JP2018044834A - Route search method and device for automatic driving support - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a route search method for automatic driving support capable of reducing a load imposed on driving by a user.SOLUTION: In a route search method for automatic driving support for searching for a route including an automatic driving section of a vehicle by using a navigation system, one or a plurality of routes are extracted, in which a distance or a time required from a departure spot O to a destination D is below a threshold, and a distance or a time required in a manual driving section is the shortest or within a prescribed range having the shortest as a lower limit.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a route search method and apparatus for automatic driving support.

  As an automatic driving support system, a plurality of candidate routes that are candidates for a recommended route are acquired, and a determination value D for selecting a recommended route from the plurality of candidate routes is set as a required time T required to travel on the candidate route. In addition, what is known as a total value of the addition value α corresponding to at least one of the number of times, time, distance, position, and reason for interrupting automatic driving control is known (for example, see Patent Documents 1 and 2).

Japanese Patent Laying-Open No. 2015-141477 Japanese Patent Laying-Open No. 2015-141051

  In the automatic driving systems described in Patent Documents 1 and 2, although the required time T required to travel on the candidate route is relatively short, the manual driving section is relatively long, or the number of times of switching between automatic driving and manual driving is small. The determination value D for a candidate route that is relatively large may be minimized, and the candidate route may be selected as a recommended route. In this case, the burden on driving by the driver increases.

  The problem to be solved by the present invention is to provide a route search method for automatic driving support that can reduce the burden on driving by the driver.

  The present invention provides one or a plurality of routes within a predetermined range in which the distance or the required time from the starting point to the destination is less than the threshold and the distance or the required time of the manual operation section is the shortest or the shortest is the lower limit. The above problem is solved by extracting.

  ADVANTAGE OF THE INVENTION According to this invention, there exists an effect that the route search for automatic driving assistance which can reduce the burden concerning a driver | operator's driving | operation can be implemented.

1 is a block diagram showing an automatic driving support system according to an embodiment of the present invention. It is the first half part of the flowchart which shows the procedure of the process which a navigation control apparatus searches for a path | route with priority on automatic driving | operation. It is the latter half part of the flowchart shown to FIG. 2A. It is a figure for demonstrating the process in which a navigation control apparatus searches a path | route with priority on automatic driving | operation. It is a figure for demonstrating the process in which a navigation control apparatus searches a path | route with priority on automatic driving | operation. It is a figure for demonstrating the search process of the route by the navigation control apparatus which concerns on a comparative example. It is a figure for demonstrating in more detail the route search process by the navigation control apparatus which concerns on a comparative example.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing a configuration of a vehicle equipped with a navigation system 10 for assisting automatic driving according to an embodiment of the present invention. The navigation system 10 according to the present embodiment searches for a route including an automatic driving section from the current position to the destination. The automatic driving support system 1 of the present embodiment performs automatic driving control of the vehicle according to the route searched by the navigation system 10.

  In the automatic driving of the vehicle according to the present embodiment, the control is started according to the driver's input, and the vehicle travels according to the route searched by the navigation system 10 without the driver performing the accelerator operation, the brake operation, and the steering wheel operation. It is something to be made. However, when the driver performs an accelerator operation, a brake operation or a steering wheel operation, the automatic driving control is stopped or temporarily interrupted, and various operations by the driver are given priority.

  The automatic driving support system 1 includes a navigation system 10, an automatic driving control device 20, a camera 21, and a radar 22. The navigation system 10 includes a navigation control device 11, a locator 12, a map database 13, a display 14, an operation unit 15, a speaker 16, and a communication module 17.

