JP2018072069A - Map data structure, transmitter, and map display device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a map data structure which can desirably determine whether an automatic operation can be executed, a transmitter which uses map data of the map data structure, and a map display device.SOLUTION: A server device has a distribution map DB. The distribution map DB includes data generation identification information IG on a method for generating data on each area or each road of the map. The server device sends the map data based on the distribution map DB to an operation supporting device which moves with a vehicle.SELECTED DRAWING: Figure 3

Description

  The present invention relates to an automatic driving technique.

  2. Description of the Related Art Conventionally, a so-called automatic driving technique for automatically controlling traveling of a vehicle is known. When performing automatic driving, for example, an external sensor such as a camera is used to recognize information around the own vehicle such as a white line or a preceding vehicle, or an internal sensor such as an acceleration sensor or a gyro is used to detect the vehicle. It is necessary to grasp the posture and state of the person. Patent Document 1 discloses a technique for recognizing a running lane or a stationary target based on an image of a camera installed in a vehicle. Patent Document 2 discloses a technology related to automatic driving.

JP 2014-093018 A JP 2014-106854 A

  In general, whether or not automatic driving can be executed depends on the accuracy of the map data to be referred to. For example, when referring to low-accuracy map data, it is necessary to make the recognition accuracy of the surrounding environment by the external sensor higher than when referring to map data with higher accuracy than the map data. Conceivable. Thus, in order to accurately determine whether or not automatic driving can be performed, it is necessary to consider the accuracy of the map data to be referred to.

  The present invention has been made, for example, in order to solve the above-described problems, and uses a map data structure that can suitably determine whether or not automatic driving can be performed, and map data of the map data structure. The main object is to provide a transmission device and a map display device.

  The invention according to claim 1 is a map data structure indicating a map, wherein each area of the map or each road of the map includes identification information of a data generation method for the area or road. Features.

  The invention according to claim 4 is a storage unit that stores map data having the map data structure according to any one of claims 1 to 3, and a transmission unit that transmits the map data to a vehicle. It is characterized by providing.

  The invention according to claim 5 includes: an acquisition unit that acquires map data having the map data structure according to any one of claims 1 to 3; and a display unit that displays a map based on the map data. The display unit is configured to display, for each area or road in the map, a method for generating data related to the area or road based on identification information included in the map data.

It is a schematic structure of an automatic driving system. The block structure of a server apparatus and a driving assistance device is shown. An example of the schematic data structure of map data is shown. It is an example of the table which showed roughly the information memorized as an automatic operation judging table. It is a flowchart which shows the procedure of an automatic driving | operation determination process. It is an example of a display of the production | generation identification screen which displayed the production | generation identification line for every road. It is an example of a display of the production | generation identification screen which performed color classification for every area.

  According to a preferred embodiment of the present invention, the map data structure is a map data structure indicating a map, and for each area of the map or each road of the map, Identification information is included.

  The map data structure includes, for each area of the map or each road of the map, identification information on a data generation method related to the area or road. In general, the accuracy of generated map data depends on the method of generating the map data. Therefore, according to this aspect, by referring to the map data having the above map data structure, the accuracy of the map data related to the target road or area is preferably estimated and used for determining whether or not the automatic driving can be performed. Is possible.

  In one aspect of the map data structure, the identification information is generated based on at least the output of an external sensor when passing through the area or road, and / or generated based on an aerial photograph. It is information that identifies whether or not In general, map data generated based on the output of an external sensor when actually traveling on a road is more accurate than map data generated by aerial photographs, and is three-dimensional data including height direction information. It is estimated that Therefore, in this aspect, by referring to the identification information of the data generation method, it is possible to appropriately estimate the accuracy of the map data and use it for the determination of whether or not automatic driving can be performed.

  In one aspect of the map data structure, the identification information further includes information indicating a type or performance of the external sensor when the data indicates that the data is generated based on an output of the external sensor. In general, the accuracy and the like of generated map data vary depending on the type and performance of an external sensor used when generating map data. Therefore, in this aspect, the identification information of the data generation method can appropriately identify the type and performance of the external sensor used for the generation of the data, and can more accurately execute the determination of whether or not automatic driving can be performed. Is possible.

  According to another preferred embodiment of the present invention, a transmission device includes a storage unit that stores map data having any one of the map data structures described above, and a transmission unit that transmits the map data to a vehicle or a terminal. . Here, the “terminal” is a device that can receive map data from the transmission device, and may be an in-vehicle device that exists in the vehicle, and can write the map data to a storage medium that can be read by the in-vehicle device. It may be a home personal computer. According to this aspect, the transmission device can suitably distribute map data including identification information of a data generation method to a vehicle or a terminal, and use the map data for automatic driving or the like.

