JP6807970B2 - Route search device and route search method of the route search device - Google Patents

Description

The present invention relates to a route search device and a route search method for the route search device.

Conventionally, as a device for searching a traveling route of a vehicle, a device for selecting a traveling route reflecting a driver's driving preference (see, for example, Patent Document 1), or when the searched route does not satisfy a predetermined condition. A device (see, for example, Patent Document 2) that searches for a second destination instead of the indicated destination according to the detected surrounding conditions of the vehicle is known.

Japanese Unexamined Patent Publication No. 2008-1805901 Japanese Unexamined Patent Publication No. 2008-9913

However, even if the route is searched by the route search device, the vehicle may not be able to travel depending on the characteristics of vehicle control and the like.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a route search device for searching a guidance route suitable for the characteristics of vehicle control and a route search method for the route search device.

Route searching apparatus of the present invention in order to achieve the above object, a communication unit, the route searching apparatus having a storage unit and a control unit, the communication unit is allowed to run the vehicle control by automatic operation in each operation phase Based on control characteristic information including information on the control range, information on the height and width of the vehicle, and information on whether or not automatic driving is possible depending on the road type , the vehicle is driven, braked, and steered to automatically drive the vehicle. The control unit has a route search unit that searches for the traveling route of the vehicle according to the set route search conditions , and after the activation of the route search device, the control unit communicates with the automatic driving system. determining whether the control characteristic information acquired from the automatic operation system, and the after starting on the acquired control characteristic information, there is a change between the control characteristic information stored in the storage unit As a result, it is determined whether or not the vehicle equipped with the route search device has been changed, and if it is determined that there is a change , the route search unit is set based on the control characteristic information acquired after the activation . The travel route of the vehicle is searched according to the route search condition , and the control characteristic information acquired after the start is stored in the storage unit. On the other hand, when it is determined that there is no change, it is set before the start. The traveling route of the vehicle is searched according to the route search condition .

Further, in the above route search device, the communication unit has a front Symbol control characteristic information together, to get a running mode of the vehicle which is set from the automatic operation system, the route search unit, When the traveling mode of the vehicle is automatic driving, a traveling route capable of automatic driving is searched according to the route search condition set based on the acquired control characteristic information or the control characteristic information stored in the storage unit. , when the running mode of the vehicle is not automatic operation, by the route search condition set regardless of the previous SL control characteristic information, searches for a travel route.

Route search method for route searching apparatus of the present invention, after activation of the route searching apparatus, information of the control range of the execution of the vehicle control by automatic operation in each operation aspect is permitted, information of height and width of the vehicle, and based on the control characteristic information including information on whether the automatic operation by road type, the driving of the vehicle, automatic operation system performing braking and steering to travel the vehicle automatically, and by communicating with the communication unit, the control There is a change between the step of acquiring the characteristic information from the automatic operation system , the control characteristic information acquired after the activation, and the control characteristic information stored in the storage unit provided in the route search device. By determining whether or not, the step of determining whether or not the vehicle equipped with the route search device has been changed, and if it is determined that there is a change, based on the control characteristic information acquired after the activation. When the travel route of the vehicle is searched by the route search unit of the control unit according to the set route search condition , and the control characteristic information acquired after the activation is stored in the storage unit, while it is determined that there is no change. It comprises the steps of searching for a traveling route of the vehicle by the route search unit of the control unit by the route search condition set before starting, Ru comprising a.

The present invention also provides a route search method of the route searching apparatus, wherein the step of communicating includes a pre-SL control characteristic information together, to get a running mode of the vehicle which is set from the automatic operation system, the When the traveling mode of the vehicle is automatic driving, the search step can be automatically driven by the route search condition set based on the acquired control characteristic information or the control characteristic information stored in the storage unit. a travel route is searched, when the running mode of the vehicle is not automatic operation, by the route search condition set regardless of the previous SL control characteristic information, searches for a travel route.

The system block diagram of the automatic operation control system of 1st Embodiment. The functional block diagram of the automatic driving control device and the navigation device of 1st Embodiment. The flowchart which shows the operation of the navigation device and the automatic driving control device. The flowchart which shows the operation of the navigation device and the automatic driving control device. Display example of the display panel. The system block diagram of the automatic operation control system of 2nd Embodiment. The figure which shows the other configuration of the automatic operation control system.

[First Embodiment]
The present embodiment will be described with reference to the accompanying drawings. FIG. 1 is a system configuration diagram of the automatic operation control system 1. The automatic driving control system 1 is a system mounted on a vehicle 2 that automatically drives the vehicle 2 by driving, braking, and steering the vehicle 2 without the driver's driving operation. The vehicle 2 has two driving modes: automatic driving in which the automatic driving control system 1 drives, brakes, and steers the vehicle 2 to drive the vehicle 2 under the control of the automatic driving control system 1, and manual operation by the occupants of the vehicle 2. It has a manual operation for driving the vehicle 2.

The automatic driving control system 1 includes an automatic driving control device 30, an automatic driving execution device 40, a navigation device 50, an engine ECU (Electronic Control Unit) 11, a transmission ECU 12, a brake ECU 13, and a steering ECU 14. Each of these parts is communicably connected to each other via a bus 10 corresponding to a standard such as CAN (Controller Area Network) or LIN (Local Interconnect Network).

The automatic driving control device 30 transmits control data to the automatic driving execution device 40 to control the automatic driving execution device 40, and controls the automatic driving of the vehicle 2. Details of the automatic operation control device 30 will be described later.
The automatic operation execution device 40 transmits a control signal to each ECU based on the control data input from the automatic operation control device 30 to control each ECU and execute the automatic operation.

