JP2020008401A - Information processor - Google Patents

Abstract

To provide an information processor which can travel property in an intersection.SOLUTION: In an information processor 1A, a processor 3A acquires a link table 5a1 related to links in an intersection which connects an entrance traffic line link and an exit traffic line link in an interchange, and acquires environmental information in the intersection. A processor 3A selects a link in the intersection to be a travelling route on the basis of the acquired environmental information.SELECTED DRAWING: Figure 9

Description

  The present invention relates to an information processing device that performs a predetermined process based on link information.

  2. Description of the Related Art In recent years, vehicles (autonomous driving vehicles) that autonomously travel while acquiring the situation around the own vehicle using various sensors such as a camera mounted on the vehicle and a lidar (LiDAR: Light Detection And Ranging) have been developed.

  Generally, map data for self-driving vehicles is composed of lane network data represented by lane-based links and road network data represented by road-based links used in conventional car navigation and the like. Often.

  As a technique for displaying a route using a lane network, for example, the invention described in Patent Document 1 can be mentioned. In Patent Document 1, the road link DB 32 is referred to, route information indicating a guide route to a destination is extracted, and a lane link associated with the road link by the correspondence information 34 is extracted from the lane link DB 33, and the extracted lane is extracted. Based on the link, the display mode of the route line Lrt is determined and displayed on the display 44.

JP 2017-146131 A

  By the way, the lane link must be maintained as an intra-intersection link (a link connecting a link that enters the intersection and a link that exits) for routes that can pass through the intersection. Since the lanes are not painted, it is not clear which combination of an incoming link and an outgoing link should be maintained.

  In the invention described in Patent Literature 1, a route that can be passed is displayed depending on whether or not a lane change can be performed until the vehicle enters the intersection or after exiting from the intersection, but the selection of a route within the intersection is particularly mentioned. Absent.

  An example of the problem to be solved by the present invention is to provide an information processing device that can appropriately drive at an intersection.

  In order to solve the above problem, the invention according to claim 1 is a link information acquisition unit that acquires link information about a link in an intersection connecting a link indicating an entering lane and a link indicating an exit lane at an intersection, It is characterized by comprising an environment information acquisition unit that acquires environment information at an intersection, and a selection unit that selects the link within the intersection to be a traveling route based on the environment information acquired by the environment information acquisition unit.

  According to a fourth aspect of the present invention, there is provided an information processing method executed by an information processing apparatus which performs a predetermined process based on link information on a link in an intersection connecting a link indicating an entering lane and a link indicating an exit lane at an intersection. A link information obtaining step of obtaining the link information, an environment information obtaining step of obtaining environment information at the intersection, and the intersection as a traveling route based on the environment information obtained in the environment information obtaining step. And a selecting step of selecting an inner link.

  According to a fifth aspect of the present invention, a computer executes the information processing method according to the fourth aspect.

  The invention according to claim 6 is characterized in that the information processing program according to claim 5 is stored.

FIG. 1 is a schematic configuration diagram of a navigation device according to a first example of the present invention. It is a figure showing an example of a range of an intersection. It is explanatory drawing which showed the example of the intersection. FIG. 4 is a diagram illustrating a part of a link in an intersection at the intersection illustrated in FIG. 3. It is an example of a link table. FIG. 9 is an explanatory diagram of a priority setting criterion. FIG. 9 is an explanatory diagram of a priority setting criterion. It is an example of information display based on a priority. FIG. 6 is a schematic configuration diagram of an information processing device according to a second example of the present invention. 10 is a flowchart of the operation of the information processing apparatus shown in FIG. It is a figure showing an example of a range of an intersection and a predetermined distance. FIG. 4 is an explanatory diagram of a relationship between environmental information and priorities.

  Hereinafter, an information processing apparatus according to an embodiment of the present invention will be described. In the information processing apparatus according to an embodiment of the present invention, the link information acquisition unit acquires link information on a link in an intersection connecting a link indicating an entering lane and a link indicating an exit lane at an intersection, and the environment information acquiring unit Obtain environmental information at the intersection. Then, the selecting unit selects a link in the intersection to be a traveling route based on the environment information acquired by the environment information acquiring unit. In this way, it is possible to select an appropriate link based on environmental information such as the state of a traffic light at an actual intersection and the presence or absence of an oncoming vehicle.

