JP2023034747A - Travel rute generation device and travel rute generation method - Google Patents

Abstract

To provide a travel route generation device and a travel route generation method with which it is possible to generate the travel route of a vehicle using a plurality of maps, irrespective of the current place of the vehicle between the plurality of maps.SOLUTION: The present invention identifies a first coordinate in a first map at which a vehicle is located, as a first current place which is the current place of the vehicle in the first map, on the basis of the travel history of the vehicle on the first map, acquires a second coordinate in a second map at which the vehicle is located, as a second current place which is the current place of the vehicle in the second map, acquires the set route of the vehicle including the second current place and having been set on the second map, performs coordinate conversion between the first and second coordinates, corrects a virtual route which is the set route disposed on the first map so as to generate the trave route of the vehicle in the first map, converts in coordinate conversion the second coordinate into a third coordinate which is the coordinate of the first map, identifies in travel route generation a node in the first map which is located in the vicinity of each node included in the virtual route, as a node included in the travel route, and corrects the virtual route so that the first and third coordinates agree in the first map.SELECTED DRAWING: Figure 1

Description

The present invention relates to a travel route generation device and a travel route generation method for generating a travel route for a vehicle.

Vehicle control that realizes vehicle control of a moving object using vehicle control map data for a purpose different from route search map data in part or all of a route searched using route search map data. A system is known (Patent Document 1). This vehicle control system comprises table storage means, route search means, and determination means. The table storage means has a presence/absence management table including position information representing an intersection area, which is a polygonal area including the intersection of the vehicle control map data, and presence/absence information representing the presence/absence of the vehicle control map data at the position corresponding to the intersection. memorize The route search means specifies position information of a plurality of nodes corresponding to intersections on the route and link data connecting the nodes using the route search map data. The judging means searches for a specific intersection on the route where the position of the intersection is judged to be within the intersection region based on comparison between the position information of the node on the route and the position information representing the intersection region, and based on the presence/absence information. A section of the route in which the vehicle control map data exists is determined by determining whether or not the vehicle control map data exists at a position corresponding to a specific intersection.

WO2018/190025

However, in the above-described vehicle control system, if the current vehicle location on the route search map data does not correspond to the vehicle current location on the vehicle control map data, the current vehicle location will deviate between the plurality of maps, resulting in the use of the plurality of maps. There is a problem that it is difficult to generate a driving route of a vehicle by using

The problem to be solved by the present invention is to provide a driving route generation device and a driving route generation method that can generate a driving route for a vehicle using a plurality of maps regardless of the current location of the vehicle between the plurality of maps. be.

The present invention identifies first coordinates at which the vehicle is located on the first map as a first current location, which is the current location of the vehicle on the first map, based on the travel history of the vehicle on the first map, As a second current location, which is the current location of the vehicle on a second map different from the first map, a second coordinate at which the vehicle is located on the second map is obtained, and the second coordinates are set on the second map, including the second current location. The set route of the vehicle is acquired, coordinate conversion is performed between the first map and the second map, and the virtual route, which is the set route placed on the first map, is corrected. Generating a driving route, transforming the second coordinates into third coordinates, which are the coordinates of the first map, in the coordinate transformation, and generating the first map located in the vicinity of each node included in the virtual route in generating the driving route. The above problem is solved by specifying nodes as nodes included in the travel route, and correcting the virtual route so that the first coordinates and the third coordinates match on the first map in generating the travel route.

According to the present invention, a driving route of a vehicle can be generated using a plurality of maps regardless of the current location of the vehicle between the plurality of maps.

FIG. 1 is a block diagram showing an example of a vehicle control system including a travel route generation device according to this embodiment. FIG. 2 is an example of functional blocks of the controller according to this embodiment. FIG. 3 is an explanatory diagram for explaining the processing contents of the travel route generation device according to the present embodiment. FIG. 4 is an explanatory diagram for explaining the processing contents of the travel route generation device according to the present embodiment. FIG. 5 is an explanatory diagram for explaining the processing contents of the travel route generation device according to the present embodiment. FIG. 6 is an explanatory diagram for explaining the correspondence relationship between the nodes and links of the car navigation map and the nodes and links of the general-purpose map.

An embodiment of a travel route generation device and a travel route generation method according to the present invention will be described below with reference to the drawings. The travel route generation device according to this embodiment is implemented as part of a vehicle control system 1, as shown in FIG. FIG. 1 is a block diagram showing an example of a vehicle control system 1 according to this embodiment. The vehicle control system 1 is a system for controlling travel of the vehicle. The vehicle control system 1 performs automatic driving control for automatically driving the vehicle without the driver of the vehicle participating in the driving, or driving support control for assisting the driving of the vehicle by the driver. The vehicle control system 1 includes, in addition to the devices and systems shown in FIG. sensors, and gyro sensors), vehicle position detection devices that detect the current location of the vehicle (including GPS, gyro sensors, and vehicle speed sensors), and various actuators that control the vehicle drive mechanism, braking mechanism, and steering mechanism. may contain. A detailed description of the above-noted devices will be omitted. The vehicle control system 1 can apply sensors, vehicle position detection devices, and various actuators known at the time of filing the present application.