  According to another preferred embodiment of the present invention, a map display device includes an acquisition unit that acquires map data having the map data structure described above, a display unit that displays a map based on the map data, The display unit performs display for identifying a generation method of data regarding the area or road for each area or road in the map based on the identification information included in the map data. According to this aspect, the map display device can suitably display the map displayed so as to be able to identify the data generation method with reference to the map data including the identification information of the data generation method.

  In one aspect of the map display device, the map display device further includes an external sensor and a determination unit that determines whether or not automatic driving is possible, and the storage unit includes identification information on a method for generating data related to an area or a road. In addition, automatic driving determination information storing information on external sensors necessary for automatic driving is stored, and the determination unit determines whether or not automatic driving for the target area or road is possible based on the automatic driving determination information. According to this aspect, the map display device can suitably determine whether or not automatic driving can be performed on the target area or road.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.

[Outline of automated driving system]
FIG. 1 is a schematic configuration of an automatic driving system according to the present embodiment. The automatic driving system includes a server device 1 that distributes map data, and a driving support device 2 that moves with the vehicle.

  The server device 1 stores the distribution map DB 10 and extracts the map data “D1” from the distribution map DB 10 and transmits it in response to a request from the driving support device 2. The map data D1 may be partial map data around the vehicle position of the driving support device 2 or may be differential information for updating the map DB 20 of the driving support device 2 to the latest information. Here, in the distribution map DB 10, identification information (also referred to as “data generation identification information IG”) relating to a method for generating data corresponding to the road or the area is provided for each road or for each area divided by a predetermined rule. include. The server device 1 is an example of the “transmission device” in the present invention, and the data generation identification information IG is an example of the “identification information” in the present invention.

  The driving support device 2 is a stationary driving support device or a portable terminal such as a smartphone, and receives map data D1 including data generation identification information IG from the server device 1 and stores it in the map DB 20. Then, the driving support device 2 refers to the map DB 20 and performs route search to the destination set by the user, guidance based on the set route, and the like. Further, the driving support device 2 performs automatic driving in which a part or all of the driving operation is performed semi-automatically or fully automatically based on the output of an external sensor such as a camera or a lidar. In this case, the driving support device 2 refers to the data generation identification information IG stored in the map DB 20, and determines whether or not automatic driving is possible using an external sensor provided in the driving support device 2. Details of the determination of whether or not automatic operation can be performed will be described later. The driving support device 2 is an example of the “map display device” in the present invention.

[Configuration of server device]
FIG. 2A shows a schematic configuration of the server apparatus 1. As illustrated in FIG. 2A, the server device 1 includes a communication unit 11, a storage unit 12, and a control unit 15. The communication unit 11, the storage unit 12, and the control unit 15 are connected to each other via a bus line.

  The communication unit 11 communicates various data with the driving support device 2 based on the control of the control unit 15. In the present embodiment, when the communication unit 11 receives an acquisition request for the map data D1 from the driving support device 2, the communication unit 11 transmits the map data D1 extracted from the distribution map DB 10 to the driving support device 2. The communication unit 11 is an example of the “transmission unit” in the present invention.

  The storage unit 12 stores a program for controlling the operation of the server device 1 and holds information necessary for the operation of the server device 1. Moreover, the memory | storage part 12 memorize | stores delivery map DB10 containing the data generation identification information IG.

  The control unit 15 includes a CPU, a ROM, a RAM, and the like (not shown), and performs various controls on each component in the server device 1. In the present embodiment, the control unit 15 extracts the map data D1 from the distribution map DB 10 when the communication unit 11 receives an acquisition request for the map data D1 from the driving support device 2, and the communication unit 11 causes the driving support device to extract the map data D1. 2 to send. In this case, for example, the acquisition request for the map data D1 includes the vehicle position information of the driving support device 2 and / or the latest update date / time information of the map DB 20, and the control unit 15 based on these information, Map data D1 to be distributed is extracted from the distribution map DB 10.

[Configuration of driving support device]
FIG. 2B is a block diagram illustrating a functional configuration of the driving support device 2. As shown in FIG. 2B, the driving support device 2 mainly includes a communication unit 21, a storage unit 22, a sensor unit 23, an input unit 24, a control unit 25, and an output unit 26. . The communication unit 21, the storage unit 22, the sensor unit 23, the input unit 24, the control unit 25, and the output unit 26 are connected to each other via a bus line.

