JP2020030188A - Map information generation device and automatic driving system - Google Patents

Abstract

To provide a technology for further reducing the capacity of map information to be output.SOLUTION: A map information generation device executes: first processing for acquiring and outputting first map information of a point where an own vehicle can travel at a predetermined place of a road on which the own vehicle is traveling; and second processing for acquiring and outputting second map information of a point where the own vehicle cannot travel after the first processing.SELECTED DRAWING: Figure 2

Description

  The present disclosure relates to a map information generation device and an automatic driving system.

  Currently, technologies for automatically driving vehicles are being actively developed. In automatic driving, it is important to determine the current position of the vehicle. In general, the current position of the vehicle can be determined, for example, by specifying the current coordinates of the vehicle by GNSS (Global Navigation Satellite System) and by specifying the direction of the vehicle by a sensor.

  In the navigation technology using GNSS, map information is stored in a storage unit such as a database (DB), and when a user inputs a destination, the destination is input based on the map information stored in the storage unit. For a route guidance route. At this time, high-precision map information is generated by adding map information around the own vehicle to the route information, and output to the automatic driving control device.

  For example, Japanese Patent Application Laid-Open No. H11-163873 discloses a technique of “creating low-cost road map information with a small data size to which the latest and detailed road information is added” at a low cost. 3D point group information of latitude / longitude / altitude for each point at a predetermined interval is obtained from the first server, and 2D map information of latitude / longitude for each pixel or several pixels is obtained from the second server. By combining the two-dimensional map information with the two-dimensional map information, basic map information is created by adding altitude information for each point to the two-dimensional map information, and the road is determined based on the movement locus of the position information obtained from the moving object. Is generated, road map information is created by adding road information to the basic map information, and output to the mobile unit. At this time, if position information, angular velocity information, and / or acceleration information are obtained from the mobile unit, information Based calculates gradient information of the road, adding altitude information on a road of the road map information on the basis of the altitude information for each point and slope information "that discloses.

JP 2018-106017 A

However, Patent Document 1 aims to reduce the data size of road map information, but generates information such as all features, lanes and road widths as basic map information, and outputs all information to an automatic control device. I do. Therefore, high-priority information and low-priority information are provided together to the automatic driving control device, and the data amount of the map information is not sufficiently reduced. For example, if a vehicle is approaching an intersection, it can be said that the information on the lane corresponding to the traveling direction is more important than the information on the opposite lane or the information behind the vehicle. It is irrational from the viewpoint of volume reduction.
The present disclosure has been made in view of such a situation, and provides a technique for further reducing the capacity of output map information.

  As a result of the inventor's diligent study of the above-described problems, when the vehicle approaches a specific place such as an intersection, map information of points that affect the traveling of the vehicle and points at which other vehicles flow (the vehicle It is not necessary to treat map information of points that cannot be entered if you drive as it is (including points that cannot be entered without making a U-turn) with the same importance (priority), and lower the priority of the latter over the former. It has been found that by providing the information to the automatic driving ECU, the amount of transmission data can be reduced, and the output processing of the map information can be executed efficiently.

  The present disclosure provides a position acquisition unit that acquires the current position of the own vehicle, a high-accuracy map information storage unit that stores the high-accuracy map information, and a desired position from the high-accuracy map information storage unit based on the current position of the own vehicle. A map information generation unit that obtains and outputs map information, wherein the map information generation unit obtains first map information of a point where the own vehicle can travel at a predetermined location on a road on which the own vehicle travels. And a second process for acquiring and outputting second map information of a point at which the host vehicle cannot travel after the first process. .

Further features related to the present disclosure will be apparent from the description of the present specification and the accompanying drawings. Further, aspects of the present disclosure are achieved and realized by the elements and combinations of various elements, the following detailed description, and the appended claims.
It is to be understood that the description in this specification is merely exemplary and is not intended to limit the scope of the claims or the application in any way.

  According to the present disclosure, it is possible to further reduce the capacity of map information output from the high-precision map ECU.

It is a figure showing the example of composition of automatic operation system 1 concerning this embodiment. It is a figure for explaining an outline of two-step map information output processing which map information output part 16 performs in this embodiment. FIG. 2A is a diagram illustrating an output order of map information in the first processing. FIG. 2B is a diagram illustrating the output order of the map information in the second processing. It is a flow chart for explaining the details of two-step map information output processing by this embodiment.

