JP6551304B2 - Detailed route creation device, automatic driving system for vehicle and detailed route creation program - Google Patents

Description

  The present invention relates to a detailed route creation device, an automatic driving system for a vehicle, and a detailed route creation program.

  In recent years, a method of performing automatic operation control using a navigation system equipped with a detailed map for automatic operation is common (see Patent Document 1). In this case, the detailed map for autonomous driving is a map with extremely high accuracy as compared with the map of the conventional navigation system, and the amount of information to be handled is extremely large.

JP2015-175825A

  By the way, in the automatic driving system, automatic driving control is performed by performing steering operation and braking operation while referring to the detailed route created based on the detailed map, but since the data size of the detailed route is large, it is actually It is assumed that interpretation processing (data access) for performing the operation control operation of the above becomes heavy. For this reason, since route confirmation becomes late, there is a problem that start operation of an actual automatic operation service becomes late.

  For example, when an automatic driving system is integrated with a navigation system, there is a problem in the responsiveness of the automatic driving service because the navigation system is complicated and functions are diversified.

  The present invention has been made in view of the above circumstances, and an object thereof is to provide a detailed route creating device, an automatic driving system for a vehicle, and a detailed route creating program capable of improving the responsiveness of an automatic driving service.

  According to the invention of claim 1, when the branch point acquisition unit (8b) acquires branch point information in the automatic operation section from the external route search device (1), the space information creation section (8c) Based on whether or not the branch point that is the start point and the end point matches or matches the detailed map data, the first verification is performed to determine whether automatic driving is possible, and it is determined that automatic driving is possible by the first verification. In the case of having made, creation of a detailed route is started based on current position and road network data. Thereby, it is possible to start the automatic driving service when it is determined by the first check that the automatic driving is possible, and the responsiveness of the automatic driving service can be improved. Subsequently, a second verification is performed to determine whether automatic driving is possible based on whether or not a branch point that is an intermediate point in the automatic driving section matches or matches the detailed map data. If it is determined that, the creation of the detailed route is continued.

Functional block diagram showing the entire configuration of the system in the first embodiment Diagram schematically showing the system Diagram showing an automatic operation section Diagram for explaining the general operation Flow chart showing operation of locator device Diagram showing the procedure for identifying branch points Diagram showing how to identify diverging links Diagram showing how to specify the direction of branching Map and sequence diagram showing destination input by user Map and sequence diagram showing route calculation and branch point extraction Map and sequence diagram showing presentation of automatic driving section Map and sequence diagram showing before start of automatic operation (before entering high speed gate) Sequence diagram showing automatic operation Map and sequence diagram showing (prepare) before end of automatic operation The figure which shows the system in 2nd Embodiment roughly The figure which shows the system in 3rd Embodiment roughly

First Embodiment
The first embodiment will be described below with reference to FIGS.
The entire system is configured by combining a navigation device 1 (corresponding to a route search device) and an automatic driving system 2. The automatic driving system 2 includes a locator device 3 (corresponding to a detailed route creation device), a traveling track management device 4, and a vehicle motion control device 5, and is configured independently of the navigation device 1. .

  The navigation device 1 receives and processes GPS radio waves emitted from GPS satellites and captured by the GPS in-dash antenna 6, calculates various parameters extracted from the GPS radio waves, and specifies the current position of the host vehicle as the host vehicle position. Have. The navigation device 1 outputs various types of navigation information such as the host vehicle position, the destination, the route from the host vehicle position to the destination, and the estimated arrival time to the locator device 3. Further, the navigation device 1 outputs a display command signal and an audio output command signal to the HMI device 7 (corresponding to a presentation unit).

  The HMI device 7 is a display, a speaker or the like. When the display command signal is input from the navigation device 1, the HMI device 7 displays display information such as a warning and route guidance on the display according to the display command signal. Also, when the audio output command signal is input from the navigation device 1, the HMI device 7 outputs voice information such as a warning and route guidance from the speaker according to the audio output command signal.