As shown in FIG. 1 , the vehicle control system 1 includes a travel route generation device 10 , an in-vehicle communication device 20 , an in-vehicle navigation system 30 , a storage device 40 and a vehicle control device 50 . These devices and systems are mounted on a vehicle and connected by an in-vehicle network 2 such as CAN (Controller Area Network) and LIN (Local Interconnect Network). Further, in this embodiment, the vehicle control system 1 uses a geographic information system 60 provided outside the vehicle. The geographical information system 60 can exchange information with each device and system connected to the in-vehicle network 2 via the in-vehicle communication device 20 . In this embodiment, among the functions realized by the vehicle control system 1, a function of generating a vehicle driving route by the driving route generating device 10 will be described. The travel route of the vehicle is a route used in vehicle control executed by the vehicle control device 50, and is a route for guiding the vehicle to the destination. However, the travel route generated by the travel route generation device 10 is different from the lane unit route generated by the vehicle control device 50 for the vehicle to travel in the center of the lane.

The in-vehicle communication device 20 has a wireless communication function for wirelessly transmitting and receiving data to and from the outside of the vehicle. The in-vehicle communication device 20 connects to the Internet using a wireless communication function, and transmits and receives various data to and from the geographic information system 60 .

The in-vehicle navigation system 30 displays a route from the current location of the vehicle to the destination on the display based on the location information of the vehicle detected by a vehicle location detection device (not shown) to guide the occupants of the vehicle. The in-vehicle navigation system 30 has vehicle map information 31 . The in-vehicle navigation system 30 may store the vehicle map information 31 as a map database, or may include a storage device for storing the vehicle map information 31 . The in-vehicle navigation system 30 is not limited to having the vehicle map information 31. For example, the vehicle map information 31 may be stored in a server provided outside the vehicle. In this case, the in-vehicle navigation system 30 receives the vehicle map information 31 from the server outside the vehicle via the in-vehicle communication device 20 .

The vehicle map information 31 includes a map for car navigation (hereinafter referred to as a map for car navigation) for guiding the occupants of the planned travel route of the vehicle. The planned travel route of the vehicle is the route from the current location of the vehicle to the destination. The car navigation map includes road network information indicating a road network and feature information indicating various features around the road or on the road.

Road network information is road network information represented by a combination of nodes and links. A node is set at a predetermined point on a road as a position of an intersection or a binding point of links on a car navigation map. A node has location information represented by coordinates (latitude and longitude) on a car navigation map. A link is formed by connecting adjacent nodes so as to correspond to the actual road shape on the car navigation map. A link has information such as the type of road (type such as expressway, toll road, national road, prefectural road, etc.), link length, and link shape as link attribute information. A unique number is assigned to each node and link. The in-vehicle navigation system 30 can identify each road network represented on the car navigation map from the set unique number or the position information possessed by the node. Thus, the in-vehicle navigation system 30 can search for a route from the current location of the vehicle to the destination on the car navigation map.

The feature information is information on features associated with nodes and/or links in the road network information. Examples of features in the vehicle map information 31 include structures such as bridges, overpasses, tunnels, railroad crossings, pedestrian bridges, and toll gates, traffic lights, road signs, and road markings (including lane markings and crosswalks).

An example of the navigation function of the in-vehicle navigation system 30 will be described. The in-vehicle navigation system 30 has, for example, a map matching function, a search function, a guide function, and the like. When a destination is set by a vehicle occupant via an in-vehicle user interface (in-vehicle input device) such as a touch panel, the in-vehicle navigation system 30 uses a map matching function to determine the current location of the vehicle detected by the vehicle position detection device. Based on the information, the current position of the vehicle on the car navigation map is estimated. The in-vehicle navigation system 30 searches for the destination of the vehicle on the car navigation map using the search function. The in-vehicle navigation system 30 also uses a search function to search for one or more routes from the vehicle's current location to the destination. When a plurality of routes are obtained as a search result, the in-vehicle navigation system 30 displays each route on the in-vehicle display. When one of a plurality of routes is selected by a vehicle occupant, the in-vehicle navigation system 30 sets the selected route as a guidance route. The in-vehicle navigation system 30 uses the guide function to display the guidance route on the in-vehicle display, and to output information on the guidance route by voice through an in-vehicle output device such as a speaker. In this embodiment, the functions of the in-vehicle navigation system 30 are not particularly limited, and the in-vehicle navigation system 30 can be applied with navigation functions known at the time of filing the present application.

Storage device 40 stores travel history 41 and high-precision map information 42 . The storage device 40 outputs a travel history 41 to the travel route generation device 10 according to a command from the travel route generation device 10 . The storage device 40 also outputs high-precision map information 42 to the vehicle control device 50 in accordance with a command from the vehicle control device 50 .

The travel history 41 is information about the travel history of the vehicle, and is information about the travel history of the vehicle on the car navigation map. The travel history 41 is information based on vehicle position information detected by a vehicle position detection device. The format in which the travel history 41 is stored in the storage device 40 is not particularly limited. Alternatively, it may be a travel locus on a car navigation map that represents the traces of travel of the vehicle.

The high-precision map information 42 includes a high-precision map used for driving the vehicle by automatic driving control or driving support control. A high-precision map is a so-called dynamic map, which is a map composed of static information such as guardrails and lane boundaries, and dynamic information such as traffic control information and congestion information. . A high-definition map is generated, for example, based on three-dimensional coordinate information and continuous image information acquired by a Mobile Mapping System.

The vehicle control device 50 is a computer for executing various processes for performing automatic driving control or driving support control based on the driving route input from the driving route generation device 10 . Vehicle control device 50 includes an ECU (Electronic Control Unit). The travel route generated by the travel route generation device 10 is input to the vehicle control device 50 . Note that, in the present embodiment, the processing content of the vehicle control device 50 using the travel route is not particularly limited. For example, the vehicle control device 50 executes central route generation processing for the vehicle to travel in the center of the lane based on the travel route and the high-precision map information 42 .

