JP7000270B2 - Driving support device, program, data structure - Google Patents

Description

The present invention relates to a technique capable of supporting the traveling of a moving body.

In recent years, devices that accurately estimate the position of the own vehicle and support the running of the vehicle have become widespread.
In this regard, the guidance guidance that identifies the lane movement end point where the vehicle needs to complete the lane movement to the guidance lane and guides the vehicle to the guidance lane based on the guidance lane and the lane movement end point. A technique has been proposed in which a guidance area to be performed is set for a lane included in a road on which a vehicle travels and guidance is provided. (Patent Document 1)

JP-A-2017-32440

An object of the present invention is to provide a travel support device capable of appropriately guiding and controlling a moving body and a data structure of map data used in the travel support device.

As one embodiment of the present invention, a traveling support device for supporting the traveling of a vehicle is provided. This travel support device is information corresponding to the first section in which a vehicle traveling on the first road and then merging with the second road connected to the first road travels, and is the information corresponding to the first section. The first section information including the position information corresponding to a plurality of positions along the traveling direction of the section, and the second road constituting the second road connected to the front of the traveling direction with respect to the first section. The information corresponding to the second section, the second section information including the position information corresponding to a plurality of positions along the traveling direction of the second section, and the stop before the intersection on the second road. The virtual information associated with the first section information, including the position information corresponding to the first stop position where the vehicle should stop at the position where the line does not exist, and the first stop position with respect to the traveling direction of the vehicle. Position information corresponding to the second stop position before the point where the vehicle joins the second road from the first road at the position where the actual stop line behind the stop position of 1 exists. A map having real information including and signal information about a signal that regulates the passage of a vehicle toward the intersection, the virtual information and the signal information are associated with each other, and the actual information and the signal information are associated with each other. A process of generating guidance information for guiding and controlling a vehicle based on a data storage unit and position information corresponding to a plurality of positions of the first section information along the traveling direction, and the first section. A process for specifying the virtual information related to the information and a process for generating guidance information for guiding and controlling the vehicle based on the position information corresponding to the first stop position included in the specified virtual information. The control unit has a control unit that executes When the regulated content of the acquired signal is the first regulated content that a vehicle traveling on the second road should stop at a position in front of the intersection, the first regulation content is obtained. The vehicle traveling on the road 1 is driven from the first road to the second road, and is guided to stop before the first stop position based on the virtual information, and the acquisition is performed. When the regulation content of the traffic light is the second regulation content that allows a vehicle traveling on the second road to pass through the intersection, the vehicle traveling on the first road is referred to as the vehicle. Induces the vehicle to stop before the second stop position based on actual information. After that, based on the situation of the vehicle traveling on the second road, the vehicle is driven from the first road to the second road, passes through the first stop position, and is guided to pass through the intersection. ..

As another embodiment of the present invention, the program realizes a reference function for referencing map data stored in a storage unit to a control unit having a driving support function for supporting the driving of a vehicle, wherein the map data is a program. Information corresponding to the first section in which a vehicle traveling on the first road and then joining the second road connected to the first road travels, and in the traveling direction of the first section. Corresponds to the first section information including the position information corresponding to a plurality of positions along the first section and the second section constituting a part of the second road connected to the front in the traveling direction with respect to the first section. Information, at the position where the second section information including the position information corresponding to a plurality of positions along the traveling direction of the second section and the stop line in front of the intersection on the second road do not exist. There is virtual information that includes position information corresponding to the first stop position of the vehicle to be stopped, virtual information associated with the first section information, and rearward of the first stop position with respect to the traveling direction of the vehicle. The actual information including the position information corresponding to the second stop position before the point where the vehicle joins the second road from the first road at the position where the actual stop line of the above exists, and the above-mentioned It has signal information about a signal that regulates the passage of a vehicle toward an intersection, the virtual information is associated with the signal information, the actual information is associated with the signal information, and the reference function is described above. The driving support function includes the function of causing the control unit to refer to the first section information, the second section information , the virtual information , the actual information, and the signal information , and the traveling support function is the traveling of the first section information. A process of generating guidance information for guiding and controlling a vehicle based on position information corresponding to a plurality of positions along a direction, a process of specifying the virtual information related to the first section information, and a specific process. The vehicle includes a function of generating guidance information for guiding and controlling the vehicle based on the position information corresponding to the first stop position included in the virtual information, and the vehicle has the first stop position. While traveling on the road, the regulation content of the signal is acquired based on the virtual information and the signal information associated with the real information, and the acquired regulation content of the signal is the second. When the vehicle traveling on the road is the first regulation content that should be stopped at the position in front of the intersection, the vehicle traveling on the first road is moved from the first road to the second road. While driving to the first stop position based on the virtual information When the vehicle is guided to stop in front of the station and the acquired regulation content of the traffic light is the second regulation content that allows a vehicle traveling on the second road to pass through the intersection. The vehicle traveling on the first road is guided to stop before the second stop position based on the actual information, and then the vehicle traveling on the second road is described as described above. It includes a function of traveling from a first road to the second road, passing through the first stop position, and performing a process of guiding the vehicle to pass through the intersection .

The figure for demonstrating the structure of the traveling support apparatus of Embodiment 1. FIG. The figure for demonstrating the concept of the map data of Embodiment 1. FIG. The figure for demonstrating the detail of the map data of Embodiment 1. FIG. The figure for demonstrating the detail of the map data of Embodiment 1. FIG. The figure for demonstrating the operation flow of the driving support processing of Embodiment 1, Embodiment 2 and Embodiment 4. The figure for demonstrating the concept of the map data of Embodiment 2. The figure for demonstrating the details of the map data of Embodiment 2. The figure for demonstrating the details of the map data of Embodiment 2. The figure for demonstrating the concept of the map data of Embodiment 3. The figure for demonstrating the details of the map data of Embodiment 3. The figure for demonstrating the operation flow of the driving support processing of Embodiment 3. The figure for demonstrating the concept of the map data of Embodiment 4. The figure for demonstrating the details of the map data of Embodiment 4. The figure for demonstrating the details of the map data of Embodiment 4. The figure for demonstrating the concept of the map data of Embodiment 5. The figure for demonstrating the operation flow of the driving support processing of Embodiment 5. The figure for demonstrating the concept of the map data of Embodiment 5. The figure for demonstrating the concept of the map data of Embodiment 5. The figure for demonstrating the modification of the map data of Embodiment 5. The figure for demonstrating the modification of the map data of Embodiment 5. The figure for demonstrating the modification of the map data of Embodiment 5. The figure for demonstrating the modification of the map data of Embodiment 5.

