JP2018060393A - Automobile, server device, map providing system, map providing method, and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vehicle that can efficiently receive a map inside a parking lot.SOLUTION: A vehicle which has an automatic driving function and communicates with a server device is comprised of: a data transmitting/receiving unit for transmitting a previously stored parking lot map and a map request to the server device, and for receiving a retreat command, a retreat map, and a latest map from the server device, or for receiving an entry command; and an automatic driving control unit for performing a retreat control to move to a predetermined evacuation place in a parking lot in accordance with an evacuation map and a driving control into the parking lot according to the latest map when receiving a retreat command, and for performing a driving control into the parking lot according to a parking lot map when an entrance order is received.SELECTED DRAWING: Figure 2

Description

  The present invention relates to an automobile having an automatic driving function, a server device communicating with the automobile, a map providing system including the automobile and the server device, a map providing method, and a program.

  Non-Patent Document 1 discloses a highly accurate three-dimensional map (dynamic map) for use in an automatic traveling system. In Non-Patent Document 1, it is pointed out that the amount of information in the GPS position information is insufficient to realize an automatic traveling system. This is because the GPS position information includes an error of 10 meters or more and does not have three-dimensional information, which may hinder automatic driving. Non-Patent Document 1 points out that a highly accurate three-dimensional map (dynamic map) is required to realize an automatic traveling system.

Seihydrio, “Current location of“ map information ”that determines the future of automobiles—Lead the era of autonomous driving in All Japan”, [online], August 4, 2016, Toyo Keizai ONLINE, [September 2016 Search 27th], Internet <URL: http: //toyokeizai.net/articles/-/129365>

  In order to realize automatic entry into the parking lot and automatic delivery from the parking lot, it is necessary to overcome the same problems as described above. In other words, a high-precision 3D map in the parking lot will be required, and how the facility should distribute the map (how the vehicle should receive the map) is also worth considering. . However, in the past, it was efficient for the facility side to distribute the map in the parking lot to the car having an automatic driving function (how to receive the map in the parking lot efficiently) It has not been fully examined.

  Therefore, an object of the present invention is to provide an automobile that can efficiently receive a map in a parking lot.

  The automobile of the present invention has an automatic driving function and communicates with a server device, and includes a data transmission / reception unit and an automatic driving control unit.

  The data transmission / reception unit transmits a prestored parking lot map and map request to the server device, and receives an evacuation command, a evacuation map, and the latest map from the server device, or receives an entry command. When the evacuation command is received, the automatic operation control unit executes the evacuation control to move to a predetermined evacuation place in the parking lot according to the evacuation map, executes the driving control to the parking lot according to the latest map, and receives the entry command. In such a case, driving control into the parking lot is executed according to the parking lot map.

  According to the automobile of the present invention, a map in a parking lot can be efficiently received.

1 is a diagram illustrating a schematic configuration of a map providing system according to a first embodiment. FIG. 2 is a block diagram illustrating a configuration of each device included in the map providing system according to the first embodiment. FIG. 3 is a sequence diagram illustrating operations of devices included in the map providing system according to the first embodiment. The schematic plan view of the parking lot entrance vicinity which shows the execution example of avoidance control and in-field operation control. The schematic plan view which shows the variation near parking lot entrance.

  Hereinafter, embodiments of the present invention will be described in detail. In addition, the same number is attached | subjected to the structure part which has the same function, and duplication description is abbreviate | omitted.

  Hereinafter, a schematic configuration of the map providing system according to the first embodiment will be described with reference to FIG. As shown in FIG. 1, the map providing system 1 according to the present embodiment includes an automobile 11, a server device 12, a first wireless communication device 13, and a second wireless communication device 14. Although there are a plurality of automobiles 11, only one is shown in FIG. Further, in the following description, only one automobile 11 is introduced and the explanation is made with attention paid only to this one, but it is assumed that there are a plurality of automobiles 11 that perform the same operation in an actual parking lot.