The geographic information system 60 is a system that generates, stores, uses, manages, displays, and retrieves geographic information and additional information on a computer. The geographic information system 60 can edit data and perform simulations in real time based on data obtained from artificial satellites and the like. Functions of the geographic information system 60 include, for example, a map display function, a search function, and a spatial analysis function. Examples of the geographic information system 60 include Google (registered trademark) Map, Yahoo (registered trademark) Map, and the like. The geographic information system 60 is used by users via communication equipment that can be connected to the Internet. The geographic information system 60 has general-purpose map information 61 used for the various functions mentioned in the above example.

The general-purpose map information 61 includes highly versatile maps (hereinafter referred to as general-purpose maps) used for map display, search, and spatial analysis by the geographic information system 60 . The general-purpose map includes road network information indicating a road network and feature information indicating various features around the road or on the road. In the geographic information system 60, road network information and feature information are also called vector data. Information included in general-purpose maps is not limited to road network information and feature information. General-purpose maps include, for example, graphic information such as aerial photographs and satellite images, and meta information such as geodetic systems, projection methods, scales, and accuracy. Also includes

Road network information is road network information represented by a combination of nodes and links. A node is set at a predetermined point on a road as the position of an intersection or a binding point of links on a general-purpose map. A node has location information represented by coordinates (latitude and longitude) on a universal map. A link is formed by connecting adjacent nodes so as to correspond to the actual road shape on the general-purpose map. A link has information such as the type of road (type such as expressway, toll road, national road, prefectural road, etc.), link length, and link shape as link attribute information. A unique number is assigned to each node and link. The geographic information system 60 can identify each road network represented on the general-purpose map from the set unique number or the position information possessed by the node. As a result, the geographic information system 60 can search for a route between points specified by the user on the general-purpose map. The point specified by the user includes the user's current location.

The feature information is information on features associated with nodes and/or links in the road network information. The number of feature types in the general-purpose map information 61 is greater than the number of feature types in the vehicle map information 31 . Examples of the features in the general-purpose map information 61 include, in addition to the above-described examples of the features in the vehicle map information 31, traveling direction displays on the road surface, vehicle stop lines, guardrails, utility poles, signboards, and the like. The features in the general-purpose map information 61 are not limited to features related to roads, and include blocks, buildings, rivers, trees, mountains, and the like.

An example of the navigation function of the geographic information system 60 will be described. The geographic information system 60 has a map matching function, a search function, a guide function, etc., like the in-vehicle navigation system 30 . When a user designates a destination via a mobile terminal such as a smart phone or a mobile phone, the geographical information system 60 uses a map matching function to obtain information on the current location of the mobile terminal detected by a terminal position detection device such as GPS. based on the current position of the mobile terminal on the general-purpose map. The geographic information system 60 searches for a destination on the general-purpose map using a search function. The geographic information system 60 also uses a search function to search for one or more routes from the current location of the mobile terminal to the destination. For example, the geographic information system 60 provides a route on a general-purpose map when the user moves by car, a route on the general-purpose map when the user moves on foot, and a route on the general-purpose map when the user moves by train. Search for a route that corresponds to the user's means of transportation, such as the route of When a plurality of routes are obtained as a search result, the geographic information system 60 displays each route on the display of the mobile terminal. When the user selects one of the plurality of routes according to the means of transportation, the geographic information system 60 sets the selected route as a guidance route. The geographic information system 60 uses a guide function to display a guidance route on a portable display, and to output guidance route information by voice via a portable output device such as a speaker. In this embodiment, the functions of the geographic information system 60 are not particularly limited, and the geographic information system 60 can be applied with navigation functions known at the time of filing the present application. In this embodiment, a case where a user carrying a portable terminal moves by vehicle is taken as an example, and the geographic information system 60 is composed of a route when the user moves by vehicle, that is, roads on which the vehicle can travel. shall search for a route that In the above example, the user uses the geographic information system 60 via a mobile terminal. Not limited. For example, if the vehicle is provided with a user interface for the geographic information system 60 that has functions equivalent to a mobile terminal, the occupant of the vehicle can access geographic information via the on-vehicle interface in the same manner as operating a mobile terminal. An information system 60 is available.

As described above, the in-vehicle navigation system 30 and the geographic information system 60 each have a navigation function, but the map used, the method of estimating the current location, the algorithm for searching for a route, etc. are different from each other. . In addition, in this embodiment, there is no function for sharing information and algorithms in each system between the in-vehicle navigation system 30 and the geographic information system 60, and the in-vehicle navigation system 30 and the geographic information system 60 operate independently for navigation. processing shall be performed.

Here, the difference between the car navigation map in the vehicle map information 31 and the general-purpose map in the general-purpose map information 61 will be explained. The car navigation map is a map that is assumed to be used for navigation by the in-vehicle navigation system 30 (so-called car navigation). Since the map is intended for use in management and city planning, the information accuracy of the car navigation map is generally lower than that of the general-purpose map. In addition, since the amount of information required for a car navigation map is smaller than the amount of information required for a general-purpose map, the information amount of a car navigation map is generally smaller than that of a general-purpose map. Car navigation maps and general-purpose maps also have different map generation methods and node and link definition methods. ) is different. In addition, car navigation maps are updated at relatively long intervals, such as once every six months, while general-purpose maps are updated sequentially based on probe information transmitted from satellites and vehicles. In general, the update frequency of car navigation maps is slower than the update frequency of general-purpose maps.