  In the link information, information indicating the priority for each link within the intersection is set, and the selecting unit determines the link within the intersection as the traveling route among the links within the intersection based on the environment information and the information indicating the priority. May be selected. By doing so, it is possible to select a link to travel in consideration of environmental information as information indicating a priority.

  In addition, the selection unit may select a link within an intersection that is easy to travel as a traveling route. By doing so, it is possible to travel on a route that the occupant of the traveling vehicle or the like does not feel uncomfortable, such as a small change in acceleration based on environmental information.

  In the information processing method according to an embodiment of the present invention, in the link information obtaining step, link information on a link in an intersection connecting a link indicating an entering lane and a link indicating an exit lane at an intersection is obtained, and environmental information is obtained. Obtain environmental information at the intersection in the process. Then, in the selection step, a link in an intersection to be used as a traveling route is selected based on the environment information acquired in the environment information acquisition step. In this way, it is possible to select an appropriate link based on environmental information such as the state of a traffic light at an actual intersection and the presence or absence of an oncoming vehicle.

  Further, the information processing method described above may be an information processing program that is executed by a computer. By doing so, it is possible to select an appropriate link using a computer based on environmental information such as the state of a traffic light at an actual intersection and the presence or absence of an oncoming vehicle.

  Further, the above-described information processing program may be stored in a computer-readable recording medium. By doing so, the program can be distributed as a single unit in addition to being incorporated into the device, and the version can be easily upgraded.

  A data structure of map data and a navigation device 1 as a route search device according to a first embodiment of the present invention will be described with reference to FIGS.

  FIG. 1 shows a functional configuration of the navigation device 1. The navigation device 1 includes an input unit 2, a route search unit 3, a display unit 4, and a storage unit 5. Although the configuration shown in FIG. 1 is configured as an in-vehicle device, it may be configured as a mobile terminal. Alternatively, the server device may have the functions of the route search unit 3 and the storage unit 5, and the vehicle may include the GPS receiver 10, the display unit 4, and the input unit 2.

  The input unit 2 includes, for example, a touch panel, a push button, and the like, and receives an input operation of a destination or the like by a user or the like.

  The route search unit 3 searches for a route from a predetermined position such as the current position to the destination accepted by the input unit 2 based on the map data 5a stored in the storage unit 5. Further, the route search unit 3 generates and outputs information (guide information) for guiding a user or the like along the searched route. The guidance information includes a line or an arrow indicating a route to be displayed on the display unit 4, a guidance sound output from a speaker (not shown), or the like. The current position is received from the GPS receiver 10.

  The display unit 4 includes, for example, a liquid crystal display or an EL display, and displays guidance information generated by the route search unit 3, map data 5a stored in the storage unit 5, and operation buttons and menus. .

  The storage unit 5 stores map data 5a used by the route search unit 3. The map data 5a is map data corresponding to so-called automatic driving in which the vehicle travels autonomously. The map data for automatic driving is composed of lane network data represented by lane-based links and road network data represented by road-based links used in conventional car navigation and the like. I have.

  The storage unit 5 is not limited to a storage medium such as a hard disk drive (HDD) or a solid state drive (SSD), but may be a portable storage medium such as a memory card or an optical disk.

  In the data of the road network, a link table in which detailed information of a link for each road in a case where the road network is represented by a node corresponding to a connecting portion of a road such as an intersection and a link connecting the nodes, A node table in which detailed information of the specified node is defined is included.

  The data of the lane network includes a link table as link information in which detailed information of a link for each lane corresponding to a section obtained by dividing each lane constituting the road based on a predetermined reference, or a section described above. Has a data structure including a node table in which detailed information on the nodes provided in the.

  Then, the map data 5a according to the present embodiment has a priority in the link table of the intersection part in the lane network with respect to the link (link in the intersection) connecting the entrance lane link and the exit lane link of the intersection. Is set. An example will be described with reference to FIGS. In this embodiment, an intersection is a portion where two or more roads intersect when two or more roads intersect. For example, in the case of a crossroad where the road R1 and the road R2 intersect as shown in FIG. 2, a range surrounded by a broken line B is an intersection. Note that the range of the intersection may be appropriately changed according to the position of the end node of the entrance lane link or the start node of the exit lane link.

