JP2021111329A - Map production system - Google Patents

Abstract

To address a possibility that, when an arithmetic operation concerning driving assist is performed in combination with map information and a GPS, if an abrupt jump of a moving entity that is not registered as map information or a communication delay are observed, the driving assist may not be provided in time.MEANS FOR SOLVING THE PROBLEM: According to an embodiment, a server device 130 that communicates with a terminal, which acquires ambient information, over a network 101 constructs current situation map information using the ambient information and map information stored in each terminal. For example, when an automobile 100 heads for a destination, a rolling route to the destination is designated, and a predictive arithmetic operation for the rolling route to the destination is performed based on the current situation map information. The predictive arithmetic operation is performed on a time succeeding a current time. A result of the predictive arithmetic operation 14A is communicated to the automobile 100. The automobile 100 can safety roll through control based on the current time.SELECTED DRAWING: Figure 1

Description

The present invention relates to a map generation system.

In a vehicle such as an automobile, Patent Document 1 describes that the vehicle travels in the assigned area along the route to the destination assigned by the server, thereby alleviating traffic congestion by preventing the vehicle from slowing down. It is disclosed that effective use of space will be carried out.

WO2017 / 111126

In this way, it is expected that the realization of automatic driving technology in the driving of a vehicle will enable the driver to move quickly to the destination and to support the driving operation of the occupant to improve the safety of the movement. However, in Patent Document 1, the referenced map lacks immediacy.

Therefore, in view of the above problems, it is an object of the present invention to appropriately generate map information according to the actual traffic conditions and perform a prediction calculation at a time before the current time of the vehicle to safely drive the vehicle. do.

The map generation system according to one embodiment of the present invention communicates with a vehicle having a terminal provided with a communication unit capable of communicating via a network, and at least the self of the terminal and / or the communication unit of the terminal. Current situation map information that creates current situation map information using information storage means that accumulates information of at least one of others, information accumulated in the information storage means, map information, and / or area information in which the vehicle is located. An input information collecting unit having a creation means, a traveling area calculation means for predicting and calculating the traveling area of the vehicle using the current situation map information, and a calculation transmitting means for communicating the result of the prediction calculation with the communication unit. It is composed of an output information collecting unit having and.

Preferably, at least one of the terminals is provided in the vehicle, and at least one terminal communicates with the information storage means, and the behavior of the relative positional relationship with other than the vehicle in the traveling region of the vehicle is exhibited. The algorithm to determine is the road occupancy rate for a given time.

Preferably, the traveling area of the vehicle is determined by the information accumulated in the information storage means and at least the predetermined map information and the current situation map information created by using the area information in which the vehicle is located. The prediction calculation is always performed in the course direction of the vehicle, and the vehicle always receives the result of the prediction calculation via the terminal.

Preferably, the traveling area of the vehicle is determined by at least the current situation map information composed of the predetermined map information and the current situation map information, and the determined traveling area is at least a predetermined distance and / or time. The vehicle is divided into a plurality of partitions, the current situation map information is updated before the vehicle passes through the divided area, and the traveling area calculation means or at least one of the vehicles is used with respect to the vehicle. It is to output pseudo sensor data based on the prediction calculation.

Preferably, the input information collecting unit and the output information collecting unit are provided in a server device that communicates with at least one or more vehicles having an automatic driving function via the network, and the vehicle is the server. It is to travel by automatic driving and / or manual driving according to the traveling area assigned by the device.

Preferably, the server device is at least one, the server device has a server time and a server ID, the server time is world time, and the server device obtains the result of the prediction calculation. When communicating with the communication unit, the server time and the server ID are communicated to the vehicle together with the result of the prediction calculation, and the vehicle communicates the vehicle information and the result of the prediction calculation as the vehicle's unique information. It has the server ID possessed by the server device, and when the vehicle communicates with the server device, it communicates at least the unique information of the vehicle, and when the vehicle communicates via the network. If it is different from the server ID of the vehicle, it is assumed that the result of the prediction calculation is being communicated with a server device other than the communication server device, and the server time and the server ID of the vehicle are updated. That is.

Preferably, the server device is at least one, the server device has a server time and a server ID, the server time is world time, and the server device obtains the result of the prediction calculation. When communicating with the communication unit, the server time and the server ID are communicated to the vehicle together with the result of the prediction calculation, and the vehicle communicates the vehicle information and the result of the prediction calculation as the vehicle's unique information. The server device has the server time, and when the vehicle communicates with the server device and / or a vehicle other than the vehicle and / or a traffic system, at least the unique information of the vehicle is communicated, and the vehicle communicates with the unique information of the vehicle. If the server time of the vehicle is different from the server time of the vehicle at the time of communication, the server time of the vehicle is updated as the communication range of the server device that communicated the result of the prediction calculation. ..

In the present invention, map information (current situation map information) is created by using the peripheral information possessed by various terminals and adding temporary information that is not registered in the existing registered map information according to the actual situation. By simulating (calculating) the planned vehicle travel area using the current situation map information, it is possible to drive safely even when passing through the planned travel section ahead of the current vehicle time.

In the present invention, the reliability of information can be ensured by communicating with the information storage means by a plurality of terminals. Furthermore, by avoiding relative interference due to the road occupancy rate for a predetermined time, in the case of road occupancy for a short time such as stopping or overhanging due to waiting for a traffic light, the vehicle goes into the oncoming lane (overtaking across the center line). , It is possible to drive in the same way as the driver actually drives, such as driving on the shoulder of a road.

In the present invention, the current situation map information is generated using the peripheral information possessed by various terminals, and the simulation is performed using the current situation map information. Therefore, instantaneous communication blackout or depopulation such as switching of communication base stations is performed. On the other hand, by having the pseudo information that has been simulated in advance, it is possible to travel with the pseudo information even in the communication blackout state.

In the present invention, even if the peripheral information at the current time possessed by each network operator is fragmentary, simulation is performed using the current situation map information constructed based on the information, and pseudo sensor data is performed. By generating, it is possible to compare with the actual data of the moving body, so that the relative position deviation can be tolerated regardless of the output format of the current situation map information.

In the present invention, the server device that communicates with the vehicle via the network is provided with the current situation map information creating means and the traveling area calculation means, so that the vehicle side that performs automatic driving is in charge of sensing by the own vehicle sensor. Therefore, automatic operation can be realized without having a large arithmetic processing function.

In the present invention, when the server device that communicates the vehicle information and the result of the prediction calculation has the server ID as the unique information of the vehicle, and the server device that communicates the result of the prediction calculation starts traveling outside the range of responsibility. In addition, since the start of traveling can be determined by the server ID, it is possible to quickly synchronize with the server time.

In the present invention, when the server device that communicates the vehicle information and the result of the prediction calculation has the server time as the unique information of the vehicle, the traveling outside the range of responsibility of the server device that communicates the result of the prediction calculation is started. In addition, by communicating the server time with other vehicles and the traffic system, it is possible to promptly determine the start of traveling outside the range of responsibility of the server device, and it is possible to promptly synchronize with the traveling time of surrounding vehicles.