  The locator device 3 includes a control unit 8, a GPS receiver 9, a gyro sensor 10, a G sensor 11, a road network data storage unit 12 (corresponding to a storage unit), and a detailed map data storage unit 13 (corresponding to a storage unit). And. The GPS receiver 9 receives a GPS radio wave radiated from a GPS satellite and captured by the GPS roof antenna 14, calculates various parameters extracted from the GPS radio wave, and specifies the current position of the own vehicle as the own vehicle position. The control unit 8 outputs a position signal indicating the specified vehicle position.

  The gyro sensor 10 detects an angular velocity acting on the host vehicle, and outputs an angular velocity signal indicating the detected angular velocity to the control unit 8. The G sensor 11 detects an acceleration acting on the host vehicle, and outputs an acceleration signal indicating the detected acceleration to the control unit 8.

  The road network data storage unit 12 stores road network data, and outputs the road network data to the control unit 8. Road network data is map information indicating information such as the shape of a road, the position of the road, the connection between a plurality of roads, and the lanes constituting the road.

  The detailed map data storage unit 13 stores detailed map data, and outputs the detailed map data to the control unit 8. Detailed map data is a map that includes the number of lanes that make up the road, the width of the lane, the position and type of dot lines that divide the lane, the increase or decrease of lanes, the connection relationship between lanes, whether vehicles can move between lanes, etc. It is information.

  The control unit 8 corrects the own vehicle position indicated by the position signal input from the GPS receiver 9 with the angular velocity indicated by the angular velocity signal input from the gyro sensor 10 or the acceleration indicated by the acceleration signal input from the G sensor 11. . The locator device 3 can specify the vehicle position with higher accuracy than the navigation device 1.

  The steering angle sensor 15 detects the steering angle of the steering wheel, and outputs a steering angle signal indicating the detected steering angle of the steering wheel to the traveling track management device 4. The accelerator sensor 16 detects an operation amount of the accelerator and outputs an acceleration signal indicating the detected operation amount of the accelerator to the traveling track management device 4. The brake sensor 17 detects a brake operation amount, and outputs a brake signal indicating the detected brake operation amount to the traveling track management device 4.

  The vehicle front camera 18 shoots the front of the host vehicle and outputs a video signal including the photographed video to the traveling track management device 4. The vehicle front camera 18 is, for example, a CCD image sensor, a CMOS image sensor, or the like, and may be singular or plural. The millimeter wave radar 19 transmits a millimeter wave to the front of the vehicle, detects the presence of an object (for example, a preceding vehicle) in front of the vehicle according to the reception state of the reflected wave, and detects a detection signal indicating the detection result Output to the management device 4. The laser radar 20 transmits laser light in front of the host vehicle, detects the presence of an object in front of the host vehicle based on the reception state of the reflected wave, and outputs a detection signal indicating the detection result to the traveling track management device 4. . The millimeter wave radar 19 and the laser radar 20 may be singular or plural.

  The traveling track management device 4 includes a steering angle signal input from the steering angle sensor 15, an accelerator signal input from the accelerator sensor 16, a brake signal input from the brake sensor 17, an image signal input from the vehicle front camera 18, a millimeter wave radar 19. The traveling track along which the vehicle travels is specified using the detection signal input from the sensor and the detection signal input from the laser radar 20.

  When the vehicle movement control device 5 receives the traveling track information from the traveling track management device 4, the vehicle movement control device 5 controls the movement of the own vehicle so that the own vehicle travels along the traveling track indicated by the traveling track information.

  In the locator device 3, the control unit 8 is configured by a microcomputer having a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and an I / O (Input / Output). The control unit 8 executes a computer program stored in the non-transitional tangible recording medium, thereby executing processing corresponding to the computer program and controlling the overall operation of the locator device 3.

  The control unit 8 includes a current position acquisition unit 8a, a branch point acquisition unit 8b, and a space information generation unit 8c. Each of these units 8 a to 8 c is configured by a program executed by the control unit 8 and is realized by software.

  In order to make the operation of the above configuration easy to understand, the above configuration will be described as a simplified configuration. In addition, while the map which the navigation apparatus 1 has is described as a map for navigation, the map stored in the detailed map data storage unit 13 is expressed as a detailed map, the traveling track management device 4 and the vehicle motion control device 5 are integrated. It is written as an automatic operation / control module.