  FIG. 3 is a diagram illustrating an example of an intersection. The intersection I shown in FIG. 3 has three lanes entering the intersection I from the right side of the drawing, namely, lane links L1, L2, and L3, and two lanes exiting from the intersection I to the left side of the drawing have the lane links L7 and L8. The lane entering the intersection I from the left side of the figure is one lane of the lane link L9. Also, the intersection I is such that the lane entering the intersection I from the upper side of the figure is one lane of the lane link L12, the lane exiting from the intersection I to the lower side of the figure is two lanes of the lane links L4 and L5, and the lower side of the figure. The lane entering the intersection I is one lane of the lane link L6, and the lane exiting from the intersection I upward in the drawing is one lane of the lane link L10.

  At this intersection I, assuming that straight ahead, right turn, and left turn are permitted in all the lanes from the lanes corresponding to the lane links L1 to L3, for example, as shown in FIG. A link (link within an intersection) that connects the lane links L1 to L3 and the lane links L4, L5, L7, L8, L10, and L11 that are the exit lane links is generated.

  However, depending on the lane links that are the exit lane links, there are some links in the intersection that are not preferable because of the relationship with the oncoming vehicle or the vehicle traveling in another lane or the traveling distance. The same can be said for the case where the vehicle exits from the lane links L6, L9, L12, which are the other approach lane links to the intersection I, by going straight or turning left or right.

  Therefore, in this embodiment, as described above, the priority is set for each of the links in the intersection connecting the entrance lane link and the exit lane link. FIG. 5 shows an example of the link table 5a1 in which priorities are set.

  The link table 5a1 shown in FIG. 5 includes a link ID 5a2, a start node 5a3, an end node 5a4, and a priority 5a5. The link ID 5a2 is an ID assigned to each of the above-mentioned links within the intersection. In the start node 5a3, the ID of the node serving as the start point of the link is set. For example, in the case of FIG. 4, the ID of the end point node of the approach lane link may be set. In the end point node 5a4, the ID of the node serving as the end point of the link and the like are set. For example, in the case of FIG. 4, the ID of the start node of the exit lane link may be set. That is, the link table 5a1 is link information on links within an intersection that connect a link indicating an entry lane and a link indicating an exit lane at an intersection.

  In the priority 5a5, the degree of priority as a route to be traveled when passing through an intersection is set as a numerical value or the like. That is, the priority 5a5 is information indicating the priority at the intersection. In the case of FIG. 5, the priority is set. For example, both the link ID1 and the link ID2 have the start node N01, but the end nodes N02 and N03 are different. Therefore, referring to the priority 5a5, since the link ID1 has the priority "1" and the link ID2 has the priority "2", the link ID1 is selected with higher priority because the priority is higher.

  Note that the numerical value of the priority 5a5 is not limited to the priority, and may be a numerical value calculated by a predetermined method. For example, a numerical value such as 80 points out of 100 points may be used.

  Next, the setting criteria of the priority 5a5 will be described. The priority 5a5 is set based on, for example, the following setting criteria based on the characteristics of the intersection link. First, as a first setting criterion, a criterion based on a distance from an entrance lane link to an exit lane link in a target intersection link is exemplified. This is so that the shorter the distance from the entrance lane link to the exit lane link, the higher the priority. A specific example is shown in FIG.

  FIG. 6 shows an intra-intersection link when making a left turn at the intersection I from the approach lane link L3. That is, a link L34 that connects the entrance lane link L3 and the exit lane link L4, and a link L35 that connects the entrance lane link L3 and the exit lane link L5 are shown.

  As is clear from FIG. 6, the distance between the link L34 and the link L35 is shorter than that of the link L34. Therefore, the priority 5a5 is set so that the link L34 has a higher priority than the link L35.

  As a second setting criterion, a criterion based on the number of intersections of a target intra-intersection link with other intra-intersection links may be mentioned. This is to give priority to links within an intersection where the number of intersections with other intersection links is small. A specific example is shown in FIG.

  FIG. 7 also shows an intra-intersection link when making a left turn at the intersection I from the approach lane link L3. Here, when the entrance lane link L3 can be turned left, it is also possible to make a left turn from the entrance lane links L1 and L2 as described above. In this case, as the links connecting to the exit lane links L4 and L5, in addition to the links L34 and L35 described above, a link L24 connecting the entrance lane link L2 and the exit lane link L4, an entrance lane link L2 and an exit lane. A link L25 connecting the link L5, a link L14 connecting the entrance lane link L1 and the exit lane link L4, and a link L15 connecting the entrance lane link L1 and the exit lane link L5 are shown.

