JP6945643B2 - Electronic control device and diagnostic method of map data - Google Patents

Description

The present invention relates to an electronic control device applicable to driving assistance, automatic driving, and the like, and a method for diagnosing map data.

In order to determine the certainty of map information, a method using vehicle trajectory information is known. For example, in Patent Document 1, the shape of the curve in which the vehicle travels is estimated (estimated locus) based on the detection signal acquired from the yaw rate sensor or the like, and the estimated locus and the map shape are compared only when the sensor temperature characteristic is small. Is disclosed, and a technique for determining the certainty of the map shape is disclosed.

Japanese Unexamined Patent Publication No. 2016-105257

However, in the technique disclosed in Patent Document 1, in order to determine the certainty of the map data, the traveling locus of the own vehicle calculated from the yaw rate sensor or the like is referred to. Therefore, although it is possible to diagnose the map data of the area in which the vehicle is currently traveling, it is not possible to diagnose the map data before the vehicle is traveling. For this reason, the use of map data may be restricted when the vehicle is traveling.

Further, when the map data is diagnosed while the own vehicle is running, it takes time to diagnose the map data depending on the amount of the map data, and the use of the map data may be restricted when the own vehicle is running.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide an electronic control device capable of reducing restrictions on the use of map data when the vehicle is traveling, and a method for diagnosing map data. It is in.

In order to achieve the above object, the electronic control device according to the first aspect includes a vehicle position acquisition unit that acquires a vehicle position, a prediction route calculation unit that calculates a vehicle prediction route from the vehicle position, and the vehicle position. It also includes a diagnostic area selection unit that selects a diagnostic area to be diagnosed in the map data based on the predicted route.

According to the present invention, it is possible to reduce restrictions on the use of map data when the vehicle is traveling.

FIG. 1 is a block diagram showing a configuration of a vehicle traveling support device according to the first embodiment. FIG. 2 is a flowchart showing a method of diagnosing map data according to the first embodiment. FIG. 3 is a diagram showing the relationship between the diagnosis area of the map data according to the first embodiment and the predicted route of the own vehicle. 4 (a) to 4 (c) are diagrams showing the relationship between the diagnosis area for each area of the map data according to the first embodiment, the predicted route of the own vehicle, and the diagnosis result. 5 (a) to 5 (c) are diagrams showing the relationship between the diagnosis area for each area of the map data according to the first embodiment, the predicted route of the own vehicle, and the diagnosis result. FIG. 6 is a diagram showing the content of notification to the occupant regarding the diagnosis result of the map data according to the first embodiment. FIG. 7 is a diagram showing the relationship between the diagnosis area of the map data according to the second embodiment and the predicted route of the own vehicle.

According to one embodiment, the diagnostic area to be diagnosed in the map data is selected based on the current vehicle position and the future predicted route from the vehicle position.
Hereinafter, embodiments will be described with reference to the drawings. It should be noted that the embodiments described below do not limit the invention according to the claims, and all of the elements and combinations thereof described in the embodiments are indispensable for the means for solving the invention. Is not always.

(First Embodiment)
FIG. 1 is a block diagram showing a configuration of a vehicle traveling support device according to the first embodiment.
In FIG. 1, the vehicle traveling support device 1 includes an acceleration / gyro sensor 2, a GNSS (Global Navigation Satellite System) receiving circuit 4, a wireless communication circuit 6, a wired communication circuit 8, a program memory 9, a calculation RAM 10, and a power supply circuit 12. , Map data memory 14, warning LED 16, operation mode notification LED 18, and operation support CPU 28 are provided.

The driving support CPU 28 is provided with a security module 28-1, a single core 28-2, and a lock step core 28-3.

A GPS (Global Positioning System) antenna 22 is connected to the GNSS receiving circuit 4. A mobile terminal 24 is connected to the wireless communication circuit 6. A vehicle control device 26 is connected to the wired communication circuit 8. A vehicle battery 20 is connected to the power supply circuit 12.

The program memory 9 holds a diagnostic program 11 for diagnosing the map data 15. By executing the diagnosis program 11 by the driving support CPU 28, the vehicle position acquisition unit 11-1, the prediction route calculation unit 11-2, and the diagnosis area selection unit 11-3 can be realized on software or firmware.

