JP2019158436A - Route setting device, route setting method, program, and storage medium - Google Patents

Abstract

To expedite a timing with which a route is reset.SOLUTION: A route setting unit 200 sets a route along which a moving vehicle 40 should move. When a branch or intersection of a travel road exists ahead of the moving vehicle 40, a line detection unit 100 determines whether or not a specific line is included in the line that defines a lane that the moving vehicle 40 travels. When the line detection unit 100 detects the specific line, the route setting unit 200 determines whether or not it is necessary to reset the set route on the basis of the position of this specific line and, when it is determined that the set route needs to be reset, starts a search process for a new route.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a route setting device, a route setting method, a program, and a storage medium.

  In recent years, devices that automatically set a route for a moving body such as a vehicle to reach a destination have become widespread. In such an apparatus, when a route different from the route set by the mobile body starts to be traveled, the route is automatically reset. For example, in Patent Document 1, when a plurality of waypoints are set up to the final destination point, a circle is set centering on the current position of the moving object, and the most recent destination point is within this circle. It is described that a nearby waypoint is selected and a route is set for this waypoint.

JP 09-297032 A

  In a general route setting device including the technique described in the above-mentioned patent document, route resetting is started after detecting that the mobile body starts to travel on a route different from the route. For this reason, the resetting of the route was delayed.

  An example of a problem to be solved by the present invention is to speed up the timing for resetting a route.

The invention according to claim 1 is a route setting unit for setting a route on which the moving body should move;
A line detection unit that determines whether or not a specific line is included in a line that defines a lane on which the mobile body travels when there is a branch or an intersection of a traveling road in front of the mobile body;
With
When the line detection unit detects the specific line, the route setting unit determines whether the set route needs to be reset based on the position of the specific line, and the set The route setting device searches for a new route when it is determined that it is necessary to reset the existing route.

The invention according to claim 9 is a computer,
A process for setting a route on which the moving body should move;
A process of determining whether or not a specific line is included in a line that defines a lane on which the mobile body travels when there is a branch or intersection of a travel path ahead of the mobile body;
When the specific line is detected, it is determined whether it is necessary to reset the set route based on the position of the specific line, and it is determined that it is necessary to reset the set route. A process for searching for a new route, and
Is a route setting method for executing.

The invention according to claim 10 is provided in a computer.
A process for setting a route on which the moving body should move;
A process of determining whether or not a specific line is included in a line that defines a lane on which the mobile body travels when there is a branch or intersection of a travel path ahead of the mobile body;
When the specific line is detected, it is determined whether it is necessary to reset the set route based on the position of the specific line, and it is determined that it is necessary to reset the set route. A process for searching for a new route, and
It is a program that executes.

The invention according to claim 11 is a storage medium storing a program executable on a computer,
The program is stored in the computer.
A process for setting a route on which the moving body should move;
A process of determining whether or not a specific line is included in a line that defines a lane on which the mobile body travels when there is a branch or intersection of a travel path ahead of the mobile body;
When the specific line is detected, it is determined whether it is necessary to reset the set route based on the position of the specific line, and it is determined that it is necessary to reset the set route. A process for searching for a new route, and
It is a storage medium that executes

It is a figure which shows the function structure of the route setting apparatus which concerns on 1st Embodiment. It is a figure for demonstrating the use environment of a route setting apparatus. It is a figure which shows an example of the hardware constitutions of a path | route setting apparatus. It is a flowchart which shows an example of the process which a route setting apparatus performs. It is a figure which shows an example of a function structure of a line detection part. It is a flowchart which shows an example of the process which a line detection part performs. It is a figure for demonstrating step S120 shown in FIG. (A) And (B) is a figure for demonstrating step S140, S160 shown in FIG. (A) And (B) is a figure for demonstrating step S180 shown in FIG. It is a flowchart which shows an example of step S60 of FIG. It is a figure which shows the function structure of the route setting apparatus which concerns on 2nd Embodiment.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In all the drawings, the same reference numerals are given to the same components, and the description will be omitted as appropriate.