<Embodiment 1>
FIG. 1 is a travel support system 1 in the first embodiment, which is an example of a travel support device. The travel support system 1 is mounted on a vehicle that is a moving body, and includes an information control unit 3, a storage unit 4, an input unit 5, a position acquisition unit 6, a vehicle speed information acquisition unit 7, a peripheral information acquisition unit 8, and a vehicle control unit 9. Have.
The information control unit 3 includes a functional unit that realizes predetermined functions such as a map data acquisition unit 10, a route search unit 11, a position identification unit 12, a route identification unit 13, and a guidance unit 14, and is not shown as a CPU (Central). It is equipped with a Processing Unit), a ROM (Read Only Memory), and a RAM (Random Access Memory). The CPU of the information control unit realizes functions related to various programs by reading various programs stored in ROM, expanding them in RAM, and executing them. Further, the functional units such as the map data acquisition unit 10, the route search unit 11, the position identification unit 12, the route identification unit 13, and the guidance unit 14 are functions realized by the program.

The storage unit 4 is composed of a large-capacity storage medium such as a hard disk or SD-RAM. The storage unit 4 stores map data 20 used for route search processing, vehicle position identification, vehicle guidance control, and the like. The map data 20 includes road network data 30, lane network data 31, feature data 32, and attribute data 33.

The road network data 30 has a plurality of point information including information on intersections and branch points of the road and a plurality of road section information including information on a predetermined section of the road, and the road is based on the plurality of point information and the plurality of road section information. It is information showing the connection of. The lane network data 31 includes identification information for identifying the lane section information, coordinate information representing a coordinate point sequence of the center line of the lane corresponding to the lane section information, and exit side of the section corresponding to the lane section information. It includes exit side identification information which is identification information of lane section information corresponding to a section, entry side identification information corresponding to an approach side section of a section corresponding to the lane section, and the like. The feature data 32 includes stop line information representing a road stop line, traffic light information representing a road traffic light, and the like. The attribute data 33 includes road section information of road network data 30, lane section information of lane network data 31, lane section information of lane network data 31, stop line information of feature data 32, and stop line information of feature data 32. It includes related information for associating each signal information. The details of the stop line information, the traffic light information, and the related information will be described later.

The input unit 5 receives instruction input for route setting and vehicle guidance from the user. The position acquisition unit 6 acquires position information regarding the position of the vehicle including latitude and longitude based on radio waves received from artificial satellites constituting a GPS (Global Positioning System) and signals from a gyro provided in the vehicle. .. The vehicle speed information acquisition unit 7 acquires information on the speed of the vehicle based on the pulse signal acquired from the vehicle speed sensor. The peripheral information acquisition unit 8 is composed of a camera and a sensor mounted on the vehicle 2, and is composed of image information of a subject such as a traffic light, a sign, a road sign paint (for example, a lane marking), and another vehicle around the vehicle. Acquires peripheral information of a certain vehicle. Further, the peripheral information acquisition unit 8 can acquire the display color of the traffic light by road-to-vehicle communication with the traffic light existing in the vicinity of the vehicle 2. Further, the peripheral information acquisition unit 8 can acquire the current position information of the other vehicle by inter-vehicle communication with the other vehicle existing in the vicinity of the vehicle 2. The existence information of other vehicles may be received from the traffic jam information included in the traffic information.

The map data acquisition unit 10 extracts the desired map data 20 stored in the storage unit 4 in response to the map data acquisition request. The route search unit 11 executes the route search process using the road network data 30 stored in the storage unit 4. Specifically, the route search unit 11 executes a route search process from the departure point to the destination using the road section information and the point information included in the road network data 30. Then, the route search process creates route information indicating the route from the departure point to the destination (a plurality of point information connecting the departure point to the destination and a plurality of road section information). As a route search method, a well-known method such as the Dijkstra method is adopted, and the shortest route from the departure point to the destination is searched for using the cost information included in the road section information.
The position specifying unit 12 specifies which position on the road the vehicle is located on the road from the position information acquired by the position acquisition unit 6, and in addition to the position information acquired by the position acquisition unit 6, the feature From the peripheral information acquired by the data 33 and the peripheral information acquisition unit 8, the position of the vehicle is specified on the road.

The route specifying unit 13 uses the route information of the road network data 30 created by the route search unit 11 to perform a process of specifying a route to the lane network data 31 based on the related information. In addition, the first to fourth embodiments described below are examples of traveling on the route specified by the lane network data 31 by the route specifying unit 13.
The guidance unit 14 generates guidance information for controlling the vehicle so that the vehicle control unit 9 moves along a predetermined lane of the road, and outputs the guidance information to the peripheral information acquisition unit 8 and the vehicle control unit 9. The vehicle control unit 9 controls the vehicle (steering, accelerating / decelerating, stopping, etc.) so as to move along a predetermined lane of the road based on the guidance information.