The vehicle position acquisition unit 11-1 acquires its own vehicle position. The prediction route calculation unit 11-2 calculates the prediction route of its own vehicle from its own vehicle position. The diagnosis area selection unit 11-3 selects a diagnosis area to be diagnosed in the map data 15 based on its own vehicle position and predicted route.

The power supply circuit 12 supplies electric power to the vehicle traveling support device 1. The power supply circuit 12 may be provided with a regulator for raising and lowering pressure. The acceleration / gyro sensor 2 detects the acceleration of the vehicle and the angular acceleration. The GNSS receiving circuit 4 receives the positioning information from the GNSS. The wireless communication circuit 6 enables communication of the mobile terminal 24 owned by the occupant regardless of whether it is inside or outside the vehicle, and makes it possible to provide vehicle information to the mobile terminal 24 registered in advance. The wireless communication circuit 6 is, for example, Bluetooth (registered trademark) or WiFi. The mobile terminal 24 is, for example, a smartphone or a tablet terminal.

The wired communication circuit 8 communicates with the vehicle control device 26 by wire. The vehicle control device 26 may be an electronic control device. The wired communication circuit 8 may have a communication line capable of communicating in a vehicle environment such as CAN (Control Area Network), Ethernet, or USB. The calculation RAM 10 provides a work area used for the diagnostic calculation of the map data 15.

The map data memory 14 stores the map data 15. Here, the map data memory 14 can store all the map data 15 in a predetermined range used for driving support or automatic driving. All the map data 15 in the predetermined range can be, for example, map data for each country such as map data 15 for the whole of Japan and map data 15 for the whole United States. However, for example, the map data 15 of the whole of Japan may not include map data of remote islands that are not connected by roads.

Even if there is an error in the distance to the sign or a misalignment to the white line of about several cm, it may cause inconvenience in driving assistance or automatic driving. Therefore, the diagnosis of the map data 15 needs to be performed with an accuracy of several centimeters or less. At this time, the map data 15 can have a data amount of several gigabytes or more.

As the map data memory 14, for example, a non-volatile memory defined by an eMMC (embedded MultiMediaCard) or SD card standard can be used. However, the map data memory 14 is not necessarily limited to the standard, can store a data capacity of several gigabytes or more, can hold data even when the power is cut off, and can update the map data 15 times. Any memory may be used as long as it has the above number of times of data erasure and rewriting. The map data memory 14 may be an external memory that can be externally attached.

The map data 15 is assigned an address for each unit of the area (for example, prefecture, city, town) indicated by the map data 15. For example, the data showing the map of A city is stored at addresses 1001 to 2000, the data showing the map of B city is stored at addresses 2001 to 3000, and the map data is stored in series thereafter. can do. Further, the storage destination address information indicating the storage destination of each area can also be stored in the map data memory 14 by using a part of the space of the map data 15.

Further, a checksum can be added for each area of the map data 15. For example, a checksum for the map data of the city A can be embedded in the data indicating the map of the city A. Then, by calculating the checksum of the map data 15 in the city A, it is possible to determine whether the map data 15 in the city A is normal or not by the map data 15 in the city A alone.

By calculating the checksum, it is possible to determine whether the map data 15 is garbled. In addition to the simple method of calculating the total value by the checksum, another error detection method such as 16-bit CRC (Cyclic Redundancy Check) calculation may be used.

The driving support CPU 28 executes various control calculation processes necessary for driving support. The security module 28-1 can store keys such as a cryptographic processing calculation and a common key used for device authentication of the vehicle control device 26. Lockstep cores 28-3 perform the same processing on each core while synchronizing the clocks of the two cores mounted on one die. Then, the processing results of each core can be compared, and the processing can be actually applied only when the same processing result is obtained.

The warning LED 16 notifies the occupant of the abnormal state according to the failure state of the vehicle travel support device 1 or the external failure state detected by the vehicle travel support device 1. The driving mode notification LED 18 notifies the occupant of the state of the driving control mode being executed by the vehicle driving support device 1.

Hereinafter, the diagnostic operation of the map data 15 by the vehicle traveling support device 1 will be described.
When power is supplied to the power supply circuit 12 from the vehicle battery power supply 20, the power supply circuit 12 converts the voltage into a voltage required for the internal circuit of the electric vehicle traveling support device 1 and supplies the power required for the internal circuit. The output of the power supply circuit 12 does not have to be one system, for example, 5V for the CAN, 3.3V for the input / output power supply of the operation support CPU 28, and 1.2V for the core power supply of the operation support CPU 28. May be supplied with three different voltages.