(First embodiment)
FIG. 1 is a diagram illustrating a functional configuration of a route setting device 10 according to the first embodiment. The route setting device 10 includes a line detection unit 100 and a route setting unit 200. The route setting unit 200 sets a route on which the moving body 40 should move. The line detection unit 100 determines whether or not a specific line is included in the line defining the lane on which the moving body 40 travels when there is a branch or intersection of the traveling path ahead of the moving body 40. Then, when the line detection unit 100 detects the above-described specific line, the route setting unit 200 determines whether or not it is necessary to reset the set route based on the position of the specific line. When it is determined that it is necessary to reset the current route, a process for resetting the route, that is, a search for a new route is started. Hereinafter, embodiments will be described in detail.

  The moving body 40 is a vehicle such as an automobile or a motorcycle. In this case, an example of the travel path is a road. In this case, the first line and the second line described later are lines that define the lane.

  As shown in FIG. 2, the moving body 40 includes a route setting device 10 and an imaging device 20. The imaging device 20 captures the front of the moving body 40 to generate a moving image including the travel path. Then, a plurality of frame images constituting the moving image generated by the imaging device 20 are output to the line detection unit 100 of the route setting device 10. The line detection unit 100 detects the line L1 included in the travel path for each frame image, and generates line information indicating the detected line L1. The line information includes the position of the line L1, information indicating whether the line L1 is a dotted line, and the color of the line L1. The process for generating the line information is performed for each of the plurality of frame images. However, the process of generating line information may be performed only for some of the frame images constituting the moving image. The line detection unit 100 always performs a process of generating line information while the moving body 40 is moving (including a case where it is temporarily stopped at an intersection or the like). Details of processing performed by the line detection unit 100 will be described later.

  The line information is output to the route setting unit 200 of the route setting device 10. The route setting unit 200 sets a route on which the moving body 40 should move. In the setting process, the route setting unit 200 uses line information as necessary. The set route is displayed on a screen viewed by a person on board the moving body 40, for example. For example, when the moving body 40 is an automobile, this screen is displayed on a display device in the vehicle (for example, the display device 32 shown in FIG. 3). Thereby, the operator of the moving body 40 can recognize the route along which the moving body 40 should move.

  The route set by the route setting unit 200 indicates, for example, a route from the current location to the destination. Information indicating the destination is input to the route setting unit 200 by the user of the mobile object 40, for example. Then, the route setting unit 200 sets a route from the current position to the input destination using the map information. There are various route setting methods performed by the route setting unit 200.

  The map information used by the route setting unit 200 may be read from a storage device mounted on the moving body 40 or may be received from an external storage device via wireless communication. Information indicating the current position of the moving body 40 used by the route setting unit 200 may be generated using, for example, GPS information, or using measurement results and map information by a measurement device such as LiDAR (Light Detection And Ranging). May be generated.

  The route setting unit 200 determines whether or not the route needs to be reset when a predetermined condition is satisfied, such as when the current position deviates from a route that has been set (a route that has been set). One of the predetermined conditions is when there is a branch or an intersection in front of the moving body 40, preferably when it is in front of the moving body 40 and within a reference distance. When the route setting unit 200 determines that resetting of the set route is necessary, the route setting unit 200 starts route resetting processing. Details of processing performed by the route setting unit 200 will be described later.

  FIG. 3 is a diagram illustrating an example of a hardware configuration of the route setting device 10. The main configuration of the route setting device 10 is realized using an integrated circuit. This integrated circuit includes a bus 402, a processor 404, a memory 406, a storage device 408, an input / output interface 410, and a network interface 412. The bus 402 is a data transmission path through which the processor 404, the memory 406, the storage device 408, the input / output interface 410, and the network interface 412 transmit / receive data to / from each other. However, the method of connecting the processors 404 and the like is not limited to bus connection. The processor 404 is an arithmetic processing unit realized using a microprocessor or the like. The memory 406 is a memory realized using a RAM (Random Access Memory) or the like. The storage device 408 is a storage device realized using a ROM (Read Only Memory), a flash memory, or the like.

