JP2017090301A - Map information preparation device, navigation system, route guide route search method, route guide route search program and recording medium - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a map information preparation device, navigation system, route guide route retrieval method, route guide route retrieval program and recording medium that enable retrieval of routes including safer lane change locations.SOLUTION: A map information preparation device prepares map information for retrieving route guide routes to destinations input by users from a current location of its own vehicle, and comprises an update unit that, when districts less in a lane change history than other districts exist on the basis of lane change accumulation information in a prescribed segment of roads where vehicle passage lanes exist in map information, estimates that factors avoiding the lane change exist in the prescribed segment to update the map information.SELECTED DRAWING: Figure 7

Description

  The present invention relates to a map information creation device for creating map information applied to a navigation system.

  Conventionally, map information is stored in a storage unit such as a database (DB), and a route guidance route to a destination input based on the map information stored in the storage unit is searched when a user inputs a destination. A navigation system is known.

  In addition, when there is a short-distance lane change section (for example, a right turn lane at an intersection), there is also a navigation system that assists route guidance by outputting lane change and road information (signs, stores, etc.) by voice. It is already known (see, for example, Patent Document 1).

Japanese Patent No. 4173369

  However, in the map information applied to such a navigation system, there is a possibility that the signs and stores, etc. may change, so it may not match the surrounding environment at the time of actual driving, and simply the distance ( For example, 2 km before).

  For this reason, the driver cannot easily recognize at which point to change the lane, or it is time to change the lane in the lane change prohibited area, etc. There were cases where sufficient route guidance could not be provided.

  In order to solve the above-described problems, the present invention provides a map information creation device, a navigation system, a route guidance route search method, a route guidance route search program, and a route information including a safer lane change position. It is an object to provide a recording medium.

  A navigation system according to the present invention is a map information creation device that creates map information for searching a route guidance route from a current position of a host vehicle to a destination input by a user in order to achieve the above-described object, Based on the lane change accumulation information in a predetermined section of the road where the vehicle traffic lane exists in the map information, when there is an area with a lane change history smaller than other areas, avoid the lane change in the predetermined section It is provided with the update part which estimates that a factor exists and updates map information.

  According to the present invention, when there is an area where the lane change history is smaller than other areas, it is safer by estimating that there is a factor for avoiding the lane change in the predetermined section and updating the map information. A route search including a lane change position can be enabled.

1 is a system block diagram showing a navigation system according to an embodiment of the present invention. It is a flowchart regarding the main route search process in the navigation system which concerns on one embodiment of this invention. It is explanatory drawing of the example of a screen display in the case of the normal mode applied to the navigation system which concerns on one embodiment of this invention. It is a flowchart regarding the sub route search process in the navigation system which concerns on one embodiment of this invention. It is explanatory drawing of the example of a screen display in the advanced driving assistance mode in the navigation system which concerns on one embodiment of this invention. It is explanatory drawing which shows an example of the route guidance in the advanced driving assistance tolerance road applied to the navigation system which concerns on one embodiment of this invention. It is explanatory drawing which shows an example of the route guidance at the time of the lane change prohibition area in the advanced driving assistance allowable road applied to the navigation system which concerns on one embodiment of this invention. It is explanatory drawing which shows an example of the route guidance using the probe traffic information at the time of the lane change prohibition area in the advanced driving assistance allowable road applied to the navigation system which concerns on one embodiment of this invention. An example of route guidance using VICS (registered trademark) information (probe traffic information) when a lane change prohibition section exists in an advanced driving support allowable road applied to the navigation system according to the embodiment of the present invention It is explanatory drawing which shows. It is explanatory drawing in the case of dividing and determining the lane change in the advanced driving assistance allowable road applied to the navigation system which concerns on one embodiment of this invention. It is explanatory drawing of an example of the route guidance based on the result of having divided and determined the lane change in the advanced driving assistance permission road applied to the navigation system which concerns on one embodiment of this invention. It is explanatory drawing which shows an example of a lane change in case the exit lane exists in the overtaking lane side in the lane change in the advanced driving assistance allowable road applied to the navigation system which concerns on one embodiment of this invention. It is explanatory drawing when it is estimated that the factor which avoids a lane change exists in the lane change in the advanced driving assistance allowable road applied to the navigation system which concerns on one embodiment of this invention.

