JP2019191027A - Map information storage device - Google Patents

Abstract

To provide a map information storage device capable of flexibly setting traffic-restricted area information.SOLUTION: A map information storage device is provided, comprising a storage unit 4 configured to store map data 4a with restricted areas defined therein for each of a plurality of driving modes for autonomous driving of a vehicle 100, each restricted area being an area in which autonomous driving of the vehicle 100 in a corresponding mode is prohibited. Such an arrangement allows restricted areas to be flexibly set in the map data 4a according to the driving mode of the vehicle 100.SELECTED DRAWING: Figure 8

Description

  The present invention relates to a map information storage device that stores map information.

  In recent years, research and development of small mobile bodies called ultra-small mobility have been promoted. This ultra-compact mobility is a single-seater low-speed moving means in areas where public transportation such as buses is inconvenient, and has a moving capacity and loading capacity than conventional small moving bodies such as bicycles, and more than conventional cars Is also a compact moving body (see, for example, Patent Document 1).

  Such ultra-compact mobility has been proposed that can travel not only on roadways but also on sidewalks and bicycle paths. Therefore, when ultra-compact mobility travels in various places without limitation, it may affect the movement of other mobile objects such as pedestrians.

  As a technique for limiting the travel range of a moving body, for example, in Patent Document 2, in a guidance system for a tractor used for farm work in a farm field, an entry prohibition layer is provided in a map information for a side groove or an obstacle. Are listed.

  Further, Patent Document 3 describes that information on a restriction area is set in map data in order to restrict the traveling of a gasoline vehicle or diesel from the viewpoint of environmental protection.

JP 2014-159211 A JP 2017-60524 A JP 2011-170686 A

  Ultra-compact mobility may have various driving modes such as automatic driving, manual driving, single driving, group driving with multiple vehicles, etc., and the inventions described in Patent Documents 1 and 2 can all have prohibited layers and restricted areas. Since it is set, it is not flexible and cannot be controlled in accordance with the mode of use of micro mobility.

  An example of a problem to be solved by the present invention is to flexibly set information on areas where travel is prohibited.

  In order to solve the above-mentioned problem, the invention described in claim 1 is a map information storage device for storing map information, wherein autonomous driving of the vehicle according to the mode is performed for each of a plurality of modes in autonomous driving of the vehicle. The map information in which the prohibited area to be prohibited is defined is stored.

  According to a fourth aspect of the present invention, there is provided an acquisition unit that acquires the map information from the map information storage device according to any one of the first to third aspects, and selection of one mode among the plurality of modes. And a control unit that controls autonomous traveling of the vehicle based on the prohibited area corresponding to the received one mode.

  The invention according to claim 5 is a vehicle control method that is executed by a control device that controls the traveling of a vehicle that can alternatively set a plurality of modes in autonomous traveling, and the plurality of modes in autonomous traveling of the vehicle. For each, an acquisition step for acquiring map information in which a prohibited area for prohibiting autonomous traveling of the vehicle in the mode is defined, a reception step for receiving selection of one mode among the plurality of modes, and the received one And a control step of controlling autonomous traveling of the vehicle based on the prohibited area corresponding to the mode.

  A sixth aspect of the invention is characterized in that the vehicle control method according to the fifth aspect is executed by a computer.

  The invention according to claim 7 is a map data structure for autonomous traveling of a vehicle, wherein a prohibited area for prohibiting autonomous traveling of the vehicle in the mode is defined for each of a plurality of modes in autonomous traveling of the vehicle. It is characterized by being.

  The invention according to claim 8 is a vehicle control device that controls the traveling of a vehicle that can alternatively set a plurality of modes in autonomous traveling, based on the acquired map information and the set mode. A control unit that controls the autonomous driving of the vehicle in the set mode based on the specified prohibited area, and a specifying unit that specifies a prohibited area for prohibiting the autonomous driving of the vehicle in the set mode And a section.

  The invention according to claim 9 is a vehicle control method that is executed by a vehicle control device that controls traveling of a vehicle that can alternatively set a plurality of modes in autonomous traveling, and is set with acquired map information. A step of specifying a prohibited area for prohibiting autonomous traveling of the vehicle in the set mode based on the mode, and the vehicle in the set mode based on the specified prohibited area. And a control process for controlling the autonomous traveling of the vehicle.

  The invention according to claim 10 is characterized in that the vehicle control method according to claim 9 is executed by a computer.

  The invention according to claim 11 is a vehicle control device for controlling the travel of a vehicle capable of traveling in the predetermined area based on map information of the predetermined area, wherein the vehicle is controlled so as to autonomously travel. And a second control for controlling the vehicle to travel by an operation by a driver. The control unit is based on the map information when performing the second control. When the vehicle is predicted to exceed the predetermined area, travel of the vehicle is limited.