<Configuration example of automatic driving system>
FIG. 1 is a diagram illustrating a configuration example of an automatic driving system 1 according to the present embodiment. The automatic driving system 1 includes a high-precision map ECU 10 (HD MAP ECU: map information generation device) that generates and outputs detailed route information, high-precision map information, and the like, and an automatic driving ECU 20 (AD) that performs various controls related to automatic driving. (ECU: automatic driving control device) and a communication module 30. The high-accuracy map ECU 10 is an arithmetic control unit that is mounted on a vehicle (not shown) to be automatically driven and functions as a route generation device that generates information on the route.

  The high-precision map ECU 10 and the automatic driving ECU 20 can be connected by, for example, Ethernet (Ethernet (registered trademark)), which is a well-known communication standard. The automatic driving ECU 20 and the communication module 30 can be connected to an external device (not shown) according to a communication standard such as CAN, LIN, MOST, and FlexRay, or a combination thereof. The communication standards listed are merely examples, and the present invention is not limited to these.

  The automatic driving ECU 20 outputs IVI (In-Vehicle Infotainment) route information for automatic driving to the high-accuracy map ECU 10, and is generated in the high-accuracy map ECU 10 based on the IVI route information and the high-accuracy map information. A control unit that executes automatic driving control using detailed route information (scheduled traveling route). The IVI route information is generated by a navigation system (not shown) mounted on the vehicle, and includes information on the latitude and longitude of a plurality of points along a route between the current position and the destination.

  The high-accuracy map ECU 10 includes, for example, a gyro / acceleration sensor 11, a GNSS receiver 12, a map update unit 13, a high-accuracy map information storage unit 14, a vehicle position estimating unit 15, and a map information output unit 16. , A path information conversion unit 17.

  The gyro / acceleration sensor 11 is a detector that measures the angular velocity, acceleration, and / or speed of the vehicle. The GNSS receiver 12 is a receiver that acquires the absolute position coordinates of the vehicle from the GNSS system. The map update unit 13 receives update data of a high-accuracy map from the outside via the communication module 30 and updates the high-accuracy map information. The high-accuracy map information storage unit 14 is a data holding unit that stores updated high-accuracy map information.

  The own vehicle position estimating unit 15 (locator) estimates the current absolute position of the vehicle based on the absolute position coordinates of the vehicle acquired by the GNSS receiver 12, and calculates the angular velocity, acceleration, vehicle speed, and the like acquired by the gyro / acceleration sensor 11. Is used to estimate the relative position of the vehicle based on the absolute position coordinates. The relative position represents a vehicle position with higher accuracy than the absolute position, and also has a role of complementing coordinates acquired intermittently via the GNSS. Then, the own vehicle position estimating unit 15 executes a map matching process for correcting the calculated vehicle position using the high-accuracy map information stored in the high-accuracy map information storage unit 14, and executes the corrected vehicle position (self- In addition to outputting the vehicle position) to the map information output unit 16, the vehicle position (own vehicle position), the vehicle direction, sensor detection information, traveling road information, and traveling lane information are output to the automatic driving ECU 20. The vehicle position estimating unit 15 also receives, from the automatic driving ECU 20, vehicle information on the vehicle to be automatically driven and image information (camera recognition result) captured by a camera mounted on the vehicle, and estimates the relative position. Can also be used.