The engine ECU 11 is connected to a throttle actuator 111 that opens and closes an electronic throttle valve provided in the intake pipe of the engine. The engine ECU 11 controls the throttle actuator 111 based on the control signal received from the automatic operation execution device 40, and adjusts the opening / closing degree of the electronic slot valve so that the engine rotation speed becomes the target rotation speed.

The transmission ECU 12 is connected to a hydraulic control device 121 that adjusts the hydraulic pressure of the hydraulic oil supplied to the transmission. The transmission ECU 12 controls the hydraulic control device 121 based on the control signal received from the automatic operation execution device 40, adjusts the hydraulic pressure of the hydraulic oil supplied to the transmission, switches the gear ratio of the transmission, and transmits the transmission from the engine. Change the number of revolutions and torque to be applied.

The brake ECU 13 is connected to the brake device 131. The brake ECU 13 controls the brake device 131 provided on each wheel of the vehicle 2 based on the control signal received from the automatic driving execution device 40, and brakes the vehicle 2.

The steering ECU 14 is connected to the steering device 141. The steering ECU 14 controls the steering device 141 provided in the vehicle 2 based on the control signal received from the automatic driving execution device 40, and steers the vehicle 2.

The automatic driving execution device 40 controls each ECU based on the control data received from the automatic driving control device 30, controls the start / stop of the vehicle 2, controls the acceleration / deceleration of the vehicle 2, and shifts the speed of the vehicle 2. Autonomous driving is executed by performing control, steering control of the vehicle 2, and other controls.

The navigation device 50 detects the position of the own vehicle by the GPS signal received by the GPS receiving unit 511 (see FIG. 2), and displays the map data 551 read from the storage unit 550 (see FIG. 2) on the display panel 541 (see FIG. 2). Display on to guide the route to the destination.

FIG. 2 is a functional block diagram of the automatic driving control device 30 and the navigation device 50.
First, the automatic operation control device 30 will be described. The automatic driving control device 30 includes a bus transceiver 31, a control unit 32, a road-to-vehicle communication unit 33, a vehicle-to-vehicle communication unit 34, a radar device 35, a vehicle speed sensor 36, a yaw rate sensor 37, a brake sensor 38, a steering angle sensor 39, and a camera 45. To be equipped with.

The bus transceiver 31 is an IC (Integrated Circuit) for an interface between buses 10. The bus transceiver 31 outputs the control data input from the control unit 32 to the automatic driving execution device 40 via the bus 10. Further, the bus transceiver 31 inputs the position information indicating the current position of the vehicle 2 output from the navigation device 50 and the information of the guidance route, and outputs the input information to the control unit 32.

The control unit 32 includes a CPU 321, a ROM 322 in which a control program is recorded, and a RAM 323 as a work memory of the CPU 321. The CPU 321 performs an operation according to the control program, and outputs control data as a control command to the automatic operation execution device 40. ..
Further, the control unit 32 includes a non-volatile memory 324. The non-volatile memory 324 stores control characteristic information (control conditions). Details of the control characteristic information will be described later.

The road-to-vehicle communication unit 33 receives information transmitted by narrow-band wireless communication such as an optical beacon, a radio beacon, and DSRC (Dedicated Short Range Communications) from a roadside unit installed on the roadside such as an intersection. The information transmitted from the roadside unit to the road-to-vehicle communication unit 33 includes, for example, road traffic information including traffic jam information and pedestrian information. The road-to-vehicle communication unit 33 outputs the received information to the control unit 32.

The vehicle-to-vehicle communication unit 34 transmits vehicle information to and from peripheral vehicles located around the vehicle 2 by wireless communication. The vehicle information includes, for example, identification information for identifying vehicle 2 and surrounding vehicles, position information of vehicle 2 and peripheral vehicles, speed of vehicle 2 and peripheral vehicles, and information such as traveling directions of vehicle 2 and peripheral vehicles. Is done. The vehicle-to-vehicle communication unit 34 outputs the received vehicle information to the control unit 32.

The radar device 35 irradiates a predetermined range in front of the own vehicle with radio waves such as millimeter wave radar and laser radar and sound waves such as ultrasonic radar, for example. The radar device 35 detects information on an object traveling in front of the vehicle 2 by receiving a reflected wave reflected by an object (for example, a preceding vehicle) existing within a predetermined range. The information detected here includes, for example, information on the presence or absence of a preceding vehicle, information on the distance to the preceding vehicle (inter-vehicle distance), angle (relative position), speed (relative velocity), acceleration, and the like. The radar device 35 outputs the detected information to the control unit 32.

The vehicle speed sensor 36 detects the speed (vehicle speed) of the vehicle 2 and outputs a detection signal indicating the detected vehicle speed to the control unit 32.

The yaw rate sensor 37 detects the yaw rate applied to the vehicle 2 and outputs a detection signal representing the detected yaw rate to the control unit 32.

The brake sensor 38 detects the driver's operation amount (depression amount, angle, pressure, etc.) with respect to the brake pedal, and outputs a detection signal indicating the detected operation amount to the control unit 32.

The steering angle sensor 39 detects the steering angle of the steering wheel and outputs a detection signal representing the detected steering angle to the control unit 32.

The camera 45 includes a plurality of photographing devices and photographs the front-rear and left-right directions of the vehicle 2. The camera 45 executes shooting at a predetermined cycle (for example, every 100 ms) according to the control of the control unit 32, generates captured image data based on the shooting result, and outputs the captured image data to the control unit 32.

Next, the configuration of the navigation device 50 will be described.
The navigation device 50 includes a GPS receiving unit 511, a GPS antenna 512, a relative orientation detection unit 520, a voice output unit 531, a speaker 532, a touch panel 540, a storage unit 550, a wireless communication unit 560, a bus transceiver 570, and a control unit 580.

