JP2010175295A - Device of updating map data for vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To control a vehicle while quickly and properly reflecting the change of road statuses on map data. <P>SOLUTION: The device of updating map data for a vehicle includes a storage device storing map data a current position specifying means for specifying the current position of an own vehicle, an approach determination means for determining whether or not the own vehicle approaches one of a plurality of specific points predetermined in the map data by referring to the map data using the current position of the own vehicle predetermined by the current position specifying means, and a specific point deletion means for controlling the storage device so that the specific point which the own vehicle approaches is deleted from the map data when it is determined by the approach determination means that the own vehicle approaches one of the plurality of specific points and when a prescribed condition including the condition that an average value of a vehicle speed input in a prescribed observation duration is equal to or more larger than a prescribed value. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a vehicle map data update device that updates map data based on a vehicle state.

  In recent years, the current position of the host vehicle is specified using GPS (Global Positioning System) or the like, and on a map data stored in a storage device such as an HDD (Hard Disk Drive), CD-ROM, or DVD, Research has been conducted on various vehicle controls when it is detected that the host vehicle is approaching, and is being put to practical use.

  Examples of the specific point include an expressway tollgate and a branch point, an intersection to turn right and left when performing route guidance, a destination input by a driver, a traffic accident frequent occurrence point, and the like. In vehicle control, the driver simply informs the driver that a specific point is approaching by voice or image display, automatic braking control that automatically activates a brake, downshift control (or upshift control). Etc. are considered.

  It is desirable that the map data used in such a control device is updated as needed according to changes in road conditions. As a method for updating the map data, the user may purchase the latest version of CD-ROM or the like and perform the update operation by the user, or download it from a facility outside the vehicle (such as an information service center of an automobile manufacturer) via communication (for example, Patent Document 1). Patent Document 1 detects difference information by comparing map data stored in a navigation device with the latest version of map data among update map information stored in a map information distribution center. It is described that the difference information displayed is displayed on a liquid crystal display and the map data stored in the navigation device is updated when the user selects to update.

In addition, as another method, a sign placed along the road, a sign drawn on the road, a signboard of a peripheral facility along the road, etc. are imaged with a camera and registered in advance according to the point on the map data. A method of updating map data by comparing a registered figure with a captured image is disclosed (for example, see Patent Document 2).
JP 2007-114422 A JP 2002-243469 A

  The technique described in the above-mentioned Patent Document 1 is intended to suppress the work burden and financial burden on the user. If the area updated in updating the map data is an area that has nothing to do with the user, or if the update content is only a slight change, there is little need for users to update the map data. By making it possible for the user to choose not to update, it is possible to suppress the troublesome work at the time of updating, and to reduce the financial burden on the user when a fee is required to update the map data .

  However, it is assumed that there is a time lag until the latest version of map data in the map information distribution center is changed to reflect the change in road conditions. Therefore, there may be a case where changes in road conditions cannot be reflected in map data quickly. Of course, the same applies when the user purchases the latest CD-ROM or the like and performs the update operation.

  Further, the method described in Patent Document 2 cannot cope with changes in road conditions that are not represented by road signs or the like. Further, since the in-vehicle camera and the captured image recognition apparatus are essential components, the cost, weight, and size of the apparatus are large, and the time and power required for the image recognition process cannot be ignored.

  The present invention is for solving such problems, and a main object of the present invention is to provide a vehicular map data updating apparatus capable of quickly and appropriately reflecting changes in road conditions in map data. .

In order to achieve the above object, the first aspect of the present invention provides:
A storage device storing map data;
Current position specifying means for specifying the current position of the host vehicle;
Whether or not the vehicle is approaching one of a plurality of specific points predetermined in the map data by referring to the map data using the current position of the vehicle specified by the current position specifying means An approach determination means for determining
A predetermined value including an average value of vehicle speeds input during a predetermined observation period being equal to or greater than a predetermined value when the approach determination means determines that the host vehicle is approaching one of the plurality of specific points; If the condition is satisfied, a specific point deleting means for controlling the storage device to delete the specific point where the host vehicle is approaching from the map data;
It is a map data update device for vehicles provided with.