  Hereinafter, a navigation system according to an embodiment of the present invention will be described in detail with reference to the drawings.

  In the following description, an approach lane refers to a lane to which a lane is changed based on a currently traveling lane among a plurality of vehicle lanes. Therefore, for example, it does not directly mean a merge line with respect to the main line on a highway. Similarly, the exit lane means a traveling lane that is currently traveling. Therefore, for example, it does not directly mean an exit line or a branch line with respect to the main line on the expressway.

  Also, the lane marking means a white or yellow line (paint, sheet-like material, various sensors, etc.) provided on the road surface in order to divide the lane from other lanes (including road shoulders and sidewalks). It shall be. In a broad sense, as long as it divides a travel lane, it may include other compartments such as a median strip or a guardrail.

  Furthermore, an advanced driving support system (also referred to as an advanced driving support system, etc.) means road speed control (including constant speed driving control), inter-vehicle distance control (including so-called automatic brake control), driving in road driving. It means a system that supports automatic driving of a vehicle using lane departure prevention control (LKAS) or the like.

  At this time, it does not matter whether it is fully automated or not, but it is an operation control system that uses the above controls in combination, and reduces the risk when a failure occurs in the electrical / electronic system on the system. Automatic driving including lane change by a vehicle equipped with a safety design (for example, functional safety standard ISO26262 for automobile E / E system), and means driving using one of the above-mentioned controls Absent.

  Therefore, although the advanced driving support allowable road changes according to the level of automation related to vehicle travel, a description will be given of a case where there is a certain distance on a road that appropriately permits or permits automatic driving of the vehicle.

  As shown in FIG. 1, the navigation system 100 includes a road condition reception unit 101, a position information detection sensor 102, a reception unit 103, an input unit 104, a storage unit 105, an advanced driving support system 106, an ECU 107, CPU 108 and a display unit 109 using a touch panel type liquid crystal display or the like. The navigation system 100 may be configured by a known navigation device (one unit), or may be a system in which the storage unit 105 is made independent in the DVD-ROM format, for example. At least the CPU 108 and the storage unit 105 (program stored in the storage unit 105) constitute a computer according to the present embodiment.

  In the present embodiment, the navigation system 100 is mounted on a vehicle that allows an advanced driving support system, and guides a route from a current position to a destination. The navigation system 100 superimposes a mark indicating the current position of the host vehicle and a display line indicating the searched route on surrounding map information and the like as normal route guidance and displays them while changing them according to the current position. Displayed on the unit 109.

  Note that the navigation system 100 can execute a system known as normal route guidance, for example, by executing guidance in a route (change in display form such as lane change or voice guidance). Therefore, the display unit 109 functions as a part of an output unit related to route guidance of the navigation system 100. In addition, as another output part, there exist a speaker etc. which output the audio | voice guide mentioned above, a notification sound, etc. The navigation system 100 enables route guidance for the altitude support system according to the present embodiment in addition to such normal route guidance.

  The road condition receiving unit 101 has a function of appropriately receiving probe traffic information related to the condition of the road traffic network from an information provider or the like and transmitting the probe traffic information to the receiving unit 103. The road condition receiving unit 101 receives probe traffic information from an information provider or the like by wireless communication, and any communication protocol is used as long as communication is established with the information provider or the like. May be. The probe traffic information includes information for the advanced support system according to the present embodiment, in addition to road congestion information and accident information, which are publicly known road traffic information communication system (VICS (registered trademark)) information.