Then, when the diagnostic program 11 is started, the diagnostic program 11 is executed by the driving support CPU 28. Then, the vehicle position acquisition unit 11-1 acquires its own vehicle position. At this time, the positioning information is received from the GNSS by the GNSS receiving circuit 4. Then, the vehicle position acquisition unit 11-1 can acquire its own vehicle position based on the positioning information from the GNSS. Further, the acceleration / gyro sensor 2 detects the acceleration and the angular acceleration of the own vehicle.

Further, the wheel speed and gear position (forward or reverse) of the vehicle can be acquired from the vehicle control device 26 via the wired communication circuit 8, and the moving speed and moving direction of the own vehicle position can be determined. Then, the position of the own vehicle can be compensated based on the acceleration, the angular acceleration, the moving speed, and the moving direction of the own vehicle. Further, the current position information can be acquired from the mobile terminal 24 via the wireless communication circuit 6. Then, based on the current position information from the mobile terminal 24, it is possible to supplement or calibrate the position of its own vehicle.

When the vehicle position acquisition unit 11-1 acquires the own vehicle position, the prediction route calculation unit 11-2 calculates the prediction route of the own vehicle from the own vehicle position. Navigation information can be used to calculate the predicted route. Alternatively, the destination or route of the own vehicle may be set via the mobile terminal 24.

When the prediction route calculation unit 11-2 calculates the prediction route of the own vehicle, the diagnosis area selection unit 11-3 selects the diagnosis area to be diagnosed by the map data 15. Here, the diagnosis area can be expanded starting from the vehicle position of the own vehicle. Alternatively, the diagnosis area calculated by the prediction route calculation unit 11-2 can be sequentially selected in the traveling direction of the own vehicle. At this time, the diagnosis area may be set with the map data 15 so that the diagnosis of the diagnosis area is completed before the own vehicle reaches the diagnosis area.

Here, for example, it is assumed that the amount of data of all the map data 15 used for driving support or automatic driving of the own vehicle is 4 gigabytes. Assuming that the diagnosis is performed on all the map data 15, it takes about 38 seconds to read the data alone, and the diagnosis time is further added. For this reason, it is necessary to drive with the accuracy of the map data 15 being uncertain for several tens of seconds to several minutes after the engine is started, which limits driving support and automatic driving.

On the other hand, by selecting the diagnosis area to be diagnosed in the map data 15 based on the own vehicle position and the predicted route, only the area on the map data 15 including the route on which the own vehicle travels is diagnosed. be able to. Therefore, it is possible to complete the diagnosis of the route on the map data 15 on which the own vehicle will travel in the future before the own vehicle travels on the route while the own vehicle is driving. As a result, it is possible to reduce the restriction on the use of the map data 15 while driving the own vehicle, and it is possible to reduce the area where the use of the map data 15 is restricted such as driving support and automatic driving.

When the diagnosis of the map data 15 is completed, the mobile terminal 24 can be notified of the operation control mode to the occupant or the failure state of the operation support control device can be notified to the occupant via the wireless communication circuit 6. The driving control mode may be provided with, for example, a driving support mode, an automatic driving mode, and a manual driving mode.

Further, the warning LED 16 can be turned on or blinked to notify the occupant of the abnormal state according to the failure state of the vehicle travel support device 1 or the external failure state detected by the vehicle travel support device 1.

Further, the driving mode notification LED 18 can be turned on or blinked to notify the occupant of the driving control mode according to the state of the driving control mode executed by the vehicle driving support device 1. When some operation control modes are restricted, a notification of the contents can be issued to the occupant to encourage the occupant to pass the control.

The vehicle driving support device 1 is not limited to the driving support control device, and can be applied to, for example, an automatic driving control device having a more complete automatic driving function.

Further, by applying the vehicle driving support device 1 to an electronic control device (ECU: Electronic Control Unit), an advanced driving support system (ADAS: Advanced Driver Assist Systems) and an automatic driving system (AD: Automated Driving) can be constructed. Can be done.

That is, by using the map data diagnosed as normal by the vehicle traveling support device 1, the engine, airbag, transmission, power steering, brake, etc. are electronically controlled, and a lane keeping system, an inter-vehicle distance control system, etc. are realized. Can be done.

