JP6700405B2 - Travel trajectory generation device, travel trajectory generation method, travel trajectory generation program, and recording medium - Google Patents

Description

  The present invention relates to a traveling track generation device, and more particularly, to a traveling track generation device that determines a traveling route based on node information and link information, a traveling track generation method, a traveling track generation program, and a recording medium.

  2. Description of the Related Art Conventionally, a technology for calculating a travel route based on current position information and target position information is well known in vehicle navigation devices.

  In addition, in such a navigation device, for example, in the case of traveling on a curve, there is known one that acquires the curve information and controls the traveling state in consideration of the current speed of the vehicle (for example, See Patent Documents 1 and 2.

JP, 2016-107722, A WO98/023918

  In the technique disclosed in such a prior art document, the yaw rate can be controlled (see Patent Document 1) when there is a curve at the travel destination of the current vehicle position during traveling (see Patent Document 1), and road information. The display state of is changed (see Patent Document 2).

  On the other hand, when there are multiple driving lanes separated by lanes in parallel, such as on a highway or a national road, even if the curves are on the same road, the curvature will be large on the inside and outside. different. Further, for example, when there are two parallel traveling lanes, which are generally called two lanes on each side, one side of one traveling lane is a traveling lane on which an oncoming vehicle travels or a separation zone exists. Similarly, one side of the other driving lane may be a sidewalk or a shoulder. Therefore, the actual traveling track (hereinafter, referred to as "traveling track") is often different for each lane depending on the surrounding road environment.

  However, in each of the above-mentioned documents, when such a plurality of traveling lanes exist, the traveling trajectory that changes for each traveling lane is not considered.

  In order to solve the above problems, the present invention provides a running track generation device, a running track generation method, a running track generation program, and a recording medium that can provide an optimum running track for each running lane. The purpose is to do.

  In order to achieve the above-mentioned object, a traveling track generation device according to the present invention has road demarcation information for demarcating a road itself including a traveling lane divided by one or more lanes, and the same direction demarcated by the road demarcation information. The storage unit that stores the node information and the link information for each traveling lane that travels to the vehicle, and the determination unit that determines the trajectory information regarding the traveling route for each traveling lane based on the node information and the link information. The determination unit refers to the road demarcation information and determines whether or not there are multiple traveling lanes on the road corresponding to the trajectory information, and the determination unit determines that there are multiple traveling lanes. In this case, a trajectory information correction unit that corrects the trajectory information for each traveling lane based on the road demarcation information, the node information, and the link information.

  According to the present invention, it is possible to provide an optimum traveling track for each traveling lane.

It is a block diagram of a running track generation device. (A) is an explanatory view showing an example of correction of trajectory information by a traveling trajectory generation device, and (B) is an enlarged view in which a portion surrounded by an ellipse in (A) is replaced with a straight line. It is explanatory drawing which shows the example of correction|amendment of the track information which considered the surrounding environment by a running track generator. It is an explanatory view of a plurality of track information corrected for the same travel lane by the travel track generation device. It is a flow diagram of a main control routine in the running trajectory generation device. It is a flow figure of a correction routine in a running track generation device.

  Next, an embodiment according to the present invention will be described with reference to the drawings. In the following description, the traveling track generation device shown as the present embodiment is applied to a vehicle navigation system. It is also possible to apply to a navigation system or the like for a vehicle using a mobile terminal such as a smartphone or a tablet terminal.

  As shown in FIG. 1, a navigation system 1 according to the present embodiment stores a program related to a navigation system including the present invention, which is processed by a control unit 10, and a road including a traveling lane divided by one or more lanes. It includes a storage unit 11 that stores road demarcation information for demarcating itself and node information and link information for each traveling lane traveling in the same direction demarcated by the road demarcation information.