  The map information output unit 16 includes the high-accuracy map information read from the high-accuracy map information storage unit 14, the current position of the vehicle (own vehicle position) estimated by the own vehicle position estimation unit 15, and the route information conversion unit 17. Based on the scheduled travel route (detailed route information) and the lane information (only the information of the first lane in the case of a one-lane road) obtained in the above, a travel plan is made with reference to the high-accuracy map information storage unit 14. It generates route information used for this purpose, route-side map information used for traveling control, and peripheral map information, and outputs the generated information to an automatic driving ECU (automatic driving control device) 20. In the present embodiment, when the map information output unit 16 outputs the map information to the automatic driving ECU 20, the map information output unit 16 acquires all information within a predetermined range from the vehicle position from the high-accuracy map information storage unit 14, and acquires the information. We propose a technique to solve the problem that when all the information is output, the amount of transmission data becomes enormous and it takes time to complete data transmission. In order to solve the problem, when the vehicle arrives at a predetermined place (for example, an intersection), the map information output unit 16 first executes the traveling of the own vehicle among the map information stored in the high-accuracy map information storage unit 14. The map information of the possible driving lane is output, and thereafter, the related map information (map information of the entrance from another lane) is output, and the other map information is not output (two-step map information output). processing). As described above, in the present embodiment, the map information output unit 16 can output a minimum amount of map information, thereby reducing the amount of data transmitted to the automatic driving ECU 20 (two-step map information output processing). Will be described later in detail). Here, the route information includes detailed route information and lane information within a predetermined range of the route from the vehicle position to the destination. The route map information is map information including road section line information, sign information, feature information, and the like existing within a predetermined range along the obtained route (for example, along a route 200 to 500 m ahead of the vehicle position). . Further, the surrounding map information is map information including sign information, feature information, and the like existing around the position of the own vehicle (for example, within a radius of 200 to 500 m).

  The route information conversion unit 17 is configured to switch between the IVI route information (first route information) acquired from the automatic driving ECU 20 and the link / node data included in the high accuracy map information obtained from the high accuracy map information storage unit 14. Then, detailed route information (second route information: scheduled travel route), which is route information with higher accuracy than the IVI route information, is generated and output to the automatic driving ECU 20 according to the result. The route information conversion unit 17 further obtains information on the position of the vehicle from the vehicle position estimation unit 15 and reflects the information on the position of the vehicle in the detailed route information.

<Two-step map information output process>
As described above, in order to solve the problem of reducing the amount of data transmitted to the autonomous driving ECU 20 and shortening the data transmission time, the map information output unit 16 is provided at a predetermined location (for example, at an intersection, during lane regulation / no traffic). And the like, a first process of outputting map information of a drivable lane in which the own vehicle can travel from among the map information stored in the high-precision map information storage unit 14 when the vehicle is approaching Then, a second process for outputting related map information (such as map information of an entrance from another lane) and not outputting other map information is executed.

(I) Outline of Two-Step Map Information Output Process FIG. 2 is a diagram for explaining an outline of a two-stage map information output process executed by the map information output unit 16 in the present embodiment. FIG. 2A is a diagram illustrating an output order of map information in the first processing. FIG. 2B is a diagram illustrating the output order of the map information in the second processing. In FIG. 2, a case of a one-lane road is described as an example for simplicity.

  In the map information, the road is constituted by nodes (points A to V in FIG. 2) and links (for example, 50 to 100 m) connecting the nodes. Then, map information on the road and around the road (information on features such as road signs, signboards, and buildings) is managed in association with links. For example, a link between the node A and the node H is associated with map information existing therebetween, and if a link is specified, map information accompanying the link can be obtained.

  When it is detected that the vehicle position is approaching an intersection or another predetermined point, the map information output unit 16 executes a first process. In other words, the map information output unit 16 is a point (node) of a lane in which the own vehicle can travel (along the traveling direction) and is a predetermined distance (for example, 200 to 500 m) from the current own vehicle position. Obtain information of each point (each node). Then, the map information output unit 16 determines the order of the points (nodes) of the map information to be transmitted to the automatic driving ECU 20. For example, as shown in FIG. 2A, when the own vehicle is located between points H and A (when traveling between the HAs), the traveling direction from the own vehicle position (straight running direction, right turning direction, and left turning direction) ), Information on nodes and links included within a predetermined distance (for example, 500 m). In the case of FIG. 2A, acquired points (nodes) are A, B, C, D, Q, R, T, S. Next, the map information output unit 16 determines the transmission order of the map information according to a predetermined rule. Here, as a predetermined rule, for example, if the vehicle does not turn on the turn signal, the priority is set in the order of straight traveling direction → left turn direction → right turn direction, and if the turn signal is on, the turn signal is turned on. The priority can be set higher in the order of the direction in which the vehicle extends, the direction in which the vehicle travels straight, and the direction in which the vehicle turns in the opposite direction to the turn signal. In the case of FIG. 2A (assuming that no turn signal is output), the transmission order can be A → B → T → Q → C → S → R → D. Since the map information is linked to the link between the nodes, the transmission order of the map information is as follows: map information between AB, map information between BC, map information between TS, map information between QR, map between CDs. Information → map information between S and the next node → map information between R and the next node → map information between D and the next node →.