  The navigation system 10 of the present embodiment corresponds to automatic driving support, and in addition to general road priority, distance priority, toll road priority, etc., as a search condition selected by a vehicle driver, etc., manual driving The condition of automatic driving priority that prioritizes a route with a shorter distance or required time is set. Here, although details will be described later, road link data is recorded in the map database 13, and this road link data includes an automatic driving section in which automatic driving is possible, a manual driving section in which automatic driving is not executed, and Automatic / manual operation section data for identifying is included. When automatic driving priority is selected as the search condition, the navigation system 10 refers to the road link data recorded in the map database 13 and searches for a route with a shorter distance or time required for manual driving. Although details will be described later, when automatic driving priority is selected as a search condition, one route (hereinafter referred to as the shortest route) that minimizes the distance or time required for manual driving is not necessarily searched. In some cases, a plurality of routes having the same distance or required time for manual operation as the shortest route are extracted, and a route other than the shortest route is searched from the plurality of routes.

  The locator 12 detects the current position of the vehicle on which the automatic driving support system 1 is mounted and outputs it to the navigation control device 11. The locator 12 includes a GPS receiver, a vehicle speed sensor, a steering sensor, a gyro sensor, and the like (both not shown), and calculates the position of the host vehicle at predetermined time intervals based on signals from these. The locator 12 executes map matching processing for correcting the calculated position of the own vehicle using data recorded in the map database 13, and outputs the corrected position of the own vehicle to the navigation control device 11. Note that the locator 12 is not necessarily provided with all of the above-described four types of sensors, and may be provided with one or more types of these four types of sensors.

  The map database 13 is stored in an external server, and data necessary for searching for a route from the current position to the destination, such as management data, road data, and background data, is recorded. The management data includes data such as a secondary mesh code, a usage map, a geomagnetic declination, and an actual distance of a partition side.

  The road data includes road node data, road link data, road link attribute data, beacon position data, and the like. Road node data, which is data related to intersections and other nodes (nodes) in expressing the road network, includes data such as node number, position coordinates, node type, number of connected links, connected node number, and intersection name. ing. Road link data, which is data about road sections (links) between nodes, includes traffic numbers such as link numbers (numbers of starting and ending nodes), link lengths, types of restricted traffic sections, width categories, number of lanes, speed limits, etc. In addition to the above data, the above-mentioned automatic / manual operation section data is included. In addition, the attribute data in the road link includes the position, name, etc. of the attribute in the link (bridge / overpass, tunnel, railroad crossing, underpass, etc.). It is not essential to store the automatic / manual driving section data in the map database 13. For example, the automatic / manual driving section data may be acquired by communication with the outside of the vehicle, so-called road-to-vehicle communication, or vehicle-to-vehicle communication. .

  The beacon position data includes data such as the type of beacon / ITS spot, the number, the position, and the number of the installed link. The background data includes data such as railway position and shape data, facility position and name data, administrative place name, natural place name, administrative place and natural place position, and the like.

  The display 14 displays a map image, traffic information, operation guidance, an operation menu, a searched route, and the like. Here, the operation menu includes a screen for selecting a search condition when searching for a route, and the search condition includes, in addition to general road priority, distance priority, and toll road priority, as described above. Thus, the condition of automatic driving priority that prioritizes a route with a shorter distance or time required for manual driving is included.

  The operation unit 15 includes various operation switches, and is operated when inputting a destination, selecting a search condition, or the like. The display 14 and the operation unit 15 may be configured by a touch panel in which the display 14 and the operation unit 15 are integrated. The operation unit 15 may be configured by a voice input device and a voice recognition device, and may input a destination, select a search condition, and the like by voice input.

  The speaker 16 outputs voice guidance that guides the searched route, outputs traffic information by voice, and outputs voice guidance that guides the start and end of automatic driving.

  The communication module 17 is an in-vehicle device having a communication function, and is communicably connected to an external server or a traffic information center in which the map database 13 is stored via a mobile phone or without using a mobile phone. The communication module 17 is connected to an in-vehicle network such as a CAN (Controller Area Network), and the navigation system 10 receives map data transmitted from an external server, traffic information transmitted from a traffic information sensor, and the like. .