In the travel support system 1, the information control unit 3 and the storage unit 4 are not mounted in the vehicle 2, but are mounted in the server, and the information control unit 3 in the server includes the input unit 5, the position acquisition unit 6, and the vehicle speed information. The information of the acquisition unit 7 and the peripheral information acquisition unit 8 may be received as communication information, and the guidance information may be output to the vehicle control unit 9 as communication information. Further, in the travel support system 1, the storage unit 20 is not installed in the vehicle 2 but is installed in the server, and the information control unit 3 in the vehicle is stored in the storage unit 4 in response to the map data acquisition request. The desired map data 20 may be acquired and received by communication information.

FIG. 2 is a diagram for explaining the concept of map data of the first embodiment.
Reference numeral 50 is a diagram showing the area around the intersection of an actual general road. The main road 52 and the frontage road 53 run side by side in the section from A to A, and merge in the section from A to B to form an intersection. TS1 represents a traffic light installed at an intersection.
51 is a conceptual diagram of the map data 20. LL1 to LL5 represent lane section information, SL1 to SL4 represent stop line information, and TL1 represents traffic light information. The section of the map data 20 to A corresponds to the section of the actual road to A, and the section of the map data 20 from A to B corresponds to the section of the actual road from A to B.

Each of the lane section information is associated with the stop line information and the traffic light information by the related information. The lane section information LL1 is associated with the stop line information SL1 by the related information R1, the stop line information SL3 by the related information R2, and the traffic light information TL1 by the related information R5. The lane section information LL2 is associated with the stop line information SL2 by the related information R3. The lane section information LL3 is associated with the stop line information SL4 by the related information R4. The stop line information SL1 is associated with the traffic light information TL1 by the related information R6. The stop line information SL2 is associated with the traffic light information TL1 by the related information R7. The stop line information SL3 is associated with the traffic light information TL1 by the related information R8. The stop line information SL4 is associated with the traffic light information TL1 by the related information R9.

FIG. 3 is a diagram for explaining the details of the map data 20 of the first embodiment.
FIG. 3A is a diagram for explaining the details of the lane section information LL1 to LL5 included in the lane network data 31. Each of the lane section information LL1 to LL5 includes identification information for identifying the lane section information LL1 to LL5, coordinate information representing the coordinate point sequence of the center line of the lane corresponding to the lane section information LL1 to LL5, and The exit side identification information representing the identification information of the lane section information corresponding to the exit side section of the section corresponding to the lane section information LL1 to LL5 and the entry side section of the section corresponding to the lane section information LL1 to LL5. It includes approaching side identification information that represents the identification information of the corresponding lane section information. The exit side identification information and the entry side identification information represent the connection before and after the lane of the section corresponding to the lane section information.

FIG. 3B is a diagram for explaining the details of the stop line information SL1 to SL4 and the traffic light information TL1 included in the feature data 32. Each of the stop line information SL1 to SL4 includes identification information for identifying the stop line information SL1 to SL4, coordinate information representing the coordinate point sequence of the center line of the point corresponding to the stop line information SL1 to SL4, and The type information indicating the color and form of the stop line information SL1 to SL4, and the virtual stop line information SL1 to SL4 indicating whether or not the stop line information SL1 to SL4 is a virtual stop line that defines the stop position of the vehicle at a position where the stop line does not exist. Contains information such as flags. If there is a virtual flag, it means that it is a virtual stop line, and if there is no virtual flag, it means that it is an actual stop line that defines the stop position of the vehicle. When there is a virtual flag, it is an example of virtual stop line information representing a virtual stop line that defines the stop position of the vehicle at a position where the stop line does not exist on the actual road. When there is no virtual flag, it is an example of the actual stop line information representing the actual stop line that defines the stop position of the vehicle.
The traffic light information TL1 has identification information for identifying the traffic light information TL1, coordinate information representing the coordinate point sequence of the actual housing lower side position of the traffic light information TL1, and the actual installation form of the traffic light information TL1. It includes information such as shape information indicating whether it is vertical or horizontal, and surface height information (in meters) indicating the height of the traffic light information TL1 from the ground surface of the actual road. This traffic light information TL1 is an example of traffic light information relating to a traffic light that regulates the passage of vehicles existing in a predetermined section. The surface height information of the traffic light information TL1 may be in centimeters or millimeters.

FIG. 4 is a diagram for explaining the details of the related information R1 to R9 of the attribute data 33. Each of the related information R1 to R9 contains identification information for identifying the related information R1 to R9.
The related information R1 includes identification information of the lane section information LL1 and the stop line information SL1 in order to indicate that the lane section information LL1 and the stop line information SL1 are related. This related information R1 is an example in which the section information and the actual stop line information are associated with each other. The related information R2 includes identification information of the lane section information LL1 and the stop line information SL3 in order to indicate that the lane section information LL1 and the stop line information SL3 are related. This related information R2 is an example in which the section information and the virtual stop line information are associated with each other. The related information R3 includes identification information of the lane section information LL2 and the stop line information SL2 in order to indicate that the lane section information LL2 and the stop line information SL2 are related to each other. The related information R4 includes identification information of the lane section information LL3 and the stop line information SL4 in order to indicate that the lane section information LL3 and the stop line information SL4 are related. The related information R5 includes identification information of the lane section information LL1 and the traffic light information TL1 in order to indicate that the lane section information LL1 and the traffic light information TL1 are related to each other. This related information R5 is an example in which the signal information is associated with the section information. The related information R6 includes the identification information of the traffic light information TL1 and the stop line information SL1 in order to indicate that the traffic light information TL1 and the stop line information SL1 are related. The related information R7 includes identification information of the traffic light information TL1 and the stop line information SL2 in order to indicate that the traffic light information TL1 and the stop line information SL2 are related to each other. The related information R8 includes the identification information of the traffic light information TL1 and the stop line information SL3 in order to indicate that the traffic light information TL1 and the stop line information SL3 are related to each other. The related information R9 includes the identification information of the traffic light information TL1 and the stop line information SL4 in order to indicate that the traffic light information TL1 and the stop line information SL4 are related to each other.
The related information R6 and the related information R8 are examples in which the signal information is associated with the section information via the virtual stop line information and the actual stop line information.