  The information provider providing probe traffic information can be received by wireless communication from, for example, a service area of an expressway or a gas station in addition to a known automobile manufacturer. Thereby, the road condition receiving unit 101 can acquire the latest probe traffic information, and the acquired probe traffic information can be stored and updated in the storage unit 105. The probe traffic information can be superimposed on the map data to acquire the probe data, for example, when the map information provided by the manufacturer of the car navigation device is updated.

  The position information detection sensor 102 is a sensor that acquires current position information of a vehicle mounted on the navigation system 100. Specifically, it is realized by using a positioning system using various satellite radio waves such as GPS and GNSS, and an autonomous navigation system such as a gyroscope. At this time, the current position information includes at least latitude information and longitude information of a position where the host vehicle is present, and may include altitude information. The position information detection sensor 102 is not limited to the above, for example, using a beacon or the like that can be installed on a traveling road and can acquire installation position information. The position information detection sensor 102 acquires the position information from the outside sequentially (or timely), and transmits the acquired position information to the receiving unit 103.

  The receiving unit 103 has a function of transmitting the probe traffic information transmitted from the road condition receiving unit 101 and the position information transmitted from the position information detection sensor 102 to the CPU 108.

  The input unit 104 receives an input from a user boarding the vehicle. For example, the input unit 104 may be realized by a touch panel in combination with the display unit 109, or may be realized by a hard key provided in a housing of the navigation system 100. The input unit 104 transmits the input content received from the user to the CPU 108. The input unit 104 receives destination information related to the destination of the vehicle from the user and transmits it to the CPU 108.

  The storage unit 105 is a recording medium that stores various types of data including various types of programs and map information necessary for the operation of the navigation system 100. The storage unit 105 is realized by a large-capacity storage medium such as a hard disk drive (HDD) or a solid state drive (SDD). The storage unit 105 stores map information and probe traffic information written from the CPU 108. The map information includes at least position information of the roadway, position information of an advanced driving support section where driving using the advanced driving support system can be performed on the roadway, and vehicle traffic lane information regarding the vehicle traffic lane on the roadway.

  The advanced driving support system 106 is based on various sensors (ultrasonic sensor, infrared sensor, distance sensor, in-vehicle camera) provided in the host vehicle, in addition to the route information, the position information, and the probe traffic information transmitted from the CPU 108. Assist vehicle driving control. The advanced driving support system 106 transmits control information related to driving control of the vehicle to the ECU 107.

  The ECU 107 is a microcontroller that comprehensively controls the vehicle when the operation control of the vehicle is performed using an electrical auxiliary device. The ECU 107 executes driving control of the vehicle in accordance with an instruction from the advanced driving support system 106.

  The CPU 108 is a processor that executes a process to be executed by the navigation system 100 using the program and various data stored in the storage unit 105. The CPU 108 generates display information necessary for the navigation process and causes the display unit 109 to display the display information.

  The CPU 108 searches for a route from the current location of the host vehicle to the destination, and transmits route information obtained by the search to the advanced driving support system 106 and the display unit 109. The CPU 108 functions as a search unit that searches for a route from the current location of the host vehicle based on the position information transmitted from the receiving unit 103 to the destination indicated by the destination information input to the input unit 104 by the user. . For the route search, for example, the Dijkstra method or the A-star algorithm is used. The CPU 108 uses the route obtained by the search as a temporary route, determines whether or not the advanced driving support section is included in the temporary route, and if the advanced driving support section is included, the included advanced driving support section For each, it is determined whether or not a predetermined length or more is included. When an advanced driving support section having a predetermined length or longer is included, the CPU 108 performs a route search in units of lanes. Further, the CPU 108 sequentially performs a route search even when the vehicle is traveling, and transmits it to the advanced driving support system 106 every time the traveling lane is changed or the route is changed. To display the changed route.

  The display unit 109 is a monitor that displays display information transmitted from the CPU 108, and is realized by, for example, a liquid crystal display (LCD), an organic EL display (OELD), a plasma display (PDP), or the like. The display unit 109 constitutes a part of the input unit 104 by using a touch panel type.