  According to the first aspect of the present invention, in order to delete a specific point from the map data when a predetermined condition including that the average value of the vehicle speed input during the predetermined observation period is equal to or greater than the predetermined value is satisfied, the road Changes in the situation can be reflected in map data quickly and appropriately.

In order to achieve the above object, the second aspect of the present invention provides:
A storage device storing map data;
Current position specifying means for specifying the current position of the host vehicle;
Weather information acquisition means for acquiring weather information around the vehicle;
Whether the vehicle is approaching one of a plurality of specific points predetermined in the map data by referring to the map data using the current position of the vehicle specified by the current position specifying means An approach determination means for determining
A predetermined condition including that the weather information acquired by the weather information acquisition means does not indicate a snow cover state when the approach determination means determines that the host vehicle is approaching one of the plurality of specific points. When the condition is satisfied, the specific point deleting means for controlling the storage device to delete the specific point where the host vehicle is approaching from the map data;
It is a map data update device for vehicles provided with.

  According to this second aspect of the present invention, in order to delete a specific point from the map data when the meteorological information acquired by the meteorological information acquiring means satisfies a predetermined condition including that it does not indicate a snow cover state, Changes in the situation can be reflected in map data quickly and appropriately.

  ADVANTAGE OF THE INVENTION According to this invention, the map data update apparatus for vehicles which can be reflected to map data quickly and appropriately can be provided.

  Hereinafter, the best mode for carrying out the present invention will be described with reference to the accompanying drawings.

<First embodiment>
Hereinafter, the map data update device for vehicles concerning the 1st example of the present invention is explained. The vehicle map data update device according to the present embodiment provides a predetermined map corresponding to a specific point when the vehicle approaches (or passes through) one of the specific points registered in advance in the map data. Since it is preferable to be configured as a part of a vehicle control device that performs vehicle control, a vehicle control device including a vehicle map data update device will be generally described below.

  FIG. 1 is a diagram illustrating an example of the overall configuration of a vehicle control device 1 including a vehicle map data update device according to a first embodiment of the present invention. The vehicle control device 1 is configured around a navigation ECU (Electronic Control Unit) 10. The navigation ECU 10 includes, for example, a GPS receiver 40, an INS (Inertial Navigation System) sensor 42, and an information output device. 50, the engine ECU 52, and the brake ECU 54 are connected. In addition, the arrow in a figure shows the flow of the main information communication in a vehicle performed using appropriate communication protocols, such as CAN (Controller Area Network), BEAN, AVC-LAN, and FlexRay.

  The navigation ECU 10 is, for example, a computer unit in which a ROM, a RAM, and the like are connected to each other via a bus with a CPU at the center. In addition, a storage device 12 such as an HDD (Hard Disc Drive) or a DVD (Digital Versatile Disk) I / O port, timer, counter, etc. are provided. The ROM stores programs and data executed by the CPU.

  The storage device 12 stores map data 20. The map data 20 represents a road shape by a plurality of node coordinates indicating intersections and the like and links connecting them. Each link stores road width, the number of lanes, curvature, and the like. Further, the map data 20 includes information on typical facilities and information on specific points where the above-described vehicle control should be performed. As the information on the specific point, the coordinates and type of the specific point, the vehicle control to be performed, and the like are stored as a series of data sets. The type refers to, for example, a highway toll gate, an intersection, a temporary stop position, a downtown area, a leisure facility, a shopping facility, a school zone, a steep slope, and the like.

  The navigation ECU 10 includes a current position specifying unit 30, a specific point approach determining unit 32, a vehicle control executing unit 34, a vehicle, and the like as main functional blocks that function when the CPU executes a program stored in the ROM. A state monitor unit 36 and a map data update unit 38 are provided.