  The road demarcation information for demarcating the road itself including one or more lanes stored in the storage unit 11 is a white line or the like displayed on the road surface with solid lines or broken lines for demarcating the road into a plurality of driving lanes. In addition to lanes (line segments), this is information that defines the road itself including road shoulders, guardrails, fences, median strips, and driving lanes. That is, in the navigation system 1, the road demarcation information includes information about a plurality of traveling lanes on the same road, in addition to information about a road width and the like required for normal road display on a display screen such as a liquid crystal display. The road information stored in the storage unit 11 includes node information and link information for each traveling lane in which the shape of each road is approximated to the actual road shape as much as possible.

  Further, the node information and link information for each traveling lane traveling in the same direction means that, for example, a traveling lane such as a right-turning lane is not included as a correction target of trajectory information described later, and a node for the right-turning lane is included. It does not mean that the information and the link information are not stored in the storage unit 11.

  Therefore, the road information is meant to include road demarcation information about roads defined by these traveling lanes and road sections. Note that the road information can include facility information regarding various facilities that can be used as a landmark or the like during the setting of destinations or guides, whether public or private. Then, these various kinds of information can be added/updated/deleted to/from the storage unit 11 via the control unit 10 by manual operation/input by the operation of the input unit 12 or automatic acquisition by the update information acquisition unit 13. .. Here, the storage unit 11 may be a recording medium configured by a memory circuit provided in the navigation device as an on-vehicle device, or a recording medium or a CD configured by a removable memory circuit read by a reading device provided in the navigation device. It may be a storage medium such as -ROM or DVD-ROM.

  By the way, the control unit 10 acquires the update information from the update information acquisition unit 13 described above, and also acquires the road condition information, which is the latest road condition such as VICS (registered trademark) information, from the road condition receiving unit 14. .. The control unit 10 acquires the current position information of the vehicle by the global positioning system (GPS), gyro sensor, beacon, etc. from the position information acquisition unit 15. The control unit 10 also acquires road environment information that is not included in the update information of road construction, accidents, oncoming vehicles, etc. from the road environment acquisition unit 16 such as an on-vehicle camera and various sensors. Further, the control unit 10 acquires information about the current vehicle traveling state from, for example, the steering angle sensor 17 regarding the steering operation and the acceleration sensor 18 regarding the accelerator pedal operation. These various types of information can also be used as data for automatic driving control by the advanced driving support system 20 via the engine control unit (ECU) 19, for example.

  For example, when the input operation from the input unit 12 is a destination setting, the control unit 10 searches the search unit 21 for route information from the current position to the destination from the road information stored in the storage unit 11. Let The searched route information (not limited to one route such as highway use and general road use) is displayed on the monitor 22 such as a liquid crystal display device (not shown) to allow the user to specify the route.

  The control unit 10 causes the determination unit 23 to determine the trajectory information regarding the traveling route for each traveling lane, based on the node information and the link information stored in the storage unit 11 corresponding to the identified route.

  The determination unit 23 refers to the road demarcation information stored in the storage unit 11 to cause the determination unit 23A to determine whether or not there are a plurality of traveling lanes on the road corresponding to the trajectory information, and then the determination unit 23A. When it is determined by 23A that there are a plurality of traveling lanes, the trajectory information correction unit 23B corrects the trajectory information for each traveling lane based on the road demarcation information stored in the storage unit 11 and the node information and the link information. Let

  As described above, in order to achieve the above object, the navigation system 1 travels in the same direction defined by road demarcation information and road demarcation information for demarcating a road itself including a travel lane partitioned by one or more lanes. The storage unit 11 that stores the node information and the link information for each running lane, and the determining unit 23 that determines the track information about the running route for each running lane based on the node information and the link information stored in the storage unit 11. The determining unit 23 refers to the road demarcation information and determines whether or not a plurality of traveling lanes are present on the road corresponding to the trajectory information, and the determining unit 23A determines the plurality of traveling lanes. When it is determined that the lane exists, the track information correction unit 23B that corrects the track information for each travel lane based on the road demarcation information stored in the storage unit 11 and the node information and the link information. It has a function as a generator.