  The input / output interface 410 is an interface for connecting the path setting device 10 to peripheral devices. In this figure, the input / output interface 410 is connected to the imaging device 20 and the display device 32 in the moving body 40. For example, a route on which the moving body 40 should move is displayed on the display device 32.

  The network interface 412 is an interface for connecting the path setting device 10 to a communication network. This communication network is, for example, a CAN (Controller Area Network) communication network. Note that a method of connecting the network interface 412 to the communication network may be a wireless connection or a wired connection.

  The storage device 408 stores a program module for realizing each functional element of the path setting device 10. The processor 404 implements each function of the path setting device 10 by reading this program module into the memory 406 and executing it.

  The hardware configuration of the integrated circuit described above is not limited to the configuration shown in this figure. For example, the program module may be stored in the memory 406. In this case, the integrated circuit may not include the storage device 408.

  FIG. 4 is a flowchart illustrating an example of processing performed by the route setting device 10. First, the route setting unit 200 of the route setting device 10 determines whether there is a branch or an intersection in front of the moving body 40 (step S20). At this time, the route setting unit 200 preferably determines whether there is a branch or an intersection in front of the moving body 40 and within the reference distance. This reference distance is a constant such as 15 m or 20 m, for example. However, the route setting unit 200 may determine the reference distance using at least one of the current position and the speed of the moving body.

  For example, if the map information includes information indicating the presence of at least one of a right turn lane, a straight lane, a left turn lane, a lane that cannot turn right, a lane that cannot go straight, and a lane that cannot turn left, the above criteria The distance may be determined using information corresponding to the current position of the moving body 40 in the map information. For example, the moving body 40 is expected to enter an area where at least one of a right-turn lane, a straight-ahead lane, a left-turn lane, a lane that cannot be turned right, a lane that cannot go straight, and a lane that cannot turn left is present on the road. In this case, a value obtained by adding (or subtracting) the reference length to the length of these lanes may be set as the reference distance. The route setting unit 200 may set a value obtained by multiplying the above-described lane length by a constant as the above-described reference distance. In this case, the constant is determined using information indicating the speed of the moving body 40 (hereinafter referred to as speed information). Specifically, when the speed of the moving body 40 is high, the constant is larger than when the speed is low.

  Further, the route setting unit 200 may increase the reference distance described above when the speed of the moving body 40 is high and decrease it when the speed of the moving body 40 is low.

  When there is a branch or an intersection in front of the moving body 40 (step S20: Yes), the line detection unit 100 generates line information (step S40). As described above, the generated line information includes the position of the line L1 included in the travel path, information indicating whether the line L1 is a dotted line, and the color of the line L1. Details of step S40 will be described later.

  Next, the route setting unit 200 resets the route using the line information generated by the route setting device 10 (step S60). Details of step S60 will be described later.

  As described above, the line detection unit 100 may always generate line information. In this case, step S40 is omitted in FIG.

  Next, details of the line detection unit 100 will be described. FIG. 5 is a diagram illustrating an example of a functional configuration of the line detection unit 100. The line detection unit 100 includes a division unit 120, a distribution information generation unit 140, an estimation information generation unit 160, and a specific processing unit 180. The dividing unit 120 generates a plurality of divided images by dividing the frame image generated by the imaging device 20 along the first direction including the component in the direction in which the travel path extends. The distribution information generation unit 140 generates distribution information indicating the distribution of pixels that satisfy the criterion from the frame image. The estimation information generation unit 160 selects candidate pixels using the distribution information. The estimation information generation unit 160 performs a process of selecting candidate pixels for each of the plurality of divided images. The candidate pixel is a pixel estimated to be a part of the line L1. The identification processing unit 180 identifies the position of the line L1 included in the processed image based on the positions of the plurality of candidate pixels in the processed image. Details of the processing performed by these will be described later using a flowchart.

  In many cases, the frame image generated by the imaging device 20 is an image represented in an RGB color space. However, there are cases where the image shown in the HLS color space is easier to be processed by the distribution information generation unit 140 (binarization processing is easier). In this case, the line detection unit 100 may perform the above-described processing after converting the frame image generated by the imaging device 20 into an image represented in the HLS color space.