It is a schematic explanatory diagram of the course control system which performs the route selection using the map generation system which concerns on embodiment of this invention. It is a server block diagram which concerns on embodiment of this invention. It is a vehicle block diagram which concerns on embodiment of this invention. It is a figure which showed the area algorithm at the time of merging which concerns on embodiment of this invention. It is a flowchart when there is interference which concerns on embodiment of this invention. It is a schematic explanatory drawing of the map generation system which concerns on embodiment of this invention. It is a figure which showed the area algorithm at the intersection which concerns on embodiment of this invention. It is a figure which showed the area algorithm in the traffic jam which concerns on embodiment of this invention. It is a figure which showed the area algorithm which determines the priority order which concerns on embodiment of this invention. It is a figure which showed the area algorithm in the merging at a constant velocity which concerns on embodiment of this invention. It is a figure which showed the locator process with the MEC server data which concerns on embodiment of this invention. It is a figure which showed the locator process with PC5 data which concerns on embodiment of this invention.

The best mode for carrying out the present invention will be described with reference to FIGS. 1 to 5.
FIG. 1 is a diagram for explaining an outline of the map generation system 1 according to the present embodiment. FIG. 1 shows a plurality of automobiles 100 traveling on a road as moving bodies. The map generation system 1 of FIG. 1 controls, for example, the traveling of a plurality of automobiles 100 as a plurality of moving bodies. The completed moving body may also include, for example, pedestrians, bicycles, motorcycles, carts, and the like. Unlike trains, for example, these moving bodies do not travel on orbits, so each of them can freely change its own traveling direction and traveling speed. As the terminal, traffic system information such as traffic flow and traffic volume collected by a personal communication device such as a mobile phone or GPSLogger, or a road management device arranged on the roadside such as a traffic light or a traffic information detector may be used.
The system time according to the present embodiment includes an absolute transmission time, a vehicle time, a server time, a predicted travel time, an absolute reception time, and an absolute actual travel time. The absolute transmission time is the universal time at the time of data transmission of the system connected to the network and the automobile 100, and the vehicle time is the system time in the automobile 100. The server time is the system time in the server device 130, and the absolute reception time is universal time when the data of the automobile 100 is received. The actual driving absolute time is the universal time when the automobile 100 ran in the traveling area. Unless otherwise specified, it indicates the current time.

The map generation system 1 is a server device 130 connected to a communication unit 6 as a terminal device, which will be described later, provided in each of the plurality of automobiles 100, a closed network 101 (hereinafter, network 101) which is a dedicated line, and an interconnection network 102. And a traffic system server that is connected to at least one of the Internet server 150, the network 101, and the interconnection 102 connected to the interconnection 102 and transmits traffic information such as VICS (registered trademark) in the vehicle passing area to the server device 130. It is a system composed of 140, and the server device 130 and the communication unit 6 of the plurality of automobiles 100 send and receive data to and from each other using a communication network such as a network 101. The server device 130 is provided with an input information collecting unit 4 and an output information collecting unit 5. The internetwork 102 may be configured by the network 101, and if the internetworking 102 is configured, the line speed will be high, but the capital investment cost may be higher than that of the internetworking 102.

The network 101 includes a communication system 110 including a base station 111 as a plurality of communication devices distributed in an area and a communication network control device 112, and an intelligent transportation system 120 which is an ITS (Intelligent transport [transportation] system). The transportation system server 140 is connected as a vehicle information and communication system (hereinafter, VICS (registered trademark): Vehicle Information and Communication System) that transmits traffic information in a vehicle passing area to the server device 130.

The communication network control device 112 is connected to the network 101 and a plurality of base stations 111, and the base station 111 transmits and receives various data to and from the communication device 71 of the automobile 100 housed in the cell within the communicable range. do. The communication network control device 112 transmits the data acquired from the base station 111 to the server device 130. The communication network control device 112 selects and transmits the data acquired from the server device 130 by selecting the base station 111. When the communication device 71 moves together with the automobile 100 and the radio base station 111 accommodating the communication device 71 changes, the communication network control device 112 switches the routing and the base station 111 newly accommodating the moving automobile 100. Send and receive data to and from.

As an infrastructure, the intelligent transportation system 120 includes a plurality of ADAS communication devices 121 as beacon type or wireless communication devices arranged along a road, and an ADAS distribution device 122 connected to a plurality of ADAS communication devices 121. , Have. The ADAS distribution device 122 transmits regional traffic information and the like transmitted by a server device (not shown) of the intelligent transportation system 120 connected through the network 101 to a plurality of ADAS communication devices 121 for each region. As a result, the plurality of ADAS communication devices 121 in a predetermined area can transmit local traffic information and the like to the automobile 100 passing nearby. Further, the ADAS communication device 121 may acquire data from the automobile 100 or may have its own surveillance camera function. In this case, the data and monitoring data transmitted from the automobile 100 may be transmitted to the server device 130 through the ADAS communication device 121, the ADAS distribution device 122, and the network 101.

The traffic system server 140 transmits VICS (registered trademark) information constituting field information, which is area information 1000 in which the automobile 100 is located, to the server device 130. It is desirable that the information is related to the movement of a plurality of automobiles 100 and the like transmitted by the traffic system server 140, and is composed of, for example, information collected from each automobile 100, road monitoring information, and local traffic information based on the information. Is more preferable. The traffic system server 140 may include VICS (registered trademark) information in the traffic information of the area transmitted by the server device as a part of the intelligent transportation system.

In such a map generation system 1 of the automobile 100, the information collected by the server device 130 is, for example, traveling of each automobile 100 as information collected from each automobile 100 (hereinafter referred to as vehicle collection information) in addition to the field information. There are information, occupant information about occupants, peripheral information 400 of each automobile 100, local traffic information, and the like. The traveling information of the automobile 100 includes, for example, a current location, a traveling direction, a traveling speed, and a destination. Each device of the communication unit 6 of the transmission source automobile 100 or the server device of the intelligent transportation system 120 is transmitted to the server device 130.

The server device 130 collects vehicle collection information related to the running of the plurality of automobiles 100 and field information which is regional information 1000, and based on the collected vehicle collection information and the like, the plurality of automobiles 100 can safely do not collide with each other, for example. A path of a minute section for each of the 100 automobiles that can be driven is generated, and the route of the generated minute section for each of the automobiles 100 is used as a prediction calculation result. Send repeatedly every period. The server device 130 may generate a 3D region having three-dimensional coordinates (Z-axis) on which the automobile 100 can safely travel. Then, the automobile 100 receives the traveling area prediction calculation result 14A of the own vehicle by the communication unit 6 used therein, and the traveling control ECU 24 predicts the traveling area when the traveling control ECU 24 automatically travels on the received traveling area prediction calculation result 14A. The automatic running of the automobile 100 is controlled according to the calculation result 14A. The travel control ECU 24 may modify the travel of the automobile 100 based on the operation of the occupant so as to be in line with the prediction calculation result. In this case, even in the manual operation, the travel region prediction calculation result 14A is used. You are doing it with support. Further, the pre-progress area prediction calculation result 14A may be provided to the occupant from the display device 41 or the like, which will be described later, of the own vehicle.