  If it is also possible to make a right turn from the entrance lane link L9, a link L94 connecting the entrance lane link L9 and the exit lane link L4, and a link L95 connecting the entrance lane link L9 and the exit lane link L5 are further provided. Join.

  In this case, as shown in FIG. 7, the link L34 intersects the links L14, L24, and L94 described above, but the link L35 intersects the links L14, L15, L24, L25, L94, and L95 (the terminal ends). Including the same case). That is, the link L35 intersects more than the link L34, and running the link L35 is not preferable because the link L35 may intersect with a vehicle running on the link L14 or the like. Therefore, the priority 5a5 is set so that the link L34 has a higher priority than the link L35.

  The number of intersections may be counted based on the lighting pattern of the traffic light at the intersection. For example, in FIG. 7, when the traffic lights on the approach lane links L1 to L3 are blue, the lighting pattern of the traffic light on the approach lane link L9 is determined so that a right turn cannot be made from the approach lane link L9. The link L94 described above does not cross the links L34 and L35, and the link L95 does not cross the link L35. Therefore, the number of intersections of the link L34 decreases by one, and the number of intersections of the link L35 decreases by two.

  A third setting criterion is based on traffic signs shown at intersections and exit lanes. In this case, if data of a traffic sign such as a temporary stop is included in the map data 5a, the data of the traffic sign is used. For example, the priority 5a5 is set so that a lane link corresponding to a road with a stop is not given priority over a lane link corresponding to a road without it. Even if a traffic sign is not installed, when a priority road is legally defined based on the road width and the positional relationship (the left road has priority, etc.), that may be considered.

  A fourth setting criterion is based on the easiness of travel when the link in the intersection is a predetermined curve and the vehicle runs on the curve. For example, the priority 5a5 is set so that a link that is easy to run has priority. The evaluation criteria of the ease of running include, for example, that the link in the intersection can be expressed by one clothoid curve, or that the change in acceleration in each direction generated when the vehicle runs at a certain speed is small.

  A fifth setting criterion is based on a traveling locus at an intersection. This means that when high-precision vehicle probe information that can confirm behavior at the lane level has already been acquired, traveling from each entry lane to each exit lane at the intersection where the vehicle probe information is acquired You can see the number. Therefore, the priority 5a5 is set so that links within an intersection corresponding to a route with a large number of vehicles traveled are prioritized, and the priority 5a5 is set so that links within an intersection corresponding to a route with a small number of travels are not prioritized. Further, not only the number of vehicles but also the time and speed required for traveling may be evaluated. A link in an intersection corresponding to a route with a long running time or a large fluctuation in speed during running is assumed to be a link that is difficult to travel due to interference with a vehicle passing through a link in an intersection corresponding to another route and is not given priority. Priority 5a5 is set as described above. Alternatively, the priority 5a5 may be set by evaluating not only the traveling number of the route but also the traveling number of the intersecting route.

  The five setting criteria described above may be used to calculate the priority 5a5 by combining a plurality of methods. For example, an average value of a plurality of priorities 5a5 calculated by a plurality of methods may be set, or the priority 5a5 may be calculated by a weighted average or the like in which each setting criterion is weighted.

  Regarding the priority 5a5 calculated based on the above-described setting criterion, a link within an intersection having a value equal to or less than a predetermined value is not included (deleted) in the link table 5a1 because the possibility of being selected as a route to travel is low. You may.

  In addition, since the possibility of turning right and left and the traffic volume may change depending on the time zone and the day of the week, the priority 5a5 may be set for each condition such as the time zone and the day of the week. Alternatively, depending on the type of vehicle, such as a large vehicle or a small vehicle, the ease of passage or legal traffic may change, so the priority 5a5 may be set for each vehicle type.

  The route search unit 3 searches for a route from the input unit 2 to the set destination with reference to the map data 5a including the link table 5a1 in which the priority 5a5 is set as described above. Then, when searching for a route that passes through an intersection, the route search unit 3 refers to the priority 5a5 so as to search for an appropriate intra-intersection link.

  According to the present embodiment, the map data 5a has a data structure including a link table 5a1 relating to an intra-intersection link connecting the entrance lane link and the exit lane link at the intersection I, and the link table 5a1 has a priority at the intersection I. The degree 5a5 is set. In this way, by referring to the priority 5a5, it is easy to select which link should be taken as the route to travel at the intersection I, and the vehicle can pass through the intersection I appropriately.