  The navigation control device 11 is an integrated circuit such as a microprocessor, and includes an A / D conversion circuit, a D / A conversion circuit, a central processing unit (CPU), a ROM (Read Only Memory), and a RAM (Read Access). Memory) and the like. The navigation control device 11 searches for a route from the current position of the host vehicle output from the locator 12 to a destination input by the driver using the operation unit 15, displays the search result on the display 14, and the automatic driving control device 20. Output to. The details of the route search processing by the navigation control device 11 will be described later.

  The camera 21 is installed in the front part of the vehicle, the side part of the vehicle, the rear part of the vehicle, and the like, and outputs image data obtained by photographing the front side of the vehicle, the side of the vehicle, the rear side of the vehicle, etc. The radar 22 is installed in the front part of the vehicle, the side part of the vehicle, the rear part of the vehicle, etc., and polar coordinates (distance and position) of the reflection points of the targets existing in the front of the vehicle, the side of the vehicle, and the rear of the vehicle are Output to the automatic operation control device 10.

  The automatic operation control device 20 is an integrated circuit such as a microprocessor, and includes an A / D conversion circuit, a D / A conversion circuit, a central processing unit (CPU), a ROM (Read Only Memory), and a RAM (Read Access Memory). The automatic operation control device 20 processes image data output from the camera 21 and reflection point information output from the radar 22, recognizes obstacles such as other vehicles around the host vehicle, and also creates white lines on the road. Recognize curbs, branch points, etc. Further, the automatic driving control device 20 calculates the required driving force, the required braking force, and the target steering angle so as to travel along the route output from the navigation control device 11 while avoiding the recognized obstacle. The automatic driving control device 20 outputs the calculated required driving force to the engine control device and the transmission control device (both not shown), outputs the calculated required braking force to the brake control device (not shown), and calculates the calculated target steering. The angle is output to a steering control device (not shown).

  The route output from the navigation control device 11 includes an automatic driving section and a manual driving section. When the host vehicle travels in the automatic driving section, there is no automatic operation when the driver does not operate the accelerator or the like. When the automatic driving control by the control device 20 is executed and the host vehicle travels in the manual driving section, the automatic driving control by the automatic driving control device 20 is interrupted.

  Here, when the automatic driving priority is selected as the search condition, the navigation control device 11 searches for a route in which the manual driving distance or the required time is the shortest or equivalent to the shortest, and the display 14 or the automatic driving control device 20. Etc. Hereinafter, a route search process by the navigation control device 11 when the automatic driving priority is selected as the search condition will be described.

  FIG. 2A and FIG. 2B are flowcharts showing a procedure of processing in which the navigation control device 11 searches for a route with priority on automatic driving. This process is started when automatic driving priority is selected as a search condition. In addition, although the example which searches a route based on "distance" of a manual driving area or an automatic driving area is demonstrated, you may make it search a route based on the "required time" of a manual driving area or an automatic driving area. . That is, the route may be searched by replacing the “distance” of the manual operation section or the automatic operation section with the “required time”. Here, as a search condition, a condition for searching for a route based on a “distance” of a manual operation section or an automatic operation section and a condition for searching for a route based on a “required time” of the manual operation section or the automatic operation section are: It may be set.

First, in step S1 of FIG. 2A, the navigation control device 11 determines whether or not a destination is designated by the operation of the operation unit 15, and proceeds to step S2 if an affirmative determination is made. In step S2, the navigation control device 11 travels from the current position of the host vehicle output from the locator 12 (hereinafter referred to as a departure point or point O) to the destination specified in step S1 (sometimes referred to as point D). The linear distance (hereinafter referred to as OD point distance) L ₀ is calculated. In the present step, the navigation control unit 11, instead of the OD point distance L _0, the distance to the destination D may calculate the distance L ₁ of the path having the shortest from the starting point O.

Next, in step S3, the navigation control device 11 calculates an upper limit distance A represented by the following formula (1) or the following formula (2). Next, in step S4, a plurality or a single route from the departure point O to the destination D is calculated, and a route having a distance within the upper limit distance A is extracted from the calculated routes. That is, in step S3, S4, path distance of more than predetermined times between OD point distance L ₀ (√2 times in the present embodiment) is excluded.