  The current position specifying unit 30 specifies the current position (latitude and longitude) of the host vehicle based on signals input from the GPS receiver 40 and the INS sensor 42. The GPS receiver 40 receives a radio signal including satellite orbit and time data from a GPS satellite and outputs the radio signal to the navigation ECU 10. The INS sensor 42 includes, for example, a gyro sensor and a vehicle speed sensor. The current position specifying unit 30 specifies the current position of the host vehicle by calculation based on the time difference of the radio signal received by the GPS receiver 40 as a rule, but the output of the INS sensor 42 is outside the reception area of the GPS receiver 40. Based on the correction, the current position of the host vehicle is estimated. Further, processing for periodically checking whether or not the current position of the vehicle specified by matching with map data is accurate may be performed, and various types of information received via a beacon receiver or an FM multiplex broadcast receiver may be performed. You may correct | amend the present position of the own vehicle based on information. The current position of the host vehicle specified by the current position specifying unit 30 is output to the specific point approach determining unit 32. Note that “output to the specific point approach determination unit 32” is an expedient expression, and actually, an operation of writing each function block to a shared memory that can be referred to may be performed.

  The specific point approach determination unit 32 refers to the map data 20 using the transition of the current position of the host vehicle input from the current position specifying unit 30, and determines whether the host vehicle is approaching the specific point described above. The determination result is output to the vehicle control execution unit 34 and the vehicle state monitoring unit 36. Here, “approaching” means, for example, that a road (link) that is running is identified from the travel locus of the host vehicle, and the current position of the host vehicle moves in a direction toward the specified point on the road. And that the distance between the vehicle and the specific point is within a predetermined distance.

  The predetermined distance may be determined in two stages, ie, a predetermined distance xx [m] in the first approach stage and a predetermined distance yy [m] in the second approach stage (xx> yy). That is, when the distance between the host vehicle and the specific point is within the predetermined distance xx, a first determination result indicating that the host vehicle is approaching the specific position is output, and the distance between the host vehicle and the specific point is determined. Is within the predetermined distance yy, a second determination result indicating that the host vehicle is approaching the specific position is output. Further, the predetermined distances xx and yy may not be distinguished (xx = yy; determination relating to the predetermined distance is not performed in two stages).

  For example, when the specific point approach determination unit 32 outputs the second determination result, the vehicle control execution unit 34 executes predetermined vehicle control. Specifically, announcement control, shift down control, engine output adjustment control, brake control, and the like regarding a specific point are executed.

  Announcement control is performed using the information output device 50, for example. The information output device 50 includes a liquid crystal display device configured as a touch panel, a speaker, a buzzer, and the like.

  Shift down control and engine output adjustment control are performed by outputting an instruction signal to the engine ECU 52. The engine ECU 52 is, for example, a computer unit having the same hardware configuration as that of the navigation ECU 10, and is connected to a throttle motor, an igniter, a transmission, and the like. The engine ECU 52 performs throttle opening adjustment control, ignition timing adjustment control, shift control, and the like based on the amount of operation of the accelerator pedal (accelerator opening) and the state of the shift lever at normal times when the instruction signal from the navigation ECU 10 is not input. However, when an instruction signal from the navigation ECU 10 is input, vehicle control based on the instruction signal from the navigation ECU 10 is executed instead of (or in addition to) the above-described various controls.

  Brake control is performed by outputting an instruction signal to the brake ECU 54. The brake ECU 54 is, for example, a computer unit having a hardware configuration similar to that of the navigation ECU 10. For example, an electronically controlled hydraulic brake device or the like is a brake device that can output a desired braking force regardless of the operation amount of the brake pedal. It is connected. The brake ECU 54 performs control to output brake torque to the axle based on the operation amount (brake pedaling amount) of the brake pedal at the normal time when the instruction signal from the navigation ECU 10 is not input. When a signal is input, brake control based on an instruction signal from the navigation ECU 10 is executed instead of (or in addition to) the above control.

  For example, when the specific point approach determination unit 32 outputs the second determination result, the vehicle state monitor unit 36 receives the vehicle state signal input from the accelerator opening sensor 60 and the vehicle speed sensor 62 connected to the navigation ECU 10. Monitoring is started (when the first determination result is output as described later, the other times may be set as the start time). The vehicle state monitor unit 36 outputs a map data update instruction signal to the map data update unit 38 based on the transition of the vehicle state signal input from the vehicle state acquisition sensor 60. A specific example of such processing will be described later.

  When the map data update instruction signal is input from the vehicle state monitor 36, the map data update unit 38 changes the contents of the map data 20 according to the contents of the instruction signal.

  Here, the vehicle map data update device according to the present embodiment is obtained by removing the vehicle control execution unit 34 from the vehicle control device 1.