  The automobile 11 has an automatic driving function. It is assumed that the automobile 11 can wirelessly communicate with the first wireless communication device 13 and the second wireless communication device 14 (broken lines in the figure virtually represent the wireless communication path). The first wireless communication device 13 and the second wireless communication device 14 are devices that can communicate with the server device 12 via the network 9. The above-described wireless communication path and network 9 may be realized by, for example, a wireless LAN, a mobile communication network, an Internet line, in-vehicle V2X communication, or a communication path that combines these.

  The server device 12 is a device managed by, for example, a parking lot management company, and distributes a map in the parking lot to the automobile 11 via the network 9 and the wireless communication path described above. One server device 12 may be provided for each parking lot, or one server device 12 may be provided for a plurality of parking lots.

  The first wireless communication device 13 and the second wireless communication device 14 may be wireless access points, for example. As shown in FIG. 4, it is assumed that the first wireless communication device 13 is installed in the vicinity of the entrance of the parking lot, and the second wireless communication device 14 is installed in the vicinity of the evacuation place 8 to be described later. When the entrance of the parking lot and the evacuation place 8 are sufficiently close, the functions of the first wireless communication device 13 and the second wireless communication device 14 are integrated into a single wireless communication device. An example map providing system 1 may be realized.

  Hereinafter, the configuration of each device included in the map providing system 1 of the present embodiment will be described with reference to FIG. As shown in FIG. 2, the automobile 11 of the present embodiment includes a data transmission / reception unit 111, a map storage unit 111 </ b> A, and an automatic driving control unit 112. The server device 12 of this embodiment includes a data transmission / reception unit 121, a map storage unit 121A, and a version confirmation unit 122. Since the first and second wireless communication devices 13 and 14 are only relaying data transmission / reception, illustration of configuration requirements inside the device is omitted. The automobile 11 and the server device 12 naturally include other components that are not shown in FIG. 2, but are not shown because they are not necessary for the description of the operation of the map providing system 1 of the present embodiment.

Hereinafter, with reference to FIG. 3, FIG. 4, operation | movement of each apparatus contained in the map provision system 1 of a present Example is demonstrated. It is assumed that the automobile 11 is temporarily stopped near the entrance of the parking lot (see the automobile symbol represented by a solid line in FIG. 4). First, the data transmission / reception unit 111 of the automobile 11 transmits a parking lot map and a map request stored in advance in the map storage unit 111A to the server device 12 (S111A). Typically, the automobile 11 stores all the parking lot maps of the parking lots used in the past in the map storage unit 111A, and also stores the version information of the parking lot map in the map storage unit 111A. I shall keep it. When the car 11 enters the parking lot, it is assumed that the parking lot to be entered is specified from GPS information and other information, and the data transmission / reception unit 111 has acquired the parking lot map obtained in the past for the specified parking lot. Among them, the map information having the newest version information is searched from the map storage unit 111A, and the searched parking map is transmitted to the server device 12 simultaneously with the map request (via the first wireless communication device 13). Shall. As a result of searching the map storage unit 111A for the specified parking lot, if a corresponding parking lot map is not found (typically, when the car 11 first visits the corresponding parking lot), data transmission / reception is performed. The unit 111 transmits only the map request (via the first wireless communication device 13) to the server device 12. The first wireless communication device 13 receives the parking lot map and the map request (or only the map request) from the automobile 11, and transmits these pieces of information to the server device 12 (S13A). As shown in FIG. 4, the first wireless communication device 13 is installed near the entrance of the parking lot and plays a role of relaying the initial communication between the automobile 11 and the server device 12. The data transmitting / receiving unit 121 of the server device 12 receives the parking lot map and the map request (or only the map request) from the automobile 11 (via the first wireless communication device 13) (S121A).
When the version check unit 122 of the server device 12 receives a parking lot map and a map request from the automobile 11, the latest version parking lot map (hereinafter referred to as the latest version) stored in advance in the received parking lot map and map storage unit 121A. Is referred to as a map), and it is confirmed whether or not the version of the received parking lot map is the latest (S122). For example, it is assumed that all version information for verification is associated with and stored in the parking lot map, and the version confirmation unit 122 determines whether there is a difference between the latest map version information and the received parking map version information. By checking and confirming, it is possible to confirm whether or not the received parking map version is the latest version. When only the map request is received in step S121A, the version confirmation unit 122 handles the same as when the version of the parking lot map that received the request is not the latest. The following processing branches into two depending on whether or not the received parking map version is the latest version.