  Next, the main processing operation of the CPU 108 in the navigation system 100 will be described with reference to FIG. In the following routine, description will be made assuming that map information including information related to advanced driving support and probe traffic information is stored in advance in the storage unit 105 and updated as necessary. In addition, it is assumed that the VICS (registered trademark) information is also sequentially received by the road condition receiving unit 101 to acquire road congestion and accident information.

(Step S1)
In step S <b> 1, the CPU 108 receives a destination input from the input unit 104 by the user, and proceeds to step S <b> 2.

(Step S2)
In step S2, the CPU 108 receives the current position information detected by the position information detection sensor 102 from the receiving unit 103, and proceeds to step S3.

(Step S3)
In step S3, the CPU 108 searches for a guidance route (guidance route) from the map information stored in the storage unit 105 based on the destination received in step S1 and the current position information received in step S2, and recommends guidance. A plurality of guide routes including the route are output to the display unit 109.

  Here, the user can compare the recommended guide route with other guide routes and select which route to use.

(Step S4)
In step S4, the CPU 108 determines whether the user has instructed to change the guidance route. For example, when there is a guide route other than the recommended guide route from a plurality of guide routes or when an operation for searching for another route is performed from the input unit 104, the CPU 108 determines that there is a change ( Yes) Loop to step S3. Thereby, the CPU 108 searches the guidance route again to change the recommended route, and outputs a plurality of guidance routes including the recommended guidance route after the change to the display unit 109. On the other hand, for example, when there is no change instruction even after a predetermined time (for example, 5 seconds) has elapsed, or when there is an operation for selecting a recommended guidance route from the input unit 104, the CPU 108 determines that there is a change. (No) The process proceeds to step S5.

(Step S5)
In step S <b> 5, the CPU 108 determines whether or not an advanced driving support section is included in the determined guidance route based on, for example, the presence or absence of a flag included in the map information. If the CPU 108 determines that the advanced driving support section is included (Yes), the CPU 108 proceeds to step S6. On the other hand, if the CPU 108 does not determine that the advanced driving support section is included (No), the CPU 108 proceeds to step S7 and starts route guidance in a known normal mode.

(Step S6)
In step S <b> 6, the CPU 108 determines whether or not the advanced driving support section has continued for a predetermined distance or more based on, for example, the presence or absence of a flag included in the map information. If the CPU 108 determines that the advanced driving support section has continued for a predetermined distance or more (Yes), the CPU 108 proceeds to step S8 and starts route guidance in the advanced driving support mode. On the other hand, if the CPU 108 does not determine that the advanced driving support section has continued for a predetermined distance or more (No), the CPU 108 proceeds to step S7 and starts route guidance in a known normal mode.

(Step S7)
In step S <b> 7, the CPU 108 starts route guidance in a known normal mode, and sequentially reflects the road information and the current position received by the receiving unit 103 from the road condition receiving unit 101 and the position information detection sensor 102, while guiding the route guidance. Execute. Then, with the arrival of the destination, the route guidance is terminated.

  As shown in FIG. 3, the CPU 108 changes the display screen 110 of the display unit 109 to the normal map display screen, for example, when it is necessary to change the lane for a right turn or the like during route guidance. 110A and the guide screen 110B are divided and displayed.

  At this time, on the guide screen 110B, the mark M indicating the current position of the host vehicle and the display line L indicating the searched route are superimposed on the map information and the like in the vicinity, and these are changed and displayed according to the current position.

  For example, in the case of right turn guidance, the guide screen 110B displays the name of an intersection that makes a right turn, the remaining distance to the intersection, a lane guide that recognizes whether there is a right turn dedicated lane, and the like. The lane guide displays travel classification information (for example, a straight / left turn lane, a straight lane, a right turn lane, etc.) for each road lane at the intersection. The display state of the guide screen 110B can use a known display function, and is not limited to the above.