In this way, a car navigation map specialized for car navigation and a versatile general-purpose map that can be used for purposes other than navigation are different in information accuracy, amount of information, information format, and update frequency. In addition, we believe that general-purpose maps are superior to car navigation maps in terms of information accuracy, amount of information, and update frequency. exists. On the other hand, since the information format of the general-purpose map is different from the information format of the car navigation map, there is a problem that it is difficult to use the general-purpose map as it is in vehicle control including automatic driving control and driving support control. In response to such problems caused by the difference in user needs and information formats, the travel route generation device 10 according to the present embodiment creates a vehicle travel route based on a route on a general-purpose map on a car navigation map. It is intended to satisfy both user needs and solve problems caused by differences in information formats.

Next, the travel route generation device 10 will be described. As shown in FIG. 1 , the travel route generation device 10 has a controller 11 . The controller 11 is configured by a computer having hardware and software, and has a memory storing a program and a CPU etc. for executing the program stored in this memory. As the operating circuit, an MPU, DSP, ASIC, FPGA, or the like can be used instead of or together with the CPU.

FIG. 2 is an example of functional blocks that the controller 11 has. As shown in FIG. 2, the controller 11 includes, as functional blocks, a map information acquisition unit 12, a travel history acquisition unit 13, a current location identification unit 14, a set route acquisition unit 15, a format conversion unit 16, and a route generation unit. It has a section 17 and a route output section 18 . The controller 11 realizes each function of the functional blocks by software stored in memory.

The map information acquisition unit 12 acquires the car navigation map included in the vehicle map information 31 from the in-vehicle navigation system 30 and acquires the general-purpose map included in the general-purpose map information 61 from the geographic information system 60 . For example, the map information acquisition unit 12 acquires a map for car navigation from the in-vehicle navigation system 30 when an ignition switch of the vehicle is turned on by an occupant and a signal indicating that the ignition is turned on is detected. The map information acquisition unit 12 also acquires a general-purpose map from the geographic information system 60 via the in-vehicle communication device 20 . The acquisition timing of each map is an example, and the acquisition timing is not limited. The map information acquisition unit 12 may acquire two maps at the same timing, or may acquire each map at different timings. The map information acquisition unit 12 outputs the acquired car navigation map and general-purpose map to the current location identification unit 14 , the format conversion unit 16 and the route generation unit 17 .

Next, the travel history acquisition unit 13, the current location identification unit 14, the set route acquisition unit 15, the format conversion unit 16, and the route generation unit 17 will be described with reference to FIGS. 3 to 5 as appropriate. 3 to 5 are explanatory diagrams for explaining the processing contents of the travel history acquisition unit 13, the current location identification unit 14, the set route acquisition unit 15, the format conversion unit 16, and the route generation unit 17. FIG.

The travel history acquisition unit 13 acquires the travel history 41 from the storage device 40 . For example, similarly to the map information acquisition unit 12, the travel history acquisition unit 13 acquires the travel history 41 from the storage device 40 when detecting a signal indicating that the ignition has been turned on. Also, the travel history acquisition unit 13 acquires the travel history 41 from the storage device 40 at a predetermined cycle. For example, while the vehicle is running, the travel history acquisition unit 13 sequentially acquires the travel history 41 from the storage device 40 . The acquisition timing of the travel history 41 is an example, and the acquisition timing is not limited. The travel history acquisition unit 13 outputs the acquired travel history 41 to the current location identification unit 14 .

As in the example of FIG. 3, the travel history of the vehicle acquired by the travel history acquisition unit 13 is a travel locus TP on the car navigation map M1 when the axis located on the left side in front view of FIG. 3 is the time axis. expressed. The travel locus TP is composed of nodes and links connecting the nodes on the car-navigation map M1, and is represented by the nodes and links of the car-navigation map M1. 3 to 5, in the car navigation map M1 or general-purpose map M2, circular figures indicate nodes, and line segments connecting nodes indicate links.

Returning to FIG. 2, the current location identifying unit 14 identifies the current location of the vehicle on the car navigation map based on the vehicle's travel history on the car navigation map. For example, the current location identifying unit 14 estimates the current location of the vehicle on the car navigation map based on the location information of the vehicle detected by the vehicle location detection device. The current location identification unit 14 identifies a node having the shortest distance from the estimated location among a plurality of nodes existing around the estimated location as the current location of the vehicle on the car navigation map. The current location of the vehicle on the car navigation map is represented by a node on the car navigation map.

As in the example of FIG. 3, the current location P1 of the vehicle identified by the current location identification unit 14 is represented by a node N10 on the car navigation map M1. The node N10 is a node whose distance from the estimated point on the car navigation map M1 estimated by the current location identifying unit 14 is the smallest compared to other nodes. The coordinates of the node N10 are represented by latitude and longitude on the car navigation map M1.

Returning to FIG. 2 , the set route acquisition unit 15 acquires the set route of the vehicle set on the general-purpose map, including the current location of the vehicle on the general-purpose map, from the geographic information system 60 . For example, when an occupant of a vehicle operates a mobile terminal in the vehicle and the geographic information system 60 searches for a route to the destination of the vehicle, the set route acquisition unit 15 receives information from the geographic information system 60 via the in-vehicle communication device 20. Acquire the set route set on the general-purpose map by The set route is a route from the current location of the vehicle (the current location of the mobile terminal) on the general-purpose map to the destination. The current location of the vehicle included in the set route is represented by a node of the general map identified by the geographic information system 60. FIG. For example, the geographic information system 60 estimates the current location of the mobile terminal on the general-purpose map based on the location information of the mobile terminal. The geographic information system 60 identifies the node with the shortest distance from the estimated point among the plurality of nodes existing around the estimated point as the vehicle's current location on the general-purpose map.