The GPS receiving unit 511 receives GPS radio waves from GPS satellites via the GPS antenna 512, and calculates the position coordinates indicating the current position of the vehicle 2 and the traveling direction from the GPS signals superimposed on the GPS radio waves. The GPS receiving unit 511 outputs the calculation result to the control unit 580.

The relative orientation detection unit 520 includes a gyro sensor and an acceleration sensor (both not shown). The gyro sensor is composed of, for example, a vibrating gyro, and detects the relative orientation of the own vehicle (for example, the amount of turning in the yaw axis direction). The acceleration sensor detects the acceleration acting on the own vehicle (for example, the inclination of the own vehicle with respect to the traveling direction). The relative orientation detection unit 520 outputs the detection result to the control unit 580.

The voice output unit 531 includes a D / A converter, an amplifier, etc. (not shown), digitally / analog-converts the voice data signal for route guidance output from the control unit 580, amplifies it by the amplifier, and uses the speaker 532 to enter the vehicle interior. Output audio.

The touch panel 540 includes a display panel 541 and a touch sensor 542. The display panel 541 is composed of a liquid crystal display, an EL (Electro Luminescent) display, or the like, and displays various information under the control of the control unit 580. The touch sensor 542 is arranged so as to overlap the display panel 541, detects a user's touch operation, and outputs the touch sensor 542 to the control unit 580.

The storage unit 550 includes a hard disk and a non-volatile storage device such as EEPROM, and stores data in a rewritable manner. The storage unit 550 stores the map data 551 in addition to the control program. The map data 551 includes information on nodes indicating intersections and other connection points on the road network, information on links indicating road sections between nodes, administrative divisions on the map, names of roads, facilities, intersections, and the like. Have information about.

Under the control of the control unit 580, the wireless communication unit 560 accesses a network such as the Internet in accordance with a predetermined communication standard and communicates with an external device connected to the network. The external device includes, for example, a server that provides road traffic information, and the wireless communication unit 560 connects to a network and acquires road traffic information from the server.

The bus transceiver 570 connects to the bus 10. The bus transceiver 570 is an IC (Integrated Circuit) for an interface between buses 10. The bus transceiver 570 outputs the guidance route information generated by the control unit 580 and the position information indicating the current position of the vehicle 2 to the automatic driving control device 30. Further, the bus transceiver 570 inputs data output from another ECU or a sensor via the bus 10 and outputs the data to the control unit 580.

The control unit 580 includes hardware such as a CPU, ROM, and RAM (all not shown), and controls each unit of the navigation device 50. Further, the control unit 580 functions as a position estimation unit 581, an information input unit (input unit) 582, and a route search unit 583 by executing a control program stored in a ROM or the like.

The position estimation unit 581 specifies the current position of the vehicle 2. The position estimation unit 581 stores the position coordinates and the information indicating the traveling direction input from the GPS receiving unit 511, the relative orientation information of the vehicle 2 input from the relative orientation detecting unit 520, and the storage unit 550. The information included in the map data 551 is input. Further, the position estimation unit 581 represents a detection signal indicating the vehicle speed measured by the vehicle speed sensor 36, a detection signal indicating the steering angle measured by the steering angle sensor 39, and a brake operation amount measured by the brake sensor 38. The detection signal, the detection signal representing the yaw rate measured by the yaw rate sensor 37, and the like may be input from the automatic operation control device 30 via the bus 10. The position estimation unit 581 identifies the current position of the vehicle 2 based on the input information.
Specifically, the position estimation unit 581 is based on the information input from various sensors such as the relative orientation detection unit 520 and the information included in the map data 551, and the moving speed, moving direction, etc. of the vehicle 2 are available at any time. To estimate. Further, the position estimation unit 581 corrects the current position of the vehicle 2 calculated based on the input from the GPS receiving unit 511 based on the estimated moving speed, the moving direction, and the like to specify the current position.
The position estimation unit 581 may be configured to specify the current position of the vehicle 2 by using a signal of a positioning satellite system such as GLONASS, Galileo, Beidou, or QZSS (MICHIBIKI) in addition to the GPS signal. ..

The information input unit 582 communicates with the automatic operation control device 30 and transmits a request for acquiring control characteristic information, for example, when the control unit 580 is activated or at a preset period. When the automatic operation control device 30 inputs an acquisition request from the navigation device 50, the automatic operation control device 30 reads out the control characteristic information stored in the non-volatile memory 324 and transmits the control characteristic information to the navigation device 50.
The control characteristic information is information indicating the characteristics of the vehicle itself, which is used by the automatic driving control device 30 when controlling the automatic driving of the vehicle 2, and information related to the control of the automatic driving. The control characteristic information includes, for example, the following information. (1) Threshold of the distance at which the execution of vehicle control is permitted in each driving phase (2) The range of vehicle speeds (maximum speed and minimum speed) at which execution of vehicle control is permitted in each driving phase (3) Range of steering angles allowed to execute vehicle control in each driving phase (4) Safety margin in each driving phase (5) Vehicle height and width (6) Road type not compatible with autonomous driving

The driving phase includes, for example, lane movement in preparation for branching at a branch point, turning, turning left and right, and the like. The threshold value of the distance at which the execution of vehicle control is permitted (permission threshold value) is, for example, the threshold value of the distance to the branch point required for lane movement when the driving phase is lane movement. Further, the range of vehicle speeds (permission threshold value) at which vehicle control is permitted is, for example, the range of vehicle speeds required to safely perform lane movements when the driving phase is lane movements.

