JP2019158381A - Control system and data structure for map data - Google Patents

Abstract

To properly guide and control a moving body.SOLUTION: A control system having a storage section and a position specifying section is provided. The storage section includes position data corresponding to a plurality of positions along the traveling direction of lane lines marked in broken lines and identification data for identifying the position of the line segment constituting the broken lines of the lane lines. The position specifying section specifies the position in the traveling direction of the road on the basis of the data on the lane lines marked in broken lines obtained by an acquisition section which acquires data about the periphery of the vehicle, and the position data and the identification data in the storage section.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a control system, a control method, a control program, and / or a data structure of data available for them.

  2. Description of the Related Art In recent years, apparatuses that accurately estimate the position of a host vehicle and assist driving the vehicle have become widespread. In this regard, an image pickup device mounted on the host vehicle and a feature information acquisition unit are provided, and an image obtained from the image pickup device and a feature information obtained from the feature information acquisition unit are collated. A technique for determining the lane in which the vehicle is present from among the lanes has been proposed (Patent Document 1).

JP 2008-293380 A

  It is an object of the present invention to provide a control system capable of appropriately specifying the position of a moving body or appropriately guiding and controlling the moving body and a data structure of map data used in the control system. To do.

As one embodiment, a memory including position information corresponding to a plurality of positions along the running direction of a broken-line lane marking and identification information for identifying the position of a line segment constituting the broken line included in the lane marking And a position for specifying a position in the traveling direction of the road based on the information on the lane markings in a broken line shape acquired from the acquisition unit that acquires information on the periphery of the vehicle, and the position information and the identification information in the storage unit A control system having a specific unit is provided.

As one embodiment, the data structure of the data used for the processing of the control unit and stored in the storage unit, the position information corresponding to a plurality of positions along the longitudinal direction of the dashed-line partition line, and the position Lane line information including identification information for identifying that the information is information representing the position of the end point of the line segment constituting the broken line, each of the information regarding a predetermined section of the lane constituting the road, and A plurality of section information having information relating to the connection between the exit side and the entry side section of the predetermined section, and related information associating the lane line information with the section information, and the control unit includes the related information The data structure of the data used for the process which acquires the said positional information and the said identification information relevant to the said area information based on is provided.

A first lane line information representing a plurality of marking lines in the width direction as one lane line information and a second lane line information representing the plurality of section lines as each lane line information. A storage unit having the lane line information, a guidance unit that guides the vehicle based on the first lane line information, and a position specification unit that specifies the position of the vehicle based on the second lane line information And providing a control system.

A control system, comprising a storage unit having boundary information representing a boundary that cannot be physically advanced further on the road, the boundary information including the curb defining the boundary, the curb, If the length of the area between the two is less than a predetermined value, the boundary line has information corresponding to the position of the area, and if the length of the area is not less than a predetermined value, the area corresponds to the position of the area. The control system further provides a control system having a guide unit that guides a vehicle using the border line information without the information representing the border line.

It is a figure for demonstrating the driving assistance system of Embodiment 1 and 2. FIG. It is a figure for demonstrating the concept of the data structure of the map data of Embodiment 1. FIG. It is a figure for demonstrating the detail of the data structure of the map data of Embodiment 1. FIG. It is a figure for demonstrating the detail of the data structure of the map data of Embodiment 1. FIG. It is a figure for demonstrating the concept of the data structure of the map data of Embodiment 1. FIG. It is a figure for demonstrating the detail of the data structure of the map data of Embodiment 1. FIG. It is a figure for demonstrating the operation | movement flow of the driving assistance process of Embodiment 1. FIG. It is a figure for demonstrating the concept of the data structure of the map data of Embodiment 2. FIG. It is a figure for demonstrating the detail of the data structure of the map data of Embodiment 2. FIG. It is a figure for demonstrating the operation | movement flow of the driving assistance process of Embodiment 2. FIG.

  FIG. 1 shows a driving support system 1 according to Embodiments 1 and 2 as an example of a control system. The driving support system 1 is mounted on a vehicle 2 that is a moving body, and includes an information control unit 3, a storage unit 4, an input unit 5, a position acquisition unit 6, a vehicle speed information acquisition unit 7, a surrounding information acquisition unit 8, and a vehicle control unit. 9 The information control unit 3 includes an overall control unit 10, a route search unit 11, a route specification unit 12, a map information acquisition unit 13, a position specification unit 14, a deceleration unit 15, and a guidance unit 16, and a CPU (Central It includes a processing unit (ROM), a read only memory (ROM), and a random access memory (RAM). The CPU of the information control unit 3 implements functions related to various programs by reading various programs stored in the ROM, developing them in the RAM, and executing them. The overall control unit 10, the route search unit 11, the route identification unit 12, the map information acquisition unit 13, the position identification unit 14, the deceleration unit 15, and the guidance unit 16 are functions realized by a program.

The storage unit 4 is configured by a large-capacity storage medium such as a hard disk or SD-RAM.
The storage unit 4 stores map data 20 used for route search processing, vehicle position specification, vehicle guidance control, and the like. The map data 20 includes road network information 30, lane network information 31, feature information 32, and related information 33.

  The road network information 30 includes a plurality of pieces of point information including information related to specific points on the road (for example, a branch point of the road) and a plurality of pieces of road section information including information related to a predetermined section of the road. This information represents the connection of roads by the plurality of road section information. The lane network information 31 includes a plurality of lane section information, and each lane section information includes information related to a predetermined section of a lane that constitutes a road, and information indicating a lane connection by the plurality of lane section information (hereinafter, “ Lane section information "). The feature information 32 includes lane line information (hereinafter referred to as “lane line information”) that is information representing a road lane line, and a boundary line (hereinafter referred to as “the lane line information”) that cannot be further advanced on a road or a pedestrian passage. Boundary line information (hereinafter referred to as “boundary line information”), which is information representing physical boundary lines). The related information 33 is information for associating the road section information of the road network information 30 with the lane section information of the lane network information 31, and the section that associates the lane section information of the lane network information 31 and the lane line information of the feature data 32. Line-related information (hereinafter referred to as “division line-related information”) and / or boundary line-related information for associating lane section information of the lane network information 31 and boundary line information of the feature data 32 are included. Details of the lane section information, lane line information, boundary line information, and lane line related information and boundary line related information will be described later.