  FIGS. 3 and 4 are diagrams for explaining a process in which the navigation control device 11 searches for a route with priority on automatic driving. In these drawings, the automatic operation sections of paths 1 to 6 are indicated by solid lines, and the manual operation sections of paths 1 to 6 are indicated by broken lines. Here, the distance of each path of the example shown in FIG. 4 is 1/100 of the distance of each path of the example shown in FIG. As shown in these drawings, when a plurality of routes (for example, six routes as shown in the figure) from the departure point O to the destination D are calculated, the distance is A or less from the calculated plurality of routes. Only the routes of are extracted. That is, routes 1, 2, 3, 4, and 6 having a distance of A or less are extracted, while route 5 having a distance exceeding A is not extracted. Here, in the example shown in FIGS. 3 and 4, the distance of the manual operation section of the route 5 is the shortest. Thereby, although the distance of the manual operation section is the shortest, it is prevented that a route having a long total distance is searched and output so that the passenger feels a burden.

In the present step, the upper limit distance A, was a predetermined multiple of the distance L ₁ of OD point distance L ₀ or shortest route, for example, the upper limit distance A, the distance L ₁ of a predetermined number including the shortest path or an average value of the route may be or the maximum value of the distance of the route of a predetermined number including the route of the distance L _1.

Returning to the flowchart of FIG. 2A, in step S5, the navigation control unit 11, the distance of the manual operating section in the extracted path in In step S4 (hereinafter, referred to as manual operation distance) S ₀ extracts the route which is the shortest . In this step, the paths 3 and 4 are selected in the example shown in FIG. 3, and the paths 3 and 4 are extracted also in the example shown in FIG. Here, in this step, when the distance automatic operation section is within the threshold, the automatic operation section considers manual operation section calculates the manual driving distance S _0. The threshold value may be set to a much shorter distance than the distance from the departure point O to the destination D, for example, 1/100 of the distance from the departure point O to the destination D.

Next, in step S6, the navigation control unit 11, the distance from the path within the upper limit distance A, extracts the path including a manual driving distance S ₁ in the manual driving distance S ₀ and a predetermined relationship between the shortest path . Here, examples of the predetermined relationship include a relationship in which the manual driving distances S ₀ and S ₁ are represented by the following expressions (3), (4), and (5). In the present embodiment, the relationship expressed by the following equations (4) and (5) is a predetermined relationship.

In the above equation (3), ρ ₁ is a threshold value of a ratio between the difference between the manual operation distance S ₁ and the manual operation distance S ₀ and the manual operation distance S ₀ , for example, 0.05, 0.1 Etc. In the above equation (4), ρ ₂ is a threshold value of the ratio between the manual operation distance S ₁ and the manual operation distance S _0, and is, for example, 2.0, 1.5, etc. 2.0. Further, in the above equation (5), S ₁ is a distance of manual operation that the driver does not feel as a load, and S ₂ is a threshold value of a difference between the manual operation distance S ₁ and the manual operation distance S _0. For example, 10 km, 5 km, etc., and in this embodiment, 10 km. In the above equation (5), when “distance” is replaced with “required time”, S ₂ is, for example, 30 minutes, 15 minutes, or the like.

In the example shown in FIG. 3, the manual operation distance S ₁ of the routes 1 and 2 satisfies the relationship of the above equation (4) with respect to the manual operation distance S ₀ of the shortest routes 3 and 4, but the relationship of the above equation (5). Does not meet. Further, the manual operation distance S ₁ of the path 6 does not satisfy the relationship of the above expressions (4) and (5) with respect to the manual operation distance S ₀ of the shortest paths 3 and 4. On the other hand, in the example shown in FIG. 4, the manual operation distance S ₁ of the paths 1 and 2 satisfies the relationship of the above expressions (4) and (5) with respect to the manual operation distance S ₀ of the shortest paths 3 and 4. Also, the manual driving distance S ₁ of the path 6 does not satisfy the equation (5) in relation satisfies those described above (4) relationship to the manual driving distance S ₀ shortest path 3,4.