  FIG. 6 is a flowchart illustrating an example of processing performed by the line detection unit 100. The flowchart shown in this figure corresponds to the details of step S40 in FIG. 7-9 is a figure for demonstrating the process which the line detection part 100 performs. First, when the imaging device 20 generates a frame image that forms a moving image, the line detection unit 100 acquires the frame image as a processed image 50. The line detection unit 100 performs the process shown in FIG. 6 every time a frame image is acquired.

  First, as illustrated in FIG. 7, the dividing unit 120 of the line detection unit 100 generates a plurality of divided images 52 (first divided images) by dividing the processed image 50 along the first direction ( Step S120 in FIG. 6). The first direction includes a component in the direction in which the travel path extends. The number of divided images 52 generated from one processed image 50 is, for example, 10 or more and 30 or less, but is not limited thereto. When the imaging device 20 is photographing the front of the moving body 40, the y-axis direction includes a component in the direction in which the travel path (for example, a road) extends. For this reason, in the example illustrated in FIG. 7, the dividing unit 120 generates the divided image 52 by dividing the processed image 50 in the y-axis direction. In this case, the load necessary for the process of generating the divided image 52 is reduced.

  Next, the distribution information generation unit 140 performs processing for generating first distribution information indicating the distribution of pixels satisfying the criterion for each of the divided images 52 (step S140 in FIG. 6). The standard used here is, for example, having a color belonging to a predetermined range in the color space. For example, when the line detection unit 100 detects a yellow line, the above-described “predetermined range” is a range recognized as yellow. For example, the distribution information generation unit 140 converts pixels belonging to a predetermined range to 1 and other pixels to 0 (binarization processing). The first distribution information is information indicating the pixel distribution in the second direction intersecting with the first direction. For example, as shown in FIG. 7, when the first direction is the y-axis direction, the second direction is, for example, the x-axis direction. The first distribution information is information indicating the distribution of the number of pixels satisfying the criterion in the second direction, for example, as illustrated in FIGS. 8A and 8B.

  Next, the estimated information generation unit 160 uses the first distribution information generated by the distribution information generation unit 140 to estimate a pixel estimated as a part of the line L1 drawn on the travel path (hereinafter referred to as a first pixel). ) Is selected (step S160 in FIG. 6). This process is performed for each of the divided images 52. For example, when the distribution information indicates a distribution of the number of pixels satisfying the criterion in the second direction as illustrated in FIG. 8, the estimation information generation unit 160 calculates at least one of the standard deviation and the variance in the first distribution information. To select the first image. For example, when the standard deviation is less than or equal to the reference value, or when the variance is less than or equal to the reference value, the estimation information generation unit 160 selects all the first candidate pixels as the first pixels. In this case, the estimated information generation unit 160 determines that the divided image 52 includes the line L1. For example, in the case shown in FIG. 8A, since the standard deviation and variance are small, all of the first candidate pixels are selected as the first pixels. On the other hand, when the standard deviation and variance are large as shown in FIG. 8B, the first pixel is not selected from the first candidate pixels.

  However, the estimation information generation unit 160 may select a part of the first candidate pixel as the first pixel. In this case, as illustrated in FIG. 8A, the estimation information generation unit 160 selects, for example, a pixel included in an area in which the number of pixels is equal to or greater than the reference value in the first distribution information as the first pixel.

  Next, the specific processing unit 180 uses the position in the processed image 50 of the first pixel selected by the estimation information generating unit 160 (or the position in the divided image 52) to determine the position of the line L1 included in the processed image 50. Estimate (step S180 in FIG. 6). For example, the specific processing unit 180 estimates the average value of the positions of the first pixels in the first direction as the position of the line L1 in the divided image 52. Then, the first line included in the processed image 50 is estimated by connecting the positions of the lines L1 in the plurality of divided images 52 or performing regression analysis. When estimating the position of the first line in the divided image 52, the mode value or the median value may be used instead of the average value of the positions of the first pixels in the first direction.