For example, based on the map data diagnosed as normal by the vehicle driving support device 1, the curvature of the curve that the own vehicle enters is acquired, and the engine and the brake are controlled so as to have the optimum speed when entering the curve. Or you can control the power steering so that it does not deviate from the curve. Alternatively, the airbag may be operated when the speed is such that the vehicle cannot turn the curve to which the vehicle enters.

FIG. 2 is a flowchart showing a method of diagnosing map data according to the first embodiment.
In FIG. 2, the activation of the vehicle control support device 1 triggers the present diagnostic process. The activation of the vehicle control support device 1 may be activation of CAN communication by opening and closing the vehicle door, application of a button for engine activation by the occupant, or activation by operation of the occupant's mobile terminal 24. It may be present, or the vehicle door may be unlocked by operating a remote key.

When the vehicle control support device 1 is activated, the diagnosis of the map data 15 has not started, and it is undecided whether or not the map data 15 is defective. The defect of the map data 15 is, for example, garbled bits or missing bits due to storage of the map data 15 in the map data memory 14. At this time, as the state of the map data is uncertain, the occupant is notified that the map data may not be normal (200).

Next, the driving support CPU 28 estimates the own vehicle area (202). The estimation process of the own vehicle area can be executed based on the output of the GNSS receiving circuit 4 and the acceleration / gyro sensor 2 and the input information of the mobile terminal 24. Under the condition that the reception state of the GPS antenna 22 is good, the estimation process of the own vehicle area can be performed based on the positioning information of the GNSS reception circuit 4. If the GNSS reception sensitivity is low, such as when there is a high-rise building around the vehicle or when the vehicle enters a tunnel, the vehicle will be based on the output of the acceleration / gyro sensor 2 and the input information of the mobile terminal 24. The interpolation process used to estimate the vehicle area can be performed.

By estimating the own vehicle area, it is possible to link the current position of the own vehicle with each area of the map data. For example, when the own vehicle is parked in A city, the own vehicle area on the map data 15 is estimated to be A city, and when the own vehicle is parked in B city, the own vehicle on the map data 15 is estimated. The area can be estimated as City B.

Next, the driving support CPU 28 reads the map data 15 corresponding to the own vehicle area from the map data memory 14 (204). For example, when it is determined that the own vehicle is located in the city A, the storage destination address of the map data 15 of the city A can be determined, and the map data 15 of the city A can be read into the driving support CPU 28.

The map data 15 can be read by SPI (Serial Peripheral Interface) communication or DDR (Double Data Rate) communication. When reading data at a higher speed in a short time, a communication method such as eMMC Ver4, eMMC Ver5, DDR2 or DDR3, or a communication method corresponding thereto can be used.

Next, the driving support CPU 28 calculates the checksum of the map data 15 of the city A and compares it with the checksum embedded in the map data 15 in advance, so that the bit of the map data 15 of the city A is garbled. The presence or absence is determined (206). This diagnostic process is not limited to the checksum method, and may be a method based on CRC calculation or the like.

Here, if an abnormality is detected in the checksum determination, there is a possibility of false information, so the diagnostic process of the map data 15 of the city A is executed again (208). By executing the diagnostic process again, it is highly possible that the transient abnormality detection is not the original failure, and when the influence of noise or disturbance is a factor, robustness to the entire system can be given.

Next, even in the checksum retry determination, when an abnormality in the map data 15 is detected, it is determined that an abnormality has occurred in the map data 15 and the circuit related to the processing of the map data 15, and the occupant is abnormal. Notify the status (212).

If the checksum judgment or checksum retry judgment is normal, the map data 15 and the circuit related to the processing of the map data 15 are operating normally, and data abnormalities such as garbled map data bits are also present. Since there is no such information, the occupants are notified that normal use is possible (210).

By completing the above processing in a short time from the activation of the vehicle control support device 1 to the start of the vehicle running, the map information of the own vehicle area can be used or cannot be used at the start of the vehicle running. It is possible to determine whether or not there is.

Next, the driving support CPU 28 determines whether or not the own vehicle is traveling (213). If the vehicle is not running, the vehicle starts running (214). Then, the driving support CPU 28 starts the estimation process of the traveling route of the own vehicle after the start of the traveling of the own vehicle (216), and the next next that the own vehicle arrives when traveling along the traveling route of the own vehicle. Calculate the area (218). For example, when the driving of the own vehicle starts from the city A and the own vehicle passes through the city B in the next area, the driving support CPU 28 can calculate the area corresponding to the city B as the next area. ..