<If the received parking map version is not the latest (or if the parking map is not received)>
When the received parking map version is not the latest (or when the parking map is not received), the data transmission / reception unit 121 of the server device 12 passes through the first and second wireless communication devices 13 and 14. The evacuation command, the evacuation map, and the latest map are transmitted to the automobile 11 (S121B, S121C, S121D). The evacuation command is a signal that prohibits the automobile 11 from entering the back of the parking lot and temporarily evacuates to a predetermined evacuation place 8 in the parking lot (see, for example, the shaded portion in FIG. 4). . The evacuation map is a fragmentary map from the parking lot entrance to the predetermined evacuation place 8 and is a highly accurate three-dimensional map. The latest map is a high-accuracy map of the latest version of the parking lot as described above, and is a map that includes information on the roadway, vehicle compartment, and the surrounding area necessary for operation control. Therefore, in most cases, the latest map is the information with the largest data capacity among the three pieces of information, the evacuation map is the information with the second largest data capacity among the three pieces of information, and the save command is the information of the three pieces of information. This is the information with the smallest data capacity. Therefore, the data transmission / reception unit 121 of the server device 12 may preferentially transmit a save command or a save map with a small data capacity to the automobile 11, and then transmit a latest map with a large data capacity. For example, after step S121B and step S121C are executed, the vehicle 11 transmits a reception confirmation notification of the above two pieces of information (evacuation command, evacuation map) to the server device 12 (not shown). Step S121D may be executed after receiving the confirmation notification. The first wireless communication device 13 receives the evacuation command and the evacuation map from the server device 12, and transmits these pieces of information to the automobile 11 (S13B, S13C). The data transmitter / receiver 111 of the automobile 11 receives the save command and the save map from the server device 12 (via the first wireless communication device 13) (S111B, S111C). When receiving an evacuation command from the server device 12, the automatic driving control unit 112 of the automobile 11 executes the evacuation control for moving to the predetermined evacuation place 8 in the parking lot according to the evacuation map received in step S111C (S112A). The automobile 11 temporarily stops at a predetermined evacuation place 8 (see broken line arrows entering the evacuation place 8 in FIG. 4, see the symbol of the automobile in the evacuation place 8 indicated by a broken line).

  As shown in FIG. 4, the second wireless communication device 14 is assumed to be in a position adjacent to the save place 8. The second wireless communication device 14 receives the latest map from the server device 12 and transmits the latest map to the automobile 11 (S14D). The data transmitter / receiver 111 of the automobile 11 receives the latest map from the server device 12 (via the second wireless communication device 14) (S111D). When the latest map is received, the automatic driving control unit 112 starts driving control into the parking lot according to the received latest map (S112B). In addition, as shown with the broken line, the 1st radio | wireless communication apparatus 13 may receive the one part or all part of the newest map from the server apparatus 12, and may transmit to the motor vehicle 11 (S13D). As a practical implementation, transfer of the latest map is executed halfway in the first wireless communication device 13, and after the automobile 11 moves to the shelter 8, the second wireless communication device 14 continues to transfer the latest map. It is possible to do. When the car 11 stores an old version of the map, only the difference between the old version and the latest version may be transmitted from the server device 12 as the latest map. In this case, the automobile 11 may receive the difference (latest map) and generate a map in the parking lot by combining the old version map and the difference.