  Hereinafter, the operation when the navigation ECU 10 updates the map data 20 will be described. FIG. 2 is an example of a flowchart showing a flow of characteristic processing executed by the navigation ECU 10 according to the present embodiment. This flow stipulates vehicle control related to the toll gate on the highway and data deletion processing related to the main toll gate (specific point = highway toll gate).

  This flow is repeatedly executed with a predetermined period. Further, in the following description, description of which functional block executes the process of each step is omitted.

  First, the current position of the host vehicle is specified (S100).

  Then, the map data 20 is referred to using the transition of the current position of the identified own vehicle, and it is determined whether or not the own vehicle is traveling on the expressway (S102). If it is determined that the host vehicle is not traveling on the expressway, one routine of this flow is terminated without performing any processing.

  If it is determined that the host vehicle is traveling on an expressway, map data of xx [m] ahead of the host vehicle is read (S104), and a toll gate on the main line exists within xx [m] ahead of the host vehicle It is determined whether or not to perform (S106). If it is determined that there is no toll gate on the main line within xx [m] ahead of the host vehicle, one routine of this flow is terminated without performing any processing.

  If it is determined that there is a toll gate on the main line within xx [m] ahead of the host vehicle, it is determined whether the main toll gate is not less than zero [m] and not more than yy [m] (S108). ).

  If it is determined that the toll gate on the main line is zero [m] or more and yy [m] or less, the downshift control area flag is turned on (S110). Otherwise, the downshift control area flag is set. The state is turned off (S112). Note that the shift-down control region flag expresses an on state and an off state by storing a predetermined value in a predetermined region such as a RAM provided in the navigation ECU 10.

  Subsequently, the vehicle control execution unit 34 determines whether or not the downshift control region flag is on and the accelerator opening Ac is less than the predetermined opening A1 (= accelerator off) (S114). If a negative determination is obtained in this step, one routine of this flow is terminated without performing any processing.

  On the other hand, when it is determined that the downshift control region flag is on and the accelerator opening is less than the predetermined opening, downshift control is performed before the toll gate on the main line (S116). At this time, brake control may be performed together. Thereby, the smooth deceleration operation required before the toll gate on the main line can be supported. Here, the accelerator-off may be omitted as a start condition for the downshift control.

  When a positive determination is obtained in S108, the processes of S118 to S120 are executed in parallel with the processes of S110 and subsequent steps.

  First, in the observation period (for example, the observation period is the time from when the positive determination is obtained in S108 until the predetermined time elapses), the accelerator opening Ac is never less than the predetermined opening A2, and the observation period It is determined whether or not the average vehicle speed Vav is equal to or higher than a predetermined vehicle speed (for example, about 50 [km / h]) V1 (S118). The average vehicle speed is obtained, for example, by sampling the vehicle speed input from the vehicle speed sensor 62 at a predetermined period and obtaining the average of the sampled vehicle speeds. The predetermined openings A1 and A2 may be the same or different.

  With such a determination, it is possible to determine whether or not a driving operation that cannot be assumed in front of the main toll gate in the own vehicle or a vehicle operation has been performed. Accordingly, it is possible to appropriately detect whether or not the main toll gate has been abolished or relocated by this determination.

  If a positive determination is obtained in S118, the main toll gate is deleted from the map data 20 (S120), and the parallel processing is terminated. As a result, the main toll gate that has been abolished or moved can be quickly deleted from the map data 20.

  Here, in addition to the condition that the accelerator opening has never become less than the predetermined opening during the predetermined observation period, the specific point is deleted from the map data 20 on condition that the average vehicle speed is equal to or higher than the predetermined value. In a situation where the vehicle condition is sufficiently decelerated and approaches a specific point even if the vehicle condition satisfies a predetermined condition (the accelerator opening remains high, etc.) The possibility of remaining without deleting the specific point can be increased.

  Also, instead of the condition that the average vehicle speed is equal to or higher than the predetermined vehicle speed, if the condition that “the vehicle speed has never become less than the predetermined vehicle speed during the observation period” is used, the toll gate does not actually exist. Regardless, the vehicle speed may become lower than the predetermined vehicle speed due to unnecessary downshift control or the like. In such a scene, it is desirable to delete a specific point. Therefore, since it is assumed that the driver depresses the accelerator pedal and accelerates the vehicle, a positive determination is obtained in such a situation on condition that the average vehicle speed is equal to or higher than the predetermined vehicle speed in S118. Can be guided as follows.

