JP2019144079A - Travel management device and travel supporting device - Google Patents

Abstract

To provide a travel management device and a travel supporting device which can suppress the difference between target information of a recognition target and the result of detection of the detected recognition target.SOLUTION: The travel management device includes: an update unit including positional information of a travel road on which a vehicle travels and of a recognition target provided near the travel road, the update unit updating target information if there is a difference between target information stored in advance and the result of detection of the detected recognition target; and an output unit for outputting the target information of the recognition target, the output unit outputting updated detected target information if the target information has been updated.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a travel management device and a travel support device.

  There is known an apparatus that manages target information including position information of a recognition target such as a marker installed to detect a position on a traveling road or the like. Such an apparatus provides object information to a vehicle traveling on a traveling path, for example. As a result, the vehicle detects the position of the host vehicle from the position information of the recognition target and travels by, for example, automatic driving.

Japanese Patent Laying-Open No. 2015-041348

  However, there is a problem in that there is a difference between the target information of the recognition target and the detection result of the recognition target that is actually detected due to a new recognition target that does not have target information such as damage or misplacement of the recognition target or an obstacle. is there.

  The present invention has been made in view of the above, and provides a travel management device and a travel support device that can suppress the difference between the target information of the recognition target and the detection result of the detected recognition target.

  In order to solve the above-described problems and achieve the object, the travel management device of the present invention includes a travel path on which a vehicle travels and a pre-stored object including position information of a recognition target provided around the travel path. When there is a difference between the information and the detection result of the detected recognition target, an update unit that updates the target information, and an output unit that outputs the target information of the recognition target, the output unit, When the target information is updated, the updated target information is output.

  As described above, the travel management device of the present invention is a recognition target that is different from the detected recognition target due to the absence of target information such as damage and misalignment or obstacles. The target information has been updated. Thereby, the travel management apparatus can reduce the difference in the target information by bringing the target information closer to the state of the actual recognition target.

  In the travel management device of the present invention, the update unit includes a first position of a calculation target calculated from vehicle information related to driving of the vehicle and a second position of the calculation target calculated from the position information of the recognition target. The target information may be updated when it is determined that there is the difference based on the positional deviation.

  As described above, the travel management device of the present invention updates the target information of the recognition target having a difference between the position of the vehicle calculated from the vehicle information that should be consistent with the position of the vehicle calculated from the recognition target. As a result, the travel management device can prevent the vehicle position from being calculated at an incorrect position based on the recognition target that can be detected but the installation position is shifted.

  In the travel management device of the present invention, when there is a difference, the update unit updates the use information that is included in the target information of the recognition target and is information regarding whether or not the recognition target is usable as non-use. May be.

  As described above, the travel management device of the present invention suppresses the calculation of the position of the vehicle by the recognition target having a difference in the target information by setting the use information included in the target information of the recognition target to be non-use. it can.

  In the travel management apparatus of the present invention, the update unit includes the first position of the calculation target calculated from the vehicle information related to the driving of the vehicle, and the position information of the recognition target. It may be corrected and updated based on the positional deviation from the second position of the calculation target calculated from the above.

  As described above, the travel management device of the present invention corrects the position information included in the target information based on the positional deviation between the position of the vehicle calculated from the vehicle information and the position of the vehicle calculated from the recognition target. Thereby, the travel management apparatus can normalize the target information of the recognition target whose installation position is shifted. As a result, the travel management device can improve the calculation accuracy of the position of the vehicle by the recognition target.

  In the travel management device of the present invention, the update unit includes a first position of a calculation target calculated from vehicle information related to driving of the vehicle while the vehicle is traveling in a travel stable region in which travel is stable, and the recognition target. The target information may be updated based on a positional deviation from the second position of the calculation target calculated from the position information.

  As described above, the travel management device of the present invention calculates the positional deviation based on the vehicle information of the vehicle that is traveling in the region where the travel is stable. That is, the travel management device can suppress unnecessary update of the target information due to a positional shift based on the position of the vehicle based on the vehicle information with high calculation accuracy.

  In the travel management device according to the aspect of the invention, the update unit calculates the first position of the calculation target calculated from the vehicle information related to the driving of the vehicle detected by the plurality of vehicles and the position information of the recognition target. The target information may be updated based on a plurality of positional deviations from the calculated second position of the calculation target.

  As described above, the travel management apparatus of the present invention updates the target information based on a plurality of positional deviations detected by the plurality of vehicles. Thereby, the traveling management apparatus can update the target information more correctly.

  In the travel management device of the present invention, when there is the difference that the recognition target is not detected within the recognizable area including the position indicated by the position information, the update unit is included in the target information of the recognition target, The usage information, which is information regarding whether or not the recognition target is usable, may be set to non-use and updated.

  As described above, the travel management device of the present invention makes the recognition target unusable when the recognition target to be detected based on the target information is not detected, so that the recognition target recognition processing can be reduced.

  In the travel management apparatus of the present invention, the update unit may update the target information of the object by adding the target information when the position of the detected object does not match the position information of any of the target information.

  As described above, when a new object that does not match the position information of any target information is detected, the travel management device of the present invention can add the target information with the object as a new recognition target.

  In the travel management device of the present invention, the output unit may output the target information to the vehicle that can travel autonomously on the travel path.

  Thus, since the driving | running | working management apparatus of this invention outputs target information to the vehicle which requires target information in order to drive | work autonomously, it can reduce the output of unnecessary target information.

  The travel support device of the present invention includes a travel path on which a vehicle travels, an acquisition unit that acquires target information including position information of a recognition target provided around the travel path, the target information, and the detected recognition target. A driving support unit that outputs difference information indicating the difference.

  As described above, the travel management device of the present invention outputs the difference information when there is a difference in the detected target information of the recognition target, so that the device that manages the target information with the difference can be updated.

  In the travel support device of the present invention, the driving support unit may cause the vehicle to travel autonomously on the travel path.

  As described above, the driving support device of the present invention can appropriately drive the vehicle based on the detected recognition target and the position information of the target information of the recognition target when the vehicle is driven autonomously.

FIG. 1 is a plan view for explaining the outline of the traveling system of the first embodiment. FIG. 2 is a block diagram illustrating a control system of the traveling system. FIG. 3 is a functional block diagram illustrating functions of the traveling system. FIG. 4 is a plan view for explaining calculation and correction of the vehicle position. FIG. 5 is a table showing an example of the recognition target database. FIG. 6 is a flowchart of the traveling process of the first embodiment executed by the traveling system. FIG. 7 is a flowchart of the update process according to the second embodiment. FIG. 8 is a flowchart of the driving support process of the third embodiment. FIG. 9 is a flowchart of the driving support process of the fourth embodiment.

  Common constituent elements such as the following exemplary embodiments are denoted by common reference numerals, and redundant descriptions are omitted as appropriate.

<First Embodiment>
FIG. 1 is a plan view illustrating an outline of a traveling system 10 according to the first embodiment. The traveling system 10 supports traveling such as parking in the parking lot CP where the vehicle 16 is parked, such as automatic valet parking. In the parking lot CP, for example, a plurality of parking frames PF01, PF02,..., PF10 separated by a plurality of lane markings DL on the road surface are provided. When there is no need to distinguish between the parking frames PF01, PF02,..., PF10, the parking frames are described as parking frames PF.

  Recognition objects ROa and ROb for detecting the position of the vehicle 16 are provided in the vicinity of the travel path PW and the travel path PW of the parking lot CP where the vehicle 16 travels. When it is not necessary to distinguish between the recognition targets ROa and ROb, they are described as recognition targets RO. The recognition target ROa may be, for example, a marker installed for position detection on the road PW and the road surface around the road PW. The recognition target ROb includes, for example, a building such as a traveling road PW and a wall WL, street lamps, poles, lane markings DL, facilities, buildings, and the like that are installed in the vicinity of the traveling road PW and the traveling road PW. The vehicle 16 may be, for example, an automobile (an internal combustion engine automobile) that uses an internal combustion engine (engine, not shown) as a drive source, or an automobile (an electric vehicle, which uses an electric motor (motor, not shown)) as a drive source. A fuel cell vehicle or the like, or a vehicle (hybrid vehicle) using both of them as drive sources. As shown in FIG. 1, the travel system 10 includes a travel management system 12 and a travel support system 14.