  Further, the priority 5a5 may be set based on a distance from an entrance lane link to an exit lane link in a target intra-intersection link. By doing so, it is possible to preferentially pass a link that can pass through the intersection I in the shortest distance.

  Further, the priority 5a5 may be set based on the number of intersections of the target intra-intersection link with other intra-intersection links. In this way, a link having a small number of intersections with other links at the intersection I can be preferentially passed.

  The priority 5a5 may be set based on the lighting pattern of the traffic light at the intersection I. By doing so, even when the number of intersections with other links at intersection I is large, it is possible to set the priority 5a5 by excluding links that do not actually intersect according to the lighting pattern of the traffic light. Therefore, it is possible to make a traffic according to the situation of the intersection I.

  Further, the priority 5a5 may be set based on the traffic signs shown in the intersection I and the exit lane. In this way, the priority 5a5 can be set in consideration of the traffic sign.

  Further, the priority 5a5 may be set based on the ease of travel when the target intra-intersection link is a predetermined curve and the vehicle runs on the curve. By doing so, for example, it is possible to travel on a route that does not cause the occupant of the traveling vehicle or the like to feel uncomfortable, such as a small change in acceleration during traveling.

  Further, the priority 5a5 may be set based on a traveling locus at the intersection I. By doing in this way, it is possible to set so that priority is given to the priority 5a5 of the link having a large number of trajectories traveled by other vehicles.

  Further, the navigation device 1 includes a route search unit 3 that searches for a route from a predetermined point to a destination. The route search unit 3 acquires map data 5a, and obtains a route to the destination based on the map data 5a. To explore. In this way, it is possible to select a traveling route at an intersection based on the information indicating the priority 5a5 included in the map data 5a.

  In the above-described embodiment, the map data 5a includes the priority 5a5. However, the map data 5a may include the priority 5a5 as data different from the map data 5a. For example, if the priority data is set in association with the link ID of the link within the intersection and the value of the priority, the priority is determined from the link ID of the link within the intersection included in the map data 5a even in a separate file. Can be traced. Further, when only the priority data is changed, it is not necessary to update the entire map data 5a, and the processing load can be reduced.

  Further, in the above-described embodiment, the use of the priority 5a5 in the navigation device (route search device) has been described. However, for example, information based on the priority 5a5 is displayed on the display unit 4 in a state in which route guidance or the like is not performed. You may make it display. For example, in a state where the map and the current location are displayed on the display unit 4, when approaching the intersection, the priority of the link in the intersection is displayed by a numerical value, the thickness of an arrow, or the like for each of straight ahead, left turn, and right turn. That is, information indicating the priority may be used on the display device instead of the route search device.

  FIG. 8 is an example of a display on the display unit 4, in which the traffic lane links L1 to L3 are displayed on the lower side by inverting the intersection I shown in FIG. Reference symbol A in FIG. 8 indicates the current position of the vehicle. Then, when the vehicle A travels on the entering lane link L3 and enters the intersection I, the links in the intersection connected to the exit lane links that can exit from the entering lane link L3 are displayed, and the priority (priority order) is given to each. ) Is displayed.

  In FIG. 8, when turning left at the intersection I, there are two links, an intra-intersection link connected to the exit lane link L4 and an intra-intersection link connected to the exit lane link L5. In this case, if the priority of the link in the intersection connected to the exit lane link L4 is "1", "1" is displayed near the arrow indicating the link, and the priority of the link in the intersection connected to the exit lane link L5. Is "2", "2" is displayed near the arrow indicating the link.

  In FIG. 8, when traveling straight at the intersection I, there are two links, an intra-intersection link connected to the exit lane link L7 and an intra-intersection link connected to the exit lane link L8. In this case, if the priority of the link in the intersection connected to the exit lane link L7 is “1”, “1” is displayed near the arrow indicating the link, and the priority of the link in the intersection connected to the exit lane link L8 Is "2", "2" is displayed near the arrow indicating the link.

  In FIG. 8, when turning right at the intersection I, there are only links within the intersection connected to the exit lane link L10. In this case, if the priority of the link in the intersection connected to the exit lane link L10 is “1”, “1” is displayed near the arrow indicating the link.

  Therefore, the driver of the own vehicle A can determine the route at the intersection I with reference to this display and run. That is, the information indicating the priority can be utilized other than the automatic driving.