  Next, in step S7, the navigation control device 11 determines whether the route extracted in steps S5 and S6 is singular or plural. If it is singular, the process proceeds to step S8, and if it is plural, the process proceeds to step S10. In step S8, the navigation control device 11 outputs the single route extracted in step S6 to the display 14, the automatic driving control device 20, and the like. The process ends here.

On the other hand, in step S10, the navigation control apparatus 11 has the shortest distance (L−S ₀ ) obtained by subtracting the manual driving distance S ₀ from the distance L between the OD points from among the plurality of routes extracted in steps S5 and S6. Extract a route. In the example illustrated in FIG. 3, the routes 3 and 4 are extracted from the route 3 (L−S ₀ = 1200 km) and the route 4 (L−S ₀ = 1200 km). On the other hand, in the example illustrated in FIG. 4, the route 1 (LS ₀ = 7 km), the route 2 (LS ₀ = 8 km), the route 3 (LS ₀ = 12 km), and the route 4 (LS ₀ = Route 1 is extracted from 12 km).

In the present step, the distance of the path the distance _{(L-S 0)} is the shortest _{X 0,} the distance _{X 0} and the distance in a predetermined relationship _{(L-S 0)} when the distance _{X 1} route may be extracted including the distance X _1. Here, examples of the predetermined relationship include the relationships represented by the following formulas (6), (7), and (8).

In the above equation (6), ρ ₃ is a threshold value of the ratio between the difference between the distance X ₁ and the distance X ₀ and the distance X ₀ and is, for example, 0.05, 0.1, or the like. In the above equation (7), ρ ₄ is a threshold value of the ratio between the distance X ₁ and the distance X ₀ and is, for example, 2.0, 1.5, or the like. Further, in the above equation (8), X ₂ is a threshold value of the difference between the distance X ₁ and the distance X ₀ and is, for example, 10 km, 5 km, and the like. In the above equation (8), when “distance” is replaced with “required time”, it is, for example, 30 minutes, 15 minutes, or the like.

In this step, the distance obtained by subtracting the manual driving distance S ₀ from among OD point distance L (L-S ₀₎ were extracted route is the shortest, and extracts a path between OD point distance L is the shortest May be. Alternatively, a route having the shortest required time between OD points may be extracted.

  Next, in step S11, the navigation control device 11 determines whether the route extracted in step S10 is singular or plural. If it is singular, the process proceeds to step S8, and if it is plural, the process proceeds to step S20 in FIG. 2B. In step S8, the navigation control device 11 outputs the single route extracted in step S11 to the display 14, the automatic driving control device 20, or the like. In the example shown in FIG. 4, route 1 is output. The process ends here.

On the other hand, in step S20 in FIG. 2B, the navigation control unit 11, the distance of automatic operation section from among a plurality of paths extracted in step S10 (hereinafter, automatic operation distance of) L _A extracts the path is the longest. In the example illustrated in FIG. 3, the paths 3 and 4 are extracted from the paths 3 and 4 (both L _A = 1200 km).

In this step, instead of extracting the path automatic operation distance L _A is the longest, may be extracted path including automatic operation distance L _{A 'in} the automatic operation distance L _A predetermined relationship . Here, examples of the predetermined relationship include the relationships represented by the following formulas (9), (10), and (11).

In the above (9), [rho ₅ is the difference between automatic operation distance _{L A} and automatic operation distance _{L A} ', a threshold of the ratio of the automatic operation distance _{L A,} for example, 0.05,. 1st magnitude. In the above equation (10), ρ ₆ is a threshold value of the ratio between the automatic driving distance L _A and the automatic driving distance L _A ′, and is 0.5, 2/3, for example. Furthermore, in the above equation (11), L ₂ is a threshold value of a difference between the automatic driving distance L _A and the automatic driving distance L _A ′, and is, for example, 10 km, 5 km, and the like. In the above equation (11), when “distance” is replaced with “required time”, for example, 30 minutes, 15 minutes, and the like.