  The invention according to claim 14 is a vehicle control method that is executed by a vehicle control device that controls traveling of a vehicle that can travel in the predetermined area based on map information of the predetermined area, wherein the vehicle is autonomous. A control process for performing a first control for controlling the vehicle to travel and a second control for controlling the vehicle to travel by an operation by a driver, wherein the control process performs the second control. In addition, when the vehicle is predicted to exceed the predetermined area based on the map information, the vehicle is restricted from traveling.

  According to a fifteenth aspect of the present invention, the vehicle control method according to the fourteenth aspect is executed by a computer.

1 is a perspective view of a vehicle having a map information storage device and a vehicle control device according to a first embodiment of the present invention as viewed obliquely from the front. FIG. 2 is a perspective view of the vehicle shown in FIG. FIG. 2 is a perspective view of the vehicle shown in FIG. 1 when standing. It is explanatory drawing of the longitudinal travel mode of the vehicle shown by FIG. It is explanatory drawing of the parallel running mode of the vehicle shown by FIG. It is explanatory drawing of the automatic follow-up mode of the vehicle shown by FIG. It is a block diagram of the system which has a vehicle shown by FIG. It is a function block diagram of the vehicle control apparatus shown by FIG. It is explanatory drawing which showed the example of the map data structure in which the prohibition area is defined. It is explanatory drawing which showed the example of the map data structure concerning the modification of FIG. It is a function block diagram of the server apparatus shown by FIG. It is a flowchart of operation | movement of the vehicle control apparatus shown by FIG. It is a flowchart of operation | movement of the vehicle control apparatus concerning the 2nd Example of this invention. It is a flowchart of operation | movement of the vehicle control apparatus concerning the 3rd Example of this invention. FIG. 15 is an explanatory diagram for restricting traveling in the operation of the vehicle control device illustrated in FIG. 14.

  Hereinafter, a map storage device according to an embodiment of the present invention will be described. A map storage device according to an embodiment of the present invention stores map information in which a prohibited area for prohibiting autonomous traveling of a vehicle by a mode is defined for each of a plurality of modes in autonomous traveling of the vehicle. By doing in this way, a prohibition area can be flexibly set to map information according to the mode of vehicles.

  The map storage device may store one piece of map information in which prohibited areas for each of a plurality of modes are defined. In this way, all the mode prohibited areas can be acquired with one piece of map information, so the amount of data can be reduced.

  The map storage device may store a plurality of pieces of map information in which prohibited areas are defined corresponding to a plurality of modes. By doing so, it is only necessary to acquire map information of a necessary mode, so that data management becomes easy.

  In the vehicle control device according to the embodiment of the present invention, the acquisition unit acquires map information from the map information storage device described above, and the reception unit receives selection of one mode among a plurality of modes. And based on the prohibition area corresponding to one mode which the control part received, the autonomous running of a vehicle is controlled. By doing in this way, in vehicles, such as ultra-compact mobility, it can control so that it may run avoiding the area where a run is prohibited according to a run mode.

  In addition, the vehicle control method according to the embodiment of the present invention acquires map information in which a prohibition area for prohibiting autonomous driving of a vehicle by a mode is defined for each of a plurality of modes in autonomous driving of the vehicle in an acquisition process, The selection of one mode among a plurality of modes is received in the reception process. And based on the prohibition area corresponding to one mode received at the control process, the autonomous running of the vehicle is controlled. By doing in this way, in vehicles, such as ultra-compact mobility, it can control so that it may run avoiding the area where a run is prohibited according to a run mode.

  Further, the above-described vehicle control method may be executed by a computer. By doing in this way, it can control using a computer, avoiding the area which prohibits driving according to driving modes.

  In the map data structure according to the embodiment of the present invention, a prohibited area for prohibiting autonomous traveling of the vehicle by mode is defined for each of a plurality of modes in autonomous traveling of the vehicle. By doing in this way, a prohibition area can be flexibly set to map information according to the mode of vehicles.

  A vehicle control device according to another embodiment of the present invention is a vehicle control device that controls driving of a vehicle that can alternatively set a plurality of modes in autonomous driving, and map information acquired by a specifying unit Based on the set mode, the prohibition area for prohibiting the autonomous driving of the vehicle in the set mode is specified, and the autonomous driving of the vehicle in the set mode based on the prohibited area specified by the control unit To control. By doing in this way, even if the prohibited area is not set in advance in the map information or the like, it is possible to control the traveling by specifying the prohibited area according to the mode. For example, when traveling in parallel with a plurality of vehicles, the prohibited area can be set according to the road width, the width of the vehicle, and the number of parallel vehicles.