  Next, an information processing apparatus according to a second embodiment of the present invention will be described with reference to FIGS. The same parts as those in the first embodiment are denoted by the same reference numerals, and the description is omitted.

  FIG. 9 shows a functional configuration of the information processing apparatus 1A according to the present embodiment. The information processing device 1A includes an input unit 2, a processing unit 3A, an output unit 4A, and a storage unit 5. The information processing apparatus 1A will be described as an in-vehicle device in the following description, but may be configured as a mobile device or a server device, similarly to the navigation device 1 described in the first embodiment.

  The input unit 2 and the storage unit 5 are the same as in the first embodiment. The processing unit 3A selects a lane to travel based on detection information from the sensor 6 described below and current position information from the GPS receiver 10. In particular, in the present embodiment, a link to be used as a traveling route is selected based on detection information from the sensor 6 from links within the intersection connecting the entrance lane link and the exit lane link within the intersection. The processing unit 3A may have the function of the route search unit 3 described in the first embodiment, or the function of the route search unit 3 may be executed by another block (not shown).

  The output unit 4A outputs information on the link selected by the processing unit 3A to a device or the like that controls automatic driving, for example, when traveling by automatic driving. Otherwise, the information of the link selected by the processing unit 3A may be displayed on a display unit or the like as in the first embodiment.

  The sensor 6 is composed of, for example, a vehicle-mounted camera. The on-board camera constituting the sensor 6 captures an image in front of the vehicle and outputs it to the processing unit 3A. Hereinafter, the sensor 6 will be mainly described with an in-vehicle camera, but may be a lidar, a millimeter wave radar, or the like, or may be composed of a plurality of types.

  Further, the sensor 6 is not limited to a sensor such as an in-vehicle camera for acquiring a situation of an object such as a terrestrial object in a predetermined direction. A brightness sensor or the like for detecting the brightness of the image may be further included. In addition, it is good also as a structure which accesses the web server etc. which provide weather information instead of a rain sensor.

  Next, an operation (information processing method) in the information processing apparatus 1A having the above configuration will be described with reference to a flowchart of FIG. The flowchart shown in FIG. 10 is executed by the processing unit 3A.

  First, in step S1, the current position information of the vehicle to be processed is acquired from the GPS receiver 10.

  Next, in step S2, based on the current position information acquired in step S1, it is determined whether the current position is a predetermined distance from the intersection. In the present embodiment, the intersection is the intersection of two or more roads when two or more roads intersect, as in the first embodiment. Then, the position before the predetermined distance indicates a position (d in FIG. 11) that is separated by a predetermined distance from the range of the intersection when the vehicle C enters the intersection in FIG. The predetermined distance is, for example, a distance that allows the range of the intersection to be seen through.

  Next, in step S3, environment information is acquired. The environment information is information obtained from a captured image output from the sensor 6. For example, the lighting status of the traffic light installed at the intersection (lighting color, presence or absence of an arrow, etc.), presence or absence of oncoming vehicles such as waiting for a right turn, or obstacles such as parked vehicles in the exit lane or pedestrians crossing the pedestrian crossing May be included. Furthermore, the presence or absence of rainfall obtained from the above-mentioned rain sensor and the state of brightness obtained from the brightness sensor are also included in the environment information. That is, the processing unit 3A functions as an environment information acquisition unit that acquires environment information at an intersection.

  That is, the environment information is information about the outside of the vehicle detected by the sensor 6 as described above, and is information whose state dynamically changes such as the color of a traffic light and the presence or absence of an oncoming vehicle. Therefore, the information is difficult to set in advance, such as the priority 5a5. In other words, it can be said that the information hinders the travel of the intersection link and the information that affects the selection of the intersection link.

  Next, in step S4, link information is acquired. This link information is the link table 5a1 described in the first embodiment. That is, in this step, information on the links within the intersection and information indicating the priority are acquired. That is, the processing unit 3A functions as a link information acquisition unit that acquires link information on a link in an intersection that connects a link indicating an entry lane and a link indicating an exit lane at an intersection. The execution order of steps S3 and S4 may be reversed.

  Next, in step S5, a link within the intersection is selected. In this step, the priority obtained in step S4 is recalculated (changed) in consideration of the environment information obtained in step S3, and a link in an intersection to be driven is selected based on the recalculated priority. That is, the processing unit 3A functions as a selection unit that selects an intra-intersection link to be used as a traveling route from the inter-intersection link information based on the environment information and the information indicating the priority.