FIG. 2 is a configuration diagram of the server device 130 of FIG. The server device 130 of FIG. 2 is a server communication device that is an information receiving means and an arithmetic transmission means that connects to the network 101 and communicates with the automobile 100, the communication system 110, the advanced traffic system 120, and the traffic system server 140 via the network 101. 11. A server clock that receives and holds GNSS (Global Navigation System System) and VICS (registered trademark) time 12, a server memory 13 that is an information storage means for accumulating vehicle collection information and field information, and generates a current status map. It has a server CPU 210 that predicts and calculates a traveling area of the automobile 100 at a time before the absolute time using the current situation map, and a server bus 15 to which these are connected. The server communication device 11 may be provided separately for the information receiving means and the calculation transmitting means.
The automobile 100 has a communication unit 6 with the outside of the vehicle, detection data of the automobile 100, and unique information 5. In the automobile 100, when the occupant inputs a specific destination A into the navigation system 20 or the like, a request for a route to the destination A is transmitted to the server device 130 via the network 101. The server device 130 predicts and calculates the traveling area of the vehicle from the input information collecting unit that accumulates information and generates the current situation map information and the current situation map information, and outputs the predicted calculation result to the communication unit 6 of the automobile 100. It is provided with an information gathering unit and processes a request for a route to the destination A of the automobile 100.
The traveling area prediction calculation result 14A transmitted by the server device 130 to the communication unit 6 of each automobile 100 may be any information as long as each automobile 100 can travel according to the information. The prediction calculation result may include information such as the estimated current position and the maximum travelable distance. The automobile 100 continues to travel in the instructed course by repeatedly receiving such a prediction calculation result by the communication unit 6 at predetermined time intervals. Even in automatic driving or manual driving, the automobile 100 can travel to the destination A by traveling according to the instruction course repeatedly acquired for each minute section.

The input information collecting unit includes an information storage means and a current situation map generation means, and constitutes a part of the map generation system 1. Information storage means include a mobile phone terminal 9 which is a terminal connected to a network, a roadside traffic system such as a traffic light 10, information from an advanced traffic system 120, a traffic system server 140, a GNSS signal, and a temperature around the vehicle of each automobile 100. , Weather, shade of road, position of people and structures, other vehicles, lanes, road information, etc. Regional information 1000500 consisting of various information such as wind direction, event information such as festivals, and High-Occupancy Vehicle settings is collected and accumulated via the network 101.
The information group has two time information, the system transmission absolute time which is the time when the information was collected, and the server time to which the current map information generation means gives the time information.
The current situation map generation means generates the current situation map information 14 for the route to the destination A from the map information including the road information and the collected surrounding information 400 and its area information 1000500.
The VICS (registered trademark) information constituting the area information 1000500 may be collected by the server device 130, or may be collected by the automobile 100 and transmitted to the server device 130. The time for collecting the area information 1000500 may be the scheduled transit time, the vehicle time, or the server time. If the automobile 100 is stopped and parked, and the surrounding information 400 and the area information 1000500 can be collected, the information may be collected. The collected information may be communicated with the communication unit 6 as long as it can communicate with the communication unit 6, regardless of whether the vehicle 100 is running, stopped, or parked.

The output information collecting unit simulates the relative positional relationship between the automobile 100 and the plurality of automobiles 100 at the actual running absolute time on the route to the destination A by using the current situation map information 13. The traveling area prediction calculation result 14A passes through the area where the vehicle 100 cannot enter based on the unique information 5 possessed by the vehicle 100 and the current situation map information 13 before the time when the vehicle 100 reaches the destination A. It is calculated by adding the area that cannot be done.

The output information collecting unit transmits the traveling area prediction calculation result 14A to the automobile 100 via the network 101. The automobile 100 receives the traveling area prediction calculation result 14A by the communication unit 6, and determines a traveling route which is a traveling area for a predetermined time to the destination A based on the traveling area prediction calculation result 14A. When the automobile 100 is a vehicle having an automatic driving function, the automobile 100 travels by automatic driving according to the traveling area.

FIG. 3 is a configuration diagram of a vehicle according to an embodiment of the present invention. A plurality of control devices constituting a control system for controlling the automobile 100 are incorporated in the automobile 100, which is a vehicle, and are represented by various ECUs (Electronic Control Units) in FIG. There is.
The vehicle control device includes various ECUs, ROM (Read Only Memory) 1800, RAM (Random Access memory) or RWM (Read write memory) 1700, HDD (hard disk drive) 1500, and / or SSD (Solid State). An input / output port connected to the object or its state detection device, a system timer 33 for measuring the vehicle time and time in the vehicle information, a communication clock 600 for holding the time of the server device 130 described later, and the inside to which these are connected. It has a vehicle-specific ID 55, which is vehicle information constituting the unique information 5 consisting of items such as a bus and an automobile inspection certificate of the automobile 100, and an existing map information K stored in a recording medium of the automobile 100 and / or a terminal device such as a mobile phone. is doing.
The existing map information K is not always necessary as long as it can communicate with the server device 130, and the map information necessary for all traveling may be obtained from the server device 130.
Further, the communication clock 600 may be provided in the external communication ECU 27.

Specifically, the various ECUs are, for example, a drive ECU 21 that controls driving of an engine or the like, a steering ECU 22 that controls steering of a power steering or the like, and mainly related to braking, for example, for braking such as collision damage mitigation braking. It is composed of a braking ECU 23, a traveling control ECU 24, a driving operation ECU 25, a detection ECU 26, an external communication ECU 27, and a UI operation ECU 28 that perform such control.
The control system of the automobile 100 may include other control ECUs (not shown).

Various control devices are used in the automobile 100, for example, CAN (Control Area Network), LIN (Local Internet Network), LAN (Local Area Network), FlexRay, CXPI (Clock Access Network), and CXPI (Clock Access Network). .. The in-vehicle network 30 is composed of a plurality of bus cables 31 that can be connected to various control devices, and a central gateway (CGW) 32 as a relay device to which the plurality of bus cables 31 are connected. Various control devices are assigned IDs as identification information different from each other. For example, various ECUs periodically output data to other ECUs. The ID of the output source ECU and the ID of the output destination ECU are added to the data. The other ECU monitors the bus cable 31, and when the output destination ID is, for example, its own, acquires data and executes processing based on the data.
The central gateway 32 monitors each of the plurality of connected bus cables 31, and when, for example, detects an ECU connected to a bus cable 31 different from the output source ECU, it outputs data to the bus cable 31. By such relay processing of the central gateway 32, a plurality of various control devices input / output data to / from a bus cable 31 to which the bus cable 31 is connected and another control device connected to a different bus cable 31. can. Further, a system timer 33 is connected to the central gateway 32. The system timer 33 measures the time and time until the output to various control devices and the execution result are received. The central gateway 32 may count up or down the time and time measured by the system timer 33 from universal time, or may measure the amount of time used for control. Further, the plurality of control ECUs may be notified through the in-vehicle network 30.

The UI operation ECU 28 includes, for example, a display device 41 and an operation device 42 as occupant interface devices with the occupants on board. As the display device 41, for example, a liquid crystal device or a video projection device is used. As the operation device 42, for example, a touch panel, a keyboard, a non-contact operation detection device, a voice recognition device, or the like is used. The display device 41 and the operation device 42 are installed, for example, in a vehicle on which an occupant rides. The UI operation ECU 28 acquires data such as information related to the driving operation from the vehicle-mounted network 30 and displays it on the display device 41. The UI operation ECU 28 outputs the operation input of the occupant to the operation device 42 as UI operation data to the vehicle-mounted network 30. Further, the UI operation ECU 28 may execute a process based on the operation input and include the process result in the UI operation data. In the UI operation ECU 28, for example, the display device 41 is connected to the navigation system 20 and the like stored in the HDD 1500 and / or the SSD 1600, and the display device 41 displays the data of the navigation system 20 for setting the destination A and the like. , Search for the route to the selected destination A by the operation input. The route to the destination A (hereinafter referred to as route data) includes attribute information such as lanes, lanes, right / left turn roads, one-way roads, and lane restrictions of roads used for traveling from the current location to the destination A. You can do it.
The display device 41 may display information such as audio, and may include a notification system such as playing music inside the vehicle or notifying an alarm or the like inside or outside the vehicle.