FIG. 5 is a diagram for explaining an operation flow of the traveling support process of the first embodiment.
The information control unit 3 performs a position specifying process for specifying the current location of the vehicle, a feature information specifying process, a traffic light regulation specifying process, and a guidance information generation process. Specifically, the position identification process, the feature information identification process, the traffic light regulation identification process, and the guidance information generation process will be described below.

The information control unit 3 (position specifying unit 12) performs the following processing as the position specifying process.
The coordinates of the current location of the vehicle 2 are calculated from the current location information acquired by the position acquisition unit 6. The current location of the vehicle 2 by collating the peripheral image information of the vehicle 2 such as the actual road lane marking acquired by the peripheral information acquisition unit 8 with the lane marking information (not shown) stored in the storage unit 4. It may be configured to calculate the coordinates of (step S10).

The information control unit 3 performs the following processing as feature information specifying processing.
The lane section information LL1 having the information of the coordinates closest to the coordinates of the current location of the vehicle 2 specified by the position identification process is specified, and the related information R1 including the identification information of the stop line information associated with the lane section information LL1 and the related information. The information R2 is used to identify the stop line information SL1 and the stop line information SL3 associated with the lane section information LL1. Then, using the related information R6 and the related information R8 including the identification information of the traffic light information associated with the stop line information SL1 and the stop line information SL3, the traffic light information TL1 associated with the stop line information SL1 and the stop line information SL3 is obtained. Specify (step S20). Instead of the above processing, the traffic light information TL1 associated with the lane section information LL1 may be specified by using the related information R5 including the identification information of the traffic light information associated with the lane section information LL1.

The information control unit 3 (peripheral information acquisition unit 8) performs the following processing as a traffic light regulation specifying process.
Based on the ground surface height of 5.5 m and / or the shape horizontal type included in the traffic light information TL1 of the feature data 32, the image information of the traffic light TS1 is acquired toward the front in the traveling direction of the vehicle 2. Then, the regulation content is specified based on the acquired image information of the traffic light TS1. This specification is performed by comparing the signal lamp color included in the image information of the traffic light TS1 with the pattern data (blue, yellow, red) stored in the storage unit 4 (not shown). That is, when the signal lamp color and the blue pattern data included in the image information of the traffic light TS1 match, the traffic light TS1 is identified as a green signal. When the signal light color and the yellow pattern data included in the image information of the traffic light TS1 match, the traffic light TS1 is identified as a yellow signal. When the color of the signal lamp included in the image information of the traffic light TS1 and the red color match, the traffic light TS1 is identified as a red signal (step S30).

The information control unit 3 (map data acquisition unit 10, guidance unit 14) performs the following processing as guidance information generation processing.
Lane section information L that has information on the coordinates closest to the coordinates of the current location calculated by the position identification process.
L1 is specified, the coordinate information of the current location is compared with the information of the coordinate point sequence included in the lane section information LL1, and the guidance information for the vehicle 2 to move along the coordinate point sequence of the lane section information LL1 is generated. Then, it is output to the vehicle control unit 9.
When the traffic light TS1 is specified to be a green light (TS1 is a green light in step S30), the stop line information SL1 having no virtual flag among the stop line information SL1 and the stop line information SL3 associated with the lane section information LL1 is extracted. .. Based on the stop line information SL1 and the traffic light information TL1, guidance information for guiding the vehicle 2 to a point corresponding to the stop line information SL1 and stopping the vehicle is generated and output to the vehicle control unit 9. Then, the image information obtained by the peripheral information acquisition unit 8 indicates that another vehicle traveling in the section corresponding to the lane section information LL4 has passed (there is no vehicle traveling in the section corresponding to the lane section information LL4). After recognition, guidance information for guiding the vehicle 2 to the section corresponding to the lane section information LL4 is generated and output to the vehicle control unit 9. In this guidance information, the vehicle 2 is not stopped at the point corresponding to the stop line information SL3.
When the traffic light TS1 is specified to be a yellow signal (TS1 is a yellow signal in step S30), the stop line information SL1 and the stop line information SL3 associated with the lane section information LL1 have no virtual flag. Extract. Based on the stop line information SL1 and the traffic light information TL1, guidance information for guiding the vehicle 2 to a point corresponding to the stop line information SL1 and stopping the vehicle is generated and output to the vehicle control unit 9. In the processing when the above traffic light TS1 is specified as a green light and when the traffic light TS1 is specified as a yellow traffic light, the control unit performs the actual stop line and traffic light information associated with the second regulation content and the section information. This is an example of a process of guiding a vehicle existing in a predetermined section to an actual stop line and stopping the vehicle based on the above.
When the traffic light TS1 is identified as a red light (TS1 is a red light in step S30), guidance information is provided to pay attention to other vehicles traveling in the section corresponding to the lane section information LL2 to which the vehicle 2 joins. It is generated and output to the peripheral information acquisition unit 8 and the vehicle control unit 9. As an example of this guidance information, the stop line information SL3 having a virtual flag is extracted from the stop line information SL1 and the stop line information SL3 associated with the lane section information LL1, and based on the stop line information SL3 and the traffic light information TL1. Then, the vehicle control unit 9 guides the vehicle 2 to the point corresponding to the stop line information SL3 at the timing when other vehicles do not approach in the lane of the merging destination, and the vehicle control unit 9 is in the lane of the merging destination. There is information for accelerating and controlling the traveling speed of the vehicle 2 for merging, information for the peripheral information acquisition unit 8 to acquire image information of the lane of the merging destination of the vehicle 2, and the like. This process is an example of guiding a vehicle existing in a predetermined section to a virtual stop line and stopping the vehicle based on the predetermined regulation content of the traffic light and the virtual stop line information and the traffic light information associated with the section information. Further, an example in which the control unit guides a vehicle existing in a predetermined section to a virtual stop line and stops it based on the first regulation content of the traffic light and the virtual stop line information and the traffic light information associated with the section information. But it is also. (Step S40).