  When the first process ends, the map information output unit 16 executes a second process. In the second process, the map information output unit 16 is a point (node) on the road (lane) corresponding to the entrance of the intersection, and is a predetermined distance from the own vehicle position (smaller than the range in the first process). It may be set to a range, for example, information of each point up to 100 to 200 m) is obtained. Then, the map information output unit 16 determines the order of the points (nodes) of the map information to be transmitted to the automatic driving ECU 20. For example, as shown in FIG. 2B, when the own vehicle enters an intersection (when running between HABs), information on each point from the entrance point of the lane in which the own vehicle cannot travel is acquired. . In the case of FIG. 2B, the acquired points (nodes) are L, M, N, O, P, U, V,. Next, the map information output unit 16 sets the transmission order, for example, in ascending order of the distance from the own vehicle position. In the case of FIG. 2B, since the point P is closest to the own vehicle position, the map information associated with each point is output to the automatic driving ECU 20 in the clockwise order from the point P. That is, the transmission order can be P → L → U → K. Since the map information is linked to the link between the nodes, the order of transmitting the map information is as follows: map information between POs → map information between LMs → map information between UVs → map information between KJ → O and next , Map information between nodes, map information between MNs, map information between V and the next node, map information between JIs, and so on. Since the map information of the own vehicle's retreat point (H and G in FIG. 2) has already been acquired before reaching the intersection and has been transmitted to the automatic driving ECU 20, the two-step map information output processing is performed. Can be outside. However, the output of the points H and G is not excluded in the second processing, and the map information related to the retreat point may be output in the second processing.

(Ii) Details of Two-Step Map Information Output Processing FIG. 3 is a flowchart for explaining details of the two-step map information output processing according to the present embodiment. Here, the operation subject in each step is the map information output unit 16, but when the map information output unit 16 is configured by a program, the high-accuracy map ECU 10 as a processor can be read as the operation subject. In the flowchart, the two-step map information output process is executed in the order of step 301 to step 306. However, the process may be executed in the order of step 303 → step 305 → step 304 → step 306. Good. That is, the output order of all points may be determined, and then the corresponding map information may be output. Further, a configuration of parallel processing for sequentially outputting map information from the point in which the output order of points is determined may be adopted.

(Ii-1) Step 301
While the vehicle is traveling, the map information output unit 16 is traveling based on the vehicle position acquired from the vehicle position estimation unit 15 and the detailed route information acquired from the route information conversion unit 17. A link (a link between nodes) is specified, and map information around the own vehicle position, which is linked to the specified link, is acquired from the high-accuracy map information storage unit 14. For example, when the vehicle is traveling on a link between the nodes G and H, map information associated with the link (for example, information on a feature existing within a radius of 100 m of the vehicle position). Is obtained.

(Ii-2) Step 302
The map information output unit 16 determines whether or not the own vehicle position has entered a range of a predetermined distance (for example, 100 to 200 m) to an intersection in front of the host vehicle. If it is determined that the vehicle has entered the predetermined distance range (Yes in step 302), the process proceeds to step 303. When it is determined that the vehicle has not yet entered the predetermined distance range (No in step 302), the process returns to step 301, and the normal map information acquisition processing is continued. In the present embodiment, an example is described in which the two-step map information output process is executed when the own vehicle enters a predetermined distance range to the “intersection”. Any location may be used as long as the priority (importance) of the acquired information can be assigned as the entrance point of the own vehicle and the entrance point of the other vehicle, such as a "point" and a "multi-lane junction".

(Ii-3) Step 303
The map information output unit 16 specifies a lane point (node) at which the vehicle can travel at an intersection to be entered in accordance with the traveling lane information (the lane position during traveling) acquired from the vehicle position estimating unit 15, Determine the output order of map information. If the running road is a one-lane road, the output (transmission) order of the map information of the lane points where the vehicle can travel is one type, but if the running road is a road with two or more lanes, The output order determined depends on the traveling lane of the vehicle.