  The communication unit 21 acquires the map data D1 from the server device 1 based on the control of the control unit 25. Moreover, the communication part 21 transmits the signal for controlling a vehicle to a vehicle, or receives the signal regarding the state of a vehicle from a vehicle.

  The storage unit 22 stores a program executed by the control unit 25 and information necessary for the control unit 25 to execute a predetermined process. In the present embodiment, the storage unit 22 stores a map DB 20 including data generation identification information IG and an automatic driving determination table TJ. The automatic driving determination table TJ is a table for determining whether or not automatic driving can be performed on the road or area from the data generation identification information IG associated with each road or area. A specific example of the automatic driving determination table TJ will be described later. The storage unit 22 may store information related to the type or performance of the external sensor 31 described later.

  The sensor unit 23 includes one or more external sensors 31 for recognizing the surrounding environment of the vehicle, a GPS receiver 32, and a self-supporting positioning device such as a gyro sensor 33 and a speed sensor 34. The external sensor 31 corresponds to, for example, a camera (including a 3D camera), a lidar (LIDAR: Laser Illuminated Detection and Ranging, Laser Imaging Detection and Ranging, or LiDAR: Light Detection and Ranging). The sensor unit 23 supplies the generated output signal to the control unit 25.

  The input unit 24 is a button operated by the user, a touch panel, a remote controller, a voice input device, etc., and accepts an input for specifying a destination for route search, an input for specifying on / off of automatic driving, and the like. The generated input signal is supplied to the control unit 25.

  The output unit 26 is, for example, a display or a speaker that performs output based on the control of the control unit 25. In the present embodiment, when the output unit 26 displays a map around the current position based on the map DB 20, a screen (““ Also called “Generation Identification Screen”.

  The control unit 25 includes a CPU that executes a program and controls the entire driving support apparatus 2. For example, the control unit 25 updates the map DB 20 based on the map data D1 acquired by the communication unit 21. The control unit 25 searches for a route to the destination input by the input unit 24, and sets a route for automatic driving or route guidance. In addition, the control unit 25 refers to the automatic driving determination table TJ in a route search for automatic driving or the like, and determines whether or not a specific road or area can be driven by automatic driving (“automatic driving determination processing”). Is also called.). And when the path | route which can perform automatic driving | operation is set, the control part 25 performs the automatic driving | running according to the set path | route based on the output signal of the sensor part 23, and map DB20. In addition, when the input unit 24 detects a predetermined user input, the control unit 25 refers to the map DB 20 and causes the output unit 26 to display a generation identification screen. The control unit 25 is an example of the “acquisition unit”, “display unit”, and “determination unit” in the present invention.

[data structure]
FIG. 3 shows an example of a schematic data structure of the distribution map DB 10 and the map DB 20.

  In the example of FIG. 3, the distribution map DB 10 and the map DB 20 include facility information regarding facilities and road data regarding roads. Further, the road data includes link data that is data related to a link when each road is represented by a link and a node, and node data that is data related to a node. The link data corresponding to each link includes data generation identification information IG along with coordinate data indicating the start point and end point of the target link, lane information about the lane, and the like. Note that the data generation identification information IG may be a different value for each link, or may be a different value for each predetermined area. In the latter case, separately from the road data, information on the data generation identification information IG corresponding to each area may be included in the distribution map DB 10 and the map DB 20.

  FIG. 4A is an example of a table schematically showing information stored as the automatic driving determination table TJ. The table shown in FIG. 4A includes an item “data generation identification information” and an item “sensor necessary for automatic driving”.

  Here, data generation identification information IG classified into three types of type X to type Z is registered in the item of “data generation identification information”. Here, “type X” indicates a road or area in which data to be registered in the distribution map DB 10 is generated based on the output of the external sensor when a vehicle equipped with the external sensor actually travels on the road. “Type Y” indicates a road or area in which data to be registered in the distribution map DB 10 is generated by an aerial photograph. “Type Z” indicates a road or area in which data to be registered in the distribution map DB 10 is generated by using both an external sensor and an aerial photograph.

  In addition, the identification information (here “A” to “D”) of the external sensor is registered in the item “sensor necessary for automatic driving”. The identification information of the external sensor registered in the “sensor required for automatic driving” may be information for identifying the type of external sensor such as a lidar or a camera, and both the type and performance of the external sensor. It may be information for identifying. In the latter case, for example, different identification information may be assigned to a rider with an angular resolution greater than or equal to a predetermined value and a rider with an angular resolution less than a predetermined value.