In the above, the traveling support process when the vehicle 2 travels in the section corresponding to the lane section information LL1 has been described. Hereinafter, the traveling support process when the vehicle 2 travels in the section corresponding to the lane section information LL2 will be described.

The information control unit 3 (position specifying unit 12) performs the following processing as the position specifying process.
The coordinates of the current location of the vehicle 2 are calculated from the current location information acquired by the position acquisition unit 6. The current location of the vehicle 2 by collating the peripheral image information of the vehicle 2 such as the actual road lane marking acquired by the peripheral information acquisition unit 8 with the lane marking information (not shown) stored in the storage unit 4. It may be configured to calculate the coordinates of (step S10).

The information control unit 3 performs the following processing as feature information specifying processing.
The lane section information LL2 having the information of the coordinates closest to the coordinates of the current location of the vehicle 2 specified by the position specifying process is specified, and the related information R3 including the identification information of the stop line information associated with the lane section information LL2 is used. The stop line information SL2 associated with the lane section information LL2 is specified. Then, the traffic light information TL1 associated with the stop line information SL2 is specified by using the related information R7 including the identification information of the traffic light information associated with the stop line information SL2 (step S20).

The information control unit 3 (peripheral information acquisition unit 8) performs the following processing as a traffic light regulation specifying process.
Based on the ground surface height of 5.5 m and / or the shape horizontal type included in the traffic light information TL1 of the feature data 32, the image information of the traffic light TS1 is acquired toward the front in the traveling direction of the vehicle 2. Then, the regulation content is specified based on the acquired image information of the traffic light TS1. This specification is performed by comparing the signal lamp color included in the image information of the traffic light TS1 with the pattern data (blue, yellow, red) stored in the storage unit 4 (not shown). That is, when the signal lamp color and the blue pattern data included in the image information of the traffic light TS1 match, the traffic light TS1 is identified as a green signal. When the signal light color and the yellow pattern data included in the image information of the traffic light TS1 match, the traffic light TS1 is identified as a yellow signal. When the color of the signal lamp included in the image information of the traffic light TS1 and the red color match, the traffic light TS1 is identified as a red signal (step S30).

The information control unit 3 (map data acquisition unit 10, guidance unit 14) performs the following processing as guidance information generation processing.
Lane section information L that has information on the coordinates closest to the coordinates of the current location calculated by the position identification process.
L2 is specified, the coordinate information of the current location is compared with the information of the coordinate point sequence included in the lane section information LL2, and the guidance information for the vehicle 2 to move along the coordinate point sequence of the lane section information LL2 is generated. Then, it is output to the vehicle control unit 9.
When it is specified that the traffic light TS1 is a green light (TS1 is a green light in step S30), the lane section information LL4 which is the exit side identification information of the lane section information LL2 is extracted. Then, the vehicle control unit 9 generates guidance information for moving the vehicle 2 along the coordinate point sequence of the LL4 which is the exit side identification information of the lane section information LL2, and outputs the guidance information to the vehicle control unit 9.
When the traffic light TS1 is identified as a yellow signal (TS1 is a yellow signal in step S30), it is specified that the stop line information SL2 associated with the lane section information LL2 has no virtual flag. Based on the stop line information SL2 and the traffic light information TL1, guidance information for guiding the vehicle 2 to a point corresponding to the stop line information SL2 to stop is generated and output to the vehicle control unit 9.
When the traffic light TS1 is specified to be a red light (TS1 is a red light in step S30), it is specified that the stop line information SL2 associated with the lane section information LL2 has no virtual flag.
Based on the stop line information SL2 and the traffic light information TL1, guidance information for guiding the vehicle 2 to a point corresponding to the stop line information SL2 to stop is generated and output to the vehicle control unit 9 (step S40).

<Embodiment 2>
The system configuration of the traveling support device of the second embodiment is the same as that of the first embodiment.
FIG. 6 is a diagram for explaining the concept of the map data of the second embodiment.
Reference numeral 60 is a diagram showing the area around the intersection of an actual general road. Roads 62 to 64 meet in the section from A to B to form an intersection. TS11 represents a traffic light installed at an intersection.
61 is a conceptual diagram of the map data 20. LL11 to LL20 represent lane section information, SL11 to SL12 represent stop line information, and TL11 represents traffic light information. The section of the map data 20 to A corresponds to the section of the actual road to A, and the section of the map data 20 from A to B corresponds to the section of the actual road from A to B.

The lane section information LL11 is associated with the stop line information SL12 by the related information R11, the stop line information SL11 by the related information R12, and the traffic light information TL11 by the related information R17. The lane section information LL12 is associated with the stop line information SL12 by the related information R13, the stop line information SL11 by the related information 14, and the traffic light information TL11 by the related information R18. The stop line information SL11 is associated with the traffic light information TL11 by the related information R15. The stop line information SL12 is associated with the traffic light information TL11 by the related information R16.

FIG. 7 is a diagram for explaining the details of the map data 20 of the second embodiment.
FIG. 7A is a diagram for explaining the details of the lane section information LL11 to LL20 included in the lane network data 31. Each of the lane section information LL11 to LL20 includes identification information for identifying the lane section information LL11 to LL20, coordinate information representing the coordinate point sequence of the center line of the lane corresponding to the lane section information LL11 to LL20, and The exit side identification information representing the identification information of the lane section information corresponding to the exit side section of the section corresponding to the lane section information LL11 to LL20 and the entry side section of the section corresponding to the lane section information LL11 to LL20. It includes approaching side identification information that represents the identification information of the corresponding lane section information. The exit side identification information and the entry side identification information represent the connection before and after the lane of the section corresponding to the lane section information.