  Here, the determination unit 23 including the determination unit 23A and the trajectory information correction unit 23B causes the determination unit 23A to determine whether the road is a curved road having a plurality of traveling lanes. Then, when the determining unit 23A determines that the road is a curved road having a plurality of traveling lanes L1, L2, L3, the determining unit 23 determines the traveling lanes L1, L2 as shown in FIG. 2A. , L3 with respect to the predetermined trajectory information based on the center of the lane width (indicated by thin line two-dot chain lines O1, O2, O3 in the figure), for example, the outward load on the occupant is relaxed. The orbit information correction unit 23B corrects the orbit information so as to obtain a suitable orbit (indicated by thick dashed line segments C1, C2, and C3 in the drawing). Specifically, in the case of the traveling lane L1 outside the curve, as shown in FIG. 2B, the trajectory information C1 corrected so that it is located outside the trajectory information O1 near the apex of the curve. To generate. In the case of the traveling lane L2 at the center, as shown in FIG. 2B, the trajectory information C2 is generated so that it is substantially coincident with the trajectory information O2 in the vicinity of the apex of the curve or is corrected to be located outside thereof. In the case of the traveling lane L3 on the inside of the curve, as shown in FIG. 2B, the trajectory information C3 corrected so that it is located inside the trajectory information O3 near the apex of the curve is generated. In this way, the track information correction unit 23B generates the track information C1, C2, C3 to which different corrections (including the same case as a result) are added for each of the traveling lanes L1, L2, L3. Depending on the curvature of the curve, the surrounding environment, etc., the result of the correction may be the same as the pre-correction trajectory information O1, O2, O3. Further, these correction examples are merely examples, and do not necessarily indicate actual correction states. In addition, the correction example described above not only generates the trajectory information C1, C2, C3 in which correction is made to the point where the vehicle passes near the apex of the curve shown in FIG. The trajectory information C1, C2, C3 relating to the entire curve, which is corrected so as to be the entry point and the exit point in which the curvature of the curve trajectory in the same traveling lane is changed, is generated. In addition, "to change the curvature" basically means that the corrected track information C1, C2, C3 is more than the load applied to the occupant when the vehicle passes based on the track information O1, O2, O3. It is basically to "soften the curvature" so that the load applied to the occupant when the vehicle passes based on it is based on the road demarcation information etc. ", or the case where the curvature is not changed is included.

  At this time, the determination unit 23 determines in the determination unit 23A whether or not there is a guardrail R or a median strip M as road demarcation information in each of the travel lanes L1, L2, L3, as shown in FIG. For the traveling lanes (for example, traveling lanes L1 and L3) where the guardrail R and the median strip M are present, the track information O1 and O3 in consideration of these are further detected. The trajectory information correction unit 23B corrects the trajectory information C1 and C3 that are corrected to be suitable trajectories in which the directional load is relaxed.

  Further, as shown in FIG. 4, the determination unit 23, for example, according to the traveling speed acquired from the acceleration sensor 18 and the road surface environment (eg, wet in the rain) acquired from the road condition receiving unit 14. It is also possible to correct the trajectory information correction unit 23B so as to obtain a plurality of corrected trajectory information C21, C22, C23. In FIG. 4, only the traveling lane L2 is shown for convenience of description.

  In such a basic configuration, the traveling track generation device according to the present embodiment has the same road demarcation information for demarcating the road itself including the traveling lane divided by one or more lanes and the road demarcation information. A storage unit 11 that stores node information and link information for each traveling lane that travels in a direction, and a determination unit 23 that determines trajectory information regarding a traveling route for each traveling lane based on the node information and the link information. The determining unit 23 refers to the road demarcation information and determines whether or not there are a plurality of traveling lanes on the road corresponding to the trajectory information, and the determining unit 23A includes a plurality of traveling lanes. When it is determined that the vehicle travels, the track information correction unit 23B that corrects the track information for each traveling lane based on the road demarcation information, the node information, and the link information is provided, and thus the optimum traveling for each traveling lane is achieved. To provide a trajectory.

  Next, in such a basic configuration, a control routine of the control unit 10 including a routine from the determination of the specific trajectory information by the determination unit 23 to the correction will be described based on the flowchart of FIG. The storage unit 11 travels in the same direction in advance according to road demarcation information including one or more lanes (white lines or the like) (information demarcating the road itself including the guardrail R and the like) (right turn lanes and the like are not controlled). It is assumed that the latest road information including the node information and the link information for each traveling lane L1, L2, L3 is stored (step S1). In addition, information such as the current position and the vehicle speed when traveling is sequentially acquired.