  As shown in FIG. 2, the present embodiment realizes an automatic driving service in an environment in which a navigation map 101 and a detailed map 102 for automatic driving are separated, and a navigation device 1 that reads the navigation map 101; It comprises an automatic driving system 2 for reading a detailed map 102 for automatic driving.

  The navigation apparatus 1 acquires the user destination by the HMI unit 103, provides the user with the automatic driving section searched by the route calculation section 104 by the guide / display section 105, and also provides the automatic driving system with the branch point information of the automatic driving section. 2 to the spatial information generation unit 8c. The space information generation unit 8c collates the route (automatic operation section), acquires map data necessary for automatic operation, and processes the data, and provides the automatic operation / control module 106 with the data.

  That is, the space information generation unit 8c of the automatic driving system 2 has a function of collating the route information provided from the navigation device 1, and high-precision detailed map data necessary for automatic driving along the route along the route based on the vehicle position. Is acquired and processed into a form of detailed path data that is easy to control. The detailed route is a route that not only defines the road on which the host vehicle travels, but also defines the lane on which the host vehicle travels, and further avoids features described in the detailed map data.

  In the present embodiment, the spatial information generation unit 8c of the automatic driving system 2 implements the route information confirmation means in two stages, so that the responsiveness of the automatic driving service is high and accurate route matching can be performed. It is characterized in that the method is feasible.

  The confirmation method of the route collation in the space information generation part 8c of the automatic driving system 2 is demonstrated. In the present embodiment, as shown in FIG. 3, the automatic driving zone searched by the navigation device 1 as the automatic driving is from the entrance gate of the expressway included in the searched route to the exit gate. That is, when there is no appropriate expressway that can be operated automatically between the start point and the end point, the autonomous operation section is not identified.

  As shown in FIG. 4, the first stage of matching is performed at the time of route input. When the user inputs a destination, the navigation device 1 calculates a route and outputs branch point information to the locator device 3. Then, the space information generation unit 8c of the locator device 3 performs the first-step collation. That is, as shown in FIG. 5, since branch point information is acquired from the navigation device 1 (S1), a branch point check is performed to determine whether automatic driving is possible (S2). The branch point information includes branch position (latitude, longitude), road attribute information (functional road classification, road type, link type), branch information (number of incoming links, number of outgoing links), and outgoing direction. In this branch point check, it is confirmed whether the entrance IC and exit IC of the section (highway) to be automatically driven coincide with the IC location on the detailed map 102 side. Originally, it is desirable to confirm the coincidence / matching of all branch points in the automatic driving section, but in this embodiment, considering only the responsiveness of the automatic driving service, checking only at the starting point and end point of the automatic driving section However, the route finally provided to the user will be the same.

  As shown in FIG. 4, the first-step collation result as described above is presented to the user by the navigation device 1. That is, as a result of the branch point check, if it matches / matches (S2: OK), it notifies that automatic driving is possible (S3), and if it does not match / matches (S2: NG), it notifies that automatic driving is impossible. (S4).

  At this time, by reading out the detailed map 102 corresponding to the starting point of the route capable of automatic driving determined to be OK in the first step collation, a detailed route is created in advance and provided to the traveling track management device 4. , It becomes possible to start an automatic driving service.

  As shown in FIG. 4, the second-step verification is performed immediately before or during automatic driving after route input. That is, as shown in FIG. 5, by executing continuous detailed verification (S5), the number of intermediate branch points to be checked is determined (S6), and when there are no branch points (S6: None (0)) Since there is no intermediate branch point, automatic operation permission is notified (S9). On the other hand, if there is a branch point (S6: Yes (1 or more)), branch point check is executed (S7), and if the branch points do not match / coincide (S7: NG), notification of automatic operation impossible is given. (S8). Until all the branch point checks are executed (S10: NO), the above loop is repeatedly executed. When all the branch points are matched / matched (S10: YES), the automatic driving is notified (S11).

As shown in FIG. 4, the navigation device 1 notifies the user of whether or not automatic driving is possible.
Although it is desirable to finish the second-step verification before the start of the automatic operation, if the verification can not be performed, the automatic operation is performed while continuing the verification.

  In automatic driving, it is necessary to determine the traveling direction of the host vehicle at a branch point. To determine the progress, (1) identification of a branch position, (2) narrowing of branch candidates, (3) determination based on branch point information, (4) Perform by judgment based on branch direction.