  The input unit 5 receives an instruction input for route setting and vehicle guidance from the user. The position acquisition unit 6 acquires position information related to the position of the vehicle including latitude and longitude based on radio waves received from artificial satellites constituting a GPS (Global Positioning System) or a signal from a gyro provided in the vehicle. . The vehicle speed information acquisition unit 7 acquires information related to the vehicle speed based on the pulse signal acquired from the vehicle speed sensor. The surrounding information acquisition unit 8 acquires vehicle surrounding information that is image information of a subject such as a sign around the vehicle and a road marking paint (for example, a marking line). The vehicle control unit 9 performs guidance control (steering, acceleration / deceleration, stop, etc.) of the vehicle so as to move along a predetermined lane on the road based on information from a deceleration unit 15 and a guidance unit 16 described later.

  The overall control unit 10 controls the entire driving support system 1. The route search unit 11 performs route search processing using the road network information 30 stored in the storage unit 4. Specifically, the route search unit 11 executes route search processing from the departure point to the destination using road section information and point information included in the road network information 30. Then, route information indicating a route from the departure point to the destination (a plurality of pieces of point information and a plurality of road section information connecting from the departure point to the destination) is created by the route search process. As a route search method, a known method such as the Dijkstra method is adopted, and the shortest route from the departure point to the destination is searched using the cost information included in the road section information.

  The route specifying unit 12 uses the route information of the road network information 30 created by the route search unit 11 to perform processing for specifying a route in the lane network information 31 using the related information 33. The map information acquisition unit 13 performs processing for acquiring the map data 20 from the storage unit 4. The position specifying unit 14 specifies the position of the vehicle on the road from the position information acquired by the position acquiring unit 6, or the surroundings acquired by the feature information 32 and the peripheral information acquiring unit 8 From the information, the position of the vehicle on the road is specified. The deceleration unit 15 generates deceleration information for decelerating the vehicle 2 and outputs the deceleration information to the vehicle control unit 9. The guide unit 16 generates guide information for controlling the vehicle so as to move along a predetermined lane on the road, and outputs the guide information to the vehicle control unit 9. The vehicle control unit 9 controls the vehicle (steering, acceleration / deceleration, stop, etc.) so as to move along a predetermined lane on the road based on deceleration information, guidance information, and the like.

  In the driving support system 1, the information control unit 3 and the storage unit 4 are not installed in the vehicle 2 but installed in the server, and the information control unit 3 in the server receives the input unit 5, the position as communication information. While receiving the information of the acquisition part 6, the vehicle speed information acquisition part 7, and the periphery information acquisition part 8, the structure which outputs deceleration information and guidance information to the vehicle control part 9 as communication information may be sufficient. In the driving support system 1, the storage unit 4 is not installed in the vehicle 2 but installed in the server, and the information control unit 3 in the vehicle stores the storage unit 4 in response to the map data acquisition request. The configuration may be such that the desired map data 20 is extracted and received by communication information.

(Embodiment 1)
FIG. 2 is a diagram for explaining a concept of the data structure of the map data 20 and a part of an actual road according to the present embodiment. 90 is a conceptual diagram of a data structure of data included in the map data 20, and is a structure in which the lane network information 31 and the feature information 32 are associated by the related information 33. Each of LL1 to LL7 is lane section information, each of CL1 to CL12 is lane line information, and each of R1 to R7 is lane line related information. 91 is a diagram showing the vicinity of a branch point of an actual expressway, and 100, 101, 102, and 103 represent lane markings, and the line type of the lane marking 100 (white broken line, white solid line, yellow color) The display form of lane markings such as solid lines. The same shall apply hereinafter.) Is a white solid line and role (the role of lane markings such as the lane outer line, lane center line, lane boundary line, and current lane. The same shall apply hereinafter.) Is a roadway outside line, the line type of the lane marking 101 is a white solid line, the role is a conduction zone, the line types of the lane markings 102 and 103 are white broken lines, and the role is a lane boundary line.

  Each of the lane section information LL1 to LL7 is information (hereinafter referred to as “lane position”) indicating a plurality of positions along the traveling direction in the lane (referred to as directions indicated by arrows in FIGS. 2, 4 and 7; the same applies hereinafter). Information ”), and information indicating the connection with the lane section information on the exit side (hereinafter referred to as“ exit side identification information ”) and information indicating the connection with the lane section information on the entry side. (Hereinafter referred to as “entrance side identification information”). The lane section information LL1 to LL7 is based on the lane line information CL1 to CL5 and CL6 to CL12 and the lane related information R1 to R7 corresponding to the section lines on both sides (right side and left side) of the lane corresponding to each lane section information. Associated. In addition to the lane line information CL2 and the lane line information CL10 on both sides, the lane line information LL5 is also associated with the lane line information CL6 corresponding to the lane line straddling the lane corresponding to the lane line information LL5 by the lane related information R5. ing.

  The lane line information CL1 to CL12 is information indicating a plurality of positions along the travel direction of the lane line (hereinafter referred to as “lane line position information”), and information indicating the width of the start point side of the section line (hereinafter referred to as “start line width”). Information ”), information indicating the end point side width of the lane marking (hereinafter referred to as“ end line width information ”), information for distinguishing line types (hereinafter referred to as“ line type information ”), Distinguishing between the information indicating the presence or absence of installed objects (hereinafter referred to as “installed object information”), the information indicating the presence or absence of deceleration display along the lane line traveling direction (hereinafter referred to as “deceleration display information”), and the role of the lane markings Information (hereinafter referred to as “role information”), and the position of a line segment constituting a broken line (referred to as a white line, the same shall apply hereinafter) constituting a broken line when the line type of the lane marking is a broken line Identification information (hereinafter referred to as "line segment identification information") ), Information for identifying the position of the end point of the line segment, or information indicating whether or not the lane line information has been acquired by inferring a part of the lane line display on the actual road. (Hereinafter referred to as “guess information”).