(Step S1)
As described above, in step S1, the control unit 10 stores the road information in the storage unit 11 (including updating, etc.) and proceeds to step S2.

(Step S2)
In step S2, the control unit 10 accepts the setting input to the destination from the input operation of the input unit 12 by the user, and the process proceeds to step S3.

(Step S3)
In step S3, the control unit 10 acquires the current position of the host vehicle from the position information acquisition unit 15, and shifts to step S4. In addition, in a normal navigation system, since the input operation during traveling is limited, the current position of the host vehicle may be performed before step S2.

(Step S4)
In step S4, the control unit 10 causes the search unit 21 to search for a guidance route from the current position to the destination, and proceeds to step S5.

(Step S5)
In step S5, the control unit 10 determines whether or not the guide route is changed or selected by the user's input operation of the input unit 12. The control unit 10 determines that the guide route has been changed, such as a selection operation when searching for and guiding a plurality of travel routes or a re-search operation for searching a route different from the recommended travel route. If determined, loop to step S4 to search for another guidance route. When the control unit 10 does not determine that the guide route has been changed, such as when an input operation for determining the guide route has been performed, the control unit 10 proceeds to step S6.

(Step S6)
In step S6, the control unit 10 determines whether or not the guide route includes, for example, a preset advanced driving assistance section in a predetermined area of the expressway or the like. When it is determined that the guide route includes the advanced driving assistance section, the control unit 10 proceeds to step S7 in order to utilize the trajectory information for each traveling lane by the determination unit 23. When the control unit 10 does not determine that the advanced driving support section is included in the guide route, the control unit 10 skips to step S8.

(Step S7)
In step S7, the control unit 10 causes the determination unit 23 to execute a trajectory information determination routine including determination of trajectory information, and when this routine ends, the process proceeds to step S8. It should be noted that, for example, in the case of a so-called one-sided lane road, this track information is determined based on the width center of the one-sided lane. If the road width is narrow (for example, 4 m or less) even if it is a one-way road or a bidirectional road, the trajectory information is determined around the road width. When there are a plurality of traveling lanes separated by lanes, track information is determined for each traveling lane centered on the lane width of each traveling lane. Therefore, when determining the trajectory information, the control unit 10 (determination unit 23) acquires the road width and the lane width from the road demarcation information. At this time, when the node information and the link information are centered on the road width or the lane width, the control unit 10 (determination unit 23) does not use the road demarcation information as essential information.

(Step S8)
In step S8, the control unit 10 executes a routine including a display information generation step of displaying map information or route guidance information based on the current vehicle position on the monitor 22 according to the determined guidance route. The routine is executed until the destination is reached, and this routine is finished.

  Next, the control routine of the determination unit 23 in step S7 described above will be described based on FIG.

(Step S71)
In step S71, the determination unit 23 determines the trajectory information regarding the travel route for each travel lane in the guide route based on the node information and the link information stored in the storage unit 11, and the determination unit 23A causes the storage unit 11 to store the track information. It is determined whether or not there are a plurality of traveling lanes on the road corresponding to the trajectory information determined by referring to the stored road demarcation information, and the process proceeds to step S72. When the determination unit 23A determines that there are a plurality of traveling lanes, the determination unit 23A proceeds to step S72. When the determination unit 23A does not determine that there are a plurality of traveling lanes, the determination unit 23A ends this routine and does not correct the trajectory information.

(Step S72)
In step S72, the determination unit 23 causes the determination unit 23A to refer to the node information and the link information stored in the storage unit 11 to determine whether or not a curved road exists. When the determination unit 23A determines that the curved road exists, the determination unit 23 proceeds to step S73. When the determination unit 23A does not determine that the curved road exists, the determination unit 23 ends this routine and does not correct the trajectory information.