FIG. 7B is a diagram for explaining the details of the stop line information SL11 to SL12 and the traffic light information TL11 included in the feature data 32. Each of the stop line information SL11 to SL12 includes identification information for identifying the stop line information SL11 to SL12, coordinate information representing the coordinate point sequence of the center line of the point corresponding to the stop line information SL11 to SL12, and The type information that represents the color and form of the stop line information SL11 to SL12, and whether the stop line information SL11 to SL12 is a virtual stop line that defines the stop position of the vehicle at a position where the stop line does not exist on the actual road. It contains information such as a virtual flag that indicates the stop sign. If there is a virtual flag, it means that it is a virtual stop line, and if there is no virtual flag, it means that it is an actual stop line that defines the stop position of the vehicle.
The traffic light information TL11 has identification information for identifying the traffic light information TL11, coordinate information representing a coordinate point sequence of the actual housing lower side position of the traffic light information TL11, and an actual installation form of the traffic light information TL11. It includes information such as shape information indicating whether it is vertical or horizontal, and surface height information (in meters) indicating the height of the traffic light information TL11 from the ground surface of the actual road. The surface height information of the traffic light information TL11 may be in centimeters or millimeters.

FIG. 8 is a diagram for explaining the details of the related information R11 to R18 of the attribute data 33. Each of the related information R11 to R18 includes identification information for identifying the related information R11 to R18.
The related information R11 includes identification information of the lane section information LL11 and the stop line information SL12 in order to indicate that the lane section information LL11 and the stop line information SL12 are related to each other. The related information R12 includes identification information of the lane section information LL11 and the stop line information SL11 in order to indicate that the lane section information LL11 and the stop line information SL11 are related. The related information R13 includes identification information of the lane section information LL12 and the stop line information SL12 in order to indicate that the lane section information LL12 and the stop line information SL12 are related. The related information R14 includes identification information of the lane section information LL12 and the stop line information SL11 to indicate that the lane section information LL12 and the stop line information SL11 are related. The related information R15 includes identification information of the stop line information SL11 and the traffic light information TL11 in order to indicate that the stop line information SL11 and the traffic light information TL11 are related to each other. The related information R16 includes the identification information of the stop line information SL12 and the traffic light information TL11 in order to indicate that the stop line information SL12 and the traffic light information TL11 are related to each other. The related information R17 includes identification information of the lane section information LL11 and the traffic light information TL11 in order to indicate that the lane section information LL11 and the traffic light information TL11 are related to each other. The related information R18 includes identification information of the lane section information LL12 and the traffic light information TL11 in order to indicate that the lane section information LL12 and the traffic light information TL11 are related to each other.

The operation flow of the traveling support process of the second embodiment will be described with reference to FIG.
The information control unit 3 performs a position specifying process for specifying the current location of the vehicle, a feature information specifying process, a traffic light regulation specifying process, and a guidance information generation process. Specifically, the position identification process, the feature information identification process, the traffic light regulation identification process, and the guidance information generation process will be described below.

The information control unit 3 (position specifying unit 12) performs the following processing as the position specifying process.
The coordinates of the current location of the vehicle 2 are calculated from the current location information acquired by the position acquisition unit 6. The current location of the vehicle 2 by collating the peripheral image information of the vehicle 2 such as the actual road lane marking acquired by the peripheral information acquisition unit 8 with the lane marking information (not shown) stored in the storage unit 4. It may be configured to calculate the coordinates of (step S10).

The information control unit 3 performs the following processing as feature information specifying processing.
The lane section information LL11 having the information of the coordinates closest to the coordinates of the current position of the vehicle 2 specified by the position identification process is specified, and the related information R11 including the identification information of the stop line information associated with the lane section information LL11 and the related information. The information R12 is used to identify the stop line information SL11 and the stop line information SL12 associated with the lane section information LL11. Then, using the related information R15 and the related information R16 including the identification information of the traffic light information associated with the stop line information SL11 and the stop line information SL12, the traffic light information TL11 associated with the stop line information SL11 and the stop line information SL12 is obtained. Specify (step S20). Instead of the above processing, the traffic light information TL11 associated with the lane section information LL11 may be specified by using the related information R17 including the identification information of the traffic light information associated with the lane section information LL11.

The information control unit 3 (peripheral information acquisition unit 8) performs the following processing as a traffic light regulation specifying process.
Based on the ground surface height of 5.5 m and / or the shape horizontal type included in the traffic light information TL11 of the feature data 32, the image information of the traffic light TS11 is acquired toward the front in the traveling direction of the vehicle 2. Then, the regulation content is specified based on the acquired image information of the traffic light TS11. This specification is performed by comparing the signal lamp color included in the image information of the signal noble TS11 with the pattern data (blue, yellow, red) stored in the storage unit 4 (not shown). That is, when the signal lamp color and the blue pattern data included in the image information of the traffic light TS11 match, the traffic light TS11 is identified as a green signal. When the signal light color and the yellow pattern data included in the image information of the traffic light TS11 match, the traffic light TS11 is identified as a yellow signal. When the color of the signal lamp and the red color included in the image information of the traffic light TS11 match, the traffic light TS11 is identified as a red signal (step S30).