The navigation system 20 is connected to the own vehicle map position detecting means together with the own vehicle relative position detecting means. The own vehicle map position detecting means is a means for detecting the current position of the automobile 100A that has made a vehicle behavior request (hereinafter referred to as a behavior request) in communication via the existing information map K and the network with the outside. The navigation system 20 has a high-precision road map database made of a large-capacity storage medium such as HDD 1500, and high-precision road map information (dynamic map) is stored in this high-precision road map database. This highly accurate road map information (hereinafter referred to as road map information) uses lane data (lane width data, lane center position coordinate data, lane travel direction angle data, speed limit, etc.) required for automatic driving. It is owned and this lane data is stored in each lane on the road map information at intervals of several meters.
The navigation system 20 receives the positioning signal from the GNSS satellite, acquires the position coordinates of the vehicle 100A, maps-matches the position coordinates on the road map information, constructs a coordinate system, and builds the own vehicle on the road map information. Estimate the position. Further, in an environment where the navigation system 20 cannot receive a valid positioning signal from the positioning satellite, such as when traveling in a tunnel, the navigation system 20 switches to autonomous navigation and switches to the vehicle speed detected by the detection ECU 26 or the angular velocity detected by the gyro sensor. , The position of the own vehicle on the road map is estimated based on the front-rear acceleration detected by the front-rear acceleration sensor 62 and the like.
Then, the vehicle position on the road map information and the road map information around it are acquired. Then, when the driver sets the destination A in the road map information, the navigation system 20 calculates and sets the traveling route from the own vehicle position (current position) to the destination A based on the road map information.
As a vehicle-to-vehicle relative position detection means, a device 1300 for performing vehicle-to-vehicle communication (communication between vehicles V2V: Vehicle-to-Vehicle Communication) and road-to-vehicle communication (communication between a device installed on a road and a vehicle). It may be composed of or included in the apparatus 1400 for carrying out the above. Vehicle-to-vehicle communication can acquire distance to another vehicle, relative speed, identification information of another vehicle, etc. by transmitting and receiving electromagnetic waves such as millimeter waves to each other. The road-to-vehicle communication may be performed by, for example, a dedicated short range communication (DSRC) method, or may use another communication method. It may be used to obtain information on a place closer to the automobile 100A than the camera unit 67 or a part that becomes a blind spot.
The information acquired by the camera unit 67 and the navigation system 20 is also read when setting the destination A linked to the traveling route for traveling the automobile 100A. These are transmitted to the server device 130 together with the detection data. The camera unit 67 may be a stereo camera.

As operating members, the driving operation ECU 25 is connected to a traveling operating member necessary for the occupant to control the running of the automobile 100, a motor (not shown) related to the control of the driving environment operating member required during driving, and the like. There is.
For example, as a traveling operation member, a handle circuit 51, a brake circuit 52, an accelerator circuit 53, a shift circuit 54, an illumination circuit 500, a window wiper circuit 510, a direction indicator circuit 520, a defroster circuit 530, an instrument circuit 540, and an alarm device. Circuits related to safety parts such as circuit 560 and important safety parts are connected. An air conditioner 570, a hazard 580, a power window 590, and the like are connected as operating environment operating members. When the operation member is operated, the operation operation ECU 25 outputs the operation operation data including the presence / absence of operation, the operation amount, and the like to the in-vehicle network 30. Further, the operation operation ECU 25 may execute a process for operating the operation member and include the process result in the operation operation data. When the accelerator circuit 53 to which the accelerator pedal is connected is operated, for example, in a situation where there is another moving body or fixed object in the traveling direction of the automobile 100, the driving operation ECU 25 determines that the operation is abnormal, and determines the determination result. May be included in the driving operation data.

The detection ECU 26 includes a configuration for acquiring operation information of the driving operation ECU 25 and a configuration for detecting the running state of the automobile 100 in order to detect the vehicle state of the automobile 100. Specifically, as a configuration for detecting the inside of the vehicle 100, an engine thermometer 3500, an engine rotation speed meter 3600, a gasoline total 3700, an in-vehicle thermometer 3800, an in-vehicle camera 64 for capturing an image of an in-vehicle occupant, and an in-vehicle interior. It consists of a microphone 65 or the like that converts sound into a digital signal and makes it usable in various control devices as detection data.
As a configuration for detecting the running state inside the vehicle of the automobile 100, the angular velocity sensor 61 for detecting the operation speed (steering amount, steering speed, etc. of the electric power steering) related to various brakings provided in the automobile 100, and the acceleration of the automobile 100. An acceleration sensor 62 or the like for detecting the above is provided.
As a configuration for detecting the outside of the vehicle 100, an external thermometer 2100, a raindrop sensor 2200, a camera unit 67 provided at least in front of and behind the vehicle as a camera for imaging the outside of the vehicle 100, and light detection. Detects the position of LIDAR (Light Detection and Ranger, or Laser Imaging Detection and Ranger) 2300, sonar sensor 2400 and / or ultrasonic sensor 2500, laser detector 2600, and vehicle 100, which are image detection and distance measurement by distance measurement or laser. It is composed of various sensing devices such as a GNSS receiver 66 and a VICS (registered trademark) receiver 3100.
Further, based on the detection data received by the detection ECU 26, the automobile 100 detects the automobile 100B traveling in front of, around, and behind the automobile 100, falling objects on the road, unevenness of the road surface, flooding, snow cover, falling objects, damage, and the like. , Pattern matching and other techniques are used for recognition. Further, the width (vehicle width) between the lane markings that divide the left and right sides of the lane in which the automobile 100 travels is obtained, the center (center of the lane) is calculated, and the center of this lane is set as the target traveling path of the automobile 100.
The automobile 100 may have a temperature sensor 3200, a barometric pressure sensor 3300, and a humidity sensor 3400 in addition to the raindrop sensor 2200 in order to obtain weather information around the automobile 100.
In addition to the information acquired by the detection ECU 26, the vehicle 100 has external information (weather forecast, weather warning / warning, typhoon information, flood information, sediment disaster information, tornado information, tsunami information, earthquake information) in the communication unit 6. , And eruption information, etc.) may be used to infer the dryness and frozen state of the road surface.