(1) Identification of Branch Position In this operation, for example, a branch point existing within a radius of 100 m of the branch point acquired from the navigation device 1 is extracted. This is performed to extract a branch point (IC, SA, PA, JCT, intersection, etc.) because the position accuracy of the branch point information from the navigation device 1 is low. The example shown in FIG. 6A shows that there are five branch points (indicated by black circles in the figure) around the position indicated by the branch point acquired from the navigation device 1.

(2) Narrowing down branch candidates Narrow down branch candidates by narrowing down by branch configuration link type. The example shown in FIG. 6 (b) shows that the branching link is narrowed down to two branch points on the condition that the link is a ramp or an expressway.

(3) Judgment by branch point information In judgment by branch point information, the approach direction is referred to, and the number of approach links and the number of exit links are checked. In the example shown in FIG. 6C, the branch information indicates that the number of incoming links is one and the number of outgoing links is two, so that the branch information is narrowed down to one branch point.

(4) Judgment by branch direction In judgment by branch direction, it is specified by whether the branch information is the link number with respect to the reference direction. In the example shown in FIG. 6 (d), it is indicated that the second wire is clockwise around the north direction which is the reference direction. That is, as shown in FIG. 7, there are two links, the first link A and the second link B, in the clockwise direction with respect to the north direction, which is the reference direction. Is identified. In this case, as shown in FIG. 8, the direction of the link is set by the average of the orientations between the shape points within a certain distance and the orientation from the start point to the representative point.
As described above, the branch point can be specified based on the branch point information, and the branch direction at the branch point can be finally determined.

  Next, a specific processing sequence will be described with reference to FIGS. 9 to 14. 9 to 14, the HMI unit 103 of the navigation device 1 is represented as navigation (HMI), the route calculation unit 104 is represented as navigation (route), the locator device 3 is represented as locator, and the traveling track management is performed. The device 4 is described as a control ECU.

  As the first stage, the navigation device 1 executes (1) destination input by the user, (2) route calculation and branch point extraction, (3) automatic driving section presentation, and (4) general driving (driving by the user) ), The locator device 3 executes (5) before the start of automatic operation (preparation), (6) automatic operation, and (7) before the end of automatic operation (preparation).

(1) Destination Input by User In this operation, as shown in FIG. 9A, "S" is displayed as the start point and "E" as the end point on the map.

  That is, as shown in FIG. 9B, when the user inputs a destination (S101), the navigation (HMI) acquires the destination (S102), and at the minimum, it is checked as a branching point when performing automatic driving. Search for the route to the required destination. In this embodiment, since a highway is a condition that can be automatically driven, it is determined whether the route searched for a highway is included, and if it is included, the highway is defined as a minimum branching point. Determine the entrance IC (start point) to enter and the exit IC (end point) to exit.

(2) Route Calculation and Branch Point Extraction In this operation, as shown in FIG. 10 (a), a check is made so that a branch point from entering the highway through the entrance IC and exiting from the exit IC is indicated by blowing.

  That is, as shown in FIG. 10B, the navigation (route) uses the route search function to calculate the route that becomes the automatic driving section based on the current location and the destination (S201), and the navigation (HMI) The route is displayed to the user (S202). The navigation (path) creates branch point information (S203), and provides the branch point information to the locator apparatus 3.

The locator device 3 draws a route along the road based on the route information in the automatic driving section (highway section) and checks the number of branch points (number of IC, SA, PA, JCT) on the detailed map 102 ( S204). If the number of branch points is 0 according to the result of the branch point check, it is notified that there is no automatic driving section to be subjected to automatic driving (S205). The navigation (HMI) notifies the user of no automatic driving (S206). If the number of branch points is one or more, the consistency check with the detailed map data corresponding to the branch point is performed (S207), and in the case of inconsistency, notification is made that automatic operation is not possible (S208). The navigation (HMI) notifies the user that automatic driving is not possible (S209). If they match, the navigation (route) is notified that automatic driving is possible (S208).
Since the navigation (HMI) notifies whether or not automatic driving is possible based on the collation result provided as described above, the user recognizes whether or not automatic driving is possible.