  A specific example will be described with reference to FIG. 2A. For example, when the vehicle is traveling on the center lane on a three-lane road, the priority of the point (node) B is set higher than that of the points T and Q. At this time, the output order of the map information can be determined as A → B → T → Q. When the vehicle is traveling in the left lane, for example, points B and T have the same priority, and point Q has a lower priority than them. At this time, the output order of the map information can be determined as A → B → T → Q... Or A → T → B → Q. For example, when the own vehicle outputs a left turn signal at an early stage, the output order may be determined as A → T → B → Q. Further, when the own vehicle is traveling in the right lane, points B and Q have the same priority, and point T has a lower priority than them. At this time, the output order of the map information can be determined as A → B → Q → T... Or A → Q → B → T. For example, when the own vehicle gives a right turn signal at an early stage, the output order may be determined as A → Q → B → T.

(Ii-4) Step 304
The map information output unit 16 outputs to the automatic driving ECU 20 the map information of the lane point at which the vehicle can travel at the intersection in accordance with the output order determined in step 303. For example, if the output order is determined in step 304 as A → B → T → Q → C → S → R → D, the map information is linked to the link between the nodes. , Map information between AB → map information between BC → map information between TS → map information between QR → map information between CD → map information between S and the next node → between R and the next node Map information → D and map information between the next nodes →.

(Ii-5) Step 305
The map information output unit 16 specifies another vehicle entrance point (node) at an intersection to be entered in accordance with the travel lane information (traveling lane position) acquired from the host vehicle position estimation unit 15, and outputs the map information. Determine the output order. If the traveling road is a one-lane road, the output (transmission) order of the map information at the entry point of another vehicle is one type, but if the traveling road is a road with two or more lanes, the self The output order determined depends on the traveling lane of the vehicle.

  A specific example will be described with reference to FIG. 2B. For example, when the vehicle is traveling on the central lane on a three-lane road, the point (node) P has a higher priority than the points L and U. At this time, the output order of the map information can be determined as P → L → U → K. When the vehicle is traveling in the left lane, for example, point U has a higher priority than points P, L, and K, and then point L has a higher priority than points P and K. Set high. Further, since there is a possibility that a vehicle making a U-turn from point P may exist, point P is set to have a higher priority than point K. At this time, the output order of the map information can be determined as U → L → P → K. Further, when the vehicle is traveling in the right lane, the priority is set in the order of point U, then point L, and then points P and K. At this time, the output order of the map information can be determined as U → L → P → K. For example, when the own vehicle gives a right turn signal at an early stage, the output order may be determined as A → Q → B → T.

  Note that the output order of the map information at the entrance point of the other vehicle is not strictly considered like the output order of the map information at the lane point where the own vehicle can travel, and the lane in which the own vehicle is traveling is not considered. May be determined in a fixed output order (for example, always P → L → U → K...).

(Ii-6) Step 306
The map information output unit 16 outputs the map information of the other vehicle entrance point at the intersection to the automatic driving ECU 20 according to the output order determined in step 305. For example, if the output order is determined as P → L → U → K... In step 305, the map information is linked to the link between the nodes, and the output order of the map information is Information → Map information between LM → Map information between UV → Map information between KJ → Map information between O and next node → Map information between MN → Map information between V and next node → JI Map information → ...
Note that, for example, when the vehicle passes the intersection, the two-step map information output processing ends.

<Summary>
(I) As described above, in the present embodiment, the map information generation unit (map information output unit 16) is configured to output a predetermined location (for example, an intersection, a location where other roads join) on the road on which the vehicle is traveling. ), A first process of acquiring and outputting first map information (feature information, lane marking information, lane regulation information at time, etc.) of points at which the own vehicle (own vehicle) can travel, After the first process, a second process of acquiring and outputting second map information of a point at which the host vehicle cannot travel (for example, an entry-prohibited point or a reverse entrance) is executed. By doing so, it is possible to preferentially output information important for the own vehicle to the automatic driving ECU 20, so that it is possible to reduce the amount of data to be transmitted in one process.

  In the first process, the map information generation unit may set priorities for a plurality of points in a predetermined place where the host vehicle can travel, and output the first map information in the order of the priorities. Good. Even at points where the host vehicle can run, information on all points is not important at the same level. For this reason, in the present embodiment, when there are a plurality of points for outputting the first map information at the time of the first processing, the priority (importance) is determined for them, and the first map information is automatically assigned in that order. It outputs to driving ECU20. By doing so, the efficiency of data transmission can be improved.