The detection ECU 26 acquires detection data from various detection configurations (sensors) and outputs the detection data to the in-vehicle network 30. Further, the detection ECU 26 may execute a process based on the detection data and include the process result in the detection data. For example, the acceleration sensor 62 detects "gravity", "vibration / movement", and "impact". It may be determined that a right / left turn has been detected, and the course change detection result may be included in the detection data. The detection ECU 26 is based on the results of an external detection device such as a camera unit 67 and an ultrasonic sensor (radar), and is a moving object such as a pedestrian or another automobile 100 existing around the own vehicle, a temporarily stopped vehicle, or an accident vehicle. The type and attributes of moving objects and fixed objects (including the prohibited states) are extracted by extracting the prohibited states, and the moving objects and fixed objects are determined according to the position, size, and change of the moving objects and fixed objects in the image. The relative direction, relative distance, and moving direction of the fixed object may be estimated, and information on the moving body or fixed object including these estimation results may be included in the detection data and output to the vehicle-mounted network 30. It should be noted that another ECU may be used to make a judgment using the detection data, or a means for making a judgment may be provided on the server device 130 side.
The acceleration sensor 62 may be provided as the wheel speed sensor 3900, or may be used in combination.
Further, a wheel speed sensor 3900, an accelerator pedal depression amount sensor 4000, a brake pedal depression amount sensor 4100, and a steering wheel angle sensor 4200 may be provided to sense the traveling state of the automobile 100A. The wheel speed sensor 3900 and the acceleration sensor 62 are installed to detect the vehicle speed, and the accelerator pedal depression amount sensor 4000 is used to determine the amount of fuel supplied to the engine, which is the power source of the automobile 100, that is, the automobile 100. It is installed to detect the magnitude of the propulsive force to be obtained, and the brake pedal depression amount sensor 4100 is appropriately installed to detect the magnitude of the braking force received by the automobile 100.

The detection ECU 26 detects the selection of one of three modes: a manual driving mode in which the driver of the automobile 100 performs a driving operation, an automatic driving mode in which the vehicle autonomously travels toward the destination A, and an automatic evacuation mode. .. The automatic evacuation mode is a manual operation mode when it is determined that it is difficult to continue the automatic operation mode while driving in the automatic operation mode and it is before the braking distance and time that require emergency braking. The vehicle 100 is automatically guided to a safe place such as a road shoulder by shifting to the automatic evacuation mode without shifting to. Here, the situation in which it is difficult to continue the automatic operation mode is, for example, a case where a large steering wheel angle θst is detected by the steering wheel angle sensor 4200. In such a situation, it can be presumed that the driver is in a non-wakeful state such as fainting or unconsciousness and is prone to the steering wheel. The automatic driving mode causes the automobile 100 to autonomously drive (automatically drive) along the target traveling path. The automatic operation mode can be further subdivided into a steering holding mode that requires the driver to grip the steering wheel and a hands-off mode that does not require the driver to grip the steering wheel. Collectively referred to as the automatic operation mode.

A control memory 81, an HDD 1500, an SSD 1600, a ROM 1800, and a RAM (RWM) 1700 are connected to the travel control ECU 24. The control memory 81, HDD 1500, SSD 1600, ROM 1800, and RAM (RWM) 1700 are computer-readable recording media, and a program executed by the travel control ECU 24, set values, and the like are recorded. For example, the control memory 81 records information on the content controlled by the travel control ECU 24, the HDD 1500 and the SSD 1600 store the vehicle-specific ID 55, the map information, and the navigation system 20, which are vehicle information, and the ROM 1800 is one of the drive ECUs. The unit may be configured to be used in an ECM (Engine Control Model), and a RAM (RWM) 1700 may be used as the main storage device of various ECUs.
The travel control ECU 24 reads and executes a program from the control memory 81, HDD1500, SSD1600, ROM1800, and RAM (RWM) 1700.
The travel control ECU 24 acquires data from various ECUs and sensing devices such as an external communication ECU 27, a detection ECU 26, and a driving operation ECU 25 through an in-vehicle network 30, and automatically drives the vehicle 100 or controls manual driving support.
The travel control ECU 24 generates travel control data for controlling the travel of the automobile 100 based on various acquired data, and outputs the travel control data to the drive ECU 21, the steering ECU 22, and the braking ECU 23. The drive ECU 21, the steering ECU 22, and the braking ECU 23 control the travel of the automobile 100 based on the input travel control data.

The vehicle-specific ID 55 of the vehicle 100 is an entry prohibited area by vehicle number, a predetermined day and time of vehicle entry prohibition, permission to use Express lane, presence / absence of ETC card and lane, vehicle body width and cold region specifications. Information that is uniquely set for the vehicle, such as the presence or absence.
The unique information 5 stores the server ID of the communication partner in the vehicle unique ID 55 as the vehicle unique information 5, and when requesting the behavior of the automobile 100 from the server device 130, the vehicle unique information including the server ID is also included. By transmitting 5 to the server device 130, the vehicle 100 can be recognized as the vehicle 100A that transmitted the request on the server device 130 side. The unique information 5 may include the vehicle time.

The external communication ECU 27 includes a communication device 71 and a communication memory 72, and constitutes a communication unit. Further, a communication clock 600 is connected to the external communication ECU 27. The communication device 71 transmits / receives data transmitted / received by the external communication ECU 27 to, for example, a base station 111 outside the vehicle, a communication unit 6 of another vehicle 100, or an ADAS communication device 121. The communication memory 72 is a computer-readable recording medium that records programs executed by the external communication ECU 27, set values, and data transmitted / received by the external communication ECU 27.
The external communication ECU 27 uses the communication device 71 to send and receive data to and from the server device 130, for example. The external communication ECU 27 collects own vehicle information through, for example, the in-vehicle network 30, and transmits it to the server device 130.
Further, as the communication interval to the server device 130, only one of a predetermined time interval and a predetermined distance interval may be used, but from the viewpoint of immediacy, communication at a predetermined time interval is more preferable.
The own vehicle information includes, for example, in-vehicle information consisting of the state and operation information of the occupants on board, detection data consisting of peripheral information 400 such as information on the running state of the own vehicle and the driving environment of the own vehicle, and unique information 5. Peripheral information 400 may include information about other moving objects and fixed objects existing in the surroundings. For example, the external communication ECU 27 acquires the progress area prediction calculation result 14A transmitted by the server device 130 for the own vehicle from the communication device 71 and records it in the communication memory 72.
The communication clock 600 may be provided in the external communication ECU 27, or may form a communication unit. The communication clock 600 stores the time received at the time of communication with the outside, and adds the communication time and / or the vehicle time, which is the system time of the vehicle, to various data transmitted at the time of communication. The communication clock 600 may be synchronized with the system timer 33. In this case, there is a possibility that a time lag may occur between the absolute time of each ECU, the server time received at the time of transmission / reception, and the official time of the GNSS information and VICS (registered trademark) information separately received by the communication unit. However, the absolute time may be modified to the official time or the server time. In that case, since the processing load of absolute time adjustment on the server side can be reduced, the processing of generating the world map including the three-dimensional coordinates can be reduced.

Next, the control of the paths of the plurality of automobiles 100 by the map generation system 1 having the above-described configuration will be described. The current time here is the absolute time, specifically universal time.