(3) Presentation of Automatic Driving Section In this operation, as shown in FIG. 11 (a), the automatic driving section is searched.
That is, the locator apparatus 3 checks whether branch point information exists in the automatic operation section, and in the case of the matching check OK, returns the automatic operation permission to the navigation (route). The navigation (route) calculates the automatic driving section (S301), and gives the navigation (HMI) section information for drawing. As shown in FIG. 11A, the navigation (HMI) displays the automatic driving section (S302), and explains by voice that automatic driving is started from the high-speed gate (S303).

(4) General driving (driving by the user)
The locator apparatus 3 repeats creating a detailed route.

(5) Before starting automatic operation (before entering high speed gate)
In this operation, as shown in FIG. 12 (a), notification is given to the user as shown by blowing before the start of automatic driving.
That is, as shown in FIG. 12B, the locator device 3 notifies the navigation (HMI) of interruption when the predicted road and branch point information check result is NG (S401). The navigation (HMI) notifies the user of the interruption (S402). If the user does not respond or does not respond (S403), the user response is notified to the locator apparatus 3 (S404).

  The locator device 3 determines whether to allow automatic driving according to the user response (S405). When the determination result is NG, the locator device 3 notifies the navigation (HMI) of the interruption (S406) and simultaneously notifies the control ECU of the interruption. The navigation (HMI) notifies the user of the interruption (S407). On the other hand, the control ECU interrupts the automatic operation.

  The locator device 3 notifies the control ECU of the preparation for automatic driving when the predetermined distance before the entrance gate of the expressway (S408). The control ECU checks various sensors necessary for automatic operation (S409), notifies the locator device 3 of control NG if the sensor state is NG, and notifies control OK if the sensor state is OK. (S410).

  The locator device 3 determines the control state (S411), and in the case of control NG, notifies the navigation to the navigation (HMI) and simultaneously notifies the control ECU of the interruption (S412). The navigation (HMI) notifies the user of the interruption (S413).

  In the case of control OK (S412), the locator device 3 requests user confirmation from the navigation (HMI) when it reaches the entrance gate of the expressway (S414). The navigation (HMI) confirms to the user whether the automatic driving is started or not (S415). If the user does not respond or does not respond (S416), the user response is notified to the locator apparatus 3 (S417).

The locator device 3 determines permission of automatic driving (S418). If the determination result is NG, the locator device 3 notifies the navigation (HMI) and the control ECU of the interruption. If the determination is OK, the navigation (HMI) and control are performed. The ECU is notified of the start of automatic operation (S419). The navigation (HMI) notifies the user of the determination result (S420, S421). On the other hand, the control ECU interrupts the automatic driving or starts the automatic driving according to the determination result.
As described above, automatic driving is performed when it is determined that the navigation branch point and the check result are the same.

(6) Automatic operation In this operation, as shown in FIG. 13, the locator device 3 checks the predicted road and the branch point information (S501). If the check result is NG, the navigation (HMI) is interrupted. Notification is made (S502). The navigation (HMI) notifies the user of the interruption (S503). If the user does not respond or does not respond (S504), the user response is notified to the locator apparatus 3 (S505). The locator apparatus 3 determines the suspension in accordance with the user response (S506), and when the determination result is OK, notifies the suspension to the control ECU (S507). The control ECU interrupts the automatic operation in response to the notification of the interruption. On the other hand, if the determination result is NG, automatic operation along the road is continued (S508), and then forced interruption (S509) is performed to notify the control ECU of the interruption. The control ECU comes to interrupt the automatic operation.

(7) Before the end of automatic operation (preparation)
In this operation, as shown in FIG. 14A, when the automatic operation is finished, the user is notified as indicated by a blowout.
That is, when approaching the gate of the expressway, the locator apparatus 3 notifies the navigation (HMI) of OK (S601). The navigation (HMI) notifies the user of the prior termination (S602). When the highway gate is reached, the navigation (HMI) is notified of the end of automatic driving (S603). The navigation (HMI) notifies the user of the end of automatic driving (S604).
Thereafter, the user drives the vehicle manually.