  Next, a sub processing operation of the CPU 108 in the navigation system 100 will be described with reference to FIG. In the following routine, a case where the vehicle reaches a predetermined distance (for example, 1 km) before reaching the advanced driving support section in the middle of traveling will be described as an example. At this time, route guidance up to a predetermined distance is the same as in the normal mode. Further, it is assumed that the probe traffic information and the VICS (registered trademark) information are sequentially received by the road condition receiving unit 101 to acquire the road congestion condition, accident information, and the like.

(Step S11)
In step S11, the CPU 108 receives the current position information detected by the position information detection sensor 102 from the reception unit 103, and proceeds to step S12.

(Step S12)
In step S12, the CPU 108 determines whether or not the current position information acquired in step S11 has reached a predetermined distance (for example, 1 km) before reaching the advanced driving support section. If the CPU 108 determines that the predetermined distance has been reached (Yes), the CPU 108 proceeds to step S13. On the other hand, if the CPU 108 does not determine that it has reached the predetermined distance (No), it loops to step S11 and repeats this routine.

(Step S13)
In step S13, the CPU 108 switches the display state of the display unit 109 to a facial expression state in lane units. At this time, the CPU 108 also switches the route guidance in units of lanes, switches the operation mode to the automatic operation mode, and proceeds to step S14. Note that the user can cancel switching to the automatic operation mode, and voice output or the like can be arbitrarily executed.

  Further, the CPU 108 may, for example, enlarge the entire display state of the display screen 110 of the display unit 109 (at least in the width direction) to display in units of lanes. For example, as shown in FIG. The screen 110 may be divided and displayed at a predetermined ratio on the normal map display screen 110A and the guide screen 110B.

  Thereby, the route guidance for each lane can be presented to the user on the guide screen 110B in a state that the user can easily recognize. At this time, for example, when driving on an expressway, the route guidance performs route guidance and automatic driving control on the basis of the traveling lane, and the display line L is also displayed on the traveling lane. When the user changes the lane from a traveling lane to an overtaking lane or the like by manual operation, the display state of the display line L is switched after traveling for a predetermined time or a predetermined distance, for example. Note that if the CPU 108 determines that the traveling is other than overtaking in the overtaking lane (for example, determination based on the traveling distance), the CPU 108 can output a voice guide or the like indicating that the vehicle returns to the traveling lane.

(Step S14)
In step S <b> 14, the CPU 108 determines whether or not a lane change is necessary to go to, for example, a branch or an exit. If the CPU 108 determines that the lane change is necessary (Yes), the CPU 108 proceeds to step S15. On the other hand, if the CPU 108 does not determine that a lane change is necessary (No), the CPU 108 loops to step S11 and repeats this routine.

(Step S15)
In step S15, the CPU 108 refers to the probe traffic information (including VICS (registered trademark) information) stored in the storage unit 105, and proceeds to step S16.

(Step S16)
In step S <b> 16, the CPU 108 determines whether or not a lane change prohibition section exists in the map information. If the CPU 108 determines that there is a lane change prohibited section (Yes), the CPU 108 proceeds to step S17. In addition, the lane change prohibition section includes, in addition to the sections set based on the law in advance, for example, entry prohibited lane information due to an accident or the like from the VICS (registered trademark) information, and the case where the lane change cannot be substantially performed. Including. On the other hand, if the CPU 108 does not determine that there is a lane change prohibition section (No), the CPU 108 proceeds to step S18. Note that the information regarding the lane change prohibition section is basically information included in the map information in advance. At this time, for example, when the lane change is prohibited for a limited time due to an accident or construction, or when the CPU 108 obtains it from probe traffic information or VICS (registered trademark) information, these information Can be included in the judgment requirement.

(Step S17)
In step S17, the CPU 108 searches for and determines a lane change position in consideration of the lane change prohibition section, and proceeds to step S19.

(Step S18)
In step S18, the CPU 108 performs a normal lane change that does not consider the lane change prohibition section, and proceeds to step S19.

(Step S19)
In step S19, the CPU 108 executes an output including the display unit 109 so that the control according to the lane change determined in step S17 or step S18 is performed. At this time, when the automatic driving control is being executed, the automatic driving by the searched and determined lane change route is executed.