Specifically, the line segment identification information is information on the position of the end point on the start point side of the line segment constituting the broken line or information on the position in the line segment constituting the broken line. This is information for identifying whether there is information on the position of the end point on the end point side of the line segment constituting the broken line, or information on the position between the line segment constituting the broken line. The line segment identification information CL31 is information on the position of the end point on the start point side of the line segment in which the lane line position information of the position constitutes a broken line, and the line segment identification information CL32 is the lane line position information on the position. The line segment identification information CL33 is information on the position in the line segment constituting the broken line, and the line segment identification information CL33 is information on the position of the end point on the end point side of the line segment constituting the broken line. The information CL34 is information indicating the position between the line segments in which the division line position information of the position constitutes a broken line. Also, the lane line information CL8 and the lane line information CL9 are information corresponding to the basin 101, and the lane line information CL8 is the position of the position along the right edge line portion in the traveling direction as the lane line position information. The lane line information CL9 has information on the position along the left edge line portion in the traveling direction as the lane line position information.

  FIG. 3 is a diagram for explaining details of the data structure of the map data 20 of the present embodiment. The lane section information LL2 is information for identifying the lane section information LL2 as lane identification information, information indicating the coordinate point sequence of the center line in the traveling direction of the lane corresponding to the lane section information LL2 as lane position information, and exit As the side identification information, the lane identification information of the exit lane segment information LL3 of the lane segment information LL2 and the lane identification information of the approach side lane segment information LL1 of the lane segment information LL2 as the approach side identification information are included. The other lane section information LL1, LL3 to LL7 has the same configuration as the lane section information LL2.

  The lane line information CL3 includes, as lane line identification information, information “CL3” for identifying the lane line information CL3, and as lane line position information, a coordinate point sequence (division line of the center line in the traveling direction of the lane line 102 In the section corresponding to the information CL3, information “(X21, Y21, Z21), (X22, Y22, Z22),...”, The starting point side width information as the starting point side of the dividing line 102 (in the dividing line information CL3) Information “A (m)” representing the length in the width direction in the corresponding section), and the length in the width direction on the end point side of the lane line 102 (in the section corresponding to the lane line information CL3) as the end line width information. Information “A (m)”, information indicating a white broken line as line type information, “white broken line” as installation information, “no installation” as installation information, “no deceleration indication” as deceleration indication information, role information Lane line ", and has" no guess "as estimation information.

Also, as line segment identification information, it is stored in the storage area of the storage unit 4 in the order of “01”, “11”, “10”, “00”, “01”, “11”, “10”, “00”. is doing. “01” is information indicating the position of the end point on the start point side of the line segment constituting the broken line, “11” is information indicating the position in the line segment constituting the broken line, and “10” is the information indicating the broken line. This is information indicating the position of the end point on the end point side of the constituent line segment, and “00” is information indicating the position between the line segment forming the broken line. And the order memorize | stored in the storage area of the memory | storage part 4 respond | corresponds to the order in the running direction of the coordinate point sequence of the lane line position information of the lane line information CL3, and the division of the position of the foremost side in the running direction The line position information represents the position of the end point on the start point side of the line segment constituting the broken line (first CL31 in the traveling direction in FIG. 2), and the lane line position information of the next position in the traveling direction is the line constituting the broken line 2 represents the position within the minute (first CL32 in the traveling direction of FIG. 2), and the lane line position information of the next position in the traveling direction is the position of the end point on the end point side of the line segment constituting the broken line (the traveling of FIG. 2). Represents the first CL33 in the direction, and the lane marking position information of the next position in the traveling direction represents the position between the line segments constituting the broken line (the first CL34 in the traveling direction in FIG. 2). The lane line position information of the next position in the traveling direction represents the position of the end point on the starting point side of the line segment constituting the broken line (next CL31 in the traveling direction of FIG. 2), and the further position of the next position in the traveling direction. The lane line position information represents a position within the line segment constituting the broken line (next CL32 in the traveling direction of FIG. 2), and the lane line position information of the next position in the traveling direction is the line segment constituting the broken line. This represents the position of the end point on the end point side (next CL33 in the traveling direction of FIG. 2), and the lane marking position information of the farthest position in the traveling direction is the position between the line segments constituting the broken line (FIG. 2 represents the following CL34). The other lane marking information CL1, CL2, CL4 to CL12 have the same configuration as the lane marking information CL3.

  The lane line related information R5 includes information for identifying the related information R5 as related identification information, and lane identification information of the lane section information LL5 as lane identification information of the lane section information. Further, “right” is used as the information on the lane line position, the lane line identification information “CL2” of the lane line information CL2 is used as the lane line identification information of the lane line information, and the lane section information LL5 is used as the start position information in the lane section information. Lane position information “(X31, Y31, Z31)” at a position close to the start position in the traveling direction of the lane line corresponding to the lane line information CL2 among the lane position information of the lane as end position information in the lane section information The lane position information “(X32, Y32, Z32)” of the position close to the end position in the traveling direction of the lane line corresponding to the lane line information CL2 in the lane position information of the section information LL5 is included.

Further, “crossing” as the information on the position of the lane line, the identification information “CL6” of the lane line information CL6 as the lane line identification information of the lane line information, and the lane of the lane section information LL5 as the start position information in the lane section information Lane position information “(X33, Y33, Z33)” at a position close to the start position in the traveling direction of the lane line corresponding to the lane line information CL6 among the position information is used as lane section information as end position information in the lane section information. The lane position information “(X34, Y34, Z34)” of the position close to the end position in the traveling direction of the lane line corresponding to the lane line information CL6 among the lane position information of LL5 is included.

Further, “left” is used as the information on the position of the lane line, the lane line identification information “CL10” of the lane line information CL10 is used as the lane line identification information of the lane line information, and the lane section information LL5 is used as the start position information in the lane section information. Lane position information “(X35, Y35, Z35)” at a position close to the start position in the traveling direction of the lane line corresponding to the lane line information CL10 among the lane position information of the lane as end position information in the lane section information The lane position information “(X36, Y36, Z36)” of the position close to the end position in the traveling direction of the lane line corresponding to the lane line information CL10 among the lane position information of the section information LL5 is included. Then, the lane line information RL5 and the lane line information CL2 are related (positions (X31, Y31, Z31) to (X32, Y32, Z32) on the right side of the section corresponding to the lane line information LL5) based on the lane line related information R5. The lane section information LL5 and the lane line information CL6 are related (at the positions (X33, Y33, Z33) to (X34, Y34, Z34) across the section corresponding to the lane section information LL5)). The lane section information LL5 and the lane line information CL10 are related (at the positions (X35, Y35, Z35) to (X36, Y36, Z36) on the left side of the section corresponding to the lane section information LL5). You can see that The other lane marking related information R1 to R4, R6, and R7 have the same configuration as the lane marking related information R5.