  The traveling management system 12 is provided in a parking management point CP or a traveling management center that manages roads, and manages information related to traveling and traveling of the vehicle 16. For example, the traveling management system 12 manages and updates target information including position information of the recognition target RO. The travel management system 12 transmits position information of the recognition target RO to the vehicle 16 in order to support the travel of the vehicle 16. If there is a difference between the target information of the recognition target RO and the recognition target RO detected by the vehicle 16 or the like, the traveling management system 12 sets the target information of the recognition target RO to be unused and updates it.

  The driving support system 14 is mounted on the vehicle 16 and is connected to the driving management system 12 by wireless communication or the like so that information can be received. The travel support system 14 detects the recognition target RO provided around the travel path PW and the travel path PW of the parking lot CP. The driving support system 14 automatically drives the vehicle 16 while calculating the position of the vehicle 16 (hereinafter referred to as the own vehicle position) based on the position information of the recognition target RO acquired from the driving management system 12, and sets the target parking position and the like. Lead to the target position.

  When the possibility that the vehicle 16 can accurately detect the position of the vehicle by the recognition target RO is low, the traveling system 10 has a difference between the target information of the recognition target RO and the recognition target RO detected by the vehicle 16 or the like. Is determined. An example in which the traveling system 10 determines that there is a difference in the target information will be described. For example, when the positional deviation from the normal installation position indicated by the dotted line is large like the recognition target ROa1 provided in the vicinity of the parking frame PF03, the traveling system 10 determines that the target information has a difference. When a recognition target RO that is to be detected in the vicinity of the position indicated by the position information and the position around the position is not detected because part of the recognition target ROa2 provided near the parking frame PF07 is missing due to deterioration. The system 10 determines that there is a difference in the target information. Since a three-dimensional object OB such as another vehicle 16A exists on the recognition target RO like the recognition target ROa3 provided in the vicinity of the parking frame PF02, it is detected at the position indicated by the position information and around the position. When the recognition target RO to be detected is not detected, the traveling system 10 determines that there is a difference in the target information. Since dirt is attached like the recognition target ROa4 provided in the vicinity of the parking frame PF09, a part of the recognition target RO cannot be seen and the recognition target to be detected around the position indicated by the position information When the RO cannot be detected, the traveling system 10 determines that there is a difference in the target information. The three-dimensional object OB in the vicinity of the parking frame PF05 that does not have the target information does not match the position information of any target information, so the traveling system 10 determines that there is a difference in the target information. On the other hand, since the wall WL in the vicinity of the parking frames PF01 and PF06 has the target information, the position of the wall WL matches the position information of the corresponding target information, and the traveling system 10 has no difference in the target information. judge.

  FIG. 2 is a block diagram illustrating a control system of the traveling system 10.

  As illustrated in FIG. 2, the travel management system 12 includes a communication unit 18, a detection unit 19, and a travel management device 20.

  The communication unit 18 transmits / receives information to / from an external device such as the driving support system 14 by wireless communication or the like. The communication unit 18 is connected to the travel management device 20 so as to be able to transmit and receive information. Thereby, the communication unit 18 relays communication between the travel management device 20 and the travel support system 14.

  The detection part 19 produces | generates and outputs the in-field information which shows the condition in parking lot CP, in order to detect a detection target. The detection target includes a moving body and a stationary body in the parking lot CP. The moving body is an object that moves in the parking lot CP, and includes, for example, other vehicles and people. The stationary body includes a wall and a fence. The detection unit 19 is, for example, one or a plurality of digital cameras including an image sensor such as a charge coupled device (CCD) or a CMOS image sensor (CIS). The detection unit 19 outputs moving image or still image data including a plurality of frame images generated at a predetermined frame rate to the travel management device 20 as in-field information. Each of the detection units 19 preferably has a wide-angle lens or a fish-eye lens, and can preferably capture a horizontal range of 140 ° to 190 °. The detection part 19 produces | generates the data of the captured image which imaged the whole range of parking lot CP from the top as in-field information. The detection unit 19 may include an ultrasonic sonar or a distance measurement sensor that detects a distance to the detection target, and may output a distance measurement image as in-field information. The detection unit 19 is connected to the travel management device 20 so as to be able to transmit and receive information. The detection unit 19 outputs the generated on-site information to the travel management device 20.

  The traveling management device 20 manages parking of the vehicle 16 in the parking lot CP. The travel management device 20 is, for example, a computer. The travel management device 20 includes a CPU (Central Processing Unit) 20a, a ROM (Read Only Memory) 20b, a RAM (Random Access Memory) 20c, an SSD (Solid State Drive) 20d, and an HDD (Hard Disk Drive) 20e, And a bus 21.

  The CPU 20a is an example of a hardware processor, reads a program stored in a nonvolatile storage device such as the SSD 20d and the HDD 20e, and executes various arithmetic processes and controls according to the program. For example, the CPU 20a executes a traveling management process including an output process and an update process for managing information necessary for traveling and traveling of the vehicle 16.

  The ROM 20b stores each program and parameters necessary for executing the program. The RAM 20c temporarily stores various types of data used in calculations performed by the CPU 20a. The SSD 20d and the HDD 20e are rewritable nonvolatile storage devices that maintain data even when the power of the travel management device 20 is turned off.

  The bus 21 connects the CPU 20a, the ROM 20b, the RAM 20c, the SSD 20d, the HDD 20e, the communication unit 18, and the detection unit 19 so that information can be transmitted and received between them.

  The driving support system 14 includes a plurality of (for example, four) imaging units 22, a plurality of ranging units 23, a wheel speed sensor 24, a braking system 25, an acceleration system 26, a steering system 27, and a transmission system. 28, a monitor device 32, a communication unit 33, a travel support device 34, and an in-vehicle network 36.

  The plurality of imaging units 22 are, for example, digital cameras similar to the detection unit 19 described above. Each of the plurality of imaging units 22 is provided around the vehicle 16 and functions as an MVC (Multi View Camera). For example, the plurality of imaging units 22 are provided on the front, rear, left, and right sides of the vehicle 16. Thereby, the plurality of imaging units 22 can capture images around the vehicle 16 in almost all directions. The optical axis of the imaging unit 22 is set obliquely downward. Therefore, the imaging unit 22 images the periphery of the vehicle 16 including the peripheral object, the recognition target RO, the travel path PW provided with the lane marking DL, and the road surface around the travel path PW. The imaging unit 22 outputs the captured image data to the driving support device 34 as peripheral information.

  The distance measurement unit 23 is, for example, a sonar or a distance measurement sensor that transmits a detection wave such as a laser or a sound wave and measures the distance to the distance measurement target including the recognition target RO according to the transmission / reception time of the detection wave. The plurality of distance measuring units 23 are provided on the front, rear, left and right of the outer peripheral portion of the vehicle 16. Accordingly, the plurality of distance measuring units 23 can measure the detection targets of almost all directions of the vehicle 16. The distance measurement unit 23 outputs the distance to the distance measurement object to the driving support device 34 as peripheral information.

  The wheel speed sensor 24 has a hall element provided in the vicinity of the wheel of the vehicle 16. The wheel speed sensor 24 detects the amount of rotation of the wheel or the number of rotations per unit time. The wheel speed sensor 24 detects and outputs wheel rotation information indicating the number of wheel speed pulses corresponding to the rotation amount or rotation speed.

  The braking system 25 controls the deceleration of the vehicle 16. The braking system 25 includes a braking unit 40, a braking control unit 42, and a braking unit sensor 44. The braking unit 40 includes, for example, a brake and a brake pedal, and is a device for decelerating the vehicle 16. The braking control unit 42 is a computer including a microcomputer such as an ECU (Electronic Control Unit) having a hardware processor such as a CPU. The braking control unit 42 controls the deceleration of the vehicle 16 by controlling the braking unit 40 based on an instruction from the driving support device 34. The brake unit sensor 44 is, for example, a position sensor, and detects the position of the brake unit 40 when the brake unit 40 is a brake pedal. The braking unit sensor 44 outputs braking unit position information indicating the detected position of the braking unit 40 to the in-vehicle network 36.