  A vehicle control method according to another embodiment of the present invention is a vehicle control method executed by a vehicle control device that controls traveling of a vehicle that can alternatively set a plurality of modes in autonomous traveling, In the specific process, based on the acquired map information and the set mode, identify the prohibited area that prohibits autonomous driving of the vehicle in the set mode, and in the control process, based on the prohibited area specified in the specific process To control the autonomous driving of the vehicle in the set mode. By doing in this way, even if the prohibited area is not set in advance in the map information or the like, it is possible to control the traveling by specifying the prohibited area according to the mode. For example, when traveling in parallel with a plurality of vehicles, the prohibited area can be set according to the road width, the width of the vehicle, and the number of parallel vehicles.

  Further, the above-described vehicle control method may be executed by a computer. By doing in this way, even if the prohibited area is not set in advance in the map information or the like, the travel can be controlled by specifying the prohibited area according to the mode using the computer. For example, when traveling in parallel with a plurality of vehicles, the prohibited area can be set according to the road width, the width of the vehicle, and the number of parallel vehicles.

  A vehicle control device according to another embodiment of the present invention is a vehicle control device that controls traveling of a vehicle that can travel in a predetermined area based on map information of the predetermined area, and the vehicle autonomously travels. The control part which performs 1st control which controls in this way, and 2nd control which controls so that a vehicle drive | works by operation by a driver is provided. Then, when performing the second control, the control unit limits the traveling of the vehicle when it is predicted that the vehicle exceeds the predetermined area based on the map information. By doing in this way, when drive | working by operation by a driver, driving | running | working exceeding a predetermined area can be restrict | limited.

  In addition, when performing the second control, the control unit may stop the vehicle when it is predicted that the vehicle exceeds the predetermined area based on the map information. By doing so, it is possible to prevent the vehicle from stopping beyond the predetermined area by stopping the vehicle when it is predicted that the vehicle will exceed the predetermined area.

  In addition, when the control unit is performing the second control and the vehicle is predicted to exceed the predetermined area based on the map information, the control unit switches the vehicle to autonomous travel, and the route is within the predetermined area. May be allowed to travel. By doing in this way, when the vehicle is predicted to exceed the predetermined area, it is possible to continue traveling in the predetermined area by autonomous traveling.

  A vehicle control method according to another embodiment of the present invention is a vehicle control method executed by a vehicle control device that controls traveling of a vehicle that can travel in a predetermined area based on map information of the predetermined area. Thus, a control process is included for performing a first control for controlling the vehicle to travel autonomously and a second control for controlling the vehicle to travel by an operation by the driver. And a control process restrict | limits driving | running | working of a vehicle, when performing a 2nd control, when it is estimated that a vehicle exceeds a predetermined area based on map information. By doing in this way, when drive | working by operation by a driver, driving | running | working exceeding a predetermined area can be restrict | limited.

  Further, the above-described vehicle control method may be executed by a computer. By doing in this way, when drive | working by operation by a driver, it can restrict | limit driving | running | working exceeding a predetermined area using a computer.

  A vehicle having a map storage device and a vehicle control device according to a first embodiment of the present invention will be described with reference to FIGS. The vehicle 100 is a one-seater ultra-small mobility as shown in FIGS.

  The vehicle 100 includes a frame 101, a seating surface 102, a backrest 103, a footrest 104, wheels 105 (105R, 105L), an armrest 106, an operation unit 107, and a vehicle not shown in FIGS. And a control device 1.

  The frame 101 is a member that forms a skeleton of the vehicle. The frame 101 has a seat surface 102, a backrest 103, a footrest 104, wheels 105, an armrest 106, and the like. In addition, a number for identifying the vehicle is displayed on the upper end of the member 101a that supports the backrest 103 of the frame 101.

  The seat surface 102 is formed in a substantially circular shape, and a user P (see FIG. 2) is seated. When the vehicle 3 is deformed from a chair type (FIGS. 1 and 2) to a vertical type (FIG. 3), the seat surface 102 supports the waist and buttocks from behind.

  The backrest 103 is formed in a substantially hexagonal shape and supports the back of the user P. The footrest 104 supports the user P's foot.

  The wheel 105 includes a right wheel 105R and a left wheel 105L, and is attached to the left end and the right end of the frame 101 so as to be rotatable below the seating surface 102, respectively.

  The armrest 106 is attached to the member 101a of the frame 101, and can support the arm portion of the user P as shown in FIG. The armrest 106 is provided with an operation unit 107 at the tip thereof. The operation unit 107 is provided at the tip of the armrest 106. The operation unit 107 can set the travel mode of the vehicle 100, various settings during automatic driving, driving operation during manual driving, and the like.

  Here, the automatic driving means that the vehicle 100 is autonomously controlled by automatically controlling steering, running speed adjustment, braking and the like by the vehicle control device 1 or the like. Manual driving means that the user P who is a driver performs steering, travel speed adjustment, braking, and the like by the operation unit 107 or the like.