Each automobile manufacturer sets its own distance and vehicle speed that allow lane movement in autonomous driving based on the safety standards of each company in autonomous driving.
Therefore, even if the guidance route is searched by the navigation device 50, the road length allowed for lane movement is shorter than the threshold value of the distance set as the control characteristic information, or when the lane is moved. If the vehicle speed is not within the range of the vehicle speed set as the control characteristic information, the automatic driving control device 30 does not instruct the automatic driving execution device 40 to execute the lane movement. Therefore, the navigation device 50 re-searches the route in the middle of the guidance route, so that the vehicle travels on a detour route. In addition, the vehicle travels on a route different from that of the guidance of the navigation device 50, which causes discomfort to the occupants.

Therefore, the route search unit 583 acquires the threshold value of the distance allowed to move the lane and the range of the vehicle speed input from the information input unit 582, and sets the acquired distance threshold value and the vehicle speed range. Based on this, a guidance route for guiding the vehicle 2 is selected. That is, the route search unit 583 searches for a guidance route that satisfies the threshold value of the distance at which lane movement is permitted and the vehicle speed range (that is, the control condition). Specifically, the automatic driving control device 30 may output a road in which the distance allowed for lane movement is longer than the distance threshold value and / or a vehicle speed faster than the minimum vehicle speed allowed for lane movement. Select a road that can be used as a guidance route. Further, the automatic driving control device 30 sets the minimum vehicle speed at which lane movement is permitted because the distance allowed for lane movement is less than or equal to the distance threshold value, or the distance after making a right or left turn is short. Roads that cannot be reached are not selected as guidance routes. As a result, when the vehicle 2 is automatically driven according to the guidance route selected by the automatic driving control device 30, it is possible to reduce the occurrence of a situation in which the guidance route is re-searched without executing the lane movement.

The steering angle range (permission threshold value) acquired by the information input unit 582 from the automatic driving control device 30 is information on the maximum and minimum steering angles set for each driving phase. The range of steering angle (particularly the maximum value) differs depending on the vehicle 2. When the guidance path searched by the navigation device 50 is a road on which it is necessary to turn, turn left or right, or move the lane at an angle larger than the maximum value of the steering angle set as the control characteristic information, the automatic driving control device 30 Does not instruct the automatic driving execution device 40 to turn, turn left or right, or move the lane.
Therefore, the route search unit 583 selects the guidance route for guiding the vehicle 2 based on the range of the steering angle input from the information input unit 582. That is, the route search unit 583 searches for a guidance route that satisfies the range of steering angles that allow turning, turning left and right, and lane movement (that is, satisfying the control condition). Specifically, the route search unit 583 does not select a road that needs to turn, turn left or right, or move in a lane at an angle larger than the maximum value of the steering angle set as the control characteristic information as the guidance route. As a result, when the vehicle 2 is automatically driven according to the guidance route selected by the automatic driving control device 30, it is possible to reduce the occurrence of a situation in which the guidance route is re-searched without turning, turning right, or moving the lane. be able to.

The safety margin acquired by the information input unit 582 from the automatic driving control device 30 is a guaranteed operation distance so as not to cause discomfort to the occupants.
For example, when the vehicle 2 is running by the automatic driving control by the automatic driving control device 30 and a vehicle stopped by a signal is detected in front of the traveling lane of the vehicle 2, the automatic driving control device 30 is set by the automobile manufacturer. The brake ECU 13 is instructed to stop the vehicle 2 at a distance obtained by adding the distance set as the safety margin to the distance between the vehicles. When the driving phase is lane movement, the automatic driving control device 30 determines the distance between the vehicle 2 and the vehicle in front of the vehicle 2 and the vehicle behind the vehicle 2 and the vehicle 2 in the moved lane after the lane movement. If the distance is not the distance set by the automobile manufacturer plus the safety margin, the execution of lane movement is not permitted.
Further, the safety margin can be set for each speed range of the vehicle 2, such as a low speed range, a medium speed range, and a high speed range. For example, when the vehicle 2 is traveling at a vehicle speed in a low speed range, the automatic driving control device 30 controls the vehicle 2 so that the distance between the vehicle and the vehicle in front is 5 m or more, and the vehicle 2 travels in the high speed range. If so, the automatic driving execution device 40 controls the vehicle 2 so that the distance between the vehicle and the vehicle in front is 10 m or more.

Further, the route search unit 583 inputs information on the vehicle height and the vehicle width of the vehicle 2 acquired by the information input unit 582 from the automatic driving control device 30. Based on the input vehicle height and width information of the vehicle 2, the route search unit 583 guides the road on which the vehicle 2 cannot travel or the parking lot where the vehicle 2 cannot enter as a guide route or a search result of the destination search. Do not select.
Further, the route search unit 583 inputs the information of the road type that does not correspond to the automatic driving acquired from the automatic driving control device 30 by the information input unit 582. Based on the input road type information, the route search unit 583 prevents a road type that does not support automatic driving (for example, a roundabout (roundabout)) is selected as a guidance route.