  Next, in step S21, the navigation control device 11 determines whether the route extracted in step S20 is singular or plural. If the number is singular, the process proceeds to step S8 in FIG. 2A. If the number is singular, the process proceeds to step S30. In step S8 of FIG. 2A, the navigation control device 11 outputs the single route extracted in step S20 to the display 14, the automatic driving control device 20, or the like. The process ends here.

  On the other hand, in step S30 of FIG. 2B, the navigation control device 11 extracts a route having the smallest number of times of switching between automatic driving and manual driving from the plurality of routes extracted in step S20. In the example illustrated in FIG. 3, the route 3 is extracted from the route 3 (once) and the route 4 (once).

In this step, instead of extracting a route having the smallest number of switching times N ₀ between automatic driving and manual driving, a route including the number of switching times N ₁ having a predetermined relationship with the number of switching times N ₀ is extracted. Also good. Here, examples of the predetermined relationship include the relationships represented by the following equations (12) and (13).

For example, in the above equation (12), ρ ₇ is a threshold value of the ratio between the switching number N ₁ and the switching number N ₀ and is, for example, 1.5, 2.0, or the like. In the above equation (13), N ₂ is a threshold value of the difference between the switching number N ₁ and the switching number N _0, and is, for example, once or twice.

  Next, in step 31, the navigation control apparatus 11 determines whether the route extracted in step S30 is singular or plural. If the number is singular, the process proceeds to step S8 in FIG. 2A. If the number is singular, the process proceeds to step S40. In step S8 of FIG. 2A, the navigation control device 11 outputs the single route extracted in step 30 to the display 14, the automatic driving control device 20, or the like. In the example illustrated in FIG. 3, the path 3 is output. The process ends here.

On the other hand, in step S40, the navigation controller 11, the manual driving distance S ₀ selected in step S5 to output the path which is the shortest in the display 14 and the automatic operation controller 20 or the like. The process ends here.

但し、Ｔは、出発地Ｏから目的地Ｄまでのリンクコストやノードコスト等の探索コストであり、αは、手動運転の距離又は所要時間や、自動運転と手動運転との切替回数等に応じて設定された重み値である。 FIG. 5 is a diagram for explaining route search processing according to the comparative example. In this figure, the automatic operation sections of routes 1 to 4 are indicated by solid lines, and the manual operation sections of routes 1 to 4 are indicated by broken lines. In the route search process according to this comparative example, a route with the smallest index D expressed by the following equation (14) is extracted.

Where T is a search cost such as a link cost from the departure point O to the destination D and a node cost, and α is a distance or time required for manual operation, the number of times of switching between automatic operation and manual operation, etc. Is the set weight value.

  Since the index D represented by the above equation (14) becomes larger as the distance from the starting point O to the destination D is longer, three routes are extracted in the order of decreasing index D in the example shown in FIG. In this case, the routes 1, 2, and 3 having a short distance from the departure point O to the destination D are extracted, and there is a possibility that the route 4 having a much longer distance in the automatic operation section than the other routes may not be extracted. . Hereinafter, this point will be described in more detail.

  FIG. 6 is a diagram for explaining the route search process according to the comparative example in more detail. In this comparative example, T in the equation (14) corresponds to the distance from the starting point O to the destination D, and α in the equation (14) corresponds to the distance of the manual operation section.

  In the route 1 shown in FIG. 6, the distance from the departure point O to the destination D is 14 km and the distance of the manual operation section is 0 km. The index D expressed by the above equation (14) is 14 (= 14 + 0). It becomes. On the other hand, in the route 2, the distance from the starting point O to the destination D is 10 km, and the distance of the manual operation section is 2 km. The index D expressed by the above equation (14) is 12 (= 10 + 2). It becomes. Therefore, the route 1 whose distance in the manual operation section is 0 km is not extracted, but the route 2 in which the distance in the manual operation section is 2 km and the burden on the driver is larger than the route 1 is extracted. .