  The line segment identification information is not limited to the information described above, and may be identification information for identifying the position of the line segment that forms the broken line. For example, assuming that the total length of the sections corresponding to the lane section information having line segment identification information as shown in FIG. From a percentage point to a 0.2 percentage point, from a full length 0.4 percentage point to a 0.5 percentage point, and a full length 0.7 percentage point to a 0.8 percentage point Such information may be identified as a line segment constituting a broken line. Further, among the sections corresponding to the lane section information having the line segment identification information as shown in FIG. 4B and associated by the lane line related information, 4 m from the front of the traveling direction is a line segment constituting a broken line. The section where the line segment between the line segments is not marked, the next 8m is the section of the line segment constituting the broken line, and the next 4m is the line segment between the line segments constituting the broken line Information that identifies a line segment that forms a broken line in units of 4 m and 8 m sections, such as a section that is not performed, and the next 8 m that is a line segment that forms a broken line, may be used.

  FIG. 5 is a diagram for explaining a concept of the data structure of the map data 20 and a part of an actual road according to the present embodiment. 105 is a conceptual diagram of the data structure of data included in the map data 20, and is a structure in which the lane network information 30 and the feature information 31 are associated by the related information 33. LL 10 and 11 are lane section information, CL20 to CL22 are lane line information, and R10 and R11 are lane line related information. 106 is a view showing a part of an actual highway, 110 is a left lane of the road in the traveling direction, 111 is a right lane of the road in the traveling direction, and 112 and 113 are multiple lines (in this embodiment, double lines). The line type of the lane line 112 is a yellow solid line, the role is a lane boundary line, the line type of the lane line 113 is a white broken line, and the role is a lane boundary line.

  Each of the lane section information LL10 and LL11 includes lane position information, exit side identification information, and entry side identification information. The lane section information LL10 is associated with the lane line information CL20 corresponding to the section line on the right side of the lane corresponding to the lane section information and the lane line related information R10, and the lane section information LL11 corresponds to the lane section information. The lane line information CL20 corresponding to the section line on the left side of the lane to be associated with the lane line related information R11.

  The lane marking information CL20 represents both the lane marking 112 and the lane marking 113 as one lane marking information. The lane line information CL20 to CL22 includes lane line position information, start point line width information, end point line width information, line type information, installation information, deceleration display information, role information, line segment identification information, and estimation information. Yes. The line segment identification information CL221 is information on the position of the end point on the start point side of the line segment in which the lane line position information of the position constitutes the broken line, and the line segment identification information CL222 is the lane line position information on the position. This is information on the position of the end point on the end point side of the line segment constituting the broken line. In addition to the above information, the lane line information CL21 and CL22 include information indicating that the lane line information CL21 and the lane line information CL22 are associated with the lane line information CL20 (hereinafter referred to as “related lane line information”). And identification information (hereinafter referred to as “line number from the left in the traveling direction”) indicating the number of the lane markings from the left in the traveling direction out of the lane markings 112 and 113 of the multi-line. ing.

  FIG. 6 is a diagram for explaining details of the data structure of the map data 20 of the present embodiment. The lane section information LL10, L11 has the same configuration as the lane section information LL2.

  The lane line information CL20 includes information “CL20” for identifying the lane line information CL20 as the lane line identification information, and the center line in the direction of the raw line of the area between the lane lines 112 and 113 as the lane line position information. Information “(X21, Y21, Z21), (X22, Y22, Z22),...” Representing the coordinate point sequence, the start point side of the edge line on the left side in the traveling direction of the lane line 112 (partition line information) Information “B (m)” indicating the length in the width direction from the start point side (in the section corresponding to the lane marking information CL20) of the edge line on the right side of the lane marking 113 traveling direction to the end line As width information, from the end point side of the edge line on the left side in the running direction of the lane line 112 (in the section corresponding to the lane line information CL20) to the end point side of the edge line on the right side of the lane line 113 in the running direction (lane line information CL Information (B (m)) that represents the length in the width direction (in the section corresponding to 0), and information that represents a double line with one yellow solid line and the other as a white broken line as line type information “Double line, yellow solid line, white dashed line”, “No installed object” as installation information, “No deceleration sign” as deceleration indication information, “Lane boundary” as role information, and “No estimation” as estimation information Have.

  The lane line information CL21 is information “CL21” for identifying the lane line information CL21 as the lane line identification information, and a coordinate point sequence (center line of the center line in the travel direction of the lane line 112 as the lane line position information. The information “(X31, Y31, Z31), (X32, Y32, Z32),...” Representing the information CL21), the start point side of the lane line 112 as the start point line width information (in the lane line information CL21) Information “C (m)” representing the length in the width direction in the corresponding section), and the length in the width direction on the end point side of the lane line 112 (in the section corresponding to the lane line information CL21) as the end line width information. Information that represents “C (m)”, information that represents a yellow solid line as line type information, “no solid line” as installation information, “no deceleration sign” as deceleration indication information, role “Lane boundary” as information, “no guess” as guess information, “CL20” as identification information of related lane line information, and the first lane line from the left as a line number from the left in the traveling direction 1 ".

  The lane line information CL22 includes information “CL22” for identifying the lane line information CL22 as lane line identification information, and a coordinate point sequence of the center line in the travel direction of the lane line 113 (division line) as the lane line position information. The information “(X41, Y41, Z41), (X42, Y42, Z42),...” Representing the CL in the section corresponding to the information CL22, the start point side of the lane line 113 as the start point line width information (in the lane line information CL22) Information “D (m)” indicating the length in the width direction in the corresponding section), and the length in the width direction on the end point side of the lane line 113 (in the section corresponding to the lane line information CL22) as the end line width information. Information “D (m)”, information “white broken line” representing white dashed line as line type information, “no installation” as installation information, “no deceleration marking” as deceleration indication information, role "Lane boundary" as information, "no guess" as guess information, "CL20" as identification information of related lane line information, and the second lane line from the left as the line number from the left in the running direction It has “2”. Also, as line segment identification information, “01”, “10”, “01”, “10”, “01”, “10”, “01”, “10” are stored in the storage area of the storage unit 4 in this order. is doing. The contents represented by “01” and “10” are the same as when the contents of the line segment identification information in the lane marking information CL3 are described. And the order memorize | stored in the memory | storage area of the memory | storage part 4 is the order in the running direction of the coordinate point sequence of the lane line position information of the lane line information CL22 (CL221, CL222, CL221, CL222, CL221, CL222, CL221, CL222).