Further, when the vehicle 2 is scheduled to travel by automatic driving, the route search unit 583 prevents the following roads from being selected as the guidance route in addition to the control characteristic information acquired from the automatic driving control device 30. ..
The route search unit 583 does not select a narrow street as a guidance route, which tends to complicate road conditions, when traveling by automatic driving is planned.
In addition, the route search unit 583 does not select a road in which congestion occurs as a guidance route at a point where merging is required when traveling by automatic driving is planned.
Further, when the route search unit 583 plans to drive by automatic driving, the route search unit 583 does not select a road as a guidance route because the number of lanes is large and it is difficult to specify the travel lane.
Further, when the route search unit 583 is scheduled to travel by automatic driving, the route search unit 583 guides a road that requires communication with a occupant of a peripheral vehicle traveling around the vehicle 2, for example, a road on which a traffic light is not installed. Do not select it as a route.
Further, when the control unit 580 is scheduled to drive by automatic driving, for example, a road in which a lane is not drawn from a server as an external device or a road in which a part of the lane is erased by the wireless communication unit 560 is used. Get information about. Based on the acquired information, the route search unit 583 does not select a road that is not well maintained, such as a road with no lane drawn or a road with a part of the lane disappeared, as a guidance route.
Further, the control unit 580 acquires information on a point where the road shape has changed due to construction work or the like from a server as an external device, for example, by the wireless communication unit 560 when the vehicle is scheduled to travel by automatic driving. The route search unit 583 does not select a route including a place where the road shape has changed due to construction or the like as a guidance route. Roads with changed road shapes include places where the road shape has changed due to construction work, etc., because the current position of vehicle 2 cannot be specified using LDM because the LDM (Local Dynamic Map) has also changed. Do not select the route to be used as the guidance route.

In addition to the information in (1) to (6) described above, the route search unit 583 provides, for example, information on the number of cameras 45 mounted on the vehicle 2 and the installation position of each camera 45 in the automatic driving control device 30. You may get it from.
When the route search unit 583 determines that it is possible to drive by automatic driving even on a narrow street based on the information on the installation position of the camera 45 and the number of installed cameras, the route search unit 583 selects a route including the narrow street as a guidance route. To do.

When the guidance route is calculated by the route search unit 583, the control unit 580 outputs the calculated guidance route information, the road traffic information acquired from the road-to-vehicle communication unit 33, and the map data 551 of the guidance route to the automatic driving control device. Send to 30.

When the traveling mode of the vehicle 2 is set to automatic driving and the guidance route information, road traffic information, and guidance route map data 551 are input from the navigation device 50, the automatic driving control device 30 controls based on the input information. Generate data. The automatic operation control device 30 outputs the generated control data to the automatic operation execution device 40, and causes the automatic operation execution device 40 to execute the automatic operation. The control data includes control information related to start / stop control of vehicle 2, control information related to acceleration / deceleration control of vehicle 2, control information related to gear shifting control of vehicle 2, control information related to steering control of vehicle 2, and the like. The control information regarding the control of the automatic running of the vehicle 2 is included.

The automatic driving control device 30 generates a target speed pattern and a target traveling pattern when traveling on the guidance route while traveling on the guidance route. The target speed pattern is a target value of speed in each section in which the guidance route is divided into sections under predetermined conditions. The target driving pattern includes acceleration, coasting (driving the vehicle 2 by the inertia of the vehicle 2), and coasting in each section for controlling the speed of the vehicle 2 in each section to be the speed set in the target speed pattern. And braking information.
The automatic driving control device 30 generates control data for controlling automatic driving so that the vehicle 2 travels according to the generated target speed pattern and target traveling pattern. That is, the automatic driving control device 30 starts / stops and steers the vehicle 2 so as to travel according to the target traveling pattern, and accelerates / decelerates and shifts the vehicle 2 so as to have a speed according to the target speed pattern. Generate control data containing information.

During traveling by automatic driving, the control unit 32 performs the following processing.
The control unit 32 detects the running state of the vehicle 2 based on the inputs from the vehicle speed sensor 36, the steering angle sensor 39, the brake sensor 38, and the yaw rate sensor 37, and determines the target speed pattern and the target according to the running state of the vehicle 2. Correct the driving pattern. Further, the control unit 32 corrects the target speed pattern and the target traveling pattern according to the relationship with the vehicles located in the vicinity of the vehicle 2 based on the vehicle information input from the vehicle-to-vehicle communication unit 34. Further, the control unit 32 determines the presence / absence of traffic congestion, the state of the traffic light, the presence / absence of pedestrians, and the like based on the information input from the road-to-vehicle communication unit 33 and the captured image data input from the camera 45. Information on the surrounding environment is acquired, and the target speed pattern and the target running pattern are modified according to the surrounding environment of the vehicle 2. Further, the automatic driving control device 30 corrects the target speed pattern and the target traveling pattern according to the distance to the preceding vehicle based on the information input from the radar device 35. Then, the automatic driving control device 30 generates control data based on the corrected target speed pattern and target traveling pattern.

The automatic operation control device 30 outputs the generated control data to the automatic operation execution device 40. The automatic operation execution device 40 controls each ECU such as the engine ECU 11 based on the input control data. As a result, the vehicle 2 automatically travels according to the target speed pattern and the target traveling pattern that are appropriately modified, and traveling on the automatic driving route by automatic driving is realized.

3 and 4 are flowcharts showing the operation of the navigation device 50 and the automatic driving control device 30. The operation of the navigation device 50 and the automatic driving control device 30 will be described with reference to FIGS. 3 and 4.
When the power is turned on and the navigation device 50 is activated (step S1 / YES), the navigation device 50 outputs a request for acquisition of control characteristic information to the automatic operation control device 30 via the bus 10 (step S2). The automatic operation control device 30 (step S21 / YES) that has input the control characteristic information acquisition request reads out the control characteristic information stored in the non-volatile memory 324 and outputs the control characteristic information to the navigation device 50 via the bus 10 (step S22). ).

When the navigation device 50 inputs the control characteristic information (step S3 / YES), the navigation device 50 determines whether or not the input control characteristic information is changed (step S4). That is, the navigation device 50 determines whether or not the vehicle on which the navigation device 50 is mounted has been changed. When the navigation device 50 determines that there is no change in the control characteristic information (step S4 / NO), the navigation device 50 shifts to the determination in step S7. Further, when the navigation device 50 determines that there is a change in the control characteristic information of the vehicle 2 (step S4 / YES), the navigation device 50 changes the search condition of the route for automatic driving based on the input control characteristic information (step S4 / YES). S5). When searching for a route for automatic driving, the navigation device 50 selects a route satisfying the search condition as a guidance route.