  In addition to the vehicle control device 1 described above, the vehicle 100 also includes a motor that drives the wheels 105, a battery that supplies power to the motor, and the like. In addition, the vehicle 100 has various sensors such as a gyro sensor for balancing the two wheels so as not to fall down. Alternatively, auxiliary wheels other than the wheels 105 may be provided.

  Further, the vehicle 100 can be transformed from a chair type as shown in FIG. 1 or 2 to a vertical type as shown in FIG. When the seat surface 102 is deformed to the vertical shape, the seat surface 102 moves so that the angle of the seat surface 102 approaches perpendicular to the road surface, and the backrest 103 moves upward as the seat surface 102 moves. Then, the user P can hold the operation unit 107 by deforming the operation unit 107 so as to stand from the armrest 106. Note that the chair type and the vertical type can be driven by either automatic operation or manual operation. Furthermore, the chair type and the vertical type can run in any of the running modes described below.

  Further, the vehicle 100 has a traveling mode shown in FIGS. 4 to 6 during automatic driving. That is, the vehicle 100 is a vehicle that can alternatively set a plurality of modes in autonomous traveling. FIG. 4 shows a tandem running mode. This traveling mode is a traveling mode in which a plurality of vehicles 100 travels in series, and the following vehicle 100 follows the leading vehicle 100 serving as a master.

  FIG. 5 shows a parallel running mode. This travel mode is a travel mode in which a plurality of vehicles 100 travel side by side, and other vehicles follow so as to line up with any one of the vehicles 100 serving as a master.

  FIG. 6 shows the automatic tracking mode. This travel mode is a travel mode in which the unmanned vehicle 100 automatically follows the user P who is walking. This automatic follow-up mode follows, for example, based on a signal from a terminal device or the like possessed by the user P. Alternatively, the vehicle 100 may include a camera, and the user P captured by the camera may be recognized and followed by image recognition.

  Next, a system having the vehicle 100 described above will be described with reference to FIG. As shown in FIG. 7, the system includes a vehicle 100 and a server device 50. In addition, the vehicle 100 includes a vehicle control device 1. As shown in FIG. 7, the server device 50 can communicate with the vehicle control device 1 included in the vehicle 100 via a network N such as the Internet.

  FIG. 8 shows a functional configuration of the vehicle control device 1. The vehicle control device 1 includes a communication unit 2, a control unit 3, a storage unit 4, and a GPS receiver 5.

  The communication unit 2 transmits the map request information output by the control unit 3 to the server device 50. The communication unit 2 receives map data distributed from the server device 50. Further, the communication unit 2 communicates with another vehicle 100 or the like directly or via the network N in accordance with the travel mode, and transmits / receives information for the following operation described above.

  The control unit 3 is composed of, for example, a microcomputer having a CPU and a memory, and controls the running of the vehicle 100 (steering, speed, braking, etc.). Moreover, the control part 3 requests | requires the map data of the vehicle 100 periphery to the server apparatus 50 as needed, and makes the memory | storage part 4 memorize | store the map data which the communication part 2 received as the map data 4a. Further, the control unit 3 transmits / receives information for a follow-up operation with another vehicle or the like via the communication unit 2 so as to travel in the travel mode based on the travel mode setting information received from the operation unit 107. To do. Further, the control unit 3 causes the vehicle 100 to travel so as to avoid a prohibited area (described later) included in the map data 4 a stored in the storage unit 4.

  The storage unit 4 stores map data 4a. That is, the storage unit 4 functions as a map storage device that stores map information. The map data 4a is a map that includes detailed information about the road and its surrounding features such as the width of the road, the contents of the sign, the position, the position of the white line, etc. in order for the vehicle 100 to travel autonomously. It is. The map data 4a defines a prohibited area for prohibiting automatic driving of the vehicle 100 in the traveling mode for each of the plurality of traveling modes in the automatic driving described above. A map data structure in which prohibited areas are defined will be described with reference to FIG.

  FIG. 9 shows a predetermined area where the vehicle 100 is assumed to travel, where area A having a wide road is area A, area B having an intermediate road width is area B, and area having a narrow road width is area C. It defines whether or not traveling is possible in the traveling mode. That is, the storage unit 4 stores one map data 4a in which prohibited areas for each of a plurality of travel modes are defined. It should be noted that specific numerical ranges of “wide”, “intermediate”, and “narrow” road widths may be appropriately determined according to the width of the vehicle 100, the area where the vehicle is traveling, and the like.