  Further, in the second process, similarly, the map information generation unit sets priorities for a plurality of points at which the vehicle cannot travel at a predetermined location, and outputs the second map information in the order of the priorities. You may do so. By doing so, the efficiency of data transmission can be further improved.

  When the own vehicle approaches the intersection of the road, the map information generation unit determines, in the first processing, the output order of the first map information of a plurality of points on the lane where the own vehicle can travel at the intersection, and the determination is performed. The first map information is output to the automatic driving ECU 20 in the output order thus set. In the second process, the map information generation unit determines the output order of the second map information at the point where the other vehicle flows into the intersection (including the point where the own vehicle cannot enter), and determines the determined output. The second map information is output to the automatic driving ECU 20 in the order. By doing so, the efficiency of the map information transmission process at the intersection can be improved, and the amount of data to be transmitted can be reduced. It should be noted that the first map information includes information on lane markings of a plurality of points at an intersection where the host vehicle can travel, and features. In addition, the second map information includes information on a lane marking of a point at which another vehicle flows into the intersection and a feature.

(Ii) Modifications The present disclosure is not limited to the above embodiments, and includes various modifications. For example, the above embodiments have been described in detail for easy understanding of the present disclosure, and are not necessarily limited to those having all the configurations described above. In addition, a part of the configuration of one embodiment can be replaced with the configuration of another embodiment, and the configuration of one embodiment can be added to the configuration of another embodiment. Further, for a part of the configuration of each embodiment, it is possible to add, delete, or replace another configuration.

  Each of the above-described configurations, functions, processing units, processing means, and the like may be partially or entirely realized by hardware, for example, by designing an integrated circuit. In addition, the above-described configurations, functions, and the like may be realized by software by a processor interpreting and executing a program that realizes each function. Information such as a program, a table, and a file for realizing each function can be stored in a memory, a hard disk, a recording device such as an SSD (Solid State Drive), or a recording medium such as an IC card or an SD card. In addition, control lines and information lines are shown as necessary for the description, and do not necessarily indicate all control lines and information lines on a product. In fact, it can be considered that almost all components are connected to each other.

1 Automatic driving system 10 High-precision map ECU
20 Autonomous driving ECU
Reference numeral 30 Communication module 11 Gyro / acceleration sensor 12 GNSS receiver 13 Map updating unit 14 High-accuracy map information storage unit 15 Own vehicle position estimating unit 16 Map information output unit 17 Route information conversion unit

Claims (6)

A map information generation device that generates map information used for automatic driving control of the own vehicle,
A position acquisition unit that acquires a current position of the vehicle,
A high-precision map information storage unit for storing high-precision map information;
A map information generation unit that acquires and outputs desired map information from the high-accuracy map information storage unit based on the current position of the vehicle,
The map information generation unit obtains and outputs first map information of a point at which the host vehicle can travel at a predetermined location on a road on which the host vehicle is running, and a first process of obtaining and outputting the first map information. A map information generation device that executes a second process of obtaining and outputting second map information of a point at which the host vehicle cannot travel. In claim 1,
The map information generating unit, in the first processing, sets a priority at a plurality of points at which the host vehicle can travel at the predetermined location, and outputs the first map information according to the priority. Information generation device. In claim 1,
The map information generating unit sets, in the second processing, priorities at a plurality of points at which the host vehicle cannot travel at the predetermined location, and outputs the second map information according to the priorities. Map information generation device. In claim 1,
The predetermined location on the road is an intersection,
The map information generation unit includes:
In the first process, an output order of the first map information of a plurality of points of a lane on which the host vehicle can travel at the intersection is determined, and the first map information is output in the determined output order;
In the second processing, a map information generation device that determines an output order of the second map information at a point at which another vehicle flows into the intersection, and outputs the second map information in the determined output order. In claim 4,
The first map information includes information on lane markings of a plurality of points at the intersection where the host vehicle can travel, and features.
The map information generating device, wherein the second map information includes information on a lane marking of a point at which the other vehicle flows into the intersection and a feature. A map information generating device according to claim 1,
Receiving the first map information generated by the first processing and the second map information generated by the second processing from the map information generating apparatus, and controlling the automatic driving of the own vehicle; An operation control device;
Automatic driving system equipped with.

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