According to such an embodiment, the following effects can be achieved.
When the locator device 3 acquires the branch point information related to the automatic driving section from the navigation device 1, the locator device 3 executes the first verification that determines whether the branch point that is the start point and the end point matches or matches the detailed map data. When it is determined that the first matching matches / matches, the creation of the detailed route is started, and it is determined whether the branch point that is an intermediate point between the start point and the end point matches / matches the detailed map data. If the second collation is performed and it is determined that the second collation matches / matches, the detailed route will continue to be created. If it is determined that automatic driving is possible by the first collation, the automatic driving service is started. It is possible to improve the responsiveness of the automated driving service.

  Since the determination result by the 1st collation and the 2nd collation is displayed to a user, when it determines with automatic driving being impossible by the 1st collation, it can alert | report a determination result to a user quickly.

Second Embodiment
The second embodiment will be described with reference to FIG. The second embodiment is characterized in that the search of the automatic driving section based on the navigation map 101 is performed by the cloud server in cooperation with the navigation application of the smartphone. In addition, about the structure same as 1st Embodiment, the same code | symbol is attached | subjected and the description is abbreviate | omitted.

  When the navigation application of the smartphone 201 (communication terminal) is activated, the navigation application displays a position information input screen for inputting a start position and an end position (corresponding to position information), and the user inputs them. The navigation application transmits the location information input by the user to the cloud server 202 of the management center via the cellular phone network and the Internet network. When the start position is the current position, the current position is transmitted.

  The cloud server 202 includes a navigation map 101 and a route calculation unit 104, searches for an automatic driving section based on the start position and the end position received from the smartphone 201, and a branch point of the searched automatic driving section. The information is transmitted to the information communication unit 203 provided on the vehicle side. The information communication unit 203 notifies the control unit 8 of the locator device 3 of the received branch point information.

  The spatial information generation unit 8c determines whether the branch point that is the start point and end point of the automatic driving section indicated by the branch point information matches or matches the detailed map 102, and if it matches or matches, creates a detailed route. To start. Next, it is determined whether the branch point which is the middle point of the automatic operation section matches / matches with the detailed map 102, and if it matches / matches, generation of the detailed route is continued.

  According to such an embodiment, since the search for the automatic driving section is performed on the cloud server side, even when the navigation device 1 is not provided in the vehicle, it is possible to improve versatility.

Third Embodiment
Next, a third embodiment will be described with reference to FIG. The third embodiment is characterized in that the cloud server 202 performs search for an automatic driving section based on the navigation map 101 and creation of a detailed route based on the automatic driving section.

The cloud server 202 is provided with a navigation map 101, a route calculation unit 104, a detailed map 102, and a space information generation unit 8c. An information communication unit 203 is provided on the vehicle side, and can transmit and receive information with the cloud server 202.
The information communication unit 203 on the vehicle side transmits the current position acquired by the current position acquisition unit 8 a to the cloud server 202.

  The user transmits the start position and the end position to the cloud server 202 by the smartphone 201. The cloud server 202 searches the automatic operation section based on the start position and the end position in the navigation map 101 by the route calculation unit 104, and the detailed map 102 is a branch point where the start point and the end point of the searched automatic operation section. It is determined whether they match or match, and in the case of match or match, a detailed route is generated based on the current position of the vehicle and transmitted to the information communication unit 203 on the vehicle side. The information communication unit 203 notifies the automatic driving and control module 106 of the received detailed route.

  According to such an embodiment, in addition to the search of the automatic driving section based on the navigation map 101, the creation of the detailed route based on the automatic driving section is performed by the cloud server 202, so Only the position acquisition unit 8a and the information communication unit 203 may be provided, and the configuration on the vehicle side can be greatly simplified.

(Other embodiments)
The present invention is not limited to the above embodiment, and can be modified or expanded as follows.
By outputting the detailed route created by the locator device 3 to the navigation device 1, the accuracy of the route provided by the navigation device 1 may be enhanced.

The function of the locator device 3 may be integrated into the navigation device 1.
The automatic driving section may be set as a route from the current location to the destination. In this case, an automatic driving section is set so as to pass through the expressway, an automatic driving section is set so that the general road is the starting point and the highway is the end point, the starting point is on the highway, the general You may make it set an automatic driving | operation area so that a road may become an end point.