The navigation device 50 uses the distance threshold value, the minimum vehicle speed and the maximum vehicle speed, the maximum and minimum steering angles, the safety margin, the vehicle height, and the vehicle width included in the control characteristic information as the search conditions for the route for automatic driving. , Set the road type that does not support automatic driving.
For example, when the navigation device 50 has a road that requires lane movement in preparation for a branch at a branch point on the route searched by the route search, the mileage to the branch point on this road and the distance as a search condition. Compare with the threshold of. When the mileage to the branch point is shorter than the threshold value of the distance, the navigation device 50 excludes this road from the guidance route and searches for another route. Further, when the mileage to the branch point is longer than the threshold value of the distance, the navigation device 50 selects this road as the guidance route.
Further, when the searched route has a road that requires lane movement in preparation for branching at a branch point, the navigation device 50 performs lane movement based on the mileage to the branch point on this road. The vehicle speed is estimated, and the estimated vehicle speed is compared with the minimum vehicle speed as a search condition. When the estimated vehicle speed is slower than the minimum vehicle speed, the navigation device 50 excludes this road from the guidance route and searches for another route. Further, when the estimated vehicle speed is faster than the minimum vehicle speed, the navigation device 50 selects this road as the guidance route.
In addition to this, the navigation device 50 searches for a guidance route based on conditions such as vehicle height, vehicle width, and road type that does not support automatic driving.

Next, the navigation device 50 stores the control characteristic information in a non-volatile memory (not shown) (step S6), and waits until the destination is set. If the power supply of the navigation device 50 is shut down (step S8 / YES) before the destination setting is input, the navigation device 50 ends this processing flow. Further, when the navigation device 50 receives the setting of the destination by the touch panel 540 (step S7 / YES), for example, whether or not the driving mode of the vehicle 2 is set to the automatic driving in the automatic driving control device 30. Inquire. When the navigation device 50 determines that the traveling mode of the vehicle 2 is automatic driving (step S9 / YES), the navigation device 50 searches for a guidance route suitable for automatic driving based on the search conditions for automatic driving (step S10). .. The navigation device 50 outputs the information of the searched guidance route, the road traffic information, and the map data 551 including the guidance route to the automatic driving control device 30 (step S11).

The automatic driving control device 30 generates a target speed pattern and a target traveling pattern when traveling on the guided route based on the information of the guided route and the map data 551 including the guided route. The automatic driving control device 30 generates control data for controlling automatic driving so that the vehicle 2 travels according to the generated target speed pattern and the target driving pattern, and outputs the control data to the automatic driving execution device 40. The automatic driving execution device 40 controls each ECU mounted on the vehicle 2 according to the control data, so that the automatic driving according to the guidance route is started (step S23).
Further, the automatic driving control device 30 determines the degree of congestion of the currently traveling road based on the road traffic information acquired from the navigation device 50. The automatic driving control device 30 changes the inter-vehicle distance according to the degree of congestion on the road during the execution of automatic driving. For example, the automatic driving control device 30 generates control data for controlling each part of the vehicle 2 so that the inter-vehicle distance when the road is congested is narrower than the inter-vehicle distance when the road is not congested. Output to the automatic operation execution device 40. In automatic driving, if the distance between vehicles is the same between when the road is congested and when it is not congested, there is a large difference from manual driving, resulting in unnatural driving, but the road is congested. By changing the inter-vehicle distance according to the vehicle, it is possible to drive more naturally, which is close to manual driving.

Further, when the navigation device 50 determines that the driving mode of the vehicle 2 is manual driving based on the information input from the automatic driving control device 30 (step S9 / NO), the navigation device 50 does not use the search condition for automatic driving. , Search for a normal guidance route according to normal search conditions (step S12). When the navigation device 50 searches for a guidance route according to normal search conditions, the searched guidance route is displayed on the display panel 541 (step S13). After that, the navigation device 50 performs the operation of a generally known normal navigation device, and when the vehicle 2 travels on a road deviating from the guidance route, the navigation device 50 re-searches the guidance route. The details of the operation will be omitted.

FIG. 4 shows a processing flow when the traveling mode of the vehicle 2 is automatic driving and the vehicle 2 starts traveling by the guidance route searched based on the search conditions for automatic driving.
The position estimation unit 581 of the navigation device 50 estimates the current position of the vehicle 2 based on the information input from various sensors and the information input from the GPS reception unit 511. When the navigation device 50 determines that the vehicle deviates from the guidance route based on the estimated current position of the vehicle 2 (step S14 / YES), the navigation device 50 notifies the automatic driving control device 30 of the deviation of the guidance route (step S15). ). When the navigation device 50 notifies the deviation of the guidance route (step S24 / YES), the automatic driving control device 30 may, for example, maintain the traveling state as it is or move within a certain range. , You may not be too far from the guidance path. Further, when the automatic driving control device 30 deviates from the guidance route, the automatic driving control device 30 notifies the navigation device 50 of the cause of the deviation from the guidance route.
The navigation device 50 causes the display panel 541 to display the cause of the deviation from the guidance route notified from the automatic driving control device 30. FIG. 5 is a diagram showing an example of the factors displayed on the display panel 541. By displaying the factors deviating from the guidance route on the display panel 541 in this way, it is possible to notify the occupant why the automatic driving was not performed according to the guidance route, and the discomfort caused to the occupant can be caused. Can be mitigated. Further, when the route deviation is not caused by the system error of the automatic driving control system 1 but the route deviation in the normal operation, the trust of the occupant can be obtained.