In addition, the set route acquisition unit 15 acquires the set route from the geographic information system 60 at predetermined intervals in order to correspond to the update (reroute) of the set route by the geographic information system 60 . As a scene where the geographical information system 60 updates the set route, for example, when the travel of the vehicle deviates from the set route and the geographical information system 60 searches for and sets a new set route to the destination, the geographical information system 60 However, it is conceivable that the geographic information system 60 becomes a factor, for example, when searching for and setting a new set route to the destination based on road traffic information such as traffic jams and accidents. In addition, the occupant may be a factor, for example, when the occupant of the vehicle inputs the waypoint to the destination on the mobile terminal, or when the occupant inputs the destination on the mobile terminal at a point different from the original one. Conceivable.

As in the example of FIG. 3, the set route R2 acquired by the set route acquisition unit 15 is composed of nodes N20 to N22 and links L21 and L22 connecting the nodes on the general map M2. and links. Links L21 and L22 include, as attribute information, road type information (for example, highways, national roads, etc.) in the general-purpose map. The set route R2 also includes a node N20 as the vehicle's current position P2. The coordinates of the node N20 are represented by latitude and longitude on the general-purpose map M2. Note that the set route R2 shown in FIG. 3 is an example of a route set by the geographic information system 60. FIG.

Returning to FIG. 2, the format conversion unit 16 converts the coordinates of the general-purpose map into the coordinates of the car navigation map. The format conversion unit 16 performs coordinate conversion processing from the coordinates of the general-purpose map to the coordinates of the car navigation map for the set route on the general-purpose map acquired by the set route acquisition unit 15 . As described above, since the information format differs between the car navigation map and the general-purpose map, the set route on the general-purpose map cannot be directly arranged on the car navigation map. In order to represent the set route represented by the coordinates of the general-purpose map with the coordinates of the car navigation map, the format conversion unit 16 performs coordinate conversion processing on the set route. For example, the format conversion unit 16 converts the coordinates of the general-purpose map into the coordinates of the car navigation map for the current location of the vehicle on the general-purpose map. Similarly, the format conversion unit 16 converts the coordinates of the general-purpose map into the coordinates of the car navigation map for each node that constitutes the set route on the general-purpose map. As a result, since the set route set on the general-purpose map can be represented by the coordinates of the car navigation map, the format conversion unit 16 can arrange the set route on the car navigation map. Since the set route laid out on the car navigation map is not necessarily a route that actually exists, the set route laid out on the car navigation map will be referred to as a virtual route hereinafter.

As in the example of FIG. 4, the set route R2 shown in FIG. 3 is coordinate-transformed by the format conversion unit 16, and the virtual route R2-1 arranged on the car-navigation map M1 is the node N13 on the car-navigation map M1. . . . N15 and links L13 and L14 connecting each node, and represented by the nodes and links of the car navigation map M1. The virtual route R2-1 includes a current location P2-1 on the car navigation map M1 that is different from the current location P1 identified by the current location identification unit . Each node and each link forming the virtual route R2-1 correspond to each node and each link forming the set route R2 shown in FIG. For example, the node N13 of the current location P2-1 corresponds to the node N20 of the current location P2 on the general-purpose map shown in FIG. For example, the links L13 and L14 forming the virtual route R2-1 inherit the attribute information of the links L21 and L22 shown in FIG. ing. Note that the virtual route R2-1 shown in FIG. 4 has the same shape as the set route R2 shown in FIG.

Returning to FIG. 2, the route generating unit 17 corrects the virtual route so that the current location of the vehicle on the general-purpose map corresponds to the current location of the vehicle on the car navigation map. Generate a driving route for For example, when the current location of the vehicle based on the travel history 41 and the current location of the vehicle included in the virtual route are at different coordinates (different nodes) on the car navigation map, the route generation unit 17 creates two current locations on the car navigation map. The virtual route is corrected so that the coordinates of are matched to generate a driving route. The current location of the vehicle based on the travel history 41 is the coordinates of the car navigation map specified by the current location specifying unit 14 . The current location of the vehicle included in the virtual route is the coordinates of the car navigation map obtained by converting the coordinates of the current location on the general-purpose map by the format conversion unit 16 . The route generation unit 17 corrects the virtual route on the car navigation map so that the current location included in the virtual route matches the current location identified by the current location identification unit 14 . In other words, the route generator 17 corrects the virtual route so as to maintain continuity from the vehicle's travel locus.

Further, the route generating unit 17 generates a driving route on the car navigation map when a new set route is obtained by the set route obtaining unit 15 as the generation timing of the driving route. As for an example in which the set route acquisition unit 15 acquires a new set route, the description of the set route acquisition unit 15 is used. That is, for example, when an occupant of a vehicle operates a mobile terminal in the vehicle and the geographical information system 60 searches for a route to the destination of the vehicle, the set route acquisition unit 15 acquires a new set route. A unit 17 generates a travel route. Further, for example, when the geographic information system 60 updates the set route, the set route acquisition unit 15 acquires a new set route, so the route generation unit 17 generates a travel route.

Next, as in the example of FIG. 4, the virtual route R2-1 when the current location P1 specified by the current location specifying unit 14 and the current location P2 included in the virtual route R2-1 are different on the car navigation map M1. A correction example will be described.