  The acceleration system 26 controls the acceleration of the vehicle 16. The acceleration system 26 includes an acceleration unit 46, an acceleration control unit 48, and an acceleration unit sensor 50. The acceleration unit 46 is an apparatus for accelerating the vehicle 16 including, for example, an accelerator pedal. The acceleration control unit 48 is a computer including a microcomputer such as an ECU having a hardware processor such as a CPU. The acceleration control unit 48 controls the acceleration unit 46 based on an instruction from the driving support device 34 to control acceleration of the vehicle 16. The acceleration unit sensor 50 is, for example, a position sensor, and detects the position of the acceleration unit 46 when the acceleration unit 46 is an accelerator pedal. The acceleration unit sensor 50 outputs acceleration unit position information indicating the detected position of the acceleration unit 46 to the in-vehicle network 36.

  The steering system 27 controls the traveling direction of the vehicle 16. The steering system 27 includes a steering unit 52, a steering control unit 54, and a steering unit sensor 56. The steering unit 52 includes, for example, a steering wheel or a steering wheel, and is a device that operates a steered wheel (for example, a front wheel) of the vehicle 16. The steering control unit 54 is a computer including a microcomputer such as an ECU having a hardware processor such as a CPU. The steering control unit 54 controls the steering unit 52 based on the instruction steering angle from the travel support device 34 to control the left and right traveling directions of the vehicle 16. The steering unit sensor 56 is, for example, an angle sensor including a hall element or the like, and outputs a position (for example, a rotation angle) of the steering unit 52 in the rotation direction. The steering unit sensor 56 outputs steering angle information indicating the detected rotation angle of the steering unit 52 to the in-vehicle network 36.

  The transmission system 28 controls the transmission ratio of the vehicle 16. The transmission system 28 includes a transmission unit 58, a transmission control unit 60, and a transmission unit sensor 62. The transmission unit 58 includes, for example, a shift lever and the like, and is a device for switching the transmission ratio of the vehicle 16 and the traveling direction before and after the vehicle 16. The shift control unit 60 is a computer including a microcomputer such as an ECU having a hardware processor such as a CPU. The transmission control unit 60 controls the transmission unit 58 based on an instruction from the driving support device 34 to control the transmission ratio of the vehicle 16 or the traveling direction of the vehicle 16 in the front-rear direction. The transmission unit sensor 62 detects the position of the transmission unit 58 such as drive, parking, and reverse. The transmission unit sensor 62 outputs transmission unit position information indicating the detected position of the transmission unit 58 to the in-vehicle network 36.

  The monitor device 32 is provided on a dashboard or the like in the passenger compartment of the vehicle 16. The monitor device 32 includes a display unit 64, an audio output unit 66, and an operation input unit 68.

  The display unit 64 displays an image based on the image data transmitted by the driving support device 34. The display unit 64 is a display device such as a liquid crystal display or an organic EL (Electro Luminescence) display. The display unit 64 displays, for example, an image related to driving support.

  The voice output unit 66 outputs voice based on the voice data transmitted by the driving support device 34. The audio output unit 66 is, for example, a speaker. The audio output unit 66 outputs, for example, audio related to driving support.

  The operation input unit 68 receives an occupant input. The operation input unit 68 is, for example, a touch panel. The operation input unit 68 is provided on the display screen of the display unit 64. The operation input unit 68 is configured to transmit an image displayed on the display unit 64. Thereby, the operation input unit 68 can make the occupant visually recognize the image displayed on the display screen of the display unit 64. The operation input unit 68 receives an instruction input by the occupant touching a position corresponding to the image displayed on the display screen of the display unit 64 and transmits the instruction to the driving support device 34. The operation input unit 68 receives an input related to travel support such as designation of a target parking frame in travel support, for example. The operation input unit 68 is not limited to a touch panel, and may be a push button type hard switch.

  The communication unit 33 transmits / receives information to / from an external device such as the travel management system 12 by wireless communication or the like. The communication unit 33 is connected to the travel support device 34 through the in-vehicle network 36 so as to be able to transmit and receive information. Thereby, the communication unit 33 relays communication between the travel support device 34 and the travel management system 12.

  The driving support device 34 is a computer including a microcomputer such as an ECU. The driving support device 34 acquires captured image data from the imaging unit 22. The driving support device 34 transmits data related to an image or sound generated based on the captured image or the like to the monitor device 32. The driving support device 34 transmits to the monitor device 32 data relating to images or sounds such as instructions to the driver and notifications to the driver. The travel support device 34 calculates the vehicle position based on the position information of the recognition target RO acquired from the travel management system 12, and automatically drives the vehicle 16 based on the vehicle position to travel to a target position such as a target parking position. Let The driving support device 34 includes a CPU 34a, a ROM 34b, a RAM 34c, a display control unit 34d, a voice control unit 34e, and an SSD 34f. The CPU 34a, ROM 34b, and RAM 34c may be integrated in the same package.

  The CPU 34a is an example of a hardware processor, reads a program stored in a nonvolatile storage device such as the ROM 34b, and executes various arithmetic processes and controls according to the program. For example, the CPU 34a executes a driving support process for supporting the driving of the vehicle 16 by executing an automatic driving.

  The ROM 34b stores each program and parameters necessary for executing the program. The RAM 34c temporarily stores various types of data used in computations by the CPU 34a. The display control unit 34 d mainly performs image processing of the image obtained by the imaging unit 22, data conversion of a display image to be displayed on the display unit 64, and the like among the arithmetic processing in the driving support device 34. The voice control unit 34e mainly executes voice processing to be output to the voice output unit 66 among the arithmetic processing in the driving support device 34. The SSD 34f is a rewritable nonvolatile storage device, and maintains data even when the driving support device 34 is powered off.

  The in-vehicle network 36 includes a distance measurement unit 23, a wheel speed sensor 24, a braking system 25, an acceleration system 26, a steering system 27, a transmission system 28, an operation input unit 68 of the monitor device 32, and a communication unit 33. And the driving support device 34 are connected to each other so as to be able to transmit and receive information.

  FIG. 3 is a functional block diagram illustrating functions of the traveling system 10.

  As illustrated in FIG. 3, the travel management apparatus 20 includes a management processing unit 70 and a management storage unit 72.

  The management processing unit 70 is realized as a function of the CPU 20a, for example. The management-side processing unit 70 includes a management-side acquisition unit 74, a management-side update unit 75 that is an example of an update unit, and a management-side output unit 76 that is an example of an output unit. The management-side processing unit 70 may function as the management-side acquisition unit 74, the management-side update unit 75, and the management-side output unit 76, for example, by reading a travel management program 77 stored in the management-side storage unit 72. A part or all of the management-side acquisition unit 74, the management-side update unit 75, and the management-side output unit 76 may be configured by circuits such as an ASIC (Application Specific Integrated Circuit) and an FPGA (Field-Programmable Gate Array).

  When there is a difference between the target information of the recognition target RO and the detection result of the detected recognition target RO, the management side acquisition unit 74 sends the difference information, which is information regarding the difference of the recognition target RO, via the communication unit 18. , Acquired from the driving support device 34. The management side acquisition unit 74 outputs the acquired difference information to the management side update unit 75.

  The management-side update unit 75 updates the target information of the recognition target RO when there is a difference between the target information including the position information of the recognition target RO and the detection result of the detected recognition target RO. For example, the management-side update unit 75 receives difference information from the management-side acquisition unit 74 that is the difference information output by the driving support device 34 and includes identification information that identifies the recognition target RO as being different from the recognition target RO. get. Based on the identification information indicated by the difference information, the management-side update unit 75 includes a plurality of recognition target RO targets included in the recognition target database (DB: DataBase) 78 of the map information 79 stored in the management-side storage unit 72. Of the information, the target information of the corresponding recognition target RO is updated. Specifically, when acquiring the difference information, the management-side update unit 75 may update the usage information that is included in the target information and is information regarding whether or not the recognition target RO is usable, by setting it to non-use. The usage information indicates whether the recognition target RO can be used or should not be used.