  FIG. 4A shows that a sensor required for automatic driving for a type X road or area is any one of “A” to “D”. Similarly, in FIG. 4A, the sensor required for automatic driving for a type Y road or area is “A”, and the sensor required for automatic driving for a type Z road or area is “A”. "Or" B ". Thus, in the example of FIG. 4A, the map data generated based on the output of the external sensor when actually traveling on the road is more accurate than the map data generated by the aerial photograph, and Considering that the three-dimensional data includes information in the height direction, the types of external sensors that can handle automatic driving are increasing. On the other hand, in consideration of the fact that map data generated from aerial photographs is planar data that does not include height information, the types of external sensors that can handle automatic driving are limited.

  The data generation identification information IG is not limited to the three types of type X, type Y, and type Z, but may be information that further classifies type X, type Y, and type Z. FIG. 4B shows an example in which type X is further classified according to the type or / and performance of an external sensor used for data generation. In the example of FIG. 4B, type X is classified into “type X-1” and “type X-2” according to the type or / and performance of the external sensor. Type X-1 indicates a case where the external sensor used for data generation is “A”, and type X-2 indicates a case where the external sensor used for data generation is “B”. In the example of FIG. 4B, a sensor necessary for automatic driving is associated with each of type X-1 and type X-2.

[Automatic operation judgment processing]
Next, the automatic driving determination process executed by the driving support device 2 will be described. FIG. 5 is a flowchart showing the procedure of the automatic driving determination process. For example, the driving support device 2 repeatedly executes the processing of the flowchart shown in FIG. 5 when searching for a route for automatic driving or displaying a generation identification screen.

  First, the driving support device 2 specifies a road or an area for determining whether automatic driving is possible (step S101). And the driving assistance apparatus 2 extracts the data generation identification information IG corresponding to the road or area specified by step S101 from map DB20 (step S102). Then, the driving support device 2 refers to the automatic driving determination table TJ based on the data generation identification information IG extracted in step S102, and recognizes a sensor necessary for executing the automatic driving on the target road or area (step). S103). Then, the driving support device 2 compares the sensor necessary for automatic driving recognized in step S103 with the type or / and performance of the external sensor 31 provided in the driving support device 2, so that the driving support device 2 in the target road or area. It is determined whether or not automatic operation can be performed (step S104). In this case, the driving support device 2 may refer to information on the type or / and performance of the external sensor 31 stored in the storage unit 22 in advance, and the type or / and performance of the external sensor 31 from the external sensor 31 may be referred to. Information may be obtained directly.

  Thus, the driving assistance apparatus 2 can suitably determine whether or not automatic driving can be performed for each road or area by referring to the data generation identification information IG stored in the map DB 20.

[Generation Identification Screen]
FIG. 6 is a display example of a generation identification screen in which a line segment (also referred to as “generation identification line Ln”) based on the data generation identification information IG is displayed for each road. Here, roads 81 to 88 exist within the display range of the map. The mark 70 indicates the current position of the vehicle. In the example of FIG. 6, the map DB 20 is associated with data generation identification information IG for each road.

  In the example of FIG. 6, the driving support device 2 displays the generation identification line Ln on the roads 81 to 88. Here, the driving support device 2 determines the line type of the generation identification line Ln displayed on the roads 81 to 88 according to the data generation identification information IG (here, types X to Z) associated with the roads 81 to 88. Has been decided. In FIG. 6, the driving support device 2 superimposes roads 81 and 82 corresponding to a road section whose data generation identification information IG is “type X” with a solid generation identification line Ln, and the data generation identification information IG is “type”. The roads 85 to 88 corresponding to the road section that is “Y” are overlapped by the one-dot chain line generation identification line Ln, and the roads 83 and 84 that correspond to the road section whose data generation identification information IG is “type Z” are Overlaid by the generation identification line Ln. The driving support device 2 changes the line width or / and the line color (or the color of the road itself to be displayed) instead of the line type according to the data generation identification information IG associated with the target road. May be.

  FIG. 7 is a display example of a generation identification screen that is color-coded based on the data generation identification information IG for each area. In the example of FIG. 7, the map DB 20 is associated with data generation identification information IG for each area.