  In the route 2 shown in FIG. 6, the distance from the starting point O to the destination D is 19 km, and the distance of the manual operation section is 1 km. The index D expressed by the above equation (14) is 20 (= 19 + 1) It becomes. On the other hand, in the route 4, the distance from the starting point O to the destination D is 10 km, and the distance of the manual operation section is 9 km. The index D expressed by the above equation (14) is 19 (= 10 + 9) It becomes. Therefore, the route 3 whose manual driving section is 1/19 of the total distance is not extracted, and the distance of the manual driving section is 9/10 of the total distance 9/10 and the burden on the driver is compared with the path 3 Thus, a significantly larger path 4 is extracted.

  Here, when searching for a route using the index D expressed by the above equation (14), the number of searched routes is limited so that only a relatively short distance is extracted or unlimited. There is an option to do. In addition, there is an option of setting a smaller weight value or a larger weight value.

  When the number of searched routes is limited so that only a relatively short distance is extracted and the weight value is set to a small value, a manual operation section as shown in the route 4 in the example shown in FIG. There is a higher probability that a route that occupies most of the total distance will be selected. On the other hand, when the number of searched routes is unlimited and the weight value is set large, a route with a too long distance from the starting point O to the destination D is selected although the ratio of the automatic driving section is high. The possibility of being increased.

In contrast, in the route search method for automatic driving support according to the present embodiment, inter-OD point distance L or the threshold or less, and, 1 within a predetermined range manually driving distance S ₀ to the lower limit shortest or minimum A book or a plurality of routes are extracted. Here, by limiting the distance L between the OD points to be equal to or less than the threshold value, it is possible to eliminate the possibility of selecting a route in which the distance L between the OD points is too long although the ratio of the automatic operation section is high. Moreover, by manually driving distance S ₀ is limited path within a predetermined range the lower limit shortest or shortest route burden is large manual operation section is related to the driver, such as the majority of the total distance is selected The possibility can be excluded.

Further, the route searching method for automatic driving support according to the present embodiment, manual operation distance S _{if 0} is extracted relatively short plurality of paths, from among the extracted plurality of paths, between OD point distance L distance obtained by subtracting the manual driving distance S ₀ (L-S ₀₎ to extract one or a plurality of paths within a predetermined range the lower limit shortest or minimum from. This eliminates the possibility of selecting a route in which the distance L between the OD points is too long although the manual operation distance S ₀ is relatively short.

In the route search method for automatic driving support according to the present embodiment, when a plurality of routes having a relatively short manual driving distance S ₀ are extracted, the automatic driving distance L _{A is} extracted from the extracted plurality of routes. Extracts one or a plurality of routes within a predetermined range with the longest or the longest as an upper limit. Thereby, for example, when a plurality of routes having the same manual driving distance S ₀ and the same distance OD between the OD points are extracted, from among the plurality of routes, automatic operation distance L _a is relatively short path can eliminate the possibility of being selected.

Further, the route searching method for automatic driving support according to the present embodiment, when the manual driving distance S ₀ was extracted relatively short plurality of paths, from among the extracted plurality of paths, automatic operation and manual operation One or a plurality of the routes within a predetermined range having the minimum number of times of switching to or the minimum as the lower limit are extracted. Thereby, for example, when a plurality of routes having the same manual driving distance S ₀ and the same distance OD between the OD points are extracted, from among the plurality of routes, It is possible to eliminate the possibility of selecting a route having a relatively large number of times of switching between the automatic operation and the manual operation and a relatively large load related to the operation.

Further, the route searching method for automatic driving support according to the present embodiment, the predetermined manual operation distance S ₀ is not limiting to one path of the shortest, the manual driving distance S ₁ is the lower limit shortest S ₀ range A plurality of routes are extracted. Thus, the path manually driving distance S ₀ is minute difference in the burden on the driver in comparison with the shortest path, the manual driving distance S ₀ in other conditions such as between OD point distance L is the shortest route The route can be extracted when it is superior to.