  In FIG. 9, in the area A where the road is wide, traveling in all traveling modes is permitted (O). In the area B where the road width is intermediate, traveling in the parallel traveling mode is not allowed (x), and traveling in other traveling modes is allowed. In the area C where the road width is narrow, travel in all travel modes is disabled.

  In the case of manual operation, the vehicle can travel in any area. However, outside the predetermined area where the vehicle 100 is supposed to travel, the vehicle is not allowed to travel in any of the automatic driving mode and the manual driving mode. That is, areas A, B, and C are included in the range of the predetermined area. The predetermined area where the vehicle 100 is supposed to travel may be a closed area such as a theme park, or may be a unit of an administrative division such as a municipality.

  The prohibited area shown in FIG. 9 is associated with a travel mode in which travel is possible in one map data, but may have a plurality of maps for each travel mode as shown in FIG. That is, map data in which prohibited areas are defined is stored corresponding to a plurality of driving modes. FIG. 10A is map data for the parallel running mode. FIG. 10B is map data for the tandem travel mode and the automatic follow-up mode. It is good also as common map data for several modes like FIG.10 (b).

  The GPS receiver 5 is a known device that detects the current position of the vehicle 100 based on radio waves from a GPS (Global Positioning System) satellite. As long as the current position of the vehicle 100 can be detected, other methods such as a method using a gyro sensor or Wi-Fi radio wave may be used instead of the GPS receiver 5.

  Next, FIG. 11 shows a functional configuration of the server device 50. The server device 50 includes a communication unit 51, a control unit 52, and a storage unit 53.

  The communication unit 51 receives map request information and the like transmitted from the vehicle control device 1. In addition, the communication unit 51 transmits the map data read from the storage unit 53 to the vehicle control device 1.

  The control unit 52 is composed of, for example, a microcomputer having a CPU and a memory. In addition, the control unit 52 reads out map data requested based on the map request information from the storage unit 53 and outputs the map data to the communication unit 51.

  The storage unit 53 stores map data 53a. The map data 53a is a map that includes detailed information about roads and surrounding features in order for the vehicle 100 to travel autonomously like the map data 4a. Further, the map data 53a includes information on a prohibited area that is an area where the autonomous traveling of the vehicle 100 is prohibited, similarly to the map data 4a.

  As described above, the server device 50 having the above-described configuration stores the map data 53a in which the prohibition area for prohibiting the autonomous traveling of the vehicle 100 in the traveling mode is defined for each of the plurality of traveling modes in the autonomous traveling of the vehicle 100. Therefore, it can function as a map storage device.

  Next, the operation (vehicle control method) of the vehicle control device 1 configured as described above will be described with reference to the flowchart of FIG. Moreover, it can be set as a vehicle control program by comprising the flowchart shown in FIG. 12 as a program performed with CPU which the control part 3 has.

  First, in step S <b> 11, the control unit 3 receives a travel mode setting from the operation unit 107. That is, the control unit 3 functions as a reception unit that receives selection of one mode among a plurality of modes.

  Next, in step S12, the control unit 3 confirms whether the map data 4a is stored. If the map data 4a is not stored (in the case of NO), the control unit 3 sends the map request information to the server device 50 in the communication unit 2 in step S13. The map data transmitted according to the map request information is stored in the storage unit 4 as the map data 4a. On the other hand, if the map data 4a is stored (in the case of YES), the process proceeds to step S14.

  Next, in step S <b> 14, the control unit 3 reads (acquires) the map data 4 a from the storage unit 4. That is, the control unit 3 functions as an acquisition unit that acquires map information from the map information storage device.

  Next, in step S15, the control unit 3 controls the autonomous traveling of the vehicle 100 based on the traveling mode received in step S11 and the prohibited area included in the map data acquired in step S14. At this time, the control unit 3 compares the current position detected by the GPS receiver 5 with the prohibited area corresponding to the accepted travel mode included in the map data 4a, and the vehicle 100 proceeds so as not to enter the prohibited area. Control the direction and brakes. That is, the control unit 3 controls the autonomous traveling of the vehicle based on the prohibited area corresponding to the accepted one mode.

  Next, in step S16, the control unit 3 determines whether the vehicle 100 has traveled such as when the power is turned off. If the travel is finished (in the case of YES), the control unit 3 terminates the flowchart, and if the travel is not finished (NO) In the case of), the process returns to step S15.

  As is clear from the above description, step S11 functions as a reception process, step S14 functions as an acquisition process, and step S15 functions as a control process.

  Although not shown in the above-described flowchart, for example, when setting a destination, if a destination is set in a prohibited area, a warning or the like indicating that the destination cannot be set is displayed / sound output, etc. You may do. Further, when it is necessary to avoid the prohibited area, the fact may be displayed / voice output or the like.