When the navigation device 50 detects the deviation of the guidance route, the navigation device 50 searches for the guidance route again (step S16). The navigation device 50 re-searches for a guidance route suitable for automatic driving based on the search conditions for automatic driving set in step S5 (step S16). When the guidance route is re-searched, the automatic driving control device 30 notifies the automatic driving control device 30 of the searched guidance route (step S17). The automatic driving control device 30 starts traveling according to the guidance route notified from the navigation device 50 (step S25).

Further, when it is determined in the determination of step S14 that the deviation of the guidance route has not occurred (step S14 / NO), or when a new guidance route is notified to the automatic driving control device 30 in step S17, the navigation device 50 aims. It is determined whether or not there is a change in the ground setting (step S18). When the navigation device 50 receives the change of the destination by the touch panel 540 (step S18 / YES), the navigation device 50 proceeds to step S9 shown in FIG. 3 and repeats the process from step S9.

If there is no change in the destination setting (step S18 / NO), the navigation device 50 determines whether or not the destination has been reached based on the current position of the vehicle 2 estimated by the position estimation unit 581. .. When the navigation device 50 determines that the destination has not been reached (step S19 / NO), the navigation device 50 returns to step S14 and repeats the process from step S14. Further, when the navigation device 50 determines that the destination has been reached (step S19 / YES), the navigation device 50 ends this process. Further, when the automatic driving control device 30 determines that the destination has been reached based on the guidance route or the like (step S26 / YES), this process is terminated.

As described above, the navigation device 50 of the first embodiment includes an information input unit 582 and a route search unit 583. The information input unit 582 acquires control characteristic information, which is information on control conditions for controlling the running of the vehicle 2, from the automatic driving control device 30. The route search unit 583 searches for the guidance route of the vehicle 2 that satisfies the control condition based on the control characteristic information acquired by the information input unit 582. Therefore, it is possible to search for a guidance route that matches the characteristics of vehicle control and reduce the frequency of re-searching for the guidance route.

Further, the information input unit 582 inputs the permission threshold value set for each traveling phase of the vehicle 2 and which is permitted to execute the vehicle control corresponding to the traveling phase as the information of the control condition. Then, the route search unit 583 searches for a guidance route in which the vehicle 2 is permitted to execute the vehicle control based on the permission threshold value. Therefore, a route capable of executing vehicle control corresponding to the traveling phase can be selected as the guidance route. Therefore, it is possible to reduce the frequency of re-searching the route during the route guidance and reduce the discomfort given to the occupants of the vehicle.

Further, the route search unit 583 searches by comparing the road length of the road on which the lane movement is performed with the distance as the permission threshold value when there is a lane movement as a traveling phase in the searched route. It is determined whether or not to select the route as the guidance route for the vehicle 2. Therefore, it is possible to reduce the number of times that the lane cannot be moved in the selected guidance route and reduce the discomfort given to the occupants of the vehicle.

Further, the route search unit 583 determines whether or not the lane movement is within the steering angle of the vehicle 2 as the permission threshold value when there is a lane movement as a traveling phase in the searched route. Is determined, and it is determined whether or not to select the searched route as the guidance route of the vehicle 2. Therefore, it is possible to reduce the number of times that the lane cannot be moved in the selected guidance route and reduce the discomfort given to the occupants of the vehicle 2.

Further, the information input unit 582 inputs the vehicle width of the vehicle 2 as control characteristic information. Based on the control characteristic information, the route search unit 583 determines whether or not the searched route is a route on which the vehicle 2 can travel, and determines whether or not the searched route is selected as the guidance route of the vehicle 2. Is determined. Therefore, in the selected guidance route, the route including the road on which the vehicle 2 cannot travel can be prevented from being selected as the guidance route. Therefore, it is possible to reduce the frequency of re-searching the route during the route guidance and reduce the discomfort given to the occupants of the vehicle 2.

In addition, the information input unit 582 inputs information indicating whether or not the vehicle 2 can travel at the roundabout as control characteristic information. Based on the control characteristic information, the route search unit 583 determines whether or not the vehicle 2 can travel at the roundabout, and determines whether or not the searched guidance route is selected as the route of the vehicle 2. Therefore, it is possible to prevent the roundabout where the vehicle 2 cannot travel from being selected as the guidance route.

[Second Embodiment]
FIG. 6 is a block diagram showing the configuration of the present embodiment.
The second embodiment is an embodiment in which the search for the guidance route is performed by the information providing server 60 connected to the network N such as the Internet.
When the destination setting is input by the touch panel 540, the navigation device 50 of the vehicle 2 connects to the network N by the wireless communication unit 560, and transfers the destination setting and the control characteristic information of the vehicle 2 to the information providing server 60. Send. The information providing server 60 searches for a guidance route based on the destination setting input from the navigation device 50 and the control characteristic information of the vehicle 2.

In addition, when searching for a guidance route, the information providing server 60 also searches for a detour route of a route that is predicted to deviate due to factors such as traffic congestion in automatic driving.
The information providing server 60 collects information on the point where the deviation occurs in the automatic driving and the time when the deviation occurs from the navigation device 50 mounted on each vehicle 2, and stores the information in a storage unit (not shown). When the searched guidance route includes a point where a route deviation is likely to occur, and the predicted time to pass through this point is a time zone in which the number of route deviations is large, the information providing server 60 uses this point. It also searches for information on detours that detour. The information providing server 60 transmits the searched guidance route and information on the detour to the navigation device 50 that has received the acquisition request.