4 and 9 are diagrams showing a region algorithm of the automobile 100 at the time of merging (lane change) according to the present embodiment. The current status map generation means of the server device 130 changes the information from the information storage means to the server time, and changes the position of each vehicle due to the time change when the horizontal axis is the time coordinate and the vertical axis is the position coordinate. Generate a map as plane coordinates. At that time, the traveling area of the vehicle is set as a path (hereinafter, traveling lane) so that it can be calculated on a plane. The solid line represents the moving state of the moving body (here, the automobile 100). The more negative the direction of the vertical axis, the more the future time is shown, and specifically, the absolute time of the actual vehicle running is included. The positive direction on the horizontal axis indicates the lane, and the inclination of each line indicates the speed of the moving body. That is, when they overlap on the horizontal axis, it means that the corresponding automobiles 100 interfere with each other, and the closer the slope of the solid line is to the vertical, the slower the speed. What is displayed around the solid line with different thicknesses is the width as the occupied area, which is the vehicle body length (length, width) and margin of the automobile 100A. Further, when the automobiles 100 in one lane are arranged side by side, interference can be avoided by determining that the moving body occupying a specific place first has a higher priority at the scheduled traveling time. The direction of the arrow indicates the traveling direction of the automobile 100A.
The left side of FIG. 4 represents the first lane (merging lane), and the right side represents the second lane (main lane). As shown in the upper left figure, when the vehicle 100A traveling in the first lane tries to change lanes to the second lane, the solid line of the vehicle 100B traveling in the second lane within the estimated travel time as shown in the upper right figure. It can be seen that it interferes because it overlaps with. As shown in the lower left figure, when the traveling speed is reduced, the vehicles do not overlap within the estimated travel time as shown in the lower right figure. Therefore, the vehicle 100A is notified to reduce the speed and merge because there is no interference.

FIG. 5 is a flowchart of the present embodiment at the time of merging. When the automobile 100 is in a communicable state, the external communication ECU 27 repeatedly executes the transmission / reception process of the own vehicle information. The cycle in which the external communication ECU 27 transmits and receives the own vehicle information may be, for example, several milliseconds to several seconds, more preferably changed according to the speed state of the automobile 100, and braking that the occupant can handle during high-speed driving. 10 to 300 milliseconds is good because you need to gain distance.

In step ST1, the external communication ECU 27 transmits the own vehicle information (own vehicle position, behavior during manual and / or automatic driving, detection data, unique information 5, etc.) and the vehicle time to the server device 130, and relates to the own vehicle behavior. Make a request for instructions or assistance.

In step ST2, the server device that has received the information in step ST1 extracts information about the traveling area of the automobile 100A from various collected information. The vehicle time and the absolute transmission time of the extracted information are referred to, and if there is an unacceptable deviation, the information is regarded as unreliable and the information is not reflected in the current situation map information. Then, the information to which the reliable time is given is changed to the server time which is the universal time in the received information from the GNSS information or the like. The changed server time may have a range in the allowable range in the future and past. The current situation map information means generates the current situation map information as a plane or a solid from the information about the traveling area of the automobile 100A generated at the server time.
When the map is generated as a plane, the traveling area of the vehicle is set as a Path so that it can be calculated on the plane.
Using the generated current situation map information, the traveling area calculation means performs a simulation (prediction calculation) based on the estimated travel time, which is the future time ahead of the server time when the vehicle 100A travels in the assumed area, and within the travel lane. Judge the interference in.
It should be noted that the estimated travel time may be adjusted when the current situation map is generated. It is necessary to change it according to the running state (vehicle speed) of the car 100, but at least in the actual running absolute time of the car 100, if it does not go back to the past, or even if it goes back to the past, there is no problem in the actual running. good. Specifically, the slower the traveling speed of the automobile 100, the greater the allowance for the past time. More preferably, the predicted actual travel time used in the simulation is in the future rather than the absolute reception time.

In step ST3, when it is determined in step ST2 that there is no interference, the predicted behavior of the automobile 100A that has transmitted the request is registered in the information storage means.

In step ST4, the behavior of the vehicle 100A, which is the traveling area prediction calculation result 14A, the vehicle data around the position of the vehicle 100A, which is the own vehicle, and the server time are transmitted to the vehicle 100A that has transmitted the request. Sends to the communication unit of the automobile 100A via the network 101.

In step ST5, the vehicle 100A that has received the prediction calculation result, which is the request result, compares the absolute reception time with the vehicle time, and if there is an unacceptable deviation, corrects the time of the communication clock 600. The traveling area prediction calculation result 14A is used as the server sensor data, and is converted into relative position coordinates so that it can be used as the sensor data of the automobile 100A.

In step ST6, the automobile 100A uses the sensor data based on the traveling area prediction calculation result 14A to perform automatic driving, or to present and / or support the driving occupant.

In step ST7, when it is determined that there is interference in step ST2, it is information about the interfering vehicle with respect to the predicted behavior of the vehicle 100A that transmitted the request.
The vehicle 100A is notified of the vehicle priority and the vehicle speed control state in the traveling lane. If it is determined that there is time to recalculate before interfering with the interfering vehicle, the process proceeds to step ST8. If it is determined that there is no time, the process proceeds to step ST5, and the traveling lane and the like are determined on the vehicle 100 side.

In step ST8, the recalculation is performed so as not to interfere with the interfering vehicle. When the behavior of the own vehicle 100A is determined so as not to interfere with the recalculation, the process proceeds to step ST3.

In step ST9, when the interfering vehicle is affected by the traveling area prediction calculation result 14A of the server device 130, for example, under control or support, the own vehicle 100A and the interfering vehicle are recalculated so that the respective vehicles do not interfere with each other. Recalculate the behavior of. When the reprediction calculation result is confirmed, the process proceeds to step ST3.

Next, one embodiment of the present invention will be described. As shown in FIG. 6, in one embodiment of the present invention, various sensor data possessed by the vehicle are accumulated in a server group such as cloud computing, and in the server group, a virtual space that serves as a mapping of the real world at the time in the server. In a virtual information space (current situation map information) represented by a plane or a solid called a world map that realizes the above, when generating a future forecast based on the virtual information space, another vehicle is placed in the passing space of the own vehicle in the future forecast. If the occurrence of interference or passage prohibition is predicted, the own vehicle could not select the route.

In one embodiment, a server device communicating with a terminal that collects surrounding information via a network constructs current situation map information (hereinafter, world map) from the surrounding information and map information possessed by each terminal. do.
The automobile 100A receives the world map information about the surroundings of the own vehicle from the server device 130. The automobile 100A receives detection information (detection data) about the surroundings of the own vehicle and complements the information possessed by other vehicles. For example, the own vehicle performs a simulation in the latest own vehicle traveling direction on the world map, confirms the occupation of the space area (Path) required for the own vehicle to travel, and passes if there is no interference. If interference occurs as a result of the simulation, the following calculation is virtually performed using the world map.
-Search for other areas where the own vehicle can temporarily pass during the passage time of the own vehicle in the relevant section.
・ Avoid interference by changing the passage time of the own vehicle in the relevant section.
The following are taken into consideration when performing the above calculation.
-The area through which the own vehicle can pass is set as the future prediction trajectory of the own vehicle as a continuous time and continuous space.
-For self-driving cars that are controlled by the server device 130 that generates the world map, or self-driving cars that are controlled by other systems, and manual-driving cars that are finally operated by humans without any control. Performs processing with different occupied areas.
-In Control, the coordinate system of the data output by the server device 130 that generates the world map is changed to the polar coordinate system having the azimuth angle data and the position information used in Sensing.
The space area (Path) through which the own vehicle can temporarily pass includes a road shoulder, a temporary lane change zone, and an oncoming lane in which an oncoming vehicle does not exist.