  Therefore, changes in road conditions can be reflected quickly and appropriately on map data.

  Note that the processing of S118 and S120 may be started immediately after obtaining a positive determination in S106, as shown in FIG. In this case, when the process of deleting the specific point is performed, it is preferable to omit the downshift control at the point.

  According to the vehicle map data update device of the present embodiment, it is possible to quickly and appropriately reflect changes in road conditions in map data.

<Second embodiment>
The vehicle map data updating apparatus according to the second embodiment of the present invention will be described below. FIG. 4 is a diagram showing an example of the overall configuration of the vehicle control device 2 including the vehicle map data updating device according to the second embodiment of the present invention. The vehicle control device 2 includes a communication module 70 in addition to the components included in the vehicle control device according to the first embodiment.

  The communication module 70 performs communication with the information center 100 via, for example, the radio base station 80 or the network 90. Wireless communication between the communication module 70 and the wireless base station 80 is performed using, for example, a radio network of a mobile phone. In addition, the present invention is not limited to this, and beacon communication with a transmitter / receiver at the road end or FM multiplex broadcasting may be used. The information center 100 is an information providing service of a public institution or an automobile manufacturer, for example. In the present embodiment, the communication module 70 acquires weather information of the area where the host vehicle is traveling from the information center 100. At this time, the current position of the host vehicle may be transmitted to the information center 100 in order to specify the region where the host vehicle is traveling, or the region is limited in the vehicle by receiving the national weather information collectively. Also good.

  The vehicle state monitoring unit 36 according to the present embodiment refers to, for example, the weather information received by the communication module 70 most recently when the monitoring of the vehicle state signal is started. It is determined whether it is in a state, and an update instruction for the map data 20 is issued.

  FIG. 5 is an example of a flowchart showing a flow of characteristic processing executed by the navigation ECU 10 according to the present embodiment. This flow defines vehicle control related to the temporary stop position and data deletion processing related to the temporary stop position (specific point = temporary stop position). Here, the temporary stop position refers to, for example, an intersection to which temporary stop restriction information is assigned. Moreover, not only this but temporary stop positions other than an intersection may be included.

  This flow is repeatedly executed with a predetermined period. Further, in the following description, description of which functional block executes the process of each step is omitted.

  First, the current position of the host vehicle is specified (S200).

  Then, the map data 20 is referred to using the transition of the current position of the identified own vehicle, the map data of xx [m] ahead of the own vehicle is read (S202), and temporarily stopped within xx [m] ahead of the own vehicle It is determined whether or not the position exists (S204). When it is determined that there is no temporary stop position within xx [m] ahead of the host vehicle, one routine of this flow is terminated without performing any processing.

  If it is determined that there is a temporary stop position within xx [m] ahead of the host vehicle, it is determined whether the stop position is not less than zero [m] and not more than yy [m] (S206). Note that yy [m] in this embodiment may be a value (specifically, a shorter value) different from yy [m] in the first embodiment.

  If it is determined that the position is zero [m] or more and yy [m] or less until the pause position, announcement control relating to the pause position is executed (S208). Specifically, the information output device 50 is used to display a pause icon on the navigation display screen and to output a sound such as “There is a pawn, there will be a pause” to indicate the presence of the pause position. Notify

  When a positive determination is obtained in S206, the processes of S210 to S214 are executed in parallel with the process of S208.

  First, it is determined whether or not the area where the vehicle is traveling is in a snowy state with reference to the weather information received by the communication module 70 most recently (S210). If the area where the host vehicle is traveling is in a snowy state, the parallel processing is terminated.

  When the area where the host vehicle is traveling is not in a snowy state, the accelerator opening Ac is never less than the predetermined opening A2 in the predetermined observation period, and the average vehicle speed Vav in the observation period is a predetermined vehicle speed (for example, It is determined whether it is V1 or more (about 50 [km / h]) (S118). (S212).