The above-described embodiment merely illustrates one aspect of the present invention, and can be arbitrarily modified and applied without departing from the spirit of the present invention.
For example, as shown in FIG. 7, the navigation device 50 is an MPU (Map Positioning Unit) 70 including a GPS receiving unit 71, a GPS antenna 72, a relative orientation detecting unit 73, a vehicle position estimation unit 74, map data 75, and the like. It may be provided separately and the position of the own vehicle of the vehicle 2 may be specified by the MPU 70.

Further, in the first and second embodiments described above, the vehicle 2 equipped with the automatic driving control device 30 and the automatic driving execution device 40 and traveling in automatic driving under the control of the automatic driving control device 30 has been described. It can also be applied to vehicles that are driven manually by the driver. The navigation device 50 acquires information such as vehicle height and vehicle width from the vehicle 2, and searches for a guidance route on which the vehicle 2 can travel based on the acquired information. Further, the navigation device 50 can also acquire information on driving proficiency level as characteristic information from the driver and search for a guidance route based on the acquired characteristic information.

Further, the functional blocks of the automatic driving control device 30 and the navigation device 50 shown in FIG. 2 are schematic views showing the functions provided by the automatic driving control device 30 and the navigation device 50 classified according to the main processing contents. The configuration of the automatic driving control device 30 and the navigation device 50 can be further divided into more blocks according to the processing content. Further, the functional block may be configured to execute more processing by one block shown in FIG. Further, the processing of each block may be executed by one hardware or may be executed by a plurality of hardware. Further, the processing of each block may be realized by one program or may be realized by a plurality of programs.

Further, the control program stored in the ROM 322 of the automatic operation control device 30 or the ROM (not shown) of the navigation device 50 is downloaded from a server device on the network, loaded on the RAM, and executed by the CPU. It may be.

Further, the processing units of the flowcharts shown in FIGS. 3 and 4 are divided according to the main processing contents in order to facilitate understanding of the processing of the control unit 580 of the navigation device 50 and the control unit 32 of the automatic driving control device 30. It is a thing. The present invention is not limited by the method and name of division of processing units. The processing of the control unit 580 of the navigation device 50 and the control unit 32 of the automatic driving control device 30 can be divided into more processing units according to the processing content. Further, one processing unit can be divided so as to include more processing. Further, the processing order of the above flowchart is not limited to the illustrated example.

1 Automatic operation control system 30 Automatic operation control device 32 Control unit 40 Automatic operation execution device 50 Navigation device 580 Control unit 581 Position estimation unit 582 Information input unit 583 Route search unit

Claims (4)

In a route search device provided with a communication unit, a storage unit, and a control unit,
The communication unit
Information of the control range of the execution of the vehicle control by automatic operation in each operation aspect is permitted, the height and width of the vehicle information, and based on the control characteristic information including information on whether the automatic operation by road type, vehicle Communicates with an automatic driving system that drives, brakes, and steers to automatically drive the vehicle.
The control unit
It has a route search unit that searches the traveling route of the vehicle according to the set route search conditions .
After start of the route searching apparatus, via the communication unit acquires the control characteristic information from the automatic operation system, and the control characteristic information obtained after the activation, the control characteristic stored in the storage unit by determining whether there is a change between the information, it determines whether the vehicle in which the route search device mounted thereon is changed,
When it is determined that there is a change , the route search unit searches the traveling route of the vehicle according to the route search conditions set based on the control characteristic information acquired after the start, and the control characteristics acquired after the start. A route search device characterized in that information is stored in the storage unit, and on the other hand, when it is determined that there is no change, the travel route of the vehicle is searched according to the route search conditions set before activation . The communication unit has a front Symbol control characteristic information together, to get a running mode of the vehicle which is set from the automatic operation system,
The route search unit
When the traveling mode of the vehicle is automatic driving, a traveling route capable of automatic driving is searched according to the route search condition set based on the acquired control characteristic information or the control characteristic information stored in the storage unit. ,
When the running mode of the vehicle is not automatic operation, by the route search condition set regardless of the previous SL control characteristic information, searches for a travel route,
The route search device according to claim 1. In the route search method of the route search device,
After start of the route search device, including information of the control range of the execution of the vehicle control by automatic operation in each operation aspect is permitted, information of height and width of the vehicle, and the information of whether the automatic operation by road type A step of acquiring the control characteristic information from the automatic driving system by communicating with an automatic driving system that drives, brakes, and steers the vehicle based on the control characteristic information to automatically drive the vehicle by a communication unit. ,
By determining whether or not there is a change between the control characteristic information acquired after the activation and the control characteristic information stored in the storage unit provided in the route search device, the route search device can be used. Steps to determine if the mounted vehicle has changed,
When it is determined that there is a change, the traveling route of the vehicle is searched by the route search unit of the control unit according to the route search condition set based on the control characteristic information acquired after the activation, and the vehicle is acquired after the activation. The control characteristic information is stored in the storage unit, and on the other hand, when it is determined that there is no change, the step of searching the traveling route of the vehicle by the route search unit of the control unit according to the route search condition set before the start-up. When the route search process of the route search device characterized by Ru with a. Wherein the step of communicating includes a pre-SL control characteristic information together, to get a running mode of the vehicle which is set from the automatic operation system,
The search step is
When the traveling mode of the vehicle is automatic driving, a traveling route capable of automatic driving is searched according to the route search condition set based on the acquired control characteristic information or the control characteristic information stored in the storage unit. ,
When the running mode of the vehicle is not automatic operation, by the route search condition set regardless of the previous SL control characteristic information, searches for a travel route,
The route search method of the route search device according to claim 3, wherein the route search device is characterized.

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