(Step S73)
In step S73, the determination unit 23 acquires the curvature of the curved road by referring to the node information and the link information stored in the storage unit 11, and proceeds to step S74. The determining unit 23 may calculate the curvature of the curved road by referring to the node information and the link information stored in the storage unit 11, or may include the curvature of the curve in the road demarcation information in units of traveling lanes. It may be referred to every other time. At this time, the determination unit 23A not only acquires the presence or absence of the curve and the curvature, but also determines whether the traveling lanes (including traveling lanes for oncoming vehicles) adjacent to each other in the same road are based on the node information and the link information. It may be determined at the same time whether or not the vehicle is a curve that easily protrudes, that is, whether or not the curved road has a large curvature (a sharp curve with a small radius of curvature).

(Step S74)
In step S74, the determination unit 23 causes the trajectory information correction unit 23B to correct the trajectory information for each traveling lane based on the road demarcation information stored in the storage unit 11, the node information, and the link information, and the routine ends. It should be noted that the correction includes a case where the correction does not result due to the surrounding environment or the like.

  Specifically, when the determination unit 23A determines that the curved road exists in step S72, the track information correction unit 23B obtains the track information for each traveling lane at the entry point and the exit point of the curved road (to the right). -To the left) It is possible to make a correction in consideration of the vehicle position and curvature.

  In addition, the track information correction unit 23B can correct the track positions so that the track position is the entry point and the exit point where the curvature of the curve track in the same traveling lane L1, L2, L3 with respect to the curve road is changed. The entry point, the exit point, and the intermediate point (curve apex) are indicated by black dots in FIGS. 2 and 3.

  When the determining unit 23A determines in step S73 that the other vehicle is likely to protrude, the track information correcting unit 23B causes the other vehicle to protrude the curvature of the curved track in the same traveling lane L1, L2, L3 with respect to the curved road. It is possible to correct the trajectory information so that the entry point and the exit point are changed so as not to approach the easy lane side.

  The track information correction unit 23B does not overlap the corrected track information with the safe travel area preset on both sides of each travel lane L1, L2, L3 according to the road demarcation information corresponding to each travel lane L1, L2, L3. Based on the limit value, it is possible to correct the track position so that it becomes the entry point and the exit point where the curvature of the curve track in the same traveling lane L1, L2, L3 with respect to the curve road is changed.

  It should be noted that the safe driving area does not mean that the vehicle does not stick out of the driving lane in which the vehicle is traveling, but for example, the vehicle can drive in the lane width depending on the direction of the curve (right turn/left turn). It can be determined in consideration of various surrounding environments when approaching one side from the center. Specifically, when the host vehicle approaches one side from the center of the lane width, the surrounding environment existing on the side closer to the side is the traveling lane in which another vehicle travels in the same direction, and the other environment facing in the opposite direction. It is assumed that the space is such as a traveling lane on which the vehicle travels or a shoulder. In addition to such a space, there may be objects such as guardrails, median strips, walls of private houses, and parks. Therefore, depending on such a space or an object, it is possible to determine how safe the own vehicle is to approach, for example, the safe traveling area based on the distance between the door mirror of the own vehicle and the surrounding environment. .. Note that, for example, even if the spaces and objects are the same, the separation distances need not be the same. Further, in the safe driving area, if it is assumed that another vehicle is traveling in parallel in a traveling lane adjacent to the traveling lane in which the vehicle is traveling, or traveling adjacent to the traveling lane in which the vehicle is traveling. If it is assumed that the oncoming vehicle is traveling backwards in the lane, for example, the direction in which the distance from the other vehicle is farther than when the presence of the other vehicle is confirmed by the real-time image acquired from the vehicle-mounted camera It is possible to include a correction value or the like for correcting the safe traveling area with.

  Note that the trajectory information correction unit 23B stores the corrected trajectory information in the storage unit 11 as a part of the road information, so that it is not necessary to perform the correction after the next time.