  In this way, the automobile 11 that has not stored and held the latest map executes the above steps S111B to S112A, executes temporary saving so as not to interfere with the on-site driving of the following vehicle, and in the predetermined saving place 8 The process of step S111D for receiving a large-capacity latest map is executed. Even if the data capacity of the latest map is large, the reception process is executed at the predetermined evacuation place 8, so that there is no influence on the on-site driving of the following vehicle.

<If the received parking map version is the latest>
When the received parking map version is the latest, the data transmission / reception unit 121 of the server device 12 transmits an entry command to the automobile 11 (S121E). The first wireless communication device 13 receives the entrance command from the server device 12 and transmits the entrance command to the automobile 11 (S13E). The data transmitter / receiver 111 of the automobile 11 receives the entry command from the server device 12 (via the first wireless communication device 13) (S111E). When the entrance command is received, the automatic driving control unit 112 executes driving control into the parking lot according to the parking lot map originally stored in the map storage unit 111A (S112C, broken line arrow indicating straight traveling in FIG. (See the car symbol with a dashed line at the end of the arrow).

  As described above, the car 11 that has already stored and held the latest map at the time of entry does not need to newly receive a large amount of data, and only needs to receive an entry command. Therefore, the car 11 can quickly start driving control into the parking lot, and does not hinder the subsequent vehicle from traveling in the field or moving to a shelter.

  The shelter 8 may be provided outside the gate of the parking lot as shown in FIG. In this case, the first wireless communication device 13 may be arranged in front of the branch path to the shelter 8 or in the vicinity thereof, not near the gate.

<Supplementary note>
The apparatus of the present invention includes, for example, a single hardware entity as an input unit to which a keyboard or the like can be connected, an output unit to which a liquid crystal display or the like can be connected, and a communication device (for example, a communication cable) capable of communicating outside the hardware entity. Can be connected to a communication unit, a CPU (Central Processing Unit, may include a cache memory or a register), a RAM or ROM that is a memory, an external storage device that is a hard disk, and an input unit, an output unit, or a communication unit thereof , A CPU, a RAM, a ROM, and a bus connected so that data can be exchanged between the external storage devices. If necessary, the hardware entity may be provided with a device (drive) that can read and write a recording medium such as a CD-ROM. A physical entity having such hardware resources includes a general-purpose computer.

  The external storage device of the hardware entity stores a program necessary for realizing the above functions and data necessary for processing the program (not limited to the external storage device, for example, reading a program) It may be stored in a ROM that is a dedicated storage device). Data obtained by the processing of these programs is appropriately stored in a RAM or an external storage device.

  In the hardware entity, each program stored in an external storage device (or ROM or the like) and data necessary for processing each program are read into a memory as necessary, and are interpreted and executed by a CPU as appropriate. . As a result, the CPU realizes a predetermined function (respective component requirements expressed as the above-described unit, unit, etc.).

  The present invention is not limited to the above-described embodiment, and can be appropriately changed without departing from the spirit of the present invention. In addition, the processing described in the above embodiment may be executed not only in time series according to the order of description but also in parallel or individually as required by the processing capability of the apparatus that executes the processing. .

  As described above, when the processing functions in the hardware entity (the apparatus of the present invention) described in the above embodiments are realized by a computer, the processing contents of the functions that the hardware entity should have are described by a program. Then, by executing this program on a computer, the processing functions in the hardware entity are realized on the computer.

  The program describing the processing contents can be recorded on a computer-readable recording medium. As the computer-readable recording medium, for example, any recording medium such as a magnetic recording device, an optical disk, a magneto-optical recording medium, and a semiconductor memory may be used. Specifically, for example, as a magnetic recording device, a hard disk device, a flexible disk, a magnetic tape or the like, and as an optical disk, a DVD (Digital Versatile Disc), a DVD-RAM (Random Access Memory), a CD-ROM (Compact Disc Read Only). Memory), CD-R (Recordable) / RW (ReWritable), etc., magneto-optical recording medium, MO (Magneto-Optical disc), etc., semiconductor memory, EEP-ROM (Electronically Erasable and Programmable-Read Only Memory), etc. Can be used.