  According to the present embodiment, the storage unit 4 stores map data 4a in which a prohibited area for prohibiting autonomous traveling of the vehicle 100 in the traveling mode is defined for each of a plurality of traveling modes in the autonomous traveling of the vehicle 100. . In this way, the prohibited area can be flexibly set in the map data 4a according to the travel mode of the vehicle 100.

  The storage unit 4 may store one map data 4a in which prohibited areas for each of a plurality of modes are defined. By doing in this way, since the prohibition area of all the driving modes can be acquired with one map information, the amount of data can be reduced.

  Further, the storage unit 4 may store a plurality of map information in which prohibited areas are defined for each of a plurality of modes. By doing so, it is only necessary to acquire the map data 4a in the required mode, so that data management becomes easy.

  Moreover, the vehicle control apparatus 1 acquires the map data 4a which the control part 3 mentioned above, and receives selection of one mode among several driving modes. And based on the prohibition area corresponding to one mode which the control part 3 received, the autonomous running of the vehicle 100 is controlled. In this way, for example, in the vehicle 100 such as a micro-mobility, it is possible to perform control so as to avoid an area where travel is prohibited according to the travel mode.

  Next, a vehicle control apparatus according to a second embodiment of the present invention will be described with reference to FIG. The same parts as those in the first embodiment described above are denoted by the same reference numerals and description thereof is omitted.

  In the first embodiment, as shown in FIG. 9 and FIG. 10, the map data 4a includes information on the prohibited area. However, in this embodiment, the road width included in the travel mode and the map data 4a. The prohibited area is specified by the vehicle control device 1 from the information such as the above. That is, the prohibited area is not defined in the map data 4a according to the present embodiment. The operation (vehicle control method) of the vehicle control device 1 according to the present embodiment will be described with reference to the flowchart of FIG. Moreover, it can be set as a vehicle control program by comprising the flowchart shown in FIG. 13 as a program performed with CPU which the control part 3 has.

  Steps S11 to S14 in FIG. 13 are the same as those in FIG. In step S21 advanced from step S14, the control unit 3 specifies the prohibited area based on the travel mode set in step S11 and the map information acquired in step S14. For example, when the parallel travel mode is set in step S11, a road width necessary for travel is obtained from the width of the vehicle 100 and the number of travels in parallel, and roads less than the road width are specified as prohibited areas. That is, the control unit 3 specifies a prohibited area in which the autonomous traveling of the vehicle 100 in the set travel mode is prohibited based on the acquired map information and the set travel mode.

  Next, in step S15A, the control unit 3 controls the autonomous traveling of the vehicle 100 based on the prohibited area specified in step S21. At this time, based on the current position detected by the GPS receiver 5 and the specified prohibited area, the control unit 3 controls the traveling direction and brakes of the vehicle 100 so as not to enter the prohibited area. That is, the control unit 3 controls the autonomous traveling of the vehicle 100 in the set traveling mode based on the specified prohibited area. Subsequent step S16 is the same as FIG. 11 except for returning to step S15A in the case of NO.

  As is clear from the above description, step S21 functions as a specific process and step S15A functions as a control process.

  According to the present embodiment, the vehicle control device 1 sets a prohibited area for prohibiting automatic driving of the vehicle 100 in the set travel mode based on the map data 4a acquired by the control unit 3 and the set travel mode. Based on the specified prohibited area, the autonomous traveling of the vehicle 100 in the set traveling mode is controlled. By doing in this way, even if the prohibition area is not set in the map data 4a in advance, the prohibition area can be specified according to the travel mode and the travel can be controlled. For example, when a plurality of vehicles are traveling in parallel, the prohibited area can be set according to the road width, the vehicle width, and the number of parallel vehicles.

  Next, a vehicle control apparatus according to a third embodiment of the present invention will be described with reference to FIGS. The same parts as those in the first and second embodiments described above are denoted by the same reference numerals and description thereof is omitted.

  Although the first and second embodiments have mainly described the limitation on traveling during automatic driving of the vehicle 100, in the present embodiment, the limitation on traveling during manual driving of the vehicle 100 will be described.

  As described in the first embodiment, the vehicle 100 has predetermined areas for which the vehicle 100 is supposed to travel. This area is, for example, a theme park, a park, or a specific city. The ultra-compact mobility such as the vehicle 100 is assumed to be used by car sharing or the like, and the manager of the vehicle 100 such as a service provider such as car sharing may desire to use it within the reach of its own management. is there. Therefore, in this embodiment, the vehicle is restricted not to travel beyond a predetermined area assuming traveling even in the case of not only automatic driving but also manual driving.

  The operation (vehicle control method) of the vehicle control device 1 according to the present embodiment will be described with reference to the flowchart of FIG. Moreover, it can be set as a vehicle control program by comprising the flowchart shown in FIG. 14 as a program performed with CPU which the control part 3 has.