  The management-side output unit 76 autonomously travels the target information of the recognition target RO and the map information 79 of the parking lot CP to the travel support device 34 via the communication unit 18 by automatic driving including semi-automatic driving on the travel path PW. Output to possible vehicle 16. The management-side output unit 76 outputs the updated target information when the target-information is updated by the management-side update unit 75. Therefore, the management-side output unit 76 does not need to output the target information whose usage information is used and the target information whose usage information is not used, while the target information is updated. The management-side output unit 76 may output all target information including target information that is not used. In this case, the driving support system 14 of the vehicle 16 may calculate the vehicle position of the vehicle 16 based on the recognition target RO of the target information that is used other than the target information that is not used. When the management-side output unit 76 detects the vehicle 16 that has entered the parking lot CP, the management-side output unit 76 may output the target information and the parking lot CP to the travel support device 34 of the vehicle 16. For example, the management-side output unit 76 may detect the entrance of the vehicle 16 based on the in-field information acquired from the detection unit 19. Alternatively, the management-side acquisition unit 74 may output map information 79 including target information to the driving support device 34 in response to a request from the driving support device 34.

  The management-side storage unit 72 is realized as a function of the ROM 20b, RAM 20c, SSD 20d, and HDD 20e. The management-side storage unit 72 stores a program executed by the management-side processing unit 70, data necessary for executing the program, data generated by executing the program, and the like. For example, the management-side storage unit 72 stores a travel management program 77 that is executed by the management-side processing unit 70. The travel management program 77 may be provided by a computer-readable storage medium such as a CD-ROM (Compact Disc Read Only Memory) or a DVD-ROM (Digital Versatile Disc Read Only Memory), or a network such as the Internet. May also be provided. The management-side storage unit 72 stores map information 79 including a recognition target database 78 that is necessary when the travel management program 77 is executed. The map information 79 indicates the position of the parking frame PF and the traveling path PW in the parking lot CP. The management-side storage unit 72 temporarily stores the difference information generated by the execution of the travel management program 77.

  The driving support device 34 includes a support side processing unit 80 and a support side storage unit 82.

  The support side processing unit 80 is realized as a function of the CPU 34a, for example. The support side processing unit 80 includes a support side acquisition unit 84 that is an example of an acquisition unit, and a driving support unit 86. The support side processing unit 80 may function as the support side acquisition unit 84 and the driving support unit 86 by reading the driving support program 87. Part or all of the support side acquisition unit 84 and the driving support unit 86 may be configured by a circuit such as an ASIC and an FPGA.

  The support side acquisition unit 84 acquires map information 79 including the target information from the travel management device 20. The support side acquisition unit 84 outputs the map information 79 including the acquired target information to the driving support unit 86.

  The driving support unit 86 causes the vehicle 16 to autonomously travel on the travel path PW and park at the target position of the target parking frame by automatic driving including semi-automatic driving based on the map information 79 including the acquired target information. Specifically, the driving support unit 86 sets a travel route to the target position by a known method based on the map information 79 including the acquired target information. The driving support unit 86 acquires vehicle information such as wheel rotation information, braking unit position information, acceleration unit position information, steering angle information, and transmission unit position information from the wheel speed sensor 24 and the systems 25, 26, 27, and 28. To do. The driving support unit 86 outputs control instructions for controlling the braking unit 40, the acceleration unit 46, the steering unit 52, and the transmission unit 58 to the control units 42, 48, 54, and 60 based on the vehicle information and the travel route. Thereby, the driving support unit 86 causes the vehicle 16 to autonomously automatically drive to travel to the target position.

  Here, the driving support unit 86 calculates the vehicle position based on the vehicle information during automatic driving. Specifically, the driving support unit 86 calculates the travel distance of the vehicle 16 based on the wheel rotation information included in the vehicle information, and calculates the traveling direction of the vehicle 16 based on the steering angle information. The driving support unit 86 calculates the absolute position of the vehicle 16 with respect to a predetermined reference position in the parking lot CP based on the moving distance and the traveling direction, and uses the absolute position as the own vehicle position in the parking lot CP. calculate. The driving support unit 86 may store the host vehicle position calculated from the vehicle information in the support side storage unit 82 in time series. The driving support unit 86 automatically drives the vehicle 16 based on the own vehicle position or the own vehicle position coordinate system with the own vehicle position as the origin.

  In addition, the driving support unit 86 calculates the vehicle position based on the recognition target RO during automatic driving. Note that the time interval for calculating the vehicle position based on the recognition target RO may be longer than the time interval for calculating the vehicle position based on the vehicle information. In other words, the driving support unit 86 may calculate the vehicle position once based on the recognition target RO every time the vehicle position is calculated a plurality of times based on the vehicle information. Specifically, the driving support unit 86 acquires a captured image around the vehicle 16 from the imaging unit 22. The driving support unit 86 calculates the vehicle position based on the image of the recognition target RO included in the captured image. For example, the driving support unit 86 calculates the relative position of the vehicle 16 with respect to the recognition target RO of the captured image. The driving support unit 86 determines the absolute position of the vehicle 16 relative to a predetermined reference position in the parking lot CP based on the relative position and the position information of the recognition target RO indicated by the target information acquired from the travel management device 20. The absolute position is calculated as the vehicle position in the parking lot CP. The driving support unit 86 may store the host vehicle position calculated from the target information of the recognition target RO in the support side storage unit 82 in time series. Here, when the driving support unit 86 calculates the host vehicle position based on the new recognition target RO, the driving support unit 86 corrects the host vehicle position calculated based on the vehicle information based on the host vehicle position. In other words, after calculating the vehicle position based on the new recognition target RO, the driving support unit 86 calculates the vehicle position based on the vehicle position based on the vehicle information. The correction of the vehicle position may be correction of the vehicle position coordinate system with the vehicle position as the origin.

  Furthermore, the driving support unit 86 may function as a difference determination unit that determines whether there is a difference between the target information of the recognition target RO and the detection result of the detected recognition target RO. Specifically, the driving support unit 86 calculates the vehicle position of the vehicle 16 calculated from the vehicle information and the vehicle position of the vehicle 16 calculated from the detected position of the recognition target RO and the position information of the target information. Based on the positional deviation, it may be determined whether or not there is a difference between the position information of the target information of the recognition target RO and the position of the detection result of the detected recognition target RO. Misalignment is an example of a difference. Here, it is preferable that the calculation time of the own vehicle position by the vehicle information for calculating the positional deviation and the own vehicle position by the recognition target RO are the same. For example, the driving support unit 86 may determine that there is a difference between the target information of the recognition target RO and the detected result of the recognition target RO when the positional deviation is larger than a predetermined threshold error. In this case, the vehicle 16 is an example of a calculation target. Further, the vehicle position calculated from the vehicle information is the first position, and the vehicle position calculated from the target information of the recognition target RO is the second position. It should be noted that the driving support unit 86 has a difference between the target information of the recognition target RO and the detection result of the detected recognition target RO in the travel stable region where the calculation accuracy of the vehicle position based on the vehicle information is high in the travel route. It may be determined whether or not. The traveling stable region is, for example, a region that is traveling straight or has a constant steering angle on the traveling route. When the driving support unit 86 determines that there is a difference between the target information of the recognition target RO and the detection result of the detected recognition target RO, the driving support unit 86 corrects the own vehicle position based on the vehicle information based on the own vehicle position calculated from the target information. However, the identification information of the recognition target RO determined to have a difference and the difference information indicating that the recognition target RO is different are output to the travel management device 20.