  Hereinafter, various patterns by the CPU 108 will be exemplified based on the basic configuration described above. These various patterns will be described in the case of an advanced driving support allowable road such as an expressway, but can be used even if it is not an advanced driving support allowable road.

  As shown in FIG. 6, in the case of a normal lane change that does not consider the lane change prohibition section, the guide screen 110B of the display screen 110 displays route guidance including a lane change position and a route guidance display (display line L). Run.

  That is, the CPU 108 searches for a normal route guidance route in units of lanes that includes an advanced driving support allowable road that allows advanced driving support in at least a part of the searched route guidance route and that does not consider a lane change prohibition section. The result is displayed on the guide screen 110B.

  In this way, when at least a part of the searched route guidance route includes an advanced driving support allowable road that allows advanced driving support, a route guidance route for each lane is searched and based on the search result. By executing the route guidance and the route guidance display, the route search corresponding to the advanced driving support system can be made possible.

  On the other hand, as shown in FIG. 7, in the case of a lane change considering a lane change prohibition section, the guide screen 110B of the display screen 110 searches for a route guidance route including a lane change position considering a lane change prohibition section. Based on the result, route guidance display (display line L) is executed.

  That is, when there is a lane change prohibited section in the advanced driving support allowable road, the CPU 108 determines a route guidance route for each lane based on the positional relationship between the lane change prohibited section and the current vehicle position with respect to the route guidance route. Search is performed, and route guidance and route guidance display (display line L) according to the result are executed.

  As a result, it is possible to execute a lane change in accordance with a predetermined traffic law, and it is possible to improve safety.

  Furthermore, as shown in FIG. 8, in the case of a lane change considering a lane change prohibition section, referring to the probe traffic information, for example, a lane change is given priority to a route with a lot of accumulated information regarding past lane change positions. The route guidance display (display line L) may be executed based on the search result of the route guidance route including the position.

  That is, when there is a lane change prohibited section in the advanced driving support allowable road, the CPU 108 searches for a route guidance route for each lane based on the probe traffic information regarding the lane change before and after the lane change prohibited section obtained in advance. Then, route guidance and route guidance display (display line L) according to the result are executed.

  Accordingly, as shown in FIG. 7, the lane change is performed on the front side (upstream side) of the lane change prohibition section, or the lane change is performed on the rear side (downstream side) of the lane change prohibition section as shown in FIG. Thus, the user can change the lane without hesitation, and the safety can be improved.

  Further, since the CPU 108 can refer to the VICS (registered trademark) information, for example, when the exit lane is empty, it is recommended to change the lane earlier at the position shown in FIG. 8 and the exit lane is congested. In this case, it is also possible to recommend a lane change at the position shown in FIG.

  As a result, it is possible to reduce the time (distance) staying in the left lane and to avoid the cause of interruption and the like, thereby contributing to congestion reduction. Further, since the possibility of interrupting or the like is reduced, lane change with improved safety can be realized.

  Furthermore, as shown in FIG. 9, since the CPU 108 can refer to the VICS (registered trademark) information, for example, when recognizing that an accident vehicle (see x in the figure) exists, the CPU 108 is in front of it. After executing the lane change in advance, it is possible to take a workaround such as executing a lane change avoiding the lane change prohibited section referring to the probe traffic information.

  In addition, in executing each lane change described above, the CPU 108 can execute an output such as a voice guide in addition to a display output on the display screen 110 of the display unit 109. Further, when automatic operation control is being executed, E / E control for realizing lane change can be executed.

  Further, as described above, the CPU 108 determines the lane change position by referring to the probe traffic information when the lane is changed when the searched route guidance route includes a route that requires the lane change. be able to. For this reason, in the lane change section, the CPU 108 searches for the lane change position based on the past lane change position accumulation information from the exit lane before the lane change included in the probe traffic information to the entry lane after the lane change.