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

For example, in the above-described embodiment, the distance OD between the OD points, the manual operation distances S ₀ and S ₁ , the distance X ₀ (= L−S ₀ ), X _{1 obtained} by subtracting the manual operation distance from the distance between the OD points, automatic operation The route is searched based on the distances L _A , L _A ′ and the number of times N ₀ , N ₁ for switching between the automatic operation and the manual operation, but the route is searched based on at least the distance OD between the OD points and the manual operation distance S _0. That's fine. That is, the decision element for searching for a route, inter OD point distance L, it may be only manual operation distance S _0, inter OD point distance L, the manual driving distance S _0, subtracting the manual driving distance from between the OD point distance Distance X ₀ (= L−S ₀ ), X ₁ , automatic driving distances L _A , L _A ′, switching frequency between automatic driving and manual driving N ₀ , N ₁ , or any of these Two or more may be added.

  In the above-described embodiment, the determination element for searching for a route is any one of “distance” and “required time” between OD points, manual operation sections, and the like. The determination element based on the distance and the determination element based on the required time, such as the distance between the OD points and the required time of the manual operation section, may be mixed.

10 Navigation system O Departure point D Destination

Claims (8)

A route search method for automatic driving assistance that searches for a route including an automatic driving section of a vehicle using a navigation system,
One or a plurality of the routes within a predetermined range in which the distance or the required time from the departure point to the destination is less than the threshold and the distance or the required time of the manual operation section is the shortest or the shortest is the lower limit are extracted. A route search method for autonomous driving support.   When a plurality of the routes are extracted, the distance obtained by subtracting the distance of the manual operation section from the distance from the starting point to the destination or the required distance from the starting point to the destination The route search for automatic driving support according to claim 1, wherein one or a plurality of the routes within a predetermined range in which the required time obtained by subtracting the time required for the manual driving section from the time is the shortest or the shortest is the lower limit are extracted. Method.   When a plurality of the routes are extracted, one or a plurality of the distance or required time of the automatic driving section of the vehicle within a predetermined range with the longest or longest as an upper limit is selected from the extracted plurality of the routes The route search method for automatic driving support according to claim 1 or 2, wherein the route is extracted.   When a plurality of the routes are extracted, one or more within a predetermined range in which the number of times of switching between automatic driving and manual driving of the vehicle is the minimum or the minimum is selected from the extracted plurality of the routes. The route search method for automatic driving support according to any one of claims 1 to 3, wherein the route is extracted.   The predetermined range is a ratio of a difference between the distance of the manual operation section with respect to a route having the shortest distance of the manual operation section and a distance of the manual operation section of the shortest route being within a threshold, or of the manual operation section The ratio of the difference of the required time of the said manual operation area with respect to the path | route with the shortest required time and the required time of the said manual operation area of the said shortest path | route is set so that it may become less than a threshold value. The route search method for automatic driving support according to any one of the above.   The predetermined range is such that the ratio of the distance of the manual operation section to the route having the shortest distance of the manual operation section is within a threshold value, or the ratio of the required time of the manual operation section to the shortest route is within the threshold value. The route search method for automatic driving support according to any one of claims 1 to 4, which is set.   The predetermined range is such that a difference in distance of the manual operation section with respect to a route having the shortest distance in the manual operation section is within a threshold value, or a difference in required time of the manual operation section with respect to the shortest route is within a threshold value. The route search method for automatic driving support according to any one of claims 1 to 4, which is set. A route search device for automatic driving support comprising a navigation system for searching for a route including an automatic driving section of a vehicle,
The navigation system has one or more distances or required times from a starting point to a destination within a predetermined range with a distance or required time of a manual operation section being the shortest or the shortest being the lower limit. A route search device for automatic driving assistance for extracting the route.

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