link group attribute information AGk1 is information that associates the lane link attribute information ALk1 and 2 with each other, and the link group attribute information AGk2 is information that associates the lane link attribute information ALk3 and 4 with each other. In another embodiment shown in FIG. 14, the correspondence information AC1 is information that associates the node group attribute information AGn1, 2 and the link group attribute information AGk2 with the road node attribute information ARn1 of the road reference information IR, and the correspondence information AC4 The link group attribute information AGk1 is associated with the road link attribute information ARk1 of the road reference information IR. Thus, when a plurality of lane nodes Ln and lane links Lk correspond to the road reference information IR to be replaced, the plurality of lane node attribute information ALn and lane link attribute information ALk can be easily handled.

  In the present embodiment, the road reference line of the road reference information IR is set to the center line of the road, and the lane reference line of the lane reference information IL is set to the center line of the lane. The reference is not limited to the center line, and may be an arbitrary reference such as a right boundary line or a left boundary line. In addition, the lane reference information IL is not limited to information about the branch point of the road, but it is not limited to the junction of the road, the intersection, the toll road on the toll road, the junction, the interchange, etc. It may be information. Further, in the present embodiment, the driving support process illustrated in FIG. 9 is realized based on software, but may be realized based on hardware. The recording medium 125 for storing the road map information Irm is not limited to a hard disk, and any recording medium that can store the road map information Irm may be used. A DVD (Digital Versatile Disk), a CD (Compact Disk), a semiconductor A memory or the like can be used. Further, the present invention is not limited to application to a car navigation apparatus, but is applied to various devices that handle road map information Irm, such as mobile communication devices with a navigation function and computers having a function of simulating road conditions. be able to.

  In addition, a server for storing the road map information Irm is provided on the network, and the driving support device 10 further includes a network communication unit for connecting to the network by wireless communication. The road map information Irm may be acquired via In addition, a server having the functions of the route search unit 112, the route specification unit 114, the vehicle guidance unit 116, and the storage unit 125 of the present embodiment is provided on the network, and the driving support device 10 is further connected to the network by wireless communication. By providing the network communication unit for doing so, the driving support device 10 may transmit necessary information to the server via the network and receive guidance information from the server. Moreover, guidance information is not restricted to what produces | generates both user data and control data, Only user data may be produced | generated and only control data may be produced | generated.

FIG. 2 is an explanatory diagram showing a configuration of a driving support device 10 mounted on a vehicle 800. It is explanatory drawing which shows the data structure of road map information Irm. It is explanatory drawing which shows an example of matching between the road reference information IR and lane reference information IL by correspondence information AC. It is explanatory drawing which shows an example of the lane node attribute information ALn stored in the lane node table TLn. It is explanatory drawing which shows an example of the lane link attribute information ALk stored in the lane link table TLk. It is explanatory drawing which shows an example of the lane link attribute information ALk stored in the lane link table TLk. It is explanatory drawing which shows an example of the road node attribute information ARn stored in the road node table TRn. It is explanatory drawing which shows an example of the road link attribute information ARk stored in the road link table TRk. 4 is a flowchart showing a driving support process executed by the control unit 110 of the driving support device 10. 5 is a flowchart showing details of a route search process (step S10) executed by the control unit 110 of the driving support device 10. It is a flowchart which shows the detail of the route specific process (step S20) which the control part 110 of the driving assistance device 10 performs. 4 is a flowchart showing details of a vehicle guidance process (step S30) executed by the control unit 110 of the driving support device 10. It is explanatory drawing which shows an example of the display image G1 displayed on the display 144 based on guidance information. It is explanatory drawing which shows the data structure of the road map information Irm in another embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 ... Driving assistance device 110 ... Control part 112 ... Route search part 114 ... Route specification part 116 ... Vehicle guidance part 120 ... Storage part 125 ... Recording medium 130 ... Vehicle interface unit 140 ... User interface unit 142 ... Remote control 144 ... Display 146 ... Speaker 150 ... GPS receiving unit 160 ... Traffic information receiving unit 700 ... Road section 710 ... Main road 720 ... Branch road 800 ... Vehicle 810 ... Vehicle controller 812 ... Gyro sensor 814 ... Vehicle speed sensor 910 ... Positioning satellite 920 ... Beacon G1 ... Display image Grm ... Road map image Gpo ... Vehicle position image Gpl ... Running locus image Ggl ... Guidance locus image Gco ... Direction image Irm ... Road map information IR ... Road reference information TRn .. .Road node table TRk ... Road link table ARn ... Road node attribute information ARk ... road link attribute information Rst ... road reference structure model Rn ... road node Rk ... road link IL ... lane reference information TLn ... lane node table TLk ... lane link table ALn ... Lane node attribute information ALk ... Lane link attribute information Ln ... Lane node Lk ... Lane link Lst ... Lane reference structure model TGn ... Node group table TGk ... Link group table AGn ... Node group attribute information AGk ... Link group attribute information TC ... Correspondence information table AC ... Correspondence information

Claims (15)