  The details of the lane line related information R10 are the same as the lane line related information R6 described above.

  FIG. 7 is map data including the lane section information LL1 to LL7, LL10, LL11, the lane line information CL1 to CL12, CL20 to CL22 and the lane line related information R1 to R7, R10, and R11 described in FIGS. 20 is a diagram showing an operation flow of a driving support process of the information control unit 3 of the driving support system 1 using 20. FIG. The information control unit 3 performs lane line information acquisition processing, width direction position specifying processing, driving direction position specifying processing, deceleration processing, and guidance processing as driving support processing.

  The information control unit 3 (map information acquisition unit 13) uses the lane line related information as the lane line information acquisition process (step S10) to obtain lane line information related to the lane section information corresponding to the current position of the vehicle 2. Processing to be acquired from the storage unit 4 is performed. Specifically, the following processing is performed. First, as a premise for performing lane line information acquisition processing, a route is specified in the lane network information by the route search unit 11 and the route specification unit 12. Then, the vehicle 2 travels along the specified route, and the lane section information corresponding to the current position of the vehicle 2, specifically, the lane section information having the lane coordinate information closest to the current position of the vehicle 2 is specified. Then, the lane line information related to the lane section information is acquired from the storage unit 4 using the lane line related information. As described above, by using the lane line related information, it becomes possible to access the lane line information at high speed based on the lane section information corresponding to the current position of the vehicle 2.

  Next, the information control unit 3 (position specifying unit 14) performs a plurality of lanes in the width direction based on the line type information of the lane line information on the left and right sides related to the lane section information as the position specifying process in the width direction (step S20). Which lane of the vehicle 2 is traveling is specified. Specifically, the following processing is performed. For example, when the current position of the vehicle 2 is a section corresponding to the lane section information LL1, the lane section information is obtained using the lane line position information “left” and the lane line identification information “CL5” of the lane line related information R5. The line type information of the lane line information CL5 on the left side in the traveling direction related to LL1 is “white solid line”, the lane line position information “right” and the lane line identification information “CL1” of the lane line related information R5. Is used to recognize that the line type information of the right lane marking information CL1 is “white broken line” in the traveling direction related to the lane section information LL1, and the vehicle 2 selects the leftmost lane among the plurality of lanes. Identifies traveling. As described above, by using the line type information of the lane marking information CL1, it is possible to appropriately identify which lane of the plurality of lanes is traveling.

  Next, the information control part 3 (position specific part 14) is the broken line acquired from the periphery information acquisition part 8 which is an acquisition part which acquires the periphery information of the vehicle 2 as a position specific process (step S30) of a driving direction. Based on the information on the shape lane markings and the lane marking position information and line segment identification information in the storage unit 4, the position in the traveling direction of the road is specified. Specifically, the following processing is performed. For example, a case where the current position of the vehicle 2 in FIG. 2 is a section corresponding to the lane section information LL3 will be described. In that case, the lane line information CL3 and the lane line information CL7 are acquired from the storage unit 4. First, the peripheral information acquisition unit 8 acquires an image ahead of the vehicle. Next, with respect to the lane marking on the left side in the traveling direction, any coordinate information in the coordinate point sequence of the lane marking position information uses the segment identification information of the lane marking information CL7. By identifying which coordinate information is the information that represents the position of the end point on the end point side of the line segment that constitutes the broken line, it is possible to determine the position of which coordinate information and Between the position of the coordinate information is the section of the line segment constituting the broken line, or between the position of the coordinate information and the position of any coordinate information is the line segment between the line segment It can be determined whether the section does not exist.

For the lane marking on the right side in the traveling direction, using the segment identification information of the lane marking information CL7, any coordinate information in the coordinate point sequence of the lane marking position information is the starting point side of the line segment constituting the broken line. Is the information that represents the position of the end point of the line, and any coordinate information is the information that represents the position within the line segment that constitutes the broken line, and any coordinate information represents the position of the end point on the end point side of the line segment that constitutes the broken line By identifying which coordinate information is the information representing the position between the line segments constituting the broken line, the section connected by any three consecutive coordinate information forms the broken line It is possible to determine whether a section connected by any three consecutive coordinate information is a section in which no line segment exists between the line segments. And the information of the coordinate point sequence of the division line position information in which the section of the line segment constituting the broken line and the section where the line segment does not exist between the line segments is identified as described above, and the peripheral information acquisition unit 8 (For example, pattern matching is performed, the same applies hereinafter), and the sections included in the image ahead of the vehicle acquired by the peripheral information acquisition unit 8 based on the lane line position information. Determine the position (coordinates) of the line. In the comparison, the deceleration sign identification information is also referred to, and in the case of the deceleration sign identification information “with deceleration sign”, a comparison process is performed in consideration of the presence of the deceleration sign. Then, the relative distance between the vehicle and the lane marking is calculated based on the size of the lane marking included in the image, and the position (coordinates) of the lane marking included in the image ahead of the vehicle acquired by the peripheral information acquisition unit 8. And the position of the vehicle in the traveling direction is specified from the relative distance.

Further, for example, a case where the current position of the vehicle 2 in FIG. 5 is a section corresponding to the lane section information LL10 will be described. In that case, the lane line information CL22 and the lane line information CL22 are acquired from the storage unit 4. First, the peripheral information acquisition unit 8 acquires an image ahead of the vehicle. Next, for the lane marking on the right side in the traveling direction, any of the coordinate point sequences of the lane line position information is a line segment that forms a broken line, using the segment identification information of the lane marking information CL22. By identifying which coordinate information is the information that represents the position of the end point on the end point side of the line segment that constitutes the broken line, it is possible to determine the position of which coordinate information and Between the position of the coordinate information is the section of the line segment constituting the broken line, or between the position of the coordinate information and the position of any coordinate information is the line segment between the line segment It can be determined whether the section does not exist. And the information of the coordinate point sequence of the division line position information in which the section of the line segment constituting the broken line and the section where the line segment does not exist between the line segments is identified as described above, and the peripheral information acquisition unit 8 The information on the image ahead of the vehicle acquired in the above is subjected to pattern matching, and the position (coordinates) of the lane line included in the image ahead of the vehicle acquired by the peripheral information acquisition unit 8 is determined based on the lane line position information. The relative distance between the vehicle and the lane marking is calculated based on the size of the lane marking included in the image, and the position (coordinates) of the lane marking included in the image ahead of the vehicle acquired by the peripheral information acquisition unit 8 The position of the vehicle in the traveling direction is specified from the relative distance.