Next, one embodiment of the present invention will be described. As shown in FIG. 7, in the intersection region, when the map generation system 1 moves (changes lane) from the first lane (merging lane) to the second lane (priority lane), the vehicle traveling in the first lane. It is found by the traveling area calculation of the server device 130 that the 100A interferes with the automobile 100B traveling in the second lane at the estimated traveling time of entering the intersection at the vehicle speed at the absolute transmission time. Therefore, as shown in the lower left of FIG. 7, the travel prediction time for entering the intersection is changed by lowering the vehicle speed, and the traveling area prediction calculation result 14A is transmitted to the vehicle 100A so as to avoid interference with the vehicle 100B.

Next, one embodiment of the present invention will be described. As shown in FIG. 8, when a traffic jam is occurring in front of the vehicle, the map generation system 1 is used when the vehicle 100A under the control or support of the server device 130 moves (changes lane) to the first lane. In the first lane, the inclination of the solid line of the interfering automobile 100B due to the traffic jam is shown vertically.
In this case, the server device 130 transmits the traveling area prediction calculation result 14A to the automobile 100A so that the automobile 100A lowers the vehicle speed toward the end of the traffic jam and stops at the tail of the traffic jam.

Next, one embodiment of the present invention will be described. As shown in FIG. 10, when merging at almost constant speed, the map generation system 1 moves (changes lane) from the first lane (merging lane) to the second lane (priority lane). At the vehicle speed at the absolute transmission time, the vehicle 100A traveling in the lane interferes with the vehicle 100B traveling in the second lane at the estimated travel time to move to the second lane. Prove. Therefore, as shown in the lower left of FIG. 10, the travel prediction time for moving to the second lane is changed by lowering the vehicle speed, and the traveling area prediction calculation result 14A is transmitted to the vehicle 100A so as to avoid interference with the vehicle 100B. ..

Next, one embodiment of the present invention will be described. The server device 130 is provided in, for example, a base station of a mobile phone, and the network is a mobile phone network. When the automobile 100A sets a relatively large area movement such as a movement on a highway, the occupant operates the navigation system 20 in the automobile 100A to set the destination A.
Based on the travel request, the traffic information calculation system 900 generates the current situation map information 14 up to the destination A by the current situation map generation means, and outputs the current situation map information 14 to the traveling area calculation means.
The traveling area calculation means uses the current situation map information 13 up to the destination A of the automobile 100A to perform a simulation in which the automobile 100A travels to the destination A, and performs road allocation processing of the traveling lane (Path).
The automobile 100A outputs to the display device 41 or starts traveling by automatic driving based on the received traveling area prediction calculation result 14A and the peripheral information 400 of the automobile 100A at the time when the prediction calculation result is received.
A server time and a server ID are assigned to the received progress area prediction calculation result 14A, and the automobile 100A stores the received progress area prediction calculation result 14A, the server time, and the server ID. The automobile 100A stores the server ID as the unique information of the vehicle, and transmits the unique information of the vehicle including the server ID to the server device 130 at the time of the behavior request.
When the control or support range of the server device extends over a plurality of destinations A of the vehicle 100A, the vehicle 100A makes a behavior request within the control or support range of the plurality of server devices.
At that time, there is a relative time difference between the vehicle time and the absolute time between multiple server devices, or there is a possibility that the control section is mixed, and there is a relative time difference in the vehicle-to-vehicle communication and roadside communication. Since there is a possibility of an accident due to a time lag, if the server ID is different from that of the vehicle, it is assumed that the vehicle is communicating with a server device other than the server device that communicated the result of the prediction calculation. By updating the server time and the server ID, it is possible to avoid interference due to a time lag with the surroundings.

Next, one embodiment of the present invention will be described. The server device 130 is provided in, for example, the base station 111A of a mobile phone, and the network 101 is a mobile phone network. When the automobile 100A sets a relatively large area movement such as a movement on a highway, the occupant operates the navigation system 20 in the automobile 100A to set the destination A.
Based on the travel request, the traffic information calculation system 900 generates the current situation map information 14 up to the destination A by the current situation map generation means, and outputs the current situation map information 14 to the traveling area calculation means.
The traveling area calculation means performs a simulation in which the automobile 100A travels to the destination A with the current situation map information 14 up to the destination A of the automobile 100A, and performs a road allocation process (Path).
The automobile 100A outputs to the display device 41 or starts traveling by automatic driving based on the received traveling area prediction calculation result 14A and the peripheral information 400 of the automobile 100A at the time when the traveling area prediction calculation result 14A is received.
A server time and a server ID are assigned to the received progress area prediction calculation result 14A, and the automobile 100A stores the received progress area prediction calculation result 14A, the server time, and the server ID. The automobile 100A stores the server ID as the vehicle unique information 5, and transmits the vehicle unique information 5 including the server ID to the server device 130 at the time of a behavior request.
When the control or support range of the server device 130 spans a plurality of destinations A of the automobile 100A, and if it is outside the range of the server device 130 that responds to the behavior request of the vehicle, no response can be obtained and the server device 130 side. However, the progress area prediction calculation result 14A cannot be transmitted, and the data is not processed.
When the vehicle 100A communicates and the server time of the vehicle 100A is different from the time of a vehicle other than the vehicle 100A such as the vehicle 100B and / or a transportation system, the input information collecting unit and the output information collecting unit By updating the server time of the vehicle to the traveling peripheral time of the vehicle other than the vehicle and / or the traffic system, the server time of the vehicle and the server ID of the vehicle are updated to the surroundings. Interference due to time lag can be avoided. Further, even if the information necessary for reaching the destination A is not covered, the vehicle can behave according to the surrounding vehicles of the own vehicle.

Next, one embodiment of the present invention will be described with reference to FIGS. 11 and 12. Information storage that communicates with a vehicle having a terminal provided with a communication unit capable of communicating via a network and the communication unit of the terminal, and accumulates information of at least one of the terminal itself and / or another person. An input information collecting unit having means, information accumulated in the information storage unit, map information, and current situation map information creating means for creating current situation map information using the area information 1000 in which the vehicle is located. From the output information collecting unit having a traveling area calculation means for predicting and calculating the traveling area of the vehicle using the current situation map information, and a calculation transmitting means for communicating the result of the prediction calculation with the communication unit. The traveling area of the vehicle is determined by at least the current situation map information composed of the predetermined map information and the current situation map information, and the determined traveling area is determined by at least a predetermined distance and / or time. It is divided into a plurality of partitions, the current situation map information is updated before the vehicle passes through the divided area, and the traveling area calculation means or at least one of the vehicles predicts the vehicle. The map generation system 1 may be characterized in that it outputs pseudo sensor data based on calculations.