  The support-side storage unit 82 is realized as a function of the ROM 34b, the RAM 34c, and the SSD 34f. The support side storage unit 82 stores a program executed by the support side processing unit 80, data necessary for executing the program, data generated by executing the program, and the like. The support side storage unit 82 stores, for example, a travel support program 87 executed by the support side processing unit 80. The driving support program 87 may be provided by a computer-readable storage medium such as a CD-ROM or DVD-ROM, or may be provided via a network such as the Internet. The support side storage unit 82 temporarily stores data such as a travel route generated by the execution of the travel support program 87, target information of the recognition target RO, a threshold error, and the vehicle position of the vehicle 16.

  FIG. 4 is a plan view for explaining calculation and correction of the vehicle position. In FIG. 4, the vehicle 16 moves along the solid arrow from the position shown in the upper right. White circles indicate the vehicle position calculated from the vehicle information. A black circle indicates the vehicle position calculated based on the target information of the detected recognition target RO.

  As shown in FIG. 4, the driving support unit 86 of the vehicle 16 causes the vehicle 16 to travel by automatic driving while calculating its own vehicle position, as indicated by white circles. When the driving support unit 86 detects the recognition target RO, the driving support unit 86 calculates the vehicle position based on the recognition target RO. Here, in the travel stability area Ar1 where the vehicle 16 is traveling straight, the vehicle position calculated based on the vehicle information indicated by the white circle Dt1 is displaced from the vehicle position calculated based on the recognition target RO indicated by the black circle Dt2. In some cases, the driving support unit 86 compares the positional deviation and the threshold error, and determines whether there is a difference between the target information of the recognition target RO and the detection result of the detected recognition target RO. When the positional deviation is smaller than the threshold error, the driving support unit 86 determines that the recognition target RO is normal, and corrects the vehicle position calculated based on the vehicle information to the vehicle position calculated based on the recognition target RO. To do. Thereafter, the driving support unit 86 calculates the vehicle position based on the vehicle information from the vehicle position indicated by the black circle Dt2 until the next recognition target RO is detected. Further, the driving support unit 86 repeats the above-described processing, and the vehicle position calculated based on the vehicle information indicated by the white circle Dt3 and the vehicle position calculated based on the next recognition target RO indicated by the black circle Dt4. When the positional deviation is smaller than the threshold error, the vehicle position based on the vehicle information is corrected based on the vehicle position based on the recognition target RO.

  On the other hand, when the positional deviation between the own vehicle position calculated by the vehicle information indicated by the white circle Dt5 and the own vehicle position indicated by the black circle Dt6 calculated by the recognition target ROa1 whose installation position is deviated is larger than the threshold error, the driving support unit 86. Determines that there is a difference in the target information of the recognition target RO. In this case, since the error of the own vehicle position is increased by correcting as indicated by the dotted line circle Dt7, the driving support unit 86 calculates the own vehicle position calculated based on the recognition target RO based on the recognition target RO. The difference information is output to the travel management device 20 without correction.

  Note that the driving support unit 86 does not determine whether or not there is a difference in the region Ar2 other than the travel stable region Ar1. For example, the region Ar2 is a region where the steering angle is changing and the travel route is a clothoid curve.

  FIG. 5 is a table showing an example of the recognition target database 78. As shown in FIG. 5, the recognition target database 78 associates identification information with target information. The identification information is information for identifying the recognition target RO, and different information is given to each recognition target RO. The target information includes position information indicating the position of the recognition target RO with respect to a reference position set on the traveling road PW, the shape information of the recognition target RO, and usage information. The shape information is information indicating the shape of the recognition target RO and may be image information. The shape information may be information obtained by extracting feature points of the shape of the recognition target RO. The usage information is a flag indicating use or non-use of the recognition target RO. For example, if the use information flag is “1”, it indicates that the corresponding recognition target RO can be used, and if it is “0”, it indicates that the corresponding recognition target RO cannot be used.

  When the management-side update unit 75 acquires the difference information indicating that there is a difference in the target information of the recognition target RO from the driving support device 34, the management side update unit 75 updates the usage information of the corresponding recognition target RO by overwriting it with “0”. The management-side output unit 76 outputs the target information of the recognition target RO whose usage information is “1” to the driving support device 34 and does not output the target information of the recognition target RO whose usage information is “0”. As a result, the driving support unit 86 calculates the vehicle position based on the recognition target RO whose usage information is “1”, and detects the recognition target RO whose usage information is “0”. The vehicle position is not calculated based on

  FIG. 6 is a flowchart of the traveling process of the first embodiment executed by the traveling system 10. The upper left diagram of FIG. 6 is a flowchart of the output process of the travel management process executed by the travel management device 20 in the travel process. The lower left diagram is a flowchart of the update process of the travel management process executed by the travel management device 20 in the travel process. The right figure is a flowchart of the driving support process executed by the driving support device 34 in the driving process.

  In the output process of the travel management process shown in the upper left diagram of FIG. 6, the management-side output unit 76 of the travel management apparatus 20 acquires a captured image obtained by capturing the inside of the parking lot CP from the detection unit 19 as in-field information (Sa102). The management-side output unit 76 determines whether or not the vehicle 16 has entered based on the on-site information (Sa104). The management-side output unit 76 repeats Step Sa102 and subsequent steps until the vehicle 16 enters (Sa104: No). When the management-side output unit 76 determines that the vehicle 16 has entered (Sa104: Yes), the management-side output unit 76 acquires the map information 79 including the target information of the recognition target RO in the recognition target database 78 from the management-side storage unit 72 (Sa106). Note that, when the target information has been updated, the management-side output unit 76 acquires the updated target information. The management-side output unit 76 outputs the map information 79 including the target information to the driving support device 34 of the vehicle 16 via the communication unit 18 (Sa108).

  In the driving support process shown in the right diagram of FIG. 6, the support side acquisition unit 84 of the driving support device 34 determines whether or not the map information 79 including the target information has been acquired (Sb112). The support side acquisition unit 84 is in a standby state until the map information 79 including the target information is acquired (Sb112: No).

  When acquiring the map information 79 including the target information (Sb112: Yes), the support side acquisition unit 84 outputs the map information 79 including the target information to the driving support unit 86.

  The driving support unit 86 selects one of the empty vehicle parking frames PF as the target parking frame based on the map information 79, and calculates a travel route to the target position set in the target parking frame (Sb114). When there are a plurality of empty vehicle parking frames PF, the driving support unit 86 may display the empty vehicle parking frames PF on the monitor device 32 and allow the driver to select a target parking frame by the operation input unit 68. When calculating the travel route, the driving support unit 86 may set a travel stable region on the travel route. The driving support unit 86 outputs a control instruction to the control units 42, 48, 54, and 60 along the travel route, and starts automatic driving of the vehicle 16 (Sb116).

  The driving support unit 86 acquires vehicle information including wheel rotation information and steering angle information from the wheel speed sensor 24 and the steering unit sensor 56 (Sb118). The driving support unit 86 calculates the vehicle position based on the vehicle information (Sb120). The driving support unit 86 determines whether or not the vehicle 16 is traveling in the traveling stable region based on the vehicle position calculated from the vehicle information (Sb121). When the driving support unit 86 determines that the vehicle 16 is traveling in a region other than the traveling stable region (Sb121: No), the driving supporting unit 86 executes Step Sb136.

  When the driving support unit 86 determines that the vehicle 16 is traveling in the driving stable region (Sb121: Yes), the support side acquisition unit 84 acquires the captured image and the distance measurement information from the imaging unit 22 and the distance measurement unit 23 as peripheral information. And it outputs to the driving assistance part 86 (Sb122). The driving support unit 86 determines whether or not the recognition target RO can be detected based on the peripheral information (Sb124). For example, when the image of the recognition target RO is not included in the captured image, the driving support unit 86 determines that the recognition target RO cannot be detected (Sb124: No), and executes Step Sb136. For example, when the image of the recognition target RO is included in the captured image, the driving support unit 86 determines that the recognition target RO has been detected (Sb124: Yes), and based on the recognition target RO. The own vehicle position is calculated (Sb126).