As described above, by using the lane line position information and the line segment identification information, it is possible to recognize a white line segment from any position to any position, that is, the broken line shape from the lane line information. Thereby, pattern matching with the information of the image ahead of the vehicle acquired by the surrounding information acquisition part 8 is attained. Further, although it is difficult to distinguish between the lane marking and the deceleration sign in the information on the image in front of the vehicle acquired by the peripheral information acquisition unit 8, the lane marking is appropriately identified by using the deceleration marking identification information. It becomes possible to do.

  Next, the information control unit 3 (deceleration unit 15) controls the vehicle 2 to decelerate according to the condition of the deceleration sign identification information in the storage unit 4 as the deceleration process. Specifically, the following processing is performed. For example, when the current position of the vehicle 2 in FIG. 2 is a section corresponding to the lane section information LL3, the lane line information CL3 and the lane line information CL7 are acquired from the storage unit 4. Since the deceleration marking identification information of the lane marking information CL3 and the lane marking information CL7 is “no deceleration marking”, the deceleration information for decelerating the vehicle 2 is not output to the vehicle control unit 9. On the other hand, when the deceleration marking identification information is “with deceleration marking”, the deceleration information is output to the vehicle control unit 9. Although it is difficult to distinguish between lane markings and deceleration markings in the information on the image ahead of the vehicle acquired by the peripheral information acquisition unit 8, it is possible to appropriately identify that there is a deceleration marking by using the deceleration marking identification information. Thus, the vehicle 2 can be appropriately decelerated.

  Next, the information control unit 3 (guidance unit 16) performs guidance control of the vehicle 2 based on the role of road lane markings using the role information of the storage unit 4 as guidance processing. Specifically, the following processing is performed. For example, when the current position of the vehicle 2 in FIG. 2 is a section corresponding to the lane section information LL6, the lane line information CL7 and the lane line information CL11 are acquired from the storage unit 4. The role information of the lane line information CL11 is “lane outside line”, and since the lane line information CL11 is on the left side in the traveling direction, the vehicle 2 is usually seen from the lane line corresponding to the lane line information CL11. In the case of an emergency where the front is blocked by an accident or a fallen object (hereinafter referred to as “emergency”), the vehicle 2 protrudes from the lane marking. The guidance information for running the roadside belt is output to the vehicle control unit. On the other hand, when the role information of the lane line information on the right side in the direction of travel is “lane center line”, the vehicle 2 protrudes from the lane line on the right side in the direction of travel in both normal and emergency situations. The guidance information is output to the vehicle control unit 9 so that there is not.

For example, when the current position of the vehicle 2 in FIG. 2 is a section corresponding to the lane section information LL3, the lane line information CL3 and the lane line information CL7 are acquired from the storage unit 4. Since the role information of the lane line information CL3 is “lane boundary line” and the line type information of the lane line information CL3 is “white broken line”, when the lane change is necessary, it corresponds to the lane line information CL3. The vehicle 2 protrudes from the lane line and outputs guidance information for changing the lane to the vehicle control unit 9.

For example, when the current position of the vehicle 2 in FIG. 5 is a section corresponding to the lane section information LL10, the lane line information CL20 is acquired from the storage unit 4. The role information of the lane line information CL20 is “lane boundary line”, and the line type information of the lane line information CL3 is “double line yellow solid line / white dashed line”, so the left lane to the right lane Can determine that the lane cannot be changed, and even when the lane change is necessary, the vehicle 2 protrudes from the lane line corresponding to the lane line information CL10 and outputs guidance information for changing the lane to the vehicle control unit 9. I won't do that. On the other hand, also when the current position of the vehicle 2 in FIG. 5 is a section corresponding to the lane section information LL11, the lane line information CL20 is acquired from the storage unit 4. The role information of the lane line information CL20 is “lane boundary line”, and the line type information of the lane line information CL3 is “double line yellow solid line / white dashed line”, so the right lane to the left lane Can be determined that the lane can be changed, and when the lane change is necessary, the vehicle 2 protrudes from the lane line corresponding to the lane line information CL10 and outputs guidance information for changing the lane to the vehicle control unit 9.

  As described above, by using the role information, it is possible to determine whether or not the vehicle 2 may protrude from the lane according to the situation such as an emergency. In addition, guidance processing is performed by using lane line information in which a plurality of lane lines (for example, lane line 112 and lane line 113) indicated in the width direction are represented as information of one lane line, such as lane line information CL20. (Step S50) becomes possible. On the other hand, the lane line information indicating the lane lines (for example, the lane line 112 and the lane line 113) indicated in the width direction as information of each lane line, as in the lane line information CL21 and the lane line information CL22. By using this, position specifying processing in the width direction (step S20) becomes possible. And the process of the above step S10 to step S50 is repeatedly performed until the vehicle 2 arrives at the destination.

(Embodiment 2)
FIG. 8A, FIG. 8B, and FIG. 8C are diagrams for explaining a concept of the data structure of the map data 20 and a part of an actual road according to the present embodiment. Each of 211, 215, and 219 is a conceptual diagram of a data structure of data included in the map data 20, and is a structure in which the lane network information 30 and the feature information 31 are associated by the related information 33. Each of LL21, LL22, and LL23 is lane section information, each of B1, B2, and B3 is boundary line information, and each of R21, R22, and R23 is boundary line related information. 210, 214, and 218 are diagrams showing a part of an actual road, 220 is a white broken line, and a role is a lane boundary line, and 221 is a line type. It is a white solid line, the role represents the lane marking of the lane outside line, and 222 represents a curb (hereinafter referred to as “curbstone”) that is provided along the road and defines the physical boundary line. Reference numeral 223 denotes a structure that is provided along the pedestrian passage and defines a physical boundary line (hereinafter referred to as “structure”). A region between the curb and the structure is a pedestrian passage. The length in the traveling direction of the region 224 between the curb 222 and the curb 222 in the traveling direction of the road 210 is larger than the length in the traveling direction of the region 225 between the curb 222 and the curb 222 in the traveling direction of the road 214. Also short. The length in the width direction of the region 226 between the curb 222 and the structure 223 in the width direction of the road 214 is equal to the width of the region 227 in the width direction of the road 218 between the curb 222 and the structure 223. Shorter than length.