For example, the route generator 17 identifies nodes located near nodes N13 to N15 included in the virtual route R2-1 as nodes included in the travel route. The neighborhood means being located within a predetermined range from the coordinates of the node. In the example of FIG. 4, when the node N11 is located near the node N13, the node N12 is located near the node N14, and the node N13 is located near the node N15, the route generation unit 17 generates the nodes N11 to N13 is identified as a node included in the driving route. As a result, the car navigation map M1 and the general-purpose map M2 have different information formats and node definition methods. indicate different coordinates on the car navigation map M1, it is possible to specify the nodes N11 to N13 that maintain continuity from the travel locus TP.

Further, for example, the route generation unit 17 identifies links whose attribute information corresponds to the links L13 and L14 included in the virtual route R2-1 as links included in the travel route. In the example of FIG. 4, when the attribute information of the links L13 and L14 is "highway" and the attribute information of the links L11 and L12 is "highway", the route generation unit 17 determines that the attribute information is "highway". are identified as links included in the travel route. As a result, even though the vehicle is traveling on a highway, it is possible to prevent a route of a road with different attribute information (for example, a national highway) from being generated as a travel route.

FIG. 5 is an example of a vehicle travel route R1 generated by the route generation unit 17. As shown in FIG. The travel route R1 is composed of nodes N11 and N12 and links L11 and L12 connecting the nodes on the car navigation map M1, and is represented by the nodes and links of the car navigation map M1. The shape of the travel route R1 is the same as the shape of the set route R2 shown in FIG. 3 and the shape of the virtual route R2-1 shown in FIG. The attribute information of the links L11 and L12 corresponds to the attribute information of the links L21 and L22 shown in FIG. 3, and also corresponds to the attribute information of the links included in the traveling locus TP.

Returning to FIG. 2 , the route output unit 18 outputs the travel route on the car navigation map generated by the route generation unit 17 to the vehicle control device 50 . The output destination of the route output unit 18 is not limited to the vehicle control device 50, and the route output unit 18 may output to other devices or systems that perform processing using the travel route on the car navigation map.

As described above, the travel route generation device 10 according to the present embodiment uses the car navigation map and the general-purpose map to generate the travel route of the vehicle. The travel route generation device 10 has a current location identification unit 14 that identifies the coordinates of the vehicle on the car navigation map as the current location of the vehicle on the car navigation map based on the vehicle travel history 41 on the car navigation map. , to obtain the coordinates of the vehicle's position on the general-purpose map as the vehicle's current location on the general-purpose map, and obtain the set route of the vehicle set on the general-purpose map, including the vehicle's current location on the general-purpose map. A set route acquisition unit 15, a format conversion unit 16 that performs coordinate conversion between a car navigation map and a general-purpose map, and a car navigation map by correcting a virtual route that is a set route arranged on the car navigation map. A route generation unit 17 is provided to generate a travel route on the top. A car navigation map and a general-purpose map each consist of a plurality of nodes and a plurality of links connecting between the nodes. The format conversion unit 16 converts the coordinates of the vehicle on the general-purpose map into the coordinates of the car navigation map. The route generation unit 17 identifies nodes on the car navigation map located near each node included in the virtual route as nodes included in the travel route, and determines the current location on the car navigation map identified by the current location identification unit 14. and the coordinates of the current location on the car navigation map converted by the format conversion unit 16 match on the car navigation map, correcting the virtual route.

As in the example of FIG. 4, even if the current location P1 based on the travel history 41 on the car navigation map does not correspond to the current location P2-1 reflecting the current location on the general-purpose map, A travel route R1 such as an example can be generated. That is, regardless of the current location of the vehicle between the multiple maps, the driving route of the vehicle can be generated using the multiple maps. In addition, since a driving route can be generated using the geographic information system 60, a high affinity with the geographic information system 60 can be obtained, and while satisfying the needs of users who want to use the geographic information system 60, the car navigation map can be used. And it is possible to solve the problem of the information format between general-purpose maps. Further, as in the example of FIG. 5, a travel route R1 can be generated as a route that maintains continuity from the vehicle's current position P1. In addition, even if the current location of the vehicle on the car navigation map does not correspond to the current location of the vehicle on the general-purpose map, and even if the information format differs between the car navigation map and the general-purpose map, , it is possible to generate a driving route that maintains continuity from the vehicle's current location.

In this embodiment, the car navigation map and the general-purpose map each include road attribute information in the link, and the route generation unit 17 generates a link of the car navigation map corresponding to each link included in the virtual route and the road attribute information. is identified as a link included in the driving route. As a result, it is possible to prevent the generation of a travel route including a link with attribute information different from the attribute information of the road on which the vehicle has traveled. For example, even though the vehicle is traveling on an expressway, it is possible to prevent the generation of a travel route on a road other than the expressway.

Further, in the present embodiment, the route generation unit 17 generates a travel route when the set route acquisition unit 15 acquires a new set route. As a result, for example, the travel route can be generated following changes in the traffic conditions of the road on which the vehicle travels and updates of the route set by the geographic information system 60, so that the travel route can be updated in accordance with changes in the situation. can.

Further, in this embodiment, the set route acquisition unit 15 acquires a new set route when the geographic information system 60 updates the set route. As a result, the set route processed by the travel route generation device 10 can be updated in accordance with the update of the set route by the geographic information system 60, so that the travel route can be updated in accordance with changes in the situation.

Further, in the present embodiment, the current vehicle location on the car navigation map and the current vehicle location on the general-purpose map are the current vehicle locations that are set independently of each other. Thereby, the travel route of the vehicle using the navigation function of the geographic information system 60 can be generated.