  The track information correction unit 23B provides track information based on the width center of the travel lanes L1, L2, L3 preset for each of the travel lanes L1, L2, L3 on the same curved road from the same or different approach points. A plurality of trajectory information corrected so as to be a plurality of trajectory positions reaching the exit point is generated, and each of the corrected trajectory information is part of road information corresponding to the same traveling lane L1, L2, L3. May be stored in the storage unit 11.

  As described above, the traveling track generation device according to the present invention has an effect of being able to provide an optimal traveling track for each traveling lane, and determines a traveling route based on node information and link information. It is useful for all running track generators.

1 Travel Trajectory Generation Device 11 Storage Unit 23 Determination Unit 23A Judgment Unit 23B Trajectory Information Correction Unit

Claims (19)

A storage unit that stores road demarcation information for demarcating a road itself including a traveling lane divided by one or more lanes, node information and link information of the traveling lane,
Based on the node information and the link information, a determination unit that determines trajectory information about a travel route in the travel lane,
With reference to the road demarcation information, when a plurality of traveling lanes having the same traveling direction of the vehicle exist on the road corresponding to the track information, the road demarcation information, the node information, and the link information Based on, the track information correction unit that corrects the track information for each of a plurality of traveling lanes in which the traveling direction of the vehicle is the same,
Equipped with
The orbit information correction unit,
With reference to the node information and the link information, in a curved road including a plurality of traveling lanes in which the traveling direction of the vehicle is the same, the traveling is performed for each of a plurality of traveling lanes in which the traveling direction of the vehicle is the same. A running track generation device that corrects the track information according to the curvature of each lane. The orbit information correction unit further includes
In the curved road including a plurality of traveling lanes in which the traveling direction of the vehicle is the same, the trajectory information for each traveling lane is corrected based on vehicle positions at an entry point and an exit point of the traveling lane,
The traveling trajectory generation device according to claim 1, wherein The orbit information correction unit,
In the curved road including a plurality of traveling lanes in which the traveling direction of the vehicle is the same, the trajectory information for each traveling lane is corrected to be an entry point and an exit point in which the curvature of each traveling lane is changed. ,
The traveling track generation device according to claim 1, wherein The orbit information correction unit,
On the basis of the node information and the link information, in the curved road including a plurality of traveling lanes in which the traveling direction of the vehicle is the same, when another vehicle easily protrudes from the adjacent traveling lane, the traveling direction of the vehicle is Correcting the track information so that the curvature of a curved track in a plurality of identical traveling lanes is changed to an approach point and an exit point that are changed so that the other vehicle does not approach the lane side where the other vehicle easily protrudes,
The traveling track generation device according to claim 1, wherein The orbit information correction unit,
As compared to the load when the vehicle passes the virtual trajectory based on the width center of the traveling lane, so that the load when the vehicle passes the trajectory corrected according to the curvature of the traveling lane becomes lighter, Correcting the trajectory information according to the curvature of each traveling lane,
The traveling track generation device according to claim 1, wherein The determination unit is
The corrected track information is output to a display information generation unit that generates display information for displaying a traveling locus on the display unit in units of traveling lanes,
The traveling trajectory generation device according to any one of claims 1 to 5, wherein: A traveling trajectory generation method executed by a traveling trajectory generation device, comprising:
A storage step of storing road demarcation information for demarcating a road itself including a traveling lane divided by one or more lanes, node information and link information of the traveling lane,
A determining step of determining track information about a travel route in the travel lane based on the node information and the link information;
With reference to the road demarcation information, when a plurality of traveling lanes having the same traveling direction of the vehicle exist on the road corresponding to the track information, the road demarcation information, the node information, and the link information Based on, the trajectory information correction step of correcting the trajectory information for each of a plurality of traveling lanes in which the traveling direction of the vehicle is the same,
Including,
The orbit information correction step,
With reference to the node information and the link information, in a curved road including a plurality of traveling lanes in which the traveling direction of the vehicle is the same, the traveling is performed for each of a plurality of traveling lanes in which the traveling direction of the vehicle is the same. A travel trajectory generation method for correcting the trajectory information according to the curvature of each lane. The orbit information correction step further comprises:
In the curved road including a plurality of traveling lanes in which the traveling direction of the vehicle is the same, the track information for each traveling lane is corrected based on the vehicle position at the entry point and the exit point of the traveling lane,
The traveling trajectory generation method according to claim 7, characterized in that. The orbit information correction step,
In the curved road including a plurality of traveling lanes in which the traveling direction of the vehicle is the same, the trajectory information for each traveling lane is corrected to be an entry point and an exit point in which the curvature of the traveling lane is changed,
The traveling trajectory generation method according to claim 7, characterized in that. The orbit information correction step,
On the basis of the node information and the link information, in the curved road including a plurality of traveling lanes in which the traveling direction of the vehicle is the same, when another vehicle easily protrudes from the adjacent traveling lane, the traveling direction of the vehicle is Correcting the track information so that the curvature of a curved track in a plurality of identical traveling lanes is changed to an approach point and an exit point that are changed so that the other vehicle does not approach the lane side where the other vehicle easily protrudes,
The traveling trajectory generation method according to claim 7, characterized in that. The orbit information correction step,
As compared with the load when the vehicle passes through the virtual trajectory based on the width center of the traveling lane, so that the load when the vehicle passes through the trajectory corrected according to the curvature of the traveling lane becomes lighter, Correcting the trajectory information according to the curvature of each traveling lane,
The traveling trajectory generation method according to claim 7, characterized in that. The determining step includes
Outputting the corrected orbit information to the display information generating step for generating display information for displaying the traveling locus on the display step in units of traveling lanes,
The traveling trajectory generation method according to any one of claims 7 to 11, wherein: On the computer,
A storage function for storing road demarcation information for demarcating a road itself including a traveling lane divided by one or more lanes, node information and link information of the traveling lane,
Based on the node information and the link information, a determination function for determining track information about a travel route in the travel lane,
With reference to the road demarcation information, when a plurality of traveling lanes having the same traveling direction of the vehicle exist on the road corresponding to the track information, the road demarcation information, the node information, and the link information Based on, the track information correction function for correcting the track information for each of a plurality of traveling lanes in which the traveling direction of the vehicle is the same,
Is realized,
The orbit information correction function,
With reference to the node information and the link information, in a curved road including a plurality of traveling lanes in which the traveling direction of the vehicle is the same, the traveling is performed for each of a plurality of traveling lanes in which the traveling direction of the vehicle is the same. A travel trajectory generation program for correcting the trajectory information according to the curvature of each lane. The orbit information correction function further includes
In the curved road including a plurality of traveling lanes in which the traveling direction of the vehicle is the same, the track information for each traveling lane is corrected based on the vehicle position at the entry point and the exit point of the traveling lane,
The traveling trajectory generation program according to claim 13, wherein The orbit information correction function,
In the curved road including a plurality of traveling lanes in which the traveling direction of the vehicle is the same, the trajectory information for each traveling lane is corrected to be an entry point and an exit point in which the curvature of the traveling lane is changed.
The traveling trajectory generation program according to claim 13, wherein The orbit information correction function,
On the basis of the node information and the link information, in the curved road including a plurality of traveling lanes in which the traveling direction of the vehicle is the same, when another vehicle easily protrudes from the adjacent traveling lane, the traveling direction of the vehicle is Correcting the track information so that the curvature of a curved track in a plurality of identical traveling lanes is changed to an approach point and an exit point that are changed so that the other vehicle does not approach the lane side where the other vehicle easily protrudes,
The traveling trajectory generation program according to claim 13, wherein The orbit information correction function,
As compared to the load when the vehicle passes the virtual trajectory based on the width center of the traveling lane, so that the load when the vehicle passes the trajectory corrected according to the curvature of the traveling lane becomes lighter, Correcting the trajectory information according to the curvature of each traveling lane,
The traveling trajectory generation program according to claim 13, wherein The decision function is
Outputting the corrected orbit information to a display information generation function that generates display information for displaying a traveling locus on the display function in units of traveling lanes,
The traveling trajectory generation program according to any one of claims 13 to 17, characterized in that. A recording medium on which the travel trajectory generation program according to any one of claims 13 to 18 is recorded.

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