Next, the driving support CPU 28 determines whether or not the diagnosis of the map data 15 in the area immediately before the next area is completed (220). If the diagnosis of the map data 15 of the area immediately before the next area is not completed, the map data 15 of the immediately preceding area is awaiting the diagnosis (222). At this time, the area waiting for diagnosis can be queued.

For example, it is assumed that the vehicle is predicted to pass through the route B city → E city after passing through city A. Then, if the diagnosis of the map data 15 of the city B is not completed while the own vehicle is traveling in the city A, the driving support CPU 28 makes the map data 15 of the area of the city B awaiting the diagnosis. be able to.

Next, the driving support CPU 28 reads the map data 15 corresponding to the next area from the map data memory 14 (224). For example, when the driving support CPU 28 calculates the area corresponding to the city B as the next area, the driving support CPU 28 can read the map data 15 of the city B corresponding to the next area.

Next, the driving support CPU 28 determines whether or not the own vehicle has arrived at the end of the route (226). If the own vehicle has not arrived at the end of the route, the process returns to step 206 to perform the diagnosis of the map data 15 in the next area. On the other hand, when the own vehicle arrives at the end of the route, the diagnosis of the map data 15 in the area waiting for diagnosis is executed (228). Diagnosis of the area waiting for diagnosis can be performed when the engine of the own vehicle is keyed off. For example, if the end of the route of the own vehicle is in the city E and the map data 15 of the area of the city B is waiting for diagnosis, the map data 15 of the area of the city B is diagnosed when the own vehicle arrives in the city E. can do.

In addition, in FIG. 2, the method of executing the estimation processing of the traveling route of the own vehicle and the reading processing of the map data 15 after the start of traveling of the own vehicle has been described, but depending on the time required for the reading processing, the traveling of the own vehicle The route estimation process and the map data 15 reading process may be executed before the start of traveling of the own vehicle.

FIG. 3 is a diagram showing the relationship between the diagnosis area of the map data according to the first embodiment and the predicted route of the own vehicle.
In FIG. 3, it is assumed that city A has a road 304, city B has a road 302, city C has a road 308, city D has a road 300, and city E has a road 306. do.
Then, for example, it is assumed that the own vehicle starts traveling from the city A, goes through the city B, and heads for the city E. At this time, the map data 15 of the city A in the traveling start area is first read, and the diagnosis of the map data 15 of the city A is executed. Here, the diagnosis of the map data 15 of the city A can be executed when the own vehicle is stopped at the traveling start position 311.

Next, when the own vehicle starts traveling from the traveling start position 311, the predicted route of the own vehicle is calculated. For example, it is assumed that the own vehicle heads for city B through road 304, heads for city E through road 302, and reaches the destination through road 306. At this time, the predicted route 310 from the city A to the city E via the city B is calculated.

In this prediction route 310, since the own vehicle travels in the city B next to the city A, the city B is selected as the diagnosis area next to the city A. Then, the map data 15 of the city B is diagnosed while the own vehicle is traveling in the city A. Further, since the own vehicle travels in the city E next to the city B, the city E is selected as the next diagnostic area in the city B. Then, the map data 15 of the city B is diagnosed while the own vehicle is traveling in the city A, and the map data 15 of the city E is diagnosed while the own vehicle is traveling in the city A or the city B.

At this time, the diagnosis of the map data 15 of the cities C and D that does not include the predicted route 310 can be skipped. Therefore, the diagnosis of the map data 15 of the city B can be completed while the own vehicle is traveling in the city A, and the diagnosis of the map data 15 of the city E can be completed while the own vehicle is traveling in the city A or the city B. .. As a result, the map data 15 of the city B can be used when the own vehicle travels in the city B, and the map data 15 of the city E can be used when the own vehicle travels in the city E. It is possible to realize driving support and automatic driving.

The diagnosis of the map data 15 of the city B or the city E may be executed while the own vehicle is running, but if the processing speed of the driving support CPU 28 is sufficiently high and the diagnosis is completed in a short time before the start of the running. , It may be executed before the start of running of the own vehicle.