  The driving support unit 86 calculates the positional deviation between the vehicle position based on the vehicle information and the vehicle position based on the recognition target RO (Sb128). The driving support unit 86 determines whether or not there is a difference in the target information of the recognition target RO with respect to the detection result of the detected recognition target RO based on the positional deviation between the two own vehicle positions (Sb130). When the positional deviation is smaller than the threshold error, the driving support unit 86 determines that there is no difference between the target information of the recognition target RO and the detection result of the detected recognition target RO (Sb130: No), and based on the vehicle information. After correcting the own vehicle position with the own vehicle position calculated from the recognition target RO (Sb132), Step Sb136 is executed.

  When the positional deviation is larger than the threshold error, the driving support unit 86 determines that there is a difference between the target information of the recognition target RO and the detection result of the detected recognition target RO (Sb130: Yes), and the recognition target RO After the difference information including the difference information and the identification information for identifying the recognition target RO is generated and output to the travel management device 20 (Sb134), Step Sb136 is executed. The driving support unit 86 may output the identification information of the recognition target RO and the difference information including information indicating that there is a difference in the recognition target RO to the travel management device 20.

  The driving support unit 86 determines whether the target position has been reached based on the calculated or corrected host vehicle position (Sb136). When the driving support unit 86 determines that the target position has not been reached (Sb136: No), the driving support unit 86 repeats step Sb118 and subsequent steps to continue the automatic driving. When the driving support unit 86 determines that the target position has been reached (Sb136: Yes), the driving support process ends.

  In the update process of the travel management process shown in the lower left diagram of FIG. 6, the management side acquisition unit 74 determines whether or not the difference information is acquired from the travel support device 34 (Sa142). The management-side acquisition unit 74 is in a standby state until the difference information is acquired (Sa142: No). When acquiring the difference information (Sa142: Yes), the management side acquisition unit 74 outputs the difference information to the management side update unit 75 (Sa144). The management-side update unit 75 updates the target information in the recognition target database 78 based on the difference information (Sa144). Specifically, the management-side update unit 75 sets the usage information to “0” in the target information of the corresponding recognition target RO based on the identification information of the recognition target RO indicated by the difference information, and sets the recognition target RO. Change to no use. Thereafter, the management processing unit 70 repeats Step Sa142 and the subsequent steps.

  As described above, the travel management device 20 of the first embodiment updates the target information of the recognition target RO when there is a difference between the target information of the recognition target RO and the detection result of the detected recognition target RO. As a result, the travel management device 20 can suppress the difference between the target information caused by the deviation of the installation position and the like and the detected recognition target RO, and can bring the target information closer to the state of the actual recognition target RO. Therefore, the travel management device 20 can suppress a decrease in calculation accuracy caused by the travel support device 34 calculating the position of the vehicle 16 based on the recognition target RO having a difference. As a result, the travel management device 20 can cause the travel support device 34 to calculate the position of the vehicle 16 based on the normal recognition target RO, and improve the position calculation accuracy.

  As described above, the travel management device 20 detects and detects the target information of the recognition target RO based on the positional deviation between the position of the vehicle 16 calculated from the vehicle information that should be consistent with the position of the vehicle 16 calculated from the recognition target RO. It is determined whether or not there is a difference in the detection result of the recognized recognition target RO. Thereby, the traveling management device 20 can suppress the traveling support device 34 from calculating the position of the vehicle 16 to an incorrect position based on the recognition target RO that can be detected but the installation position is shifted.

  As described above, the travel management device 20 sets the use information included in the target information of the recognition target RO to be non-use, so that the travel support device 34 is shifted from the installation position and the position of the vehicle 16 by the recognition target RO that is not normal. Can be suppressed.

  As described above, the traveling management device 20 determines the difference by calculating the positional deviation based on the vehicle information of the vehicle 16 traveling in the traveling stable region. In other words, the travel management device 20 can suppress unnecessary update of the target information and correctly update the target information due to the positional deviation based on the position of the vehicle 16 based on the vehicle information with high calculation accuracy.

  As described above, the travel management device 20 outputs the target information to the vehicle 16 that needs the target information in order to travel autonomously, and thus can reduce the output of unnecessary target information.

  As described above, when there is a difference between the detected recognition target RO and the target information, the driving support device 34 outputs the difference information, so that the driving management device 20 that manages the target information having the difference can be updated. .

  As described above, the travel support device 34 can appropriately travel the vehicle 16 based on the detected recognition target RO and the position information of the target information of the recognition target RO when the vehicle 16 travels autonomously.

Second Embodiment
A description will be given of a second embodiment in which the travel management apparatus 20 corrects and updates the position information of the target information based on a positional deviation that is a difference.

  The driving support unit 86 of the travel support device 34 of the second embodiment includes the identification information of the recognition target RO, information indicating that there is a difference between the target information of the recognition target RO and the detection result of the detected recognition target RO, and Difference information including correction information may be output to the travel management device 20. The correction information may be the magnitude and direction of the positional deviation between the vehicle position calculated from the vehicle information and the vehicle position calculated from the recognition target RO while the vehicle 16 is traveling in the travel stable region. Note that the driving support unit 86 may use the position of the recognition target RO calculated from the vehicle information as the correction information, instead of the positional deviation information.

  In the travel management device 20 of the second embodiment, the management side acquisition unit 74 outputs the difference information acquired from the travel support device 34 to the management side update unit 75.

  The management-side update unit 75 corrects and updates the position information included in the target information based on the positional deviation of the recognition target RO indicated by the correction information of the difference information. Specifically, the management-side update unit 75 calculates the position of the recognition target RO detected by the travel support device 34 based on the magnitude and direction of the positional shift indicated by the correction information. The management-side update unit 75 corrects the position information of the target information of the corresponding recognition target RO based on the calculated position. Here, when the management-side update unit 75 acquires difference information including correction information indicating a plurality of positional deviations of the same recognition target RO detected by the plurality of vehicles 16, the management-side update unit 75 calculates one from the correction information of the difference information. An average value of a plurality of positions of the recognition target RO may be calculated, and the position information of the target information in the recognition target database 78 may be corrected by the average value.

  When the position information of the target information of the recognition target RO is corrected and updated, the management side output unit 76 outputs the updated position information to the driving support device 34.

  FIG. 7 is a flowchart of the update process according to the second embodiment.

  In the update process of the second embodiment illustrated in FIG. 7, the management-side acquisition unit 74 determines whether or not difference information including correction information for correcting the recognition target RO is acquired from the travel support device 34 (Sa142). ). When acquiring the difference information (Sa142: Yes), the management side acquisition unit 74 outputs the difference information to the management side update unit 75 (Sa144).

  When acquiring the difference information, the management-side update unit 75 calculates the position of the recognition target RO based on the correction information included in the difference information (Sa248). When the management-side update unit 75 has already acquired the difference information of the same recognition target RO a plurality of times and corrects the position information of the recognition target RO in the recognition target database 78, the management side update unit 75 calculates the position indicated by the position information and the current calculation. The average value with the position of the recognized recognition target RO is calculated as the position of the new recognition target RO (Sa249).

  The management-side update unit 75 updates the position of the recognition target RO calculated by overwriting the position information of the corresponding recognition target RO in the recognition target database 78 with the calculated position of the recognition target RO or the average value of the positions (Sa250). Thereafter, the management processing unit 70 repeats Step Sa142 and the subsequent steps.

  Thereafter, in the output process, the management side output unit 76 outputs the corrected position information of the target information of the recognized recognition target RO to the travel support device 34.

  In the driving support device 34, in the driving support process, when the driving support unit 86 detects the recognition target RO, the driving support unit 86 calculates the vehicle position based on the corrected position information of the updated target information.

  As described above, the travel management device 20 according to the second embodiment includes the position included in the target information based on the positional deviation between the position of the vehicle 16 calculated from the vehicle information and the position of the vehicle 16 calculated from the recognition target RO. The information is corrected. Thereby, the traveling management apparatus 20 can normalize the target information of the recognition target RO whose installation position is shifted. As a result, the travel management device 20 can increase the recognition target ROs that can be used by the travel support device 34, so that the detection accuracy of the position of the vehicle 16 can be improved.