  For example, in the case where the priority is set in the link table by the number of intersections with other links in the intersection, when making a left turn from the approach lane link L3 as shown in FIG. 12, in the first embodiment, , Link L34 is selected. However, when there is no vehicle turning left in the approach lane links L1 and L2 which are the other lane links heading in the same direction, when there is no vehicle waiting to turn right in the approach lane link L9 which is the opposite lane, or when the link L9 side is a red light If there is no possibility of a right turn, the number of intersections between the link L34 and the link L35 can be considered substantially the same. Therefore, the substantial link L34 and the link L35 when evaluated by the number of intersections have the same priority.

  Therefore, based on the image captured by the on-board camera, the presence or absence of a vehicle in a parallel lane or an oncoming lane, and the state of a signal are detected. When a link within an intersection is set to a predetermined curve, which is described as a reference, for example, the fourth setting reference in the first embodiment, the priority is set based on the ease of running when the curve is used as a route. It is possible to evaluate again and select the link L35. Of course, the evaluation may be performed based on other setting criteria.

  Next, in step S6, it is determined whether or not the traveling of the vehicle has been completed due to arrival at the destination or the like.

  As is clear from the above description, step S3 functions as an environment information acquisition step, step S4 functions as a link information acquisition step, and step S5 functions as a selection step.

  In the present embodiment, the priority is included in the link table 5a1, but there may be no priority. In that case, the link in the intersection may be selected based on only the environmental information (for example, the state of the traffic light and the presence or absence of an oncoming vehicle).

  According to the present embodiment, in the information processing apparatus 1A, the processing unit 3A acquires the link table 5a1 relating to the link in the intersection connecting the entrance lane link and the exit lane link at the intersection, and further acquires the environment information at the intersection. I do. Then, the processing unit 3A selects an intra-intersection link to be a traveling route based on the acquired environment information. In this way, it is possible to select an appropriate link based on environmental information such as the state of a traffic light at an actual intersection and the presence or absence of an oncoming vehicle.

  Further, in the link table 5a1, information indicating the priority based on the characteristics of the link in the intersection is set for each link in the intersection, and the processing unit 3A performs the processing in the intersection based on the environment information and the information indicating the priority. A link within an intersection to be a traveling route is selected from the links. By doing so, it is possible to select a link to pass through in consideration of environmental information as information indicating a priority.

  Further, the processing unit 3A selects a link within an intersection that is easy to travel as a traveling route. By doing so, it is possible to travel on a route that does not cause the occupant of the traveling vehicle or the like to feel uncomfortable, such as a small change in acceleration based on the environmental information.

  The present invention is not limited to the above embodiment. That is, those skilled in the art can make various modifications in accordance with conventionally known knowledge without departing from the gist of the present invention. As long as the map data of the present invention is provided even by such a modification, it is of course included in the category of the present invention.

1 navigation device (route search device)
1A information processing device 3 route search unit (map data storage device)
3A processing unit (link information acquisition unit, environment information acquisition unit, selection unit)
4 display unit 5 storage unit 5a map data 5a1 link table (link information)
5a5 Priority

Claims (6)

A link information acquisition unit that acquires link information about a link in an intersection that connects a link indicating an entry lane and a link indicating an exit lane at an intersection;
An environment information acquisition unit that acquires environment information at the intersection;
A selection unit that selects the link in the intersection to be a traveling route based on the environment information acquired by the environment information acquisition unit,
An information processing apparatus comprising: In the link information, information indicating a priority for each link in the intersection is set,
The information processing apparatus according to claim 1, wherein the selection unit selects the link within the intersection to be the travel route among the links within the intersection based on the environment information and the information indicating the priority. .   The information processing apparatus according to claim 1, wherein the selection unit selects the link within the intersection that is easy to travel as the travel route. An information processing method executed by an information processing apparatus that performs a predetermined process based on link information on a link in an intersection connecting a link indicating an entry lane and a link indicating an exit lane at an intersection,
A link information acquisition step of acquiring the link information;
Environment information acquisition step of acquiring environment information at the intersection,
A selection step of selecting the link in the intersection to be a traveling route based on the environment information acquired in the environment information acquisition step,
An information processing method comprising:   An information processing program for causing a computer to execute the information processing method according to claim 4.   A computer-readable recording medium storing the information processing program according to claim 5.

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