  When the vehicle deviates from the automatic driving zone, the navigation device 1 may search for a new route and notify the automatic driving system 2 of branch point information to thereby create and output a detailed route again.

In the drawings, 1 is a navigation device (route search device), 3 is a locator device (corresponding to a detailed route creation device), 4 is a traveling track management device, 5 is a vehicle motion control device, 7 is an HMI device (presentation unit), 8a. Is a current position acquisition unit, 8b is a branch point acquisition unit, 8c is a spatial information generation unit, 12 is a road network data storage unit (storage unit), 13 is a detailed map data storage unit (storage unit), and 203 is an information communication unit. is there.

Claims (7)

A detailed route creation device (3) mounted on a vehicle,
A storage unit (12, 13) storing road network data and detailed map data;
A current position acquisition unit (8a) for acquiring the current position of the vehicle with high accuracy;
A branch point acquisition unit (8b) for acquiring branch point information in an automatic driving section searched by an external route search device (1);
A first verification is performed to determine whether automatic driving is possible based on whether or not a branch point that is a start point and an end point of the automatic driving section matches or matches the detailed map data, and is automatically performed by the first verification. If it is determined that driving is possible, the creation of a detailed route is started based on the current position and the road network data, and a branch point that is an intermediate point of the automatic driving section matches the detailed map data. The second verification that determines whether automatic driving is possible based on whether or not the vehicle matches, and when it is determined that automatic driving is possible based on the second verification, spatial information generation that continues the creation of the detailed route Part (8c);
A detailed route creation device comprising:   The detailed route creation device according to claim 1, further comprising: a presentation unit that presents to the user the propriety of automatic driving by the first check and the second check.   The detailed route creation device according to claim 1, wherein the route search device is a navigation device. The route search device
A communication terminal (201) for transmitting position information;
The detailed route creation device according to claim 1 or 2, comprising a cloud server (202) that searches for the automatic driving section based on position information transmitted from the communication terminal. The route search device
A communication terminal (201) for transmitting position information;
And a cloud server (202) for searching for the automatic operation section based on the position information transmitted from the communication terminal.
The cloud server is
The detailed path creation device according to claim 1, comprising the storage unit, the branch point acquisition unit, and the spatial information generation unit. A storage unit (12, 13) storing road network data and detailed map data;
A current position acquisition unit (8a) for acquiring the current position of the vehicle with high accuracy;
A branch point acquisition unit (8b) for acquiring branch point information in an automatic driving section searched by an external route search device (1);
A first verification is performed to determine whether automatic driving is possible based on whether or not a branch point that is a start point and an end point of the automatic driving section matches or matches the detailed map data, and is automatically performed by the first verification. If it is determined that driving is possible, the creation of a detailed route is started based on the current position and the road network data, and a branch point that is an intermediate point of the automatic driving section matches the detailed map data. The second verification that determines whether automatic driving is possible based on whether or not the vehicle matches, and when it is determined that automatic driving is possible based on the second verification, spatial information generation that continues the creation of the detailed route A detailed route creating device (3) that is mounted on a vehicle,
A traveling track management device (4) for managing a traveling track based on the detailed route;
A vehicle motion control device (5) that executes automatic driving based on the traveling track;
An automatic driving system for vehicles equipped with. A detailed route creation program for creating a detailed route based on road network data and detailed map data stored in a storage unit (12, 13) when executed by a detailed route creation device (3) mounted on a vehicle. And
A procedure for acquiring the current position of the vehicle with high accuracy by being executed by the current position acquisition unit (8a) ;
A procedure for acquiring branch point information in an automatic driving section searched by the external route search device (1) by executing the branch point acquisition unit (8b) ;
When the spatial information generation unit (8c) executes , a determination is made as to whether or not automatic driving is possible based on whether or not a branch point that is a start point and an end point of the automatic driving section matches or matches the detailed map data. 1 verification is performed, and when it is determined that automatic driving is possible by the first verification, creation of a detailed route is started based on the current position and the road network data, and an intermediate point of the automatic driving section When it is determined that automatic driving is possible by performing the second collation that determines whether automatic driving is possible based on whether the branch point to be matched or matched with the detailed map data is , Continuing the creation of the detailed route,
A detailed route creation program that executes

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