  The travel management device 20 corrects the position information of the target information with the average value calculated from the positional deviation calculated by each travel support device 34 of the plurality of vehicles 16. As a result, the travel management device 20 can correct the position information of the target information with high accuracy even when one vehicle 16 calculates an erroneous positional deviation.

  As described above, the traveling management device 20 calculates the positional deviation based on the vehicle information of the vehicle 16 traveling in the traveling stable region. In other words, the travel management device 20 can update the position information of the target information with higher accuracy by the positional deviation based on the position of the vehicle 16 based on the vehicle information with high calculation accuracy.

<Third Embodiment>
A third embodiment in which the driving support device 34 outputs difference information when the recognition target RO that can be recognized based on the target information cannot be detected will be described.

  The driving support unit 86 according to the third embodiment recognizes the recognition target RO in the recognizable region based on the surrounding information at the position indicated by the position information of the target information, even though the vehicle 16 is traveling in the recognizable region. If it cannot be detected, difference information is generated and output to the travel management device 20. In other words, the driving support unit 86 determines that the recognition target RO that can be detected cannot be detected as a difference in the target information, and outputs the difference information. The recognizable area is an area in which the recognition target RO can be detected, and includes the position indicated by the position information of the target information. For example, the recognizable area may be a circular area having a radius of several tens of centimeters with the position indicated by the position information of the target information as the center. The driving support unit 86 may determine whether or not the recognition target RO can be detected based on the captured image in the peripheral information. For example, if the recognition target RO that matches or approximates the shape information of the recognition target RO included in the target information does not exist in the recognizable region in the captured image, the driving support unit 86 determines that the recognition target RO cannot be detected. It's okay.

  When the management-side update unit 75 acquires the difference information, the management-side update unit 75 sets the usage information of the corresponding target information to non-use and updates it.

  FIG. 8 is a flowchart of the driving support process of the third embodiment. Description of the steps of the third embodiment similar to the steps of the first embodiment is simplified or omitted.

  In the driving support process of the third embodiment shown in FIG. 8, when the driving support unit 86 executes steps Sb112 to Sb120 as in the first embodiment, it determines that the vehicle is driving in the driving stable region (Sb121). : Yes), the support side acquisition unit 84 acquires the peripheral information and outputs it to the driving support unit 86 (Sb122).

  The driving support unit 86 determines whether or not the vehicle 16 is traveling in a recognizable region where the recognition target RO can be detected, based on the own vehicle position based on the vehicle information and the position information of the recognition target RO indicated by the target information. (Sb323). If it determines with the driving assistance part 86 not being a recognizable area | region (Sb323: No), step Sb136 will be performed.

  When the driving support unit 86 determines that the vehicle 16 is traveling in the recognizable region (Sb323: Yes), the driving support unit 86 determines whether the recognition target RO can be detected (Sb324). If the recognition target RO that should be present in the recognizable region cannot be detected (Sb324: No), the driving support unit 86 determines that there is a difference in the target information of the recognition target RO (Sb333). The driving support unit 86 generates and outputs difference information indicating that there is a difference and that the recognition target RO cannot be detected (Sb334). Thereby, in the traveling management apparatus 20, the management side update part 75 sets the usage information of the target information of the corresponding recognition target RO, for example, and updates it. If the recognition target RO can be detected (Sb324: Yes), the driving support unit 86 executes step Sb126 and subsequent steps.

  If the recognition target RO cannot be detected due to defects, dirt, or the like, the travel support device 34 of the third embodiment outputs difference information to the travel management device 20 assuming that there is a difference in the target information of the recognition target RO. As a result, the travel management device 20 can update the target information of the recognition target RO that cannot be detected, such as non-use. As a result, the travel management device 20 can omit the recognition processing of the recognition target RO that cannot be detected from the travel support device 34 after the update.

  In the traveling system 10 of the third embodiment, the traveling support system 14 of the vehicle 16 determines the difference between the target information of the recognition target RO and the detected recognition target RO. Thereby, even when the travel management system 12 does not include the detection unit 19 such as an imaging device that detects the state in the field, the travel management device 20 reflects the difference in the recognition target RO in the target information in the recognition target database 78. be able to. As a result, the traveling system 10 can achieve the above-described effects when the vehicle 16 travels on the traveling path PW such as the parking lot CP, so the configuration of the traveling management system 12 installed in the parking lot CP or the like is simplified. Operation costs can be reduced. In addition, since the traveling system 10 can detect the difference between the target information of the recognition target RO and the detected recognition target RO at an early stage without depending on the manager who manages the traveling path PW, the erroneous detection of the recognition target RO is performed. Can be suppressed.

<Fourth embodiment>
A description will be given of a fourth embodiment in which the driving support device 34 outputs difference information when detecting another vehicle 16A and an object OB such as an obstacle on the recognition target RO.

  When the position of the three-dimensional object OB detected based on the surrounding information does not match the position information of any target information, the driving support unit 86 of the fourth embodiment indicates that there is a difference in the target information and the position of the object OB. Difference information including the information is generated and output to the travel management device 20. The driving support unit 86 may determine whether or not the three-dimensional object OB exists based on the ranging information among the peripheral information generated by the imaging unit 22 and the ranging unit 23.

  FIG. 9 is a flowchart of the driving support process of the fourth embodiment. The description of the steps of the fourth embodiment similar to the steps of the above-described embodiment is simplified or omitted.

  In the driving support process of the fourth embodiment shown in FIG. 9, when the driving support unit 86 executes steps Sb112 to Sb120 as in the first embodiment, it determines that the vehicle is driving in the driving stable region (Sb121). : Yes), the support side acquisition unit 84 acquires the peripheral information and outputs it to the driving support unit 86 (Sb122).

  The driving support unit 86 determines whether there is an object OB based on the peripheral information (Sb433). When determining that there is an object OB (Sb433: Yes), the driving support unit 86 determines whether there is a difference in the target information (Sb434). When the position information of the object OB matches the position information of any target information, that is, when the target information of the object OB is registered, the driving support unit 86 determines that there is no difference in the target information. (Sb434: No), Step Sb323 and subsequent steps are executed. When the position information of the object OB does not match the position information of any target information, the driving support unit 86 determines that there is a difference (Sb434: Yes), indicates that there is a difference in the target information, and the position information of the object OB. Is generated and output (Sb435), and step Sb323 and subsequent steps are executed. Thereby, in the traveling management apparatus 20, the management side update part 75 adds and updates the target information containing the positional information on the object OB, for example. When the driving support unit 86 determines that there is no object OB (Sb433: No), the driving support unit 86 executes step Sb323 and the subsequent steps.

  The driving support unit 86 determines whether or not the vehicle 16 is traveling in a recognizable region where the recognition target RO can be detected, based on the own vehicle position based on the vehicle information and the position information of the recognition target RO indicated by the target information. (Sb323). If it determines with the driving assistance part 86 not being a recognizable area | region (Sb323: No), step Sb136 will be performed.

  When the driving support unit 86 determines that the vehicle 16 is traveling in the recognizable region (Sb323: Yes), the driving support unit 86 determines whether the recognition target RO can be detected (Sb324). If the recognition target RO cannot be detected (Sb324: No), the driving support unit 86 executes step Sb333 and subsequent steps.

  If the recognition target RO can be detected (Sb324: Yes), the driving support unit 86 executes step Sb126 and subsequent steps.

  The driving support device 34 of the fourth embodiment outputs the difference information to the driving management device 20 assuming that there is a difference in the target information when there is an object OB in which the target information is not registered. Thereby, the traveling management apparatus 20 can add the target information of the unregistered object OB. Furthermore, when the driving support device 34 outputs the difference information including the position information of the object OB, the driving management device 20 can add target information including the position information of the object OB.