  Each diagram in FIG. 9 is an example of step S180 in FIG. 6 and is a diagram for explaining a case where the specific processing unit 180 estimates the first line using regression analysis. In this example, a regression line is used. FIG. 9A is a diagram in which the estimated position of the first line is plotted. And the specific process part 180 produces | generates a regression line in this figure, and estimates that the produced | generated regression line shows a 1st line. FIG. 9B is an example in which the first line estimated in the processed image 50 is applied. In this case, for example, the estimated first line is present in the lower part of the processed image 50 (where the plot in FIG. 9A exists), and the first line is the upper part of the processed image 50. It shows that it extends to the upper end of.

  Note that, as illustrated in FIG. 9B, the specific processing unit 180 determines that the pixel that overlaps the regression line among the first pixels and the pixels that are continuous with the pixels are pixels that form the first line. You may specify. In other words, the specification processing unit 180 may specify, in each of the divided images 52, a block that overlaps the regression line among the blocks of the first pixel as a pixel constituting the first line.

  Note that the distribution information generation unit 140 may further select pixels that satisfy a predetermined luminance standard and generate distribution information (hereinafter referred to as second distribution information) of the selected pixels. This criterion may be, for example, not less than the lower limit value, less than the upper limit value, or not less than the lower limit value and not more than the upper limit value. In this case, when the estimated information generation unit 160 and the specific processing unit 180 use the second distribution information instead of the first distribution information, the line detection unit 100 can detect a white line. That is, the route setting device 10 can detect a white line in addition to a yellow line.

  FIG. 10 is a flowchart showing an example of step S60 of FIG. The route setting unit 200 uses the line information generated by the line detection unit 100 to determine whether it is necessary to reset the already set route. For example, the route setting unit 200 uses the position of a specific line with the moving body 40 as a reference, and determines whether or not it is necessary to reset the already set route. Then, the route setting unit 200 starts search processing for setting a new route when it is determined that resetting of the set route is necessary.

  For example, the route setting unit 200 determines the position of a specific line using the line information. This specific line is a line that restricts lane change, such as a yellow line, but may be a line that allows lane change, such as a dotted line. Then, based on the position of a specific line with respect to the moving body 40, the moving body 40 currently has a right turn lane, a straight lane, a left turn lane, a right turn lane, a non-straight lane, and a left turn impossible. It is determined whether the vehicle is located in any of the lanes (step S210). Further, the route setting unit 200 determines the traveling direction of an intersection or a branch when following the set route (step S220).

  Next, the route setting unit 200 determines whether or not the lane in which the moving body 40 is located contradicts the currently set route at an intersection or branch. If there is a contradiction, that is, if the lane where the moving body 40 is located cannot travel in the set traveling direction (step S230: Yes), the route setting unit 200 resets the currently set route (step) S250). That is, the currently set route (route already set) is changed, and search processing for a new route is started. At this time, the route setting unit 200 starts a route re-search on the condition that the moving body 40 travels through an intersection or a branch according to the lane in which the mobile body 40 is currently located. In other words, the route setting unit 200 sets a re-searched new route using the position of a specific line with the moving body 40 as a reference. In this way, the route resetting process can be started before the moving body 40 passes through the intersection or branch.

  As described above, according to the present embodiment, the route setting unit 200 re-routes a route based on the position of a specific line with the moving body 40 as a reference when there is a branch or intersection of the traveling road ahead of the moving body 40. Determine whether setting is necessary. In other words, the route setting unit 200 determines whether or not the intersection or branch can be passed along the route that has already been set, before passing the intersection or branch. For this reason, the route setting unit 200 allows the mobile unit 40 to start a route re-search process before the mobile unit 40 passes through the intersection or branch. Therefore, the resetting of the route is completed early.

(Second Embodiment)
FIG. 11 is a diagram illustrating a functional configuration of the route setting device 10 according to the second embodiment. The route setting device 10 according to the present embodiment sets the route according to the first embodiment, except that both the set route and the newly set route are output to the control device 30 as route information. The configuration is the same as that of the device 10. The route setting device 10 outputs the set route to the control device 30 via the input / output interface 410 shown in FIG.