11 and 12 are diagrams showing the locator process according to the embodiment of the present invention. In the locator process, the coordinate system (X1, Y1) of the data output by the world map server is used in the sensor of the automobile 100. Change to a polar coordinate system (vector component) that has azimuth data and position information.
Spatial data has numerical information that allows spatial data to be placed at a location on the earth, and that number is part of a coordinate system (spatial coordinates) that provides a reference frame for the data, and is spatial data on the surface of the earth. Can be identified, the data can be positioned relative to other data, spatially accurate analysis can be performed, and a world map can be created. Data is defined in both horizontal and vertical coordinates, where the horizontal coordinate system identifies the data over the entire surface of the earth, and the vertical coordinate system allows the relative height or depth of the data to be identified. A horizontal coordinate system is sufficient for prediction operations in horizontal coordinates, and a vertical coordinate system is required for operations in solid coordinates. When converted to the coordinate system, the origin may be the automobile 100A which is the own vehicle or the automobile 100B which is a peripheral vehicle of the automobile 100A, or may be provided on the world map. The automobiles 100A and 100B, which are terminals, notify the server device 130 of vehicle traveling information regarding each vehicle from the communication unit 6 via the network 101 at predetermined time and / or distance intervals, and the server device 130 notifies the server device 130 of the current status map information. Is generated, a simulation is performed, and the traveling area prediction calculation result 14A is output to the automobile 100A. The automobile 100A uses the traveling area prediction calculation result 14A and can be compared with the sensor system of the automobile 100A. By generating a value and comparing the detected data with the pseudo output sensor value, it is possible to recognize the existence outside the recognition. Further, even if there is a delay in transmitting information in the network, or even if the function of the sensor system of the automobile 100A is deteriorated, cannot be used, or the blind spot is not visible in the first place, the traveling area prediction which is the prediction calculation result is obtained. It is possible to drive with the calculation result 14A. Further, when the pseudo sensor data is used, the vehicle can travel based on the pseudo information, so that safety can be ensured.

The above embodiments are examples of preferred embodiments of the present invention, but the present invention is not limited thereto, and various modifications or modifications can be made without departing from the gist of the invention.

1 ... Map generation system, 3 ... Server device, 5 ... Unique information, 11 ... Server communication device, 12 ... Server timer, 13 ... Server memory, 14 ... Current status map information, 210 ... Server CPU, 15 ... Server bus, 20 ... Navigation, 21 ... Drive ECU, 22 ... Steering ECU, 23 ... Braking ECU, 24 ... Travel control ECU, 25 ... Driving operation ECU, 26 ... Detection ECU, 27 ... External communication ECU (terminal device), 28 ... UI operation ECU , 30 ... In-vehicle network, 31 ... Bus cable, 32 ... Central gateway, 33 ... System timer, 41 ... Display device, 42 ... Operation device, 51 ... Handle circuit, 52 ... Brake circuit, 53 ... Accelerator circuit, 54 ... Shift circuit , 61 ... angular speed sensor, 62 ... acceleration sensor, 21 ... camera unit, 64 ... in-vehicle camera, 65 ... microphone, 66 ... GNSS receiver, 71 ... communication device, 72 ... communication memory, 81 ... control memory, 100 ... automobile ( Vehicle), 101 ... network, 110 ... communication system, 111 ... base station, 112 ... communication network control device, 120 ... advanced traffic system, 121 ... ADAS communication device, 122 ... ADAS distribution device, 400 ... peripheral information, 1000 ... area information

Claims (9)

A terminal provided with a communication unit that can communicate via a network,
With vehicles that have
An information receiving means that communicates with the communication unit of the terminal, and
An information storage means for accumulating at least one of the information of the terminal itself and / or another person by the information receiving means.
The current situation map information creating means for creating the current situation map information using the information accumulated in the information storage means and the map information and / or the area information where the vehicle is located.
Input information collection department with
A traveling area calculation means that predicts and calculates the traveling area of the vehicle using the current situation map information,
An operation transmission means for communicating the result of the prediction operation with the communication unit, and
Output information compilation unit with
A map generation system characterized by consisting of.
At least one of the terminals is provided in the vehicle.
The number of terminals communicating with the information storage means is at least one, and the number of terminals is one or more.
The map generation system according to claim 1, wherein the algorithm for determining the behavior of the relative positional relationship with other than the vehicle in the traveling region of the vehicle is the occupancy rate of the road for a predetermined time.
The traveling area of the vehicle is determined by the information accumulated in the information storage means, at least predetermined map information, and the current situation map information created by using the area information in which the vehicle is located.
The prediction calculation according to claim 1 or 2, wherein the prediction calculation is always performed in the traveling direction of the vehicle, and the vehicle receives the result of the prediction calculation via the terminal. Map generation system.
The input information collecting unit and the output information collecting unit are provided in a server device outside the vehicle that communicates with at least one vehicle having an automatic driving function via the network.
The map generation system according to claim 1, wherein the vehicle travels by automatic driving and / or manual driving according to the traveling area assigned from the server device.
The number of server devices is at least one, and the number of the server devices is at least one.
The server device has a server time and a server ID, and has a server time and a server ID.
The server time is universal time
When the server device communicates the result of the prediction calculation with the communication unit, the server device together with the result of the prediction calculation
Communicate the server time and the server ID to the vehicle,
The vehicle has the server ID of the server device that communicates the vehicle information and the result of the prediction calculation as the unique information of the vehicle.
When the vehicle communicates with the server device, it communicates at least the unique information of the vehicle.
When the vehicle communicates via the network, if it is different from the server ID possessed by the vehicle, it is assumed that the vehicle is communicating with a server device other than the server device that communicated the result of the prediction calculation. The map generation system according to claim 4, wherein the server time and the server ID of the vehicle are updated.
The number of server devices is at least one, and the number of the server devices is at least one.
The server device has a server time and a server ID, and has a server time and a server ID.
The server time is universal time
When the server device communicates the result of the prediction calculation with the communication unit, the server device together with the result of the prediction calculation
Communicate the server time and the server ID to the vehicle,
The vehicle has the server time of the server device that communicates the vehicle information and the result of the prediction calculation as the unique information of the vehicle.
When communicating with a vehicle other than the vehicle and / or a traffic system, the vehicle communicates at least the unique information of the vehicle.
When the vehicle communicates, the server time of the vehicle is different from the time of the vehicle other than the vehicle and / or the traffic system, and the vehicle has the input information collecting unit and the output information collecting unit. When effective communication with the server device cannot be established, the server time of the vehicle is set to a vehicle other than the vehicle and / or a traffic system by setting the server time of the vehicle as out of the communication range of the input information collecting unit and the server device having the output information collecting unit. The map generation system according to claim 4, wherein the information is updated at the time around the travel area of the vehicle.
A terminal provided with a communication unit that can communicate via a network,
With vehicles that have
An information storage means that communicates with the communication unit of the terminal and accumulates at least one of the information of the terminal itself and / or another person.
A current situation map information creation means for creating current situation map information using the information and map information accumulated in the information storage unit and / or area information in which the vehicle is located.
Input information collection department with
A traveling area calculation means that predicts and calculates the traveling area of the vehicle using the current situation map information,
An operation transmission means for communicating the result of the prediction operation with the communication unit, and
Consists of an output information compilation unit that has
The traveling area of the vehicle is determined by at least a predetermined map information and the current situation map information composed of the current situation map information, and the determined traveling area includes a plurality of determined traveling areas according to at least a predetermined distance and / or time. A map generation system characterized by being divided into partitions.
The current situation map information is updated before the vehicle passes through the divided area, and the traveling area calculation means or at least one of the vehicles provides pseudo sensor data based on the prediction calculation to the vehicle. The map generation system according to claim 7, wherein the map is output.
The eighth aspect of the present invention is characterized in that the prediction calculation is provided with at least spatial coordinates, the spatial coordinates have at least horizontal coordinates, and the pseudo sensor data comprises at least the spatial coordinates and azimuth angle information. Described map generation system.

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