Further, in this embodiment, the vehicle travel route generated by the route generation unit 17 matches the shape of the set route set on the general-purpose map. As a result, for example, the vehicle can be driven by automatic driving control or driving support control along the shape of the set route, so high compatibility with the navigation of the geographic information system 60 can be obtained.

Further, in this embodiment, the car navigation map differs from the general-purpose map in information accuracy, information amount, information format, and update frequency. This makes it possible to generate a driving route for the vehicle using a plurality of maps regardless of the current location of the vehicle between the plurality of maps with different purposes or purposes of use.

It should be noted that the embodiments described above are described to facilitate understanding of the present invention, and are not described to limit the present invention. Therefore, each element disclosed in the above embodiments is meant to include all design changes and equivalents that fall within the technical scope of the present invention.

For example, in the above-described embodiment, as described with reference to FIG. 4, the route generator 17 identifies the nodes N11 and N12 as nodes included in the travel route R1, and the link L11 as a link included in the travel route R1. , L12 and generate the travel route R1, the route generator 17 may generate the travel route R1 by other methods.

For example, the route generation unit 17 may generate a travel route by translating the virtual route so that the current vehicle location on the general-purpose map corresponds to the current vehicle location on the car navigation map. In the case of the example of FIG. 4, the route generator 17 may translate the virtual route R2-1 so that the current location P2-1 corresponds to the current location P1 to generate the travel route R1 shown in FIG. Since the route generation unit 17 can generate a travel route without performing node and link identification processing, the calculation load can be reduced.

Further, for example, the route generation unit 17 may identify the shape of the virtual route based on the nodes and links of the car navigation map, and generate the travel route based on the shape of the identified virtual route. For example, the route generation unit 17 identifies the shape of the set route from the nodes and links forming the set route set on the general-purpose map. In the coordinate conversion by the format conversion unit 16, if the shape of the set route is maintained on the car navigation map, the route generation unit 17 identifies the shape of the virtual route on the car navigation map from the shape of the set route. The route generation unit 17 determines whether or not there is a route corresponding to the shape of the virtual route based on the nodes and links of the car navigation map. If there is a route corresponding to the shape of the virtual route, the route generation unit 17 generates a route corresponding to the shape of the virtual route as a travel route. Regarding the determination of the correspondence relationship between the current location of the vehicle based on the travel history 41 and the current location of the vehicle included in the virtual route, the route generation unit 17 determines whether or not there is a route corresponding to the shape of the virtual route. may be determined, or the correspondence of the current location may be determined in determining whether or not there is a route corresponding to the shape of the virtual route.

FIG. 6 is an explanatory diagram for explaining the correspondence relationship between the nodes and links of the car navigation map and the nodes and links of the general-purpose map. FIG. 6A shows an example where nodes and links correspond between a car navigation map and a general-purpose map, and FIG. FIG. 6C is an example of a case where the car navigation map and the general-purpose map do not correspond to nodes and links. In FIG. 6, M1 indicates a car navigation map, M2 indicates a general-purpose map, circular figures in each map indicate nodes, and line segments connecting nodes indicate links.

In the example of FIG. 6A, the route generator 17 identifies the shape of the set route from the nodes and links that make up the set route set on the general-purpose map M2. The route generation unit 17 determines that there is a route corresponding to the shape of the set route (shape of the virtual route) on the car navigation map M1, and creates a route on the car navigation map M1 that has the same shape as the set route on the general-purpose map M2. Generate a driving route.

In the example of FIG. 6B, the route generator 17 identifies the shape of the set route from the nodes and links that make up the route set on the general-purpose map M2. The route generation unit 17 determines that the node corresponding to the node DN2 of the general-purpose map M2 does not exist on the car navigation map M1, and partially corresponds to the shape of the set route (shape of the virtual route) on the car navigation map M1. Determine that there is a route to The route generation unit 17 generates a travel route on the car navigation map M1 that is partially the same in shape as the set route on the general-purpose map M2. Since a node corresponding to the node DN2 of the general-purpose map M2 does not exist on the car navigation map M1, the route generation unit 17 does not generate a travel route corresponding to the node DN2 and the link connected to the node DN2. In this case, the route generation unit 17 notifies the vehicle via the in-vehicle output device that some of the nodes corresponding to the general-purpose map M2 do not exist in the car navigation map M1 or that part of the travel route is missing. You can notify the crew.

In the example of FIG. 6C, the route generator 17 identifies the shape of the set route from the nodes and links that make up the route set on the general-purpose map M2. The route generation unit 17 determines that a node corresponding to the node DN2 of the general-purpose map M2 does not exist on the car navigation map M1, and a route corresponding to the shape of the set route (shape of the virtual route) does not exist on the car navigation map M1. Determine that it does not exist. The route generator 17 does not generate a travel route on the car navigation map M1 based on the set route on the general-purpose map M2. In this case, the route generator 17 may notify the occupants of the vehicle via the in-vehicle output device that there is no node corresponding to the general-purpose map M2 on the car navigation map M1 or that the travel route cannot be generated. .