  The program is distributed by selling, transferring, or lending a portable recording medium such as a DVD or CD-ROM in which the program is recorded. Furthermore, the program may be distributed by storing the program in a storage device of the server computer and transferring the program from the server computer to another computer via a network.

  A computer that executes such a program first stores, for example, a program recorded on a portable recording medium or a program transferred from a server computer in its own storage device. When executing the process, the computer reads a program stored in its own recording medium and executes a process according to the read program. As another execution form of the program, the computer may directly read the program from a portable recording medium and execute processing according to the program, and the program is transferred from the server computer to the computer. Each time, the processing according to the received program may be executed sequentially. Also, the program is not transferred from the server computer to the computer, and the above-described processing is executed by a so-called ASP (Application Service Provider) type service that realizes the processing function only by the execution instruction and result acquisition. It is good. Note that the program in this embodiment includes information that is used for processing by an electronic computer and that conforms to the program (data that is not a direct command to the computer but has a property that defines the processing of the computer).

In this embodiment, a hardware entity is configured by executing a predetermined program on a computer. However, at least a part of these processing contents may be realized by hardware.

Claims (6)

An automobile having an automatic driving function and communicating with a server device,
A pre-stored parking lot map and a map request to the server device, and a data transmission / reception unit for receiving an evacuation command, a evacuation map and the latest map from the server device, or receiving an entry command;
When the evacuation command is received, the evacuation control is performed to move to a predetermined evacuation place in the parking lot according to the evacuation map, the driving control to the parking lot is executed according to the latest map, and the entrance command is received. In this case, the vehicle includes an automatic driving control unit that executes driving control into the parking lot according to the parking lot map. A server device that communicates with an automobile having an automatic driving function,
When a parking lot map and a map request are received from the vehicle, and when the version of the parking map is not the latest, an evacuation command, a evacuation map and the latest map are transmitted to the vehicle, and the parking map version is the latest A data transmission / reception unit for transmitting an entrance command to the vehicle;
A version confirmation unit that compares the parking map with the latest map stored in advance and confirms whether the version of the parking map is the latest,
Server device including A map providing system including an automobile having an automatic driving function and a server device,
The car is
A pre-stored parking lot map and a map request to the server device, and a data transmission / reception unit for receiving an evacuation command, a evacuation map and the latest map from the server device, or receiving an entry command;
When the evacuation command is received, the evacuation control is executed to move to a predetermined evacuation place in the parking lot according to the evacuation map, the driving control to the parking lot is executed according to the latest map, and the admission command is received. In case, including an automatic driving control unit for performing driving control into the parking lot according to the parking map,
The server device
The parking lot map and the map request are received from the vehicle, and when the version of the parking lot map is not the latest, the evacuation command, the evacuation map and the latest map are transmitted to the vehicle, and the version of the parking lot map A data transmission / reception unit that transmits the admission command to the vehicle when
A version confirmation unit that compares the parking map with the latest map stored in advance and confirms whether the version of the parking map is the latest,
Map providing system including. A map providing method executed by an automobile having an automatic driving function and a server device,
The car is
Executing a step of transmitting a prestored parking lot map and a map request to the server device;
The server device
When the parking lot map and the map request are received from the car, the parking map is compared with the latest map stored in advance to check whether the version of the parking lot map is the latest. When,
If the version of the parking map is not the latest, send the evacuation command, the evacuation map and the latest map to the vehicle, and if the version of the parking map is the latest, send the entrance command to the vehicle And
The car is
Receiving the evacuation command, the evacuation map and the latest map from the server device, or receiving the admission command;
When the evacuation command is received, executing the evacuation control to move to a predetermined evacuation place in the parking lot according to the evacuation map, and executing the driving control to the parking lot according to the latest map;
The map provision method which performs the step which performs the drive control to the said parking lot according to the said parking lot map, when the said entrance command is received.   A program that causes a computer to function as the control unit of the automobile according to claim 1.   A program causing a computer to function as the server device according to claim 2.

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