4 (a) to 4 (c) and FIGS. 5 (a) to 5 (c) are diagrams showing the relationship between the diagnosis area for each area of the map data according to the first embodiment, the predicted route of the own vehicle, and the diagnosis result. be.
In FIG. 4A, the position of the own vehicle at the start of traveling is located in city A. Then, when the position of the own vehicle is located in the city A, the map data 15 of the city A can be diagnosed. At this time, the diagnosis result of the map data 15 of the city A is being diagnosed. Since the map data 15 of cities B to F has not been diagnosed, the diagnosis result is uncertain.

In FIG. 4B, it is assumed that the diagnosis of the map data 15 of the city A is completed by the normal determination when the position of the own vehicle is located in the city A. At this time, the diagnosis result of the map data 15 of the city A shifts from being diagnosed to normal.

In FIG. 4C, when the diagnosis of the map data 15 of the city A is completed, the diagnosis area is switched from the city A to the city B. Then, when the position of the own vehicle is located in the city A, the map data 15 of the city B can be diagnosed. At this time, the diagnosis of the map data 15 of the city B has not been completed, and the diagnosis result of the map data 15 of the city B remains undefined.

In FIG. 5A, it is assumed that the diagnosis of the map data 15 of the city B is completed with a normal determination when the vehicle position is located in the city A. At this time, the diagnosis result of the map data 15 of the city B shifts from indefinite to normal. At this point, the driving support control function or the automatic driving control function using the map data 15 of the city B becomes available.

In FIG. 5B, when the diagnosis of the map data 15 of the city B is completed, the diagnosis area is switched from the city B to the city E. Then, when the position of the own vehicle is located in the city A, the map data 15 of the city E can be diagnosed. At this time, the diagnosis of the map data 15 of the city E has not been completed, and the diagnosis result of the map data 15 of the city E remains undefined.

For C city, D city and F city, the predicted route is not included. Therefore, it is possible not to execute the diagnosis of the map data 15 for the cities C, D, and F until the diagnosis of the area including the end of the predicted route is completed.

In FIG. 5C, it is assumed that the diagnosis of the map data 15 of the city E is completed with a normal determination when the vehicle position is located in the city A. At this time, the diagnosis result of the map data 15 of the city E shifts from indefinite to normal. At this point, the driving support control function or the automatic driving control function using the map data 15 of the city E becomes available.

FIG. 6 is a diagram showing the content of notification to the occupant regarding the diagnosis result of the map data according to the first embodiment.
In FIG. 6, when the map data 15 and the circuit related to the processing of the map data 15 are determined to be normal without any abnormality, the state of the map data 15 which was undefined at the start of traveling becomes normal. Therefore, for example, the driving support function can be used without any limitation.
The occupant can be notified of the message "driving support is valid" in order to notify the occupant of the normal condition. The warning LED 16 can be turned off, and the operation mode notification LED 18 can turn on all the green LEDs that mean safety.

Further, for example, when an abnormality is found in the map data 15, the map data 15 can be read, but the map data 15 may be destroyed or damaged, or the bits may be garbled. For this reason, a message is sent to the occupants that the support function is partially restricted, the support function is stopped for functions such as sharp curves and driving lane changes, and the driver actively requests steering wheel operation. You can notify. However, in this case, there is a possibility that the normal recovery may occur due to the update of the map data 15 or the like rather than a hardware failure. Therefore, the occupant may be notified of a message prompting the data update work.

In addition, although some functions are restricted, the driving support function is effective on roads with relatively gentle curves and straight lines in a single driving lane. Therefore, the operation mode notification LED 18 may use blinking green indicating a state different from both the normal state and the abnormal state.

Further, for example, when the reading of the map data 15 itself is not completed, it is assumed that there is a physical failure of the map data memory 14 or an abnormality in the circuit, not an abnormality of the map data 15. Therefore, it is possible to notify the occupants of a message recommending inspection work and unit replacement work at the maintenance shop. The operation mode notification LED 18 can be turned off, and the warning LED 16 can blink a red LED indicating danger.

As a method of notifying the normal state or the abnormal state, in order to appropriately inform the occupant of the state of the driving support control device, not only the LED is turned on or off, but also, for example, voice transmission from a speaker or a mobile terminal of the occupant is used. The notification used may be given.