A driving support device for supporting a vehicle traveling on a road,
A road reference storage unit that stores road reference information indicating a road map based on a road reference line along the road;
A lane reference storage unit that stores lane reference information indicating a road map based on a lane reference line along the lane;
A correspondence storage unit that stores correspondence information that associates a positional relationship between the road reference information and the lane reference information;
A route search unit for searching for a route on which the vehicle should travel based on the road reference information;
A route identifying unit that identifies the route searched by the road reference information by the lane reference information using the correspondence information;
A driving assistance apparatus comprising: a vehicle guidance unit that generates guidance information for guiding the vehicle based on the route specified by the lane reference information.   The driving assistance device according to claim 1, wherein the guidance information includes data for outputting at least one of an image and a sound that can be recognized by a user driving the vehicle.   The driving assistance device according to claim 1, wherein the guidance information includes data used by a vehicle control device that controls the vehicle to control the vehicle. The driving support device according to any one of claims 1 to 3, further comprising:
A self-supporting positioning means for positioning an autonomous position that is a position where the vehicle is present based on a direction and a speed in which the vehicle travels;
Other positioning means for positioning the other position, which is the position where the vehicle exists, based on positioning signals transmitted from a plurality of positioning satellites;
A lane position specifying unit that specifies a position where the vehicle is present by comparing at least one of the autonomous position and the other position and the lane reference information;
The vehicle guidance unit generates guidance information for guiding the vehicle based on the position specified by the lane reference information in addition to the route specified by the lane reference information. The driving support device according to any one of claims 1 to 4, further comprising:
A road position specifying unit for specifying the position where the vehicle exists by the road reference information;
A destination specifying unit for specifying a destination to be reached by the vehicle based on the road reference information,
The route specified by the road reference information is a route from the position specified by the road reference information to a destination. The driving support device according to any one of claims 1 to 5,
The lane reference information is
Information defining a plurality of lane nodes indicating reference points on the lane reference line;
A driving support device including information defining a plurality of lane links indicating a section mode of the lane between the plurality of lane nodes. The travel support device according to claim 6,
The road reference information includes information defining a plurality of road nodes indicating reference points on the road reference line for a plurality of road links indicating a section aspect of the road,
The correspondence information includes information for associating at least one of the lane node and the lane link located in the vicinity of the road node with the road node. The travel support device according to claim 6,
The road reference information includes information defining a plurality of road links indicating a section aspect of the road between a plurality of road nodes indicating a reference point on the road reference line,
The correspondence information includes information associating at least one of the lane node and the lane link located in a section of the road link with the road link. The travel support device according to claim 6,
The road standard information is
Information defining a plurality of road nodes indicating reference points on the road reference line;
Information defining a plurality of road links indicating a section mode of the road between the plurality of road nodes, and
The lane reference information includes information that defines a lane node group that correlates a plurality of the lane nodes that are located close to each other on each adjacent lane,
The correspondence information includes information associating the lane node group with at least one of the road node and the road link. The travel support device according to claim 6,
The road standard information is
Information defining a plurality of road nodes indicating reference points on the road reference line;
Information defining a plurality of road links indicating a section mode of the road between the plurality of road nodes, and
The lane reference information includes information defining a lane link group that correlates a plurality of the lane links that are located close to each other on each adjacent lane,
The correspondence information includes information associating the lane link group with at least one of the road node and the road link.   The lane section mode indicated by the lane link includes the type of the lane, the width of the lane, the type of line that divides the lane, the traffic regulation in the lane, the polygon shape of the lane, and the shape of the lane reference line The driving support device according to claim 7, comprising at least one of them. A program for causing a computer to realize a function of supporting a traveling vehicle,
A function for storing road reference information indicating a road map based on a road reference line along the road;
A function for storing lane reference information indicating a road map based on a lane reference line along the lane;
A function of storing correspondence information that associates a positional relationship between the road reference information and the lane reference information;
A function for searching for a route on which the vehicle should travel based on the road reference information;
A function for identifying a route searched by the road reference information by the lane reference information using the correspondence information;
A program that realizes a function of generating guidance information for guiding the vehicle based on a route specified by the lane reference information. A driving support method for supporting a traveling vehicle,
Prepare road reference information that shows a road map based on road reference lines along the road,
Prepare lane reference information showing the road map based on the lane reference line along the lane,
Prepare correspondence information that associates the positional relationship between the road reference information and the lane reference information,
The route that the vehicle should travel is searched by the road reference information,
The route searched by the road reference information is specified by the lane reference information using the correspondence information,
A driving support method for generating guidance information for guiding the vehicle based on a route specified by the lane reference information. A data structure of road map information indicating a road map,
Road reference information showing a road map based on a road reference line along the road;
Lane reference information showing a road map based on a lane reference line along the lane,
Correspondence information for associating a positional relationship between the road reference information and the lane reference information,
The lane reference information is
Information defining a plurality of lane nodes indicating reference points on the lane reference line;
A data structure including: information defining a plurality of lane links indicating a section aspect of the lane between the plurality of lane nodes.   A computer-readable recording medium on which road map information having the data structure according to claim 14 is recorded.

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