The information control unit 3 (map data acquisition unit 10, guidance unit 14) performs the following processing as guidance information generation processing.
Lane section information L that has information on the coordinates closest to the coordinates of the current location calculated by the position identification process.
L11 is specified, the coordinate information of the current location is compared with the information of the coordinate point sequence included in the lane section information LL11, and the guidance information for the vehicle 2 to move along the coordinate point sequence of the lane section information LL11 is generated. Then, it is output to the vehicle control unit 9.
When the traffic light TS11 is specified to be a green light (TS11 is a green light in step S30), the stop line information SL12 having a virtual flag among the stop line information SL11 and the stop line information SL12 associated with the lane section information LL11 is extracted. .. The vehicle 2 generates guidance information so as to pay attention to other vehicles traveling in the section corresponding to the lane section information LL17, and outputs the guidance information to the peripheral information acquisition unit 8 and the vehicle control unit 9. As an example of this guidance information, based on the stop line information SL12 and the signal information TL11, the vehicle control unit 9 guides the vehicle 2 to the point corresponding to the stop line information SL12 at the timing when other vehicles do not approach in the lane of the merging destination. After recognizing that there are no more pedestrians walking on the pedestrian crossing, the guidance information for driving the vehicle, the vehicle control unit 9 travels the vehicle 2 to join the lane of the merging destination. There is information for accelerating and controlling the speed, information for the peripheral information acquisition unit 8 to acquire image information of pedestrians in the lane or pedestrian crossing at the confluence of the vehicle 2, and the like.
When the traffic light TS11 is specified to be a yellow signal (TS11 is a yellow signal in step S30), the stop line information SL11 and the stop line information SL12 associated with the lane section information LL11 have no virtual flag. Extract. Based on the stop line information SL11 and the traffic light information TL11, guidance information for guiding the vehicle 2 to a point corresponding to the stop line information SL11 and stopping the vehicle is generated and output to the vehicle control unit 9.
When the traffic light TS11 is specified to be a red light (TS11 is a red light in step S30), the stop line information SL11 and the stop line information SL12 associated with the lane section information LL11 have no virtual flag. Extract. Based on the stop line information SL11 and the traffic light information TL11, guidance information for guiding the vehicle 2 to a point corresponding to the stop line information SL11 and stopping the vehicle is generated and output to the vehicle control unit 9 (step S40).

<Embodiment 3>
The system configuration of the traveling support device of the third embodiment is the same as that of the first embodiment.
FIG. 9 is a diagram for explaining the concept of the map data of the third embodiment.
Reference numeral 70 is a diagram showing the area around the intersection of an actual general road. Road 72 and road 73 meet in the section from A to B to form an intersection.
71 is a conceptual diagram of the map data 20. LL21 to LL33 represent lane section information, and SL21 represents stop line information. The section of the map data 20 to A corresponds to the section of the actual road to A, and the section of the map data 20 from A to B corresponds to the section of the actual road from A to B. The lane section information LL21 is associated with the stop line information SL21 by the related information R21.

FIG. 10 is a diagram for explaining the details of the map data of the third embodiment.
FIG. 10A is a diagram for explaining the details of the lane section information LL21 to LL33 included in the lane network data 31. Each of the lane section information LL21 to LL33 has identification information for identifying the lane section information, coordinate information representing the coordinate point sequence of the center line of the lane corresponding to the lane section information LL21 to LL33, and the lane section. The exit side identification information representing the identification information of the lane section information corresponding to the exit side section of the section corresponding to the information LL21 to LL33, and the lane corresponding to the entry side section of the section corresponding to the lane section information LL21 to LL33. It contains entry-side identification information that represents the identification information of the section information. The exit side identification information and the entry side identification information represent the connection before and after the lane of the section corresponding to the lane section information.

FIG. 10B is a diagram for explaining the details of the stop line information SL21 included in the feature data 32. The stop line information SL21 includes identification information for identifying the stop line information SL21, coordinate information representing the coordinate point sequence of the center line of the point corresponding to the stop line information SL21, and the color and color of the stop line information SL21. Type information indicating the form and the stop line information SL21 includes information such as a virtual flag indicating whether or not the SL21 is a virtual stop line that defines the stop position of the vehicle at a position where the stop line does not exist on the actual road. .. It should be noted that the presence of a virtual flag indicates that it is a virtual stop line.

FIG. 10C is a diagram for explaining the details of the related information R21 included in the attribute data 33. The related information R21 includes identification information for identifying the related information R21, and identification information of the lane section information LL24 and the stop line information SL21 to indicate that the lane section information LL24 and the stop line information SL21 are related to each other. I'm out.

The operation flow of the traveling support process of the third embodiment will be described with reference to FIG.
The information control unit 3 performs a position specifying process for specifying the current location of the vehicle, a feature information specifying process, and a guidance information generation process. Specifically, the position identification process, the feature information identification process, and the guidance information generation process will be described below.

The information control unit 3 (position specifying unit 12) performs the following processing as the position specifying process.
The coordinates of the current location of the vehicle 2 are calculated from the current location information acquired by the position acquisition unit 6. The current location of the vehicle 2 by collating the peripheral image information of the vehicle 2 such as the actual road lane marking acquired by the peripheral information storage unit 8 with the lane marking information (not shown) stored in the storage unit 4. It may be configured to calculate the coordinates of (step S110).

The information control unit 3 performs the following processing as feature information specifying processing.
The lane section information LL24 having the information of the coordinates closest to the coordinates of the current location of the vehicle 2 specified by the position specifying process is specified, and the related information R21 including the identification information of the stop line information associated with the lane section information LL24 is used. The stop line information SL21 associated with the lane section information LL24 is specified (step S120).

The information control unit 3 (map data acquisition unit 10, guidance unit 14) performs the following processing as guidance information generation processing.
The lane section information LL24 having the information of the coordinates closest to the coordinates of the current location calculated by the position identification process is specified, the current coordinate information is compared with the information of the coordinate point sequence included in the lane section information LL24, and the vehicle 2 generates guidance information for moving along the coordinate point sequence of the lane section information LL 24, and outputs the guidance information to the vehicle control unit 9.
It is specified that there is a virtual flag included in the stop line information SL21 associated with the lane section information LL24, and guidance information is generated to guide the vehicle 2 to the point corresponding to the stop line information SL21 and stop the vehicle. Output to the control unit 9. This process is an example of a control unit that guides a vehicle existing in a predetermined section to a virtual stop line and stops the vehicle based on the virtual stop line information associated with the section information (step S130).
In addition to the above processing, pay attention to other vehicles in which the vehicle 2 travels in the lane section information LL21, the lane section information LL22, the lane section information LL25, the lane section information LL27, the lane section information LL28, and the lane section information LL32. Guidance information may be generated to be paid and output to the peripheral information acquisition unit 8 and the vehicle control unit 9. As an example of this guidance information, guidance information for the vehicle control unit 9 to move the vehicle 2 along the coordinate point sequence of the lane section information LL25 or the lane section information LL26 at the timing when another vehicle does not approach in the lane of the merging destination. , Information for the vehicle control unit 9 to accelerate and control the traveling speed of the vehicle 2 to join the lane at the merging destination, and information for the peripheral information acquisition unit 8 to acquire image information of the lane at the merging destination of the vehicle 2. And so on.