  In the traveling system 10 of the fourth embodiment, the traveling support system 14 of the vehicle 16 detects the object OB in the parking lot CP based on the peripheral information from the imaging unit 22 and the distance measuring unit 23, and detects the target information and the object OB. The difference information is output by determining the difference from the recognized recognition target RO. Thereby, even when the travel management system 12 does not include the detection unit 19 such as an imaging device that detects the state in the parking lot CP, the travel management device 20 can detect the target information of the recognition target RO and the recognized recognition target RO. Can be reflected in the target information of the recognition target database 78. As a result, the traveling system 10 can achieve the above-described effects when the vehicle 16 travels on the traveling path PW such as the parking lot CP, so the configuration of the traveling management system 12 installed in the parking lot CP or the like is simplified. And the operation cost of the parking lot CP can be reduced. Moreover, since the traveling system 10 can detect the object OB without target information at an early stage without depending on the manager who manages the traveling path PW, the administrator can remove the object OB such as an obstacle at an early stage.

  The function, connection relationship, number, arrangement, and the like of the configuration of each embodiment described above may be changed or deleted as appropriate within the scope of the invention and the scope equivalent to the scope of the invention. You may combine each embodiment suitably. You may change the order of each step of each embodiment suitably.

  In the above-described embodiment, the processing in the automatic driving in the parking lot CP has been described. However, the above-described processing may be applied to the automatic driving in the traveling road PW such as a general road and a highway other than the parking lot CP.

  In the above-described embodiment, the driving support unit 86 determines whether or not the vehicle 16 is within the travel stable region based on the vehicle position on the travel route calculated from the vehicle information. The determination of whether or not is not limited to this method. For example, the driving support unit 86 may determine whether or not the vehicle 16 is traveling in the traveling stable region based on the steering angle information included in the vehicle information. Specifically, the driving support unit 86 may determine that the vehicle 16 is traveling in the traveling stable region if the change in the steering angle is smaller than the threshold angle change.

  In the first embodiment described above, when there is a difference between the target information of the recognition target RO and the detection result of the detected recognition target RO, the travel management device 20 sets the use state of the corresponding recognition target RO to non-use. However, the updating method is not limited to this. For example, when it is determined that the target information is more than the threshold number of times with respect to the detected recognition target RO, the traveling management device 20 determines that the target information of the recognition target RO has a difference, and does not change the usage state. It may be set to use and updated.

  In the above-described embodiment, an example in which the travel support device 34 of the vehicle 16 determines whether there is a difference in the target information of the recognition target RO based on the peripheral information is described. However, there is a difference in the target information of the recognition target RO. The method for determining whether or not there is is not limited to this. For example, the travel management device 20 detects the positional deviation, breakage, and object OB of the recognition target RO based on the travel path PW detected by the detection unit 19 and the in-field information around the travel path PW, and the target information The difference may be determined. In this case, the travel management device 20 has a function as a difference determination unit. In addition, the travel support device 34 outputs the detection result (for example, raw data) of the detected recognition target RO to the travel management device 20 as difference information, and the travel management device 20 determines the difference from the target information based on the detection result. The target information may be updated by calculation.

  In the above-described embodiment, the driving support unit 86 calculates the displacement between the two vehicle positions calculated from the vehicle information and the target information as the displacement, but the position for calculating the displacement is limited to the own vehicle position. Not. For example, the driving support unit 86 sets the deviation between the position of the recognition target RO with respect to the own vehicle position calculated from the vehicle information and the position of the recognition target RO with respect to the own vehicle position calculated from the position information of the target information as a position error. It may be calculated. When the positional deviation is larger than the threshold error, the driving support unit 86 may determine that there is a difference in the target information of the recognition target RO. In this case, the recognition target RO is an example of a calculation target. Further, the position of the recognition target RO calculated from the vehicle information is the first position, and the position of the recognition target RO calculated from the target information of the recognition target RO is the second position.

  In the above-described embodiment, an example in which the imaging unit 22 and the distance measurement unit 23 that generate the peripheral information are provided on the front, rear, left, and right sides of the vehicle 16 has been described. However, the imaging unit 22 and the distance measurement unit 23 are installed. The position may be changed as appropriate.

  In the above-described second embodiment, the correction information is described with an example in which the size and direction of the positional deviation is described, but the correction information is not limited to this. For example, the correction information may be information (for example, coordinate information) of the vehicle position calculated from the vehicle information and the recognition target. In this case, the travel management device 20 may calculate the positional deviation based on the vehicle position.

  The driving support unit 86 generates a displacement between the own vehicle position calculated from the vehicle information and the own vehicle position calculated from the recognition target RO every time the recognition target RO is detected. If they are the same, it may be determined that there is an error in the wheel rotation information or the steering angle information, which is vehicle information, and the fact that there is an error may be output to the monitor device 32 or the like.

  When there is a difference in the target information of the recognition target RO or when the target information is updated, the management-side output unit 76 gives an instruction to re-install the corresponding recognition target RO to the administrator or the like via the display device or the like. It may be output. When there is a difference in the target information of the recognition target RO or when the target information is updated, the management-side output unit 76 instructs the driving support device 34 of the vehicle 16 to reset the driving route for automatic driving. Good. The travel management device 20 may reset the travel route for automatic driving when there is a difference in the target information of the recognition target RO or when the target information is updated.

  When the difference information of the recognition target RO is generated, the driving support unit 86 may specify the cause of the difference. In this case, the driving support unit 86 may output the cause of the difference to the travel management device 20.

  10: Travel system, 12: Travel management system, 14: Travel support system, 16: Vehicle, 20: Travel management device, 34: Travel support device, 74: Management side acquisition unit, 75: Management side update unit, 76: Management Side output unit, 77: driving management program, 78: recognition target database, 79: map information, 84: support side acquisition unit, 86: driving support unit, 87: driving support program, Ar1: driving stability area, RO: recognition target .

Claims (11)

When there is a difference between the target information stored in advance including the travel path on which the vehicle travels and the position information of the recognition target provided around the travel path and the detected detection result of the recognition target, the target information is An update section to update;
An output unit for outputting the target information of the recognition target;
With
The said output part is a driving | running | working management apparatus which outputs the said target information updated when the said target information is updated. The update unit is based on a positional shift between a first position of a calculation target calculated from vehicle information regarding driving of the vehicle and a second position of the calculation target calculated from the position information of the recognition target. The travel management device according to claim 1, wherein when it is determined that there is a difference, the target information is updated. The said update part is contained in the said target information of the said recognition target, and the usage information which is the information regarding the availability of the said recognition target is set to non-use and it updates, when there exists the said difference. The travel management device according to 1. The update unit is configured to calculate the position information included in the target information from a first position of a calculation target calculated from vehicle information related to driving of the vehicle and the calculation target calculated from the position information of the recognition target. The travel management device according to any one of claims 1 to 3, wherein the travel management device is corrected and updated based on a positional deviation from the second position. The update unit is calculated from the first position of the calculation target calculated from the vehicle information related to the driving of the vehicle and the position information of the recognition target when the vehicle is traveling in the travel stable region where the travel is stable. The travel management device according to any one of claims 1 to 4, wherein the target information is updated based on a positional deviation of the calculation target from the second position. The update unit detects a first position of a calculation target calculated from vehicle information related to driving of the vehicle, detected by a plurality of the vehicles, and a second position of the calculation target calculated from the position information of the recognition target. The travel management device according to any one of claims 1 to 5, wherein the target information is updated based on a plurality of positional deviations from a position. When there is the difference in which the recognition target is not detected within the recognizable area including the position indicated by the position information, the update unit is included in the target information of the recognition target, and is information regarding whether or not the recognition target is usable. The travel management apparatus according to any one of claims 1 to 6, wherein certain usage information is set to non-use and updated. The update unit adds and updates the target information of the object when the position of the detected object does not match the position information of any of the target information. The travel management device according to 1. The travel management device according to any one of claims 1 to 8, wherein the output unit outputs the target information to the vehicle that can travel autonomously on the travel path. An acquisition unit for acquiring target information including a travel path on which the vehicle travels and position information of a recognition target provided around the travel path;
When there is a difference between the target information and the detected recognition target, a driving support unit that outputs difference information indicating the difference;
A driving support device comprising: The travel support device according to claim 10, wherein the driving support unit causes the vehicle to travel autonomously on the travel path.

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