  First, in step S31, the control unit 3 determines whether or not the vehicle 100 travels by manual operation. When the vehicle 100 travels by manual operation (in the case of YES), the process proceeds to step S32, and when the vehicle 100 travels by automatic operation ( In the case of NO), the flowchart ends. Whether or not the vehicle travels by manual operation may be set by the user P using the operation unit 107, for example.

  As described in the first and second embodiments, the vehicle 100 according to the present embodiment can also perform automatic driving, and can switch between manual driving and automatic driving. Therefore, the control unit 3 performs first control (control related to automatic driving) for controlling the vehicle 100 to travel autonomously, and second control (controlled for manual driving) to control the vehicle 100 to travel by an operation by a driver. Control). The control related to manual operation is control as described in step S32 below.

  Next, in step S32, the control unit 3 confirms whether the map data 4a is stored. If the map data 4a is not stored (NO), the control unit 3 sends the map request information to the server device 50 in the communication unit 2 in step S33. The map data transmitted according to the map request information is stored in the storage unit 4. On the other hand, if the map data 4a is stored (in the case of YES), the process proceeds to step S34. The map data 4a according to the present embodiment includes information indicating a range (predetermined area) in which the vehicle can travel. As described above, the information indicating the range in which the vehicle can travel includes a range in which the vehicle can travel, such as a theme park, a park, or a specific city.

  Next, in step S <b> 34, the control unit 3 reads (acquires) the map data 4 a from the storage unit 4.

  Next, in step S35, traveling is started. For example, the user P is notified of the fact that traveling is possible using an indicator, an image, or voice, and the user operates the operation unit 107 to cause the vehicle 100 to travel.

  Next, in step S36, the control unit 3 determines whether or not the vehicle 100 is predicted to exceed a predetermined area based on the map data 4a read in step S34 and the current position detected by the GPS receiver 5, When it is predicted that the vehicle will exceed the predetermined area, the process proceeds to step S37 to limit the travel of the vehicle 100. On the other hand, when it is predicted that the predetermined area is not exceeded, the process proceeds to step S38. That is, when performing the second control, if the vehicle 100 is predicted to exceed the predetermined area based on the map information, the control unit 3 limits the travel of the vehicle 100.

  As a method of restricting the travel of the vehicle 100, the vehicle 100 is stopped before the boundary of the predetermined area, or switched to automatic driving before the boundary of the predetermined area, and then at the intersection before the U-turn or the boundary. For example, turn left. When switching to automatic driving, a route that can be moved away from the boundary of a predetermined area to some extent, a route to a returnable point of the rented vehicle 100, and the like may be searched for and travel along the route.

  Next, a prediction method for determining whether or not the predetermined area is exceeded in step S36 will be described with reference to FIG. FIG. 15 is a diagram when the vehicle 100 is traveling in the direction of the arrow AR on a certain road. In this case, when the distance L1 between the vehicle 100 and the boundary B of the predetermined area is equal to or smaller than the predetermined distance, the above-described stop, U-turn, or the like may be limited. Further, in the case of FIG. 15, since there is an intersection C between the current position of the vehicle 100 and the boundary B of the predetermined area, if the vehicle does not turn at the intersection C, the above-described stop or U-turn may be restricted. Good. Note that when the distance L2 between the intersection C and the boundary B of the predetermined area is short, the control may not be in time or sudden braking may occur. For example, if the relationship L1> L2, the L1 regardless of the intersection C You may make it perform restrictions, such as a stop mentioned above and a U turn, when it becomes less than.

  Returning to the description of FIG. In step S <b> 38, the control unit 3 determines whether the vehicle 100 has traveled such as when the power is turned off. If the travel is finished (in the case of YES), the control unit 3 terminates the flowchart, and if the travel is not finished (in the case of NO). Returns to step S36.

  As is clear from the above description, steps S36 and S37 function as a control process.

  According to the present embodiment, the vehicle control device 1 is a vehicle control device 1 that controls the travel of the vehicle 100 that can travel in a predetermined area based on the map data 4a of the predetermined area, and the vehicle 100 is automatically operated. And a control unit 3 capable of switching control between manual operation and manual operation. And the control part 3 restrict | limits driving | running | working of the vehicle 100, when it estimates that a vehicle will exceed a predetermined area based on the map data 4a at the time of manual driving | operation. By doing in this way, when driving | running | working by the operation by the user P, it can restrict | limit driving | running | working exceeding a predetermined area.

  Moreover, the control part 3 may stop the vehicle 100 at the time of a manual driving | operation, when it is estimated that the vehicle 100 exceeds a predetermined area based on the map data 4a. By doing in this way, when it is predicted that the vehicle 100 exceeds the predetermined area, it is possible to prevent the vehicle from stopping beyond the predetermined area by stopping the vehicle.