  Thereby, for example, if route guidance for lane change is determined based on the position where the past lane change position is the largest (for example, position P2 among positions P1, P2, and P3 in FIG. 10), the safety is high. Therefore, the lane change considering the safety can be realized. In addition, since the reference | standard here requires a certain amount of travel distance, it is based on the point etc. where the center of a vehicle and a lane cross.

  At this time, for example, as shown in FIG. 10, the CPU 108 divides the lane change section F from the start point as the exit lane to the end point as the approach lane into a plurality of parts (for example, equally 3 etc.). The divided lane change positions may be searched based on the past lane change position accumulation information in each of the divided areas F1, F2, and F3.

  For example, when the past lane change position accumulation information for each of the areas F1, F2, and F3 is F1: F2: F3 = 1: 7: 2, the CPU 108 determines the lane change in the area F2 that is the maximum ratio. To do.

  Thereby, as shown in FIG. 11, the CPU 108 controls the output of the display unit 109 so that the display of the guide screen 110B is a lane change in the area F2. In FIG. 11, the “exit lane”, the area, and the like are not displayed on the actual display. Therefore, the display state of the lane change portion may be different from the other display states before and after it so that the user can easily recognize the recommended lane change position. At this time, for example, the display state can blink the display of the lane change position of the display line L or change the line color. Even if it is recommended to change the lane in the area F2, the entire area from the change start to the end of the change may not be included in the area F2 depending on the length of the area F2.

  As described above, since a certain amount of travel distance is required for the lane change, it is possible to contribute to the lane change with improved safety by using the past accumulated information for each section in consideration of the distance.

  In addition, when the lane change section F, which is at least a part of the searched route guidance route, is included in the advanced driving support allowable road that allows the advanced driving support, the CPU 108 searches for the route guidance route for each lane. In addition, when there is a route that requires lane change on the advanced driving support allowable road, the lane is based on past lane change position accumulation information from the exit lane before the lane change to the entry lane after the lane change. While searching for a change position, it can be set as a route change by automatic operation control.

  Furthermore, as shown in FIG. 12, the CPU 108 has one or more vehicle traffic lanes between the travel lane and the approach lane as in the case where the exit lane is on the overtaking lane adjacent to the travel lane. In this case, the starting point as the exit lane is separated from the end point to extend the travel distance, and then the lane change position is searched with the adjacent lanes as the exit lane and the entrance lane.

  In this way, route guidance is usually based on the driving lane, and even if there is an exit lane on the overtaking lane side, the lane must be changed in advance to ensure safety. The lane can be changed to the exit lane.

  Furthermore, as shown in FIG. 13, for example, as shown in FIG. 13, the CPU 108 needs to change the lane for some reason, such as when a long-term construction (see “x” mark) or the like is performed immediately before the branching of the exit lane. There may be a case where there is an area (for example, area F3) in which the lane change history is smaller than other areas (for example, areas F1 and F2) based on past lane change accumulation information in the lane change section F that is a predetermined section. is assumed.

  As described above, the CPU 108 estimates that there is a factor (construction) for avoiding the lane change based on the amount of the lane change history in the area unit obtained by dividing the predetermined section requiring the lane change into a plurality of new lanes. Search for route guidance routes in units.

  That is, even if the area F3 has a track record of lane change, the CPU 108, when the lane change in the area F3 is (extremely) small due to the construction work, the other area F1, which has higher safety. Route guidance is executed so as to change the lane with priority given to F2.

  As shown in FIGS. 8 and 9, the lane change prohibition section includes a one-side change prohibition area in addition to a bidirectional change prohibition area.

  Therefore, when the bidirectional lane change area and the lane change area from one side exist in the map information before the update for the predetermined section, the CPU 108 distinguishes the lane change history in each area. It may be estimated that there is a factor for avoiding the lane change.

  As described above, the map information creation device according to the present invention has an effect of enabling a route search including a safer lane change position, and creates map information applied to a navigation system. Therefore, it is useful for general map information creation devices.