  In FIG. 8A, the lane section information LL21 includes information representing a plurality of positions along the traveling direction in the lane, exit side identification information, and entry side identification information. The lane section information LL21 is associated by boundary line information B1 and boundary line related information R21. Further, the boundary line information B1 includes information representing a plurality of positions along the physical boundary line (hereinafter referred to as “boundary line position information”), and information representing the plurality of positions included in the boundary line position information is , Information indicating the position along the physical boundary of the curb 222, and the region 224 between the curb 222 and the curb 222 (the physical boundary of the curb 222 before the running direction and the physical of the curb 222 behind the running direction) Information indicating the position of a line connecting the boundary).

In FIG. 8B, the lane section information LL22 includes information indicating a plurality of positions along the traveling direction in the lane, exit side identification information, and entry side identification information. The lane section information L22 is associated with the boundary line information B2 and the related information R22. The boundary line information B2 includes boundary line position information, and information indicating a plurality of positions included in the boundary line position information includes information indicating positions along the physical boundary line of the curb 222 and physical information of the structure 223. Information indicating the position corresponding to the region 225 along the target boundary line, the vertical line from the end point 250 on the front side in the running direction of the curb 222 to the structure 223 side, and the end point 251 on the rear side in the running direction of the curb 222 Includes information indicating a position along the vertical line from to the structure 223 side.

In FIG. 8C, the lane section information LL23 includes information representing a plurality of positions along the traveling direction in the lane, exit side identification information, and entry side identification information. The lane section information L23 is associated with the boundary line information B3, the boundary line information B4, the boundary line information B5, and the boundary line related information R23. The boundary line information B5 includes boundary line position information, and the information representing a plurality of positions included in the boundary line position information includes information representing the position along the physical boundary line of the structure 223. The boundary line information B4 includes boundary line position information, and the information representing a plurality of positions included in the boundary line position information includes information representing the position along the physical boundary line of the curb 222 on the front side in the traveling direction. It is out. The boundary line information B5 includes boundary line position information, and the information representing a plurality of positions included in the boundary line position information includes information representing the position along the physical boundary line of the curb 222 on the rear side in the traveling direction. It is out.

As described above, as shown in FIG. 8A, when the length between the curb 222 and the curb 222 in the traveling direction of the road 210 is less than a predetermined value, the boundary information is the boundary line information. It is a structure like B1. Further, as shown in FIG. 8B, the length between the curb 222 and the curb 222 in the traveling direction of the road 214 is a predetermined value or more, and the curb 222 and the structure in the width direction of the road 214 When the length in the width direction of the region 226 between the area 223 and the area 223 is less than a predetermined value, the structure of the boundary line information is a structure like the boundary line information B2. Further, as shown in FIG. 8C, the length between the curb 222 and the curb 222 in the traveling direction of the road 218 is a predetermined value or more, and the curb 222 and the structure in the width direction of the road 214. When the length in the width direction of the area 226 between the area 223 and the area 223 is a predetermined value or more, the structure of the boundary line information is a structure such as boundary line information B3, boundary line information B4, boundary line information B5, The lane section information LL23 is associated with each boundary line information B3, B4, and B5 by the related information R23.

FIG. 9 is a diagram for explaining details of the data structure of the map data 20 of the present embodiment. The lane section information LL21, LL22, LL23 has the same configuration as the lane section information LL2 described in the first embodiment.

  The boundary line information B1 includes information “B1” for identifying the boundary line information B1 as boundary line identification information, and information “(X41, Y41, Z41) representing a coordinate point sequence of a physical boundary line as boundary line position information. , (X42, Y42, Z42),. The configuration of the boundary line information B2 and B3 is the same as that of the boundary line information B1.

The boundary line related information R23 includes information “R23” for identifying the related information R23 as the related identification information, and lane identification information “LL23” of the lane section information LL23 as the lane identification information of the lane section information. Further, “left” is used as information on the position of the physical boundary line, boundary identification information “B3” of the boundary information B3 is used as boundary identification information of the boundary information, and boundary identification information “B4” of the boundary information B4 is used. And boundary line identification information “B5” of the boundary line information B5. Then, the lane section information LL23 and the boundary line information B3, the boundary line information B4, and the boundary line information B5 are associated (at the left side position of the section corresponding to the lane section information LL23) by the boundary line related information R23. I understand that. The other boundary line related information R21, R22 has the same configuration as the boundary line related information RR23.

  FIG. 10 shows information control of the driving support system 1 using the map data 20 including the lane section information LL21 to LL23, the boundary line information B1 to B3, and the boundary line related information R21 to R23 described in FIGS. It is a figure which shows the operation | movement flow of the driving assistance process of the part. The information control unit 3 performs boundary line information acquisition processing and guidance processing as driving support processing.

  The information control unit 3 (map information acquisition unit 13) uses the boundary line related information as a boundary line information acquisition process (step S10) in the case of an emergency where the front is blocked by an accident or a fallen object. The boundary line information related to the lane section information corresponding to the current position 2 is acquired from the storage unit 4. Specifically, the following processing is performed. First, the route is specified in the lane network information 30 by the route searching unit 11 and the route specifying unit 12 as a premise for performing the acquisition processing of the boundary line information. Then, the vehicle 2 travels along the specified route, and the lane section information corresponding to the current position of the vehicle 2, specifically, the lane section information having the lane coordinate information closest to the current position of the vehicle 2 is specified. Then, the boundary line information related to the lane section information is acquired from the storage unit 4 using the boundary line related information. As described above, by using the boundary line related information, it is possible to access the boundary line information at high speed based on the lane section information corresponding to the current position of the vehicle 2.