(Second Embodiment)
FIG. 7 is a diagram showing the relationship between the diagnosis area of the map data according to the second embodiment and the predicted route of the own vehicle.
In FIG. 7, it is assumed that the city B has 1-chome and 2-chome, the 1-chome of the city B has the road 302-1 and the 2-chome of the city B has the road 302-2. Then, the vehicle goes through road 304 to 1-chome in city B, through road 302-1 to 2-chome in city B, through road 302-2 to city E, and through road 306. It shall reach the destination.

Here, when the own vehicle diagnoses the map data 15 of the city B in FIG. 3 while traveling in the city A, it is assumed that the diagnosis of the map data 15 of the city B is not completed by the time the own vehicle enters the city B. .. However, if the own vehicle diagnoses the map data 15 of 1-chome of B city while traveling in A city, the diagnosis of the map data 15 of 1-chome of B city is completed by the time the own vehicle enters B city. And. In this case, 1-chome in city B may be selected as the next diagnostic area in city A. After the diagnosis of 1-chome in B city is completed, 2-chome in B city can be selected as the next diagnosis area after 1-chome in B city.

At this time, the time until the own vehicle reaches the city B can be calculated based on the running start position 311 of the own vehicle, the speed of the own vehicle, and the predicted route 310. In addition, the time required for diagnosis of the map data 15 of the city B can be predicted from the amount of data of the map data 15 of the city B. Then, by comparing these times, it can be determined whether or not the diagnosis of the map data 15 of the city B is completed by the time the own vehicle enters the city B.

1 ... Vehicle running support device, 2 ... Acceleration / gyro sensor, 4 ... GNSS reception circuit, 6 ... Wireless communication circuit, 8 ... Wired communication circuit, 10 ... Calculation RAM, 12 ... Power supply circuit, 14 ... Map data memory, 16 ... Warning LED, 18 ... Driving mode notification LED, 20 ... Vehicle battery, 22 ... GPS antenna, 24 ... Mobile terminal, 26 ... Vehicle control device, 28 ... Driving support CPU

Claims (14)

The vehicle position acquisition unit that acquires the vehicle position and
A prediction route calculation unit that calculates the prediction route of the vehicle from the vehicle position,
It is provided with a diagnostic area selection unit that selects a diagnostic area to be diagnosed with map data based on the vehicle position and the predicted route .
An electronic control device that divides the map data into each diagnosis area and diagnoses whether or not the map data is normal for each diagnosis area. The electronic control device according to claim 1, wherein the diagnostic area selected by the diagnostic area selection unit is diagnosed after acquiring all the map data in a predetermined range used for driving support or automatic driving of the vehicle. The electronic control device according to claim 1, wherein the diagnostic area is sequentially selected in the traveling direction of the vehicle. The electronic control device according to claim 1 , wherein the diagnostic area is expanded starting from the vehicle position. The electronic control device according to claim 1, wherein the vehicle is configured to set the diagnostic area as the diagnosis of the diagnostic area is completed before reaching the diagnostic area. Wherein when the vehicle is not diagnosed is completed the diagnostic area before reaching the diagnostic area, the electronic control device according to claim 1, diagnose waiting the diagnostic area. The electronic control device according to claim 6 , wherein the diagnosis area waiting for diagnosis is diagnosed at the time of key-off. The electronic control device according to claim 1, which notifies the limitation of driving support when the diagnosis of the map data is incomplete or an abnormality is detected. The electronic control device according to claim 1, wherein driving support control or automatic driving control is executed based on map data in which the diagnosis result is normal. The electronic control device according to claim 9 , wherein the engine, airbag, transmission, power steering or brake is electronically controlled based on map data in which the diagnosis result is normal. The electronic control device according to claim 1, wherein the map data is diagnosed based on the checksum. Acquire the vehicle position based on the positioning information from GNSS,
The electronic control device according to claim 1, wherein the predicted route is calculated based on the navigation information. Before the vehicle starts traveling, the vehicle area is estimated, the map data corresponding to the vehicle area is diagnosed, and the vehicle is diagnosed.
According to claim 1 , the next area in which the vehicle travels is estimated after the vehicle starts traveling, and the diagnosis of the map data corresponding to the next area is completed before the vehicle reaches the next area. The electronic control device described. Get the vehicle position,
Calculate the predicted route of the vehicle from the vehicle position,
A diagnostic area to be diagnosed with map data is selected based on the vehicle position and the predicted route .
A method for diagnosing map data, wherein the map data is divided into each diagnosis area, and whether or not the map data is normal is diagnosed for each diagnosis area .

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