DESCRIPTION OF SYMBOLS 100 Navigation system 101 Road condition receiving part 102 Position information detection sensor 103 Receiving part 104 Input part 105 Storage part 106 Advanced driving support system 107 ECU
108 CPU (determination unit)
109 Display section (output section)

Claims (13)

A map information creation device for creating map information for searching a route guidance route from a current position of the own vehicle to a destination input by a user,
Based on lane change accumulation information in a predetermined section of a road where a vehicle traffic lane exists in the map information, when there is an area with a lane change history smaller than other areas, the lane change is performed in the predetermined section. An update unit that estimates that there is a factor to avoid and updates the map information;
Map information creation device. The update unit
Estimating that there is a factor that avoids lane change from the amount of the lane change history in the area unit divided into a plurality of the predetermined section that requires lane change,
The map information creating apparatus according to claim 1, wherein: The update unit
When there is a bidirectional lane change area and a lane change area from one side in the map information before update for the predetermined section, the lane change history is distinguished by each area by distinguishing the lane change history. Presume that there are factors to avoid change,
The map information creation device according to claim 1 or 2, wherein A storage unit storing map information;
A search unit for searching for a route guidance route to a destination input by the user based on the map information;
With
The search unit
When there is a vehicle traffic lane in the searched route guidance route, the route guidance route is searched for each lane, and the lane change is made based on the past lane change accumulation information in a predetermined section requiring the lane change. When there is an area with a history smaller than other areas, it is estimated that there is a factor for avoiding a lane change in the predetermined section, and a route guidance route in a new lane unit is searched.
Navigation system. The search unit
Estimating that there is a factor that avoids lane change from the amount of the lane change history in the area unit divided into a plurality of the predetermined section that requires lane change,
The navigation system according to claim 4. The search unit
When there is a bidirectional lane change area and a lane change area from one side in the map information before update for the predetermined section, the lane change history is distinguished by each area by distinguishing the lane change history. Presume that there are factors to avoid change,
The navigation system according to claim 4 or 5, wherein A storage step for storing map information;
A search step of searching for a route guidance route to a destination input by the user based on the map information;
With
The searching step includes
When there is a vehicle traffic lane in the searched route guidance route, the route guidance route is searched for each lane, and the lane change is made based on the past lane change accumulation information in a predetermined section requiring the lane change. When there is an area with a history smaller than other areas, it is estimated that there is a factor for avoiding a lane change in the predetermined section, and a route guidance route in a new lane unit is searched.
Route guidance route search method. The searching step includes
Estimating that there is a factor that avoids lane change from the amount of the lane change history in the area unit divided into a plurality of the predetermined section that requires lane change,
The route guidance route searching method according to claim 7, wherein The searching step includes
When there is a bidirectional lane change area and a lane change area from one side in the map information before update for the predetermined section, the lane change history is distinguished by each area by distinguishing the lane change history. Presume that there are factors to avoid change,
9. The route guidance route search method according to claim 7 or claim 8, wherein On the computer,
A memory function for storing map information;
A search function for searching for a route guidance route to a destination input by a user based on the map information;
Realized,
The search function is
When there is a vehicle traffic lane in the searched route guidance route, the route guidance route is searched for each lane, and the lane change is made based on the past lane change accumulation information in a predetermined section requiring the lane change. When there is an area with a history smaller than other areas, it is estimated that there is a factor for avoiding a lane change in the predetermined section, and a route guidance route in a new lane unit is searched.
Route guidance route search program. The search function is
Estimating that there is a factor that avoids lane change from the amount of the lane change history in the area unit divided into a plurality of the predetermined section that requires lane change,
The route guidance route search program according to claim 10, wherein: The search function is
When there is a bidirectional lane change area and a lane change area from one side in the map information before update for the predetermined section, the lane change history is distinguished by each area by distinguishing the lane change history. Presume that there are factors to avoid change,
The route guidance route search program according to claim 10 or 11, wherein   The recording medium which recorded the route guidance route search program of any one of Claims 10-12.

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