In this way, by specifying the shape of the virtual route and generating the travel route based on the specified shape of the virtual route, it is possible to generate a travel route that matches or is similar to the set route on the car navigation map. A highly accurate driving route corresponding to the route can be generated. In addition, even if a route corresponding to the shape of the virtual route does not exist on the car navigation map due to differences in update frequency and information format, the set route includes nodes and links that partially correspond to the set route. It is possible to generate a travel route with the same shape as

Further, in the above-described embodiment, the case where the set route is updated by the geographic information system 60 has been described as an example of the timing at which the set route acquisition unit 15 acquires a new set route, but the timing is not limited to this. The set route acquisition unit 15 detects at least one of the following cases: when a signal indicating activation of the vehicle is detected; when the current location of the vehicle is detected by the vehicle position detection device; and when the set route is updated by the geographic information system 60. If either one is satisfied, the set route may be obtained from the geographic information system 60 . For example, the set route acquisition unit 15 acquires a new set route from the geographic information system 60 when detecting a signal indicating that the ignition of the vehicle has been turned on. As a result, a travel route can be generated from the start of travel. Further, for example, the set route acquisition unit 15 acquires a new set route from the geographic information system 60 when the current location of the vehicle is detected by the vehicle position detection device. For example, when the vehicle reaches a road registered on the car navigation map from a point where the vehicle position detection device cannot detect the current location of the vehicle (within a multi-story parking lot) or a point not registered on the car navigation map, Can generate routes.

In the above-described embodiment, a car navigation map and a general-purpose map having different information accuracy, information amount, information format, and update frequency have been described as examples. Even if at least one of them is a different map, the travel route generation device according to the present invention can be applied.

Further, in the above-described embodiment, the configuration in which the travel route generated by the travel route generation device 10 is used by the vehicle control device 50 has been described as an example. The driving route on the car navigation map generated by the display may be displayed on a display to guide the occupant of the vehicle.
Induce.

DESCRIPTION OF SYMBOLS 1... Vehicle control system 2... In-vehicle network 10... Driving route generation apparatus 11... Controller 12... Map information acquisition part 13... Driving history acquisition part 14... Current location identification part 15... Set route acquisition part 16... Format conversion part 17... Route generation Part 18... Route output part 20... In-vehicle communication device 30... In-vehicle navigation system 31... Vehicle map information 40... Storage device 41... Driving history 42... High-precision map information 50... Vehicle control device 60... Geographical information system 61... General-purpose map information

Claims (11)

A travel route generation device for generating a travel route for a vehicle using a first map and a second map different from the first map,
A first coordinate position of the vehicle on the first map is specified as a first current location of the vehicle on the first map based on the travel history of the vehicle on the first map. a current location identifying unit that
Obtaining second coordinates at which the vehicle is located on the second map as a second current location, which is the current location of the vehicle on the second map, and setting the coordinates on the second map including the second current location. a set route acquisition unit that acquires the set route of the vehicle;
a format conversion unit that performs coordinate conversion between the first map and the second map;
A route generation unit that generates the driving route on the first map by correcting the virtual route that is the set route arranged on the first map,
the first map and the second map each comprise a plurality of nodes and a plurality of links connecting between the nodes;
The format conversion unit converts the second coordinates into third coordinates that are the coordinates of the first map,
The route generation unit
identifying the nodes on the first map located near each node included in the virtual route as the nodes included in the travel route;
A driving route generation device for correcting the virtual route so that the first coordinates and the third coordinates match on the first map. The travel route generation device according to claim 1,
the first map and the second map each include information about attributes of roads in the links;
The route generating device, wherein the route generation unit specifies the links on the first map, the attributes of which correspond to the links included in the virtual route, as the links included in the driving route. The travel route generation device according to claim 1 or 2,
The route generation unit is a travel route generation device configured to generate the travel route when the new set route is acquired by the set route acquisition unit. The travel route generation device according to claim 3,
The set route acquisition unit acquires the new set route when an acquisition condition is satisfied, and
The acquisition conditions are when a signal indicating activation of the vehicle is detected, when the current location of the vehicle is detected by the device for detecting the current location of the vehicle, and when the set route is updated by the geographic information system. A driving route generation device including at least one of them. The travel route generation device according to any one of claims 1 to 4,
The route generation unit is a travel route generation device that generates the travel route by translating the virtual route such that the second current location corresponds to the first current location. The travel route generation device according to any one of claims 1 to 5,
The travel route generating device, wherein the first current location and the second current location are current locations of the vehicle that are set independently of each other. The travel route generation device according to any one of claims 1 to 6,
The route generation unit
identifying the shape of the virtual route;
A travel route generating device that generates the travel route based on the shape of the identified virtual route. The travel route generation device according to any one of claims 1 to 7,
The travel route generating device, wherein at least a part of the travel route matches the shape of the set route. The travel route generation device according to any one of claims 1 to 8,
The travel route generation device, wherein the first map differs from the second map in at least one of information accuracy, information amount, information format, and update frequency. The travel route generation device according to any one of claims 1 to 9,
The first map is a vehicle map used for in-vehicle navigation,
The second map is a travel route generation device that is a general-purpose map used in a geographic information system. A travel route generation method in which a controller generates a travel route for a vehicle using a first map composed of a plurality of nodes and a plurality of links connecting the nodes and a second map different from the first map. There is
A first coordinate position of the vehicle on the first map is specified as a first current location of the vehicle on the first map based on the travel history of the vehicle on the first map. death,
acquiring second coordinates at which the vehicle is located on the second map as a second current location, which is the current location of the vehicle on the second map;
Acquiring a set route of the vehicle set on the second map, including the second current location;
performing coordinate conversion between the first map and the second map;
generating the driving route on the first map by correcting the virtual route that is the set route arranged on the first map;
In the coordinate transformation, the second coordinates are transformed into third coordinates that are the coordinates of the first map;
identifying the nodes of the first map located near each node included in the virtual route as the nodes included in the travel route in generating the travel route;
A driving route generation method for correcting the virtual route such that the first coordinates and the third coordinates match on the first map in generating the driving route.

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