  Next, the information control unit 3 (guidance unit 16) uses the boundary position information of the boundary line information in the storage unit 4 as guidance processing so as not to reach the physical boundary line position (physical boundary line). The guidance control of the vehicle 2 is performed at a position beyond the outside line of the road lane marking while determining the limit position where the vehicle 2 can travel so as not to collide with the line. Specifically, the following processing is performed. For example, when the current position of the vehicle 2 in FIG. 8A is a section corresponding to the lane section information LL21, the boundary information B1 is acquired from the storage unit 4. In the case of an emergency, a position beyond the lane outside line of the road lane marking so as not to collide with the curb 222 and a position inside the position of the coordinate point sequence of the boundary line position information of the boundary line information B1 Guidance information for guiding the vehicle 2 to the vehicle controller 9 is output. Coordinate point sequence information also exists at a position corresponding to the region 224. This is because the curb 222 is not present at the position of the region 224, but the region where the curb 222 is not present is narrow.

For example, when the current position of the vehicle 2 in FIG. 8B is a section corresponding to the lane section information LL22, the boundary line information B2 is acquired from the storage unit 4. In the case of an emergency, a position beyond the lane outer line of the road lane marking so as not to collide with the curb 222, and a position inside the position of the coordinate point sequence of the boundary line position information of the boundary line information B2 Guidance information for guiding the vehicle 2 to the vehicle controller 9 is output. There is no coordinate point sequence information at the position corresponding to the region 225. Accordingly, since the area 225 is wide, the vehicle 2 can be guided to a position beyond the area 225 depending on the situation.

For example, when the current position of the vehicle 2 in FIG. 8C is a section corresponding to the lane section information LL23, the boundary line information B3, the boundary line information B4, and the boundary line information B5 are acquired from the storage unit 4. In an emergency, the position of the boundary line information of the boundary line information B3, the boundary line information B4, and the boundary line information B5 is a position beyond the lane line of the road lane marking so as not to collide with the curb 222. Guidance information for guiding the vehicle 2 to a position inside the position of the coordinate point sequence is output to the vehicle control unit 9. The position corresponding to the region 225 and the vertical line from the end point 260 on the near side in the running direction of the curb 222 to the structure 223 side and the position along the perpendicular line from the end point 261 on the rear side in the running direction of the curb 222 to the structure 223 side The coordinate point sequence information does not exist. As a result, the region 225 is wide and the space between the curb 222 and the structure 223 is wide, so that depending on the situation, the vehicle 2 is guided to the position between the curb 222 and the structure 223. I can do it.

In addition, as shown in FIG. 8 (A) and FIG. 8 (B), the boundary line information is divided at the position where the lane section information is divided. For example, the start position and end position of the lane section information LL21 and the start position and end position of the boundary line information B1 are the same, and the start position and end position of the lane section information LL22 and the start position and end position of the boundary line information B2 are The same. Further, as shown in FIG. 8C, the lane section information is not necessarily separated at the position where the boundary line information is separated. For example, the end position of the boundary line information B4 and the start position of the boundary line information B5 are neither the start position nor the end position of the lane section information LL23.

  The map data 20 includes the information described in the first and second embodiments, and the map data 20 is used to perform the processing of the first embodiment and the processing of the second embodiment. May be.

  The aspect described in all or part of the above embodiments is an apparatus for enabling the position of the moving body to be appropriately specified, and an apparatus for enabling the moving body to be appropriately guided and controlled. And the provision of the data structure of data that can be used for it, improvement of processing speed, improvement of processing accuracy, improvement of usability, improvement of functions using data or provision of appropriate functions, provision of other functions or provision of appropriate functions, Providing appropriate data, programs, recording media, devices and / or systems, such as reducing data and / or program capacity, downsizing devices and / or systems, and production / manufacturing costs of data, programs, devices or systems Data, programs, recording media, devices, and / or system production / manufacturing optimization, etc. To solve one of the problems.

DESCRIPTION OF SYMBOLS 1 Driving assistance system 2 Vehicle 3 Information control part 4 Storage part 5 Input part 6 Position acquisition part 7 Vehicle speed information acquisition part 8 Peripheral information acquisition part 9 Vehicle control part 10 Overall control part 11 Route search part 12 Route specification part 13 Map information acquisition Part 14 Location specifying part 15 Deceleration part 16 Guiding part 20 Map data 21 Road network information 22 Lane network information 23 Feature information 24 Related information

Claims (5)

A storage unit including position information corresponding to a plurality of positions along the running direction of the lane markings in the broken line shape, and identification information for identifying the positions of the line segments constituting the broken lines included in the lane markings;
A position specifying unit for specifying a position in the traveling direction of the road based on the information on the lane markings in a broken line shape acquired from the acquisition unit for acquiring information around the vehicle, and the position information and the identification information in the storage unit; Having a control system. The control system according to claim 1, wherein the identification information includes information for identifying that the position information is information indicating a position of an end point of a line segment constituting a broken line. A data structure of data used for processing of the control unit and stored in the storage unit,
Position information corresponding to a plurality of positions along the longitudinal direction of the broken line in the broken line shape, and identification information for identifying that the position information is information representing the position of the end point of the line segment constituting the broken line; Lane marking information including
A plurality of pieces of section information each having information on a predetermined section of the lane constituting the road and information on connection between the exit side and the entry side section of the predetermined section;
Relevant information associating the lane marking information and the section information;
The data structure of the data used for the process in which the said control part acquires the said positional information and the said identification information relevant to the said area information based on the said relevant information. A first lane line information representing a plurality of marking lines in the width direction as one lane line information and a second lane line information representing the plurality of section lines as each lane line information. A storage unit having the lane line information, and a guidance unit that guides the vehicle based on the first lane line information;
A control system comprising: a position specifying unit that specifies the position of the vehicle based on the second lane marking information. A control system,
A storage unit having boundary information representing a boundary that cannot be physically advanced on the road;
The boundary line information includes information representing the boundary line corresponding to the position of the region when the length of the region between the curb that defines the boundary line and the curb is less than a predetermined value, and the region If the length of the predetermined length is equal to or greater than the predetermined value, it does not have information indicating the boundary line corresponding to the position of the region,
The control system further includes a guide unit that guides a vehicle using the boundary information.

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