  The control device 30 is a device that controls the movement of the moving body 40. When the moving body 40 is an automobile, the control device 30 is a control device for automatic driving. The level of automatic operation performed by the control device 30 is, for example, level 3 or higher, but is not limited thereto. The control device 30 controls the movement of the moving body 40 so as to follow the new route set by the route setting unit 200. At this time, the control device 30 further uses the current position information and map information of the moving body 40. When the route setting unit 200 resets the route, the control device 30 controls the movement of the moving body 40 along the new route after the resetting.

  Also in the present embodiment, the route setting unit 200 allows the mobile unit 40 to start a route re-search process before the mobile unit 40 passes through an intersection or a branch. Therefore, the resetting of the route is completed early. For this reason, the control apparatus 30 can start the control for following the path | route after resetting early.

  As mentioned above, although embodiment and the Example were described with reference to drawings, these are illustrations of this invention and can also employ | adopt various structures other than the above.

DESCRIPTION OF SYMBOLS 10 Path | route setting apparatus 20 Imaging device 30 Control apparatus 32 Display apparatus 40 Moving body 50 Processed image 52 Divided image 100 Line detection part 120 Dividing part 140 Distribution information generation part 160 Estimation information generation part 180 Specific processing part 200 Path setting part

Claims (11)

A route setting unit for setting a route that the moving body should move;
A line detection unit that determines whether or not a specific line is included in a line that defines a lane on which the mobile body travels when there is a branch or an intersection of a traveling road in front of the mobile body;
With
When the line detection unit detects the specific line, the route setting unit determines whether the set route needs to be reset based on the position of the specific line, and the set A route setting device that searches for a new route when it is determined that it is necessary to reset the existing route. The route setting device according to claim 1,
The route setting device, wherein the route setting unit determines whether or not it is necessary to reset the set route based on the position of the specific line with respect to the moving body. In the route setting device according to claim 1 or 2,
The route setting device, wherein the route setting unit determines whether or not it is necessary to reset the set route when the branch or intersection is within a reference distance from the moving body. In the route setting device according to claim 3,
The route setting device, wherein the route setting unit determines the reference distance using at least one of a current position and a speed of the moving body. In the route setting device according to any one of claims 1 to 4,
The route setting device, wherein the specific line is a line that restricts lane change. The route setting device according to claim 5, wherein
The route setting device, wherein the specific line is a yellow line. In the route setting device according to claim 5 or 6,
A route setting device that searches for the new route using the position of the specific line in the lane. In the route setting device according to any one of claims 1 to 7,
A route setting device that outputs route information related to the new route searched by the route setting unit to a control device that controls movement of the moving body. Computer
A process for setting a route on which the moving body should move;
A process of determining whether or not a specific line is included in a line that defines a lane on which the mobile body travels when there is a branch or intersection of a travel path ahead of the mobile body;
When the specific line is detected, it is determined whether it is necessary to reset the set route based on the position of the specific line, and it is determined that it is necessary to reset the set route. A process for searching for a new route, and
Route setting method to execute. On the computer,
A process for setting a route on which the moving body should move;
A process of determining whether or not a specific line is included in a line that defines a lane on which the mobile body travels when there is a branch or intersection of a travel path ahead of the mobile body;
When the specific line is detected, it is determined whether it is necessary to reset the set route based on the position of the specific line, and it is determined that it is necessary to reset the set route. A process for searching for a new route, and
A program that executes A storage medium storing a program executable on a computer,
The program is stored in the computer.
A process for setting a route on which the moving body should move;
A process of determining whether or not a specific line is included in a line that defines a lane on which the mobile body travels when there is a branch or intersection of a travel path ahead of the mobile body;
When the specific line is detected, it is determined whether it is necessary to reset the set route based on the position of the specific line, and it is determined that it is necessary to reset the set route. A process for searching for a new route, and
Storage medium that executes