  In addition, when it is predicted that the vehicle 100 exceeds a predetermined area based on the map data 4a during manual driving, the control unit 3 switches the vehicle 100 to automatic driving and travels along a route within the predetermined area. You may let them. By doing in this way, when it is predicted that the vehicle 100 exceeds the predetermined area, it is possible to continue traveling in the predetermined area by automatic driving.

  In addition, this invention is not limited to the said Example. That is, those skilled in the art can implement various modifications in accordance with conventionally known knowledge without departing from the scope of the present invention. Of course, such modifications are included in the scope of the present invention as long as the map storage device and the vehicle control device of the present invention are provided.

DESCRIPTION OF SYMBOLS 1 Vehicle control apparatus 2 Communication part 3 Control part (acquisition part, reception part, control part, specific part)
4 storage unit (map information storage device)
4a Map data (map information)
5 GPS receiver 50 Server device (map information storage device)
51 Communication Unit 52 Control Unit 53 Storage Unit 53a Map Data (Map Information)
100 vehicles

Claims (15)

A map information storage device for storing map information,
A map information storage device storing map information in which a prohibited area for prohibiting autonomous traveling of the vehicle in the mode is defined for each of a plurality of modes in autonomous traveling of the vehicle.   The map information storage device according to claim 1, wherein one map information in which the prohibited area for each of the plurality of modes is defined is stored.   The map information storage device according to claim 1, wherein a plurality of pieces of map information in which the prohibited area is defined are stored in correspondence with the plurality of modes. An acquisition unit that acquires the map information from the map information storage device according to any one of claims 1 to 3,
An accepting unit that accepts selection of one of the plurality of modes;
Based on the prohibited area corresponding to the received one mode, a control unit that controls autonomous traveling of the vehicle;
A vehicle control device comprising: A vehicle control method that is executed by a vehicle control device that controls driving of a vehicle that can alternatively set a plurality of modes in autonomous driving,
An acquisition step of acquiring map information in which a prohibited area for prohibiting autonomous traveling of the vehicle in the mode is defined for each of a plurality of modes in autonomous traveling of the vehicle;
An accepting step of accepting selection of one of the plurality of modes;
A control step of controlling autonomous traveling of the vehicle based on the prohibited area corresponding to the received one mode;
The vehicle control method characterized by including.   A vehicle control program that causes a computer to execute the vehicle control method according to claim 5. A map data structure for autonomous driving of a vehicle,
A map data structure, wherein a prohibited area for prohibiting autonomous traveling of the vehicle in the mode is defined for each of a plurality of modes in autonomous traveling of the vehicle. A vehicle control device for controlling the traveling of a vehicle that can alternatively set a plurality of modes in autonomous traveling,
Based on the acquired map information and the set mode, a specifying unit for specifying a prohibited area for prohibiting autonomous traveling of the vehicle in the set mode;
Based on the specified prohibited area, a control unit that controls autonomous traveling of the vehicle in the set mode;
A vehicle control device comprising: A vehicle control method that is executed by a vehicle control device that controls driving of a vehicle that can alternatively set a plurality of modes in autonomous driving,
Based on the acquired map information and the set mode, a specifying step for specifying a prohibited area for prohibiting autonomous traveling of the vehicle in the set mode;
A control step of controlling autonomous traveling of the vehicle in the set mode based on the specified prohibited area;
The vehicle control method characterized by including.   A vehicle control program for causing the vehicle control method according to claim 9 to be executed by a computer. A vehicle control device for controlling the travel of a vehicle capable of traveling in the predetermined area based on map information of the predetermined area,
A control unit that performs first control for controlling the vehicle to travel autonomously and second control for controlling the vehicle to travel by an operation by a driver;
The control unit is configured to limit travel of the vehicle when the second control is performed and the vehicle is predicted to exceed the predetermined area based on the map information. Vehicle control device.   The control unit, when performing the second control, stops the vehicle if the vehicle is predicted to exceed the predetermined area based on the map information. 11. The vehicle control device according to 11.   When the control unit is performing the second control and the vehicle is predicted to exceed the predetermined area based on the map information, the control unit switches the vehicle to autonomous traveling, and The vehicle control device according to claim 11, wherein the vehicle control device travels along an inner route. A vehicle control method executed by a vehicle control device that controls travel of a vehicle that can travel in the predetermined area based on map information of the predetermined area,
A control step of performing a first control for controlling the vehicle to travel autonomously and a second control for controlling the vehicle to travel by an operation by a driver;
In the control process, when the vehicle is predicted to exceed the predetermined area based on the map information during the second control, the vehicle is restricted from traveling. Vehicle control method.   A vehicle control program that causes a computer to execute the vehicle control method according to claim 14.

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