  In this case, the driving support device 2 first recognizes the area around the current position as the display target range, and specifies the data generation identification information IG associated with each area in the display target range with reference to the map DB 20. To do. Then, the driving support device 2 displays each of the areas associated with the data generation identification information IG in a color corresponding to the specified data generation identification information IG. By displaying in this way, the user can preferably identify the method of generating map data for the area around the vehicle position.

  As described above, the server device 1 according to the present embodiment includes the distribution map DB 10. The distribution map DB 10 includes, for each map area or map road, data generation identification information IG related to a method for generating data related to the area or road. And the server apparatus 1 transmits the map data D1 based on distribution map DB10 to the driving assistance apparatus 2 which moves with a vehicle. By doing in this way, the server apparatus 1 can make the driving assistance apparatus 2 perform suitably the execution decision | availability determination of the automatic driving | operation based on the data generation identification information IG, the display based on the data generation identification information IG, etc. suitably.

[Modification]
Next, a modified example suitable for the embodiment will be described. The following modifications may be applied in any combination to the above-described embodiments.

(Modification 1)
The server device 1 may execute the automatic driving determination process shown in FIG. 5 instead of the driving support device 2.

  For example, the server device 1 receives current position information, destination information, information on the external sensor 31, etc. from the driving support device 2 when performing a route search capable of automatic driving instead of the driving support device 2. A route search from the current position of the support device 2 to the designated destination is performed. In this case, the server device 1 refers to the automatic driving determination table TJ and the distribution map DB 10 stored in the storage unit 12 in advance, and determines whether or not the automatic driving of each road on the route to the destination can be executed as shown in FIG. This is determined by executing the flowchart. Then, the server device 1 transmits the searched route information to the driving support device 2. Also according to this aspect, the driving support device 2 can preferably acquire a route capable of automatic driving.

(Modification 2)
If the type or the like of the external sensor 31 included in the driving support device 2 is known in advance, the driving support device 2 can execute automatic driving for each data generation identification information IG instead of storing the automatic driving determination table TJ. The information may be stored in advance.

  In this case, for example, the driving support device 2 automatically drives each data generation identification information IG based on a sensor necessary for automatic driving for each data generation identification information IG and information on the external sensor 31 included in the driving support device 2. Is stored in the storage unit 22 in advance. And when the driving assistance apparatus 2 determines the propriety of the automatic driving | running | working of a road or an area, based on the data generation identification information IG matched with the target road or area, the information of the propriety of execution of the above-mentioned automatic driving | operation By referencing, it is determined whether automatic driving of the target road or area is possible. Also according to this aspect, the driving support device can suitably determine whether automatic driving of the target road or area is possible.

(Modification 3)
In the example of FIGS. 4A and 4B, sensor information necessary for automatic driving is stored for each data generation identification information IG in the automatic driving determination table TJ. Instead of this, when the automatic operation that can be performed is classified into levels, the automatic operation determination table TJ includes, for each data generation identification information IG, the sensor necessary for executing each level of automatic operation. Information may be stored. According to this aspect, the driving assistance apparatus 2 can suitably determine the level of automatic driving that can be performed on the target road or area by referring to the automatic driving determination table TJ.

1 server device 2 driving support device 10 distribution map DB
11, 21 Communication unit 12, 22 Storage unit 15, 25 Control unit 20 Map DB
23 Sensor unit 24 Input unit 26 Output unit

Claims (6)

A map data structure showing a map,
A map data structure including, for each area of the map or each road of the map, identification information on a method for generating data related to the area or road.   The identification information is information for identifying at least whether the data is generated based on an output of an external sensor when passing through the area or road, and / or whether the data is generated based on an aerial photograph. Item 2. The map data structure according to item 1.   The map data structure according to claim 2, wherein the identification information further includes information indicating a type or performance of the external sensor when the data indicates that the data is generated based on an output of the external sensor. A storage unit for storing map data having the map data structure according to any one of claims 1 to 3,
A transmission unit for transmitting the map data to a vehicle or a terminal;
A transmission apparatus comprising: An acquisition unit that acquires map data having the map data structure according to any one of claims 1 to 3,
A display unit for displaying a map based on the map data,
The said display part is a map display apparatus which performs the display which identifies the production | generation method of the data regarding the said area or road for every area or road in the said map based on the identification information contained in the said map data. An external sensor,
A determination unit that determines whether automatic driving is possible,
The storage unit stores automatic driving determination information storing information on external sensors necessary for automatic driving for each identification information of a method for generating data regarding an area or road,
The map display device according to claim 5, wherein the determination unit determines whether or not automatic driving for the target area or road is possible based on the automatic driving determination information.