  When a positive determination is obtained in S210 and S212, the temporary stop position is deleted from the map data 20 (S214), and this parallel processing is terminated.

  Here, when the area where the vehicle is traveling is in a snowy state, the parallel processing is ended because the driver pauses because the temporary stop line drawn on the road due to snowfall is not visible. This is because it may not have been.

  Based on these determinations, it is possible to determine whether or not a driving operation that cannot be assumed before the temporary stop position is performed in the host vehicle or a vehicle operation is performed. Therefore, it is possible to appropriately detect whether or not the temporary stop position has been abolished or moved by the determination and delete it from the map data 20.

  According to the vehicle map data update device of the present embodiment, it is possible to quickly and appropriately reflect changes in road conditions in map data.

  Note that the processing of S210 to S214 may be started immediately after obtaining a positive determination in S204, as shown in FIG. In this case, when the process of deleting a specific point is performed, it is preferable to omit the announcement control at the point.

  The best mode for carrying out the present invention has been described above with reference to the embodiments. However, the present invention is not limited to these embodiments, and various modifications can be made without departing from the scope of the present invention. And substitutions can be added.

  For example, only the processing related to the toll gate on the main line described in the first embodiment and the processing related to the temporary stop position described in the second embodiment may be executed, or may be executed in parallel at the same time. . In addition, for other types of specific points (considerations of expressways, busy streets, school zones, slopes, etc.), specific predetermined conditions (partially overlapping with predetermined conditions related to other specific positions, or one 2 may be set in advance, and the flows as shown in FIGS. 2 and 5 may be executed in parallel.

  Moreover, you may comprise as an apparatus which only updates map data, without performing vehicle control.

  The present invention can be used in the automobile manufacturing industry, the automobile parts manufacturing industry, and the like.

It is a figure which shows an example of the whole structure of the vehicle control apparatus 1 which concerns on 1st Example. It is an example of the flowchart which shows the flow of the characteristic process which navigation ECU10 which concerns on 1st Example performs. It is another example of the flowchart which shows the flow of the characteristic process which navigation ECU10 which concerns on 1st Example performs. It is a figure which shows an example of the whole structure of the vehicle control apparatus 2 which concerns on 2nd Example. It is an example of the flowchart which shows the flow of the characteristic process which navigation ECU10 which concerns on 2nd Example performs. It is another example of the flowchart which shows the flow of the characteristic process which navigation ECU10 which concerns on 2nd Example performs.

1, 2 Vehicle control device 10 Navigation ECU
DESCRIPTION OF SYMBOLS 12 Memory | storage device 20 Map data 30 Current position specific | specification part 32 Specific point approach determination part 34 Vehicle control execution part 36 Vehicle state monitoring part 38 Map data update part 40 GPS receiver 42 INS sensor 50 Information output apparatus 52 Engine ECU
54 Brake ECU
60 accelerator opening sensor 62 vehicle speed sensor 70 communication module 80 wireless base station 90 network 100 information center

Claims (2)

A storage device storing map data;
Current position specifying means for specifying the current position of the host vehicle;
Whether the vehicle is approaching one of a plurality of specific points predetermined in the map data by referring to the map data using the current position of the vehicle specified by the current position specifying means An approach determination means for determining
A predetermined value including that an average value of vehicle speeds input in a predetermined observation period is equal to or greater than a predetermined value when the approach determination means determines that the host vehicle is approaching one of the plurality of specific points; If the condition is satisfied, a specific point deleting means for controlling the storage device to delete the specific point where the host vehicle is approaching from the map data;
A vehicle map data update device comprising: A storage device storing map data;
Current position specifying means for specifying the current position of the host vehicle;
Weather information acquisition means for acquiring weather information around the vehicle;
Whether the vehicle is approaching one of a plurality of specific points predetermined in the map data by referring to the map data using the current position of the vehicle specified by the current position specifying means An approach determination means for determining
A predetermined condition including that the weather information acquired by the weather information acquisition means does not indicate a snow cover state when the approach determination means determines that the host vehicle is approaching one of the plurality of specific points. If the condition is satisfied, a specific point deleting means for controlling the storage device to delete the specific point where the host vehicle is approaching from the map data;
A vehicle map data update device comprising:

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