<Embodiment 4>
FIG. 12 is a diagram for explaining the concept of the map data of the fourth embodiment.
Reference numeral 80 is a diagram showing the area around the intersection of an actual general road. Road 82, road 83, and road 84 meet in the section from A to B to form an intersection. The TS21 represents a traffic light installed at an intersection.
81 is a conceptual diagram of the map data 20. LL41 to LL54 represent lane section information, and SL31 to SL33 represent stop line information. TL21 represents traffic light information. The section of the map data 20 to A corresponds to the section of the actual road to A, and the section of the map data 20 from A to B corresponds to the section of the actual road from A to B.

The lane section information LL45 is associated with the stop line information SL31 by the related information R31. The lane section information LL46 is associated with the stop line information SL32 by the related information R32 and the stop line information SL33 by the related information R33. The stop line information SL31 is associated with the traffic light information TL21 by the related information R34. The stop line information SL32 is associated with the traffic light information TL21 by the related information R35. The stop line information SL33 is associated with the traffic light information TL21 by the related information R36.

FIG. 13A shows lane section information LL41 to LL54 included in the lane network data 31.
It is a figure for demonstrating the detail of. Each of the lane section information LL41 to LL54 has identification information for identifying the lane section information, coordinate information representing the coordinate point sequence of the center line of the lane corresponding to the lane section information LL41 to LL54, and the lane section. The exit side identification information representing the identification information of the lane section information corresponding to the exit side section of the section corresponding to the information LL41 to LL54, and the lane corresponding to the entry side section of the section corresponding to the lane section information LL41 to LL54. It contains entry-side identification information that represents the identification information of the section information. The exit side identification information and the entry side identification information represent the connection before and after the lane of the section corresponding to the lane section information.

FIG. 14A is a diagram for explaining the details of the stop line information SL31 to SL33 and the traffic light information TL21 included in the feature data 32. The stop line information SL31 includes identification information for identifying the stop line information SL31 to SL33, coordinate information representing the coordinate point sequence of the center line of the point corresponding to the stop line information SL31 to SL33, and the stop line information. Type information that expresses the color and form of SL31 to SL33, and the stop line information SL31 to SL33 indicates whether or not the stop line is a virtual stop line that defines the stop position of the vehicle at a position where the stop line does not exist. Contains information such as virtual flags. If there is a virtual flag, it means that it is a virtual stop line, and if there is no virtual flag, it means that it is an actual stop line that defines the stop position of the vehicle.
The traffic light information TL21 has identification information for identifying the traffic light information TL21, coordinate information representing a coordinate point sequence of the lower side position of the actual housing of the traffic light information TL21, and an actual installation form of the traffic light information TL21. It includes information such as shape information indicating whether it is vertical or horizontal, and surface height information (in meters) indicating the height of the traffic light information TL21 from the ground surface of the actual road. The surface height information of the traffic light information TL21 may be in centimeters or millimeters.

FIG. 14B is a diagram for explaining the details of the related information R31 to R36 included in the attribute data 33. The related information R31 to R36 includes identification information for identifying the related information R31 to R36.
The related information R31 includes identification information of the lane section information LL45 and the stop line information SL31 to indicate that the lane section information LL45 and the stop line information SL31 are related. The related information R32 includes identification information of the lane section information LL46 and the stop line information SL32 in order to indicate that the lane section information LL46 and the stop line information SL32 are related to each other. The related information R33 includes the lane section information LL46 and the stop line information SL33 in order to indicate that the lane section information LL46 and the stop line information SL33 are related to each other. The related information R34 includes the identification information of the stop line information SL31 and the traffic light information TL21 in order to indicate that the stop line information SL31 and the traffic light information TL21 are related to each other. The related information R35 includes the identification information of the stop line information SL32 and the traffic light information TL21 in order to indicate that the stop line information SL32 and the traffic light information TL21 are related to each other. The related information R36 includes the identification information of the stop line information SL33 and the traffic light information TL21 in order to indicate that the stop line information SL33 and the traffic light information TL21 are related to each other.

The operation flow of the traveling support process of Embodiment 4 will be described with reference to FIG.
The information control unit 3 performs a position specifying process for specifying the current location of the vehicle, a feature information specifying process, a traffic light regulation specifying process, and a guidance information generation process. Specifically, the position identification process, the feature information identification process, the traffic light regulation identification process, and the guidance information generation process will be described below.

The information control unit 3 (position specifying unit 12) performs the following processing as the position specifying process.
The coordinates of the current location of the vehicle are calculated from the current location information acquired by the position acquisition unit 6. By collating the peripheral image information of the vehicle 2 such as the actual road lane marking acquired by the peripheral information acquisition unit 8 with the lane marking information (not shown) stored in the storage unit 4, the current location of the vehicle 2 The configuration may be such that the coordinates are calculated (step S10).

The information control unit 3 performs the following processing as feature information specifying processing.
The lane section information LL46 having the information of the coordinates closest to the coordinates of the current location of the vehicle 2 specified by the position identification process is specified, and the lane section using the related information R32 and the related information R33 including the identification information of the lane section information LL46. The stop line information SL32 and the stop line information SL33 associated with the information LL46 are specified. Then, the traffic light information TL21 associated with the stop line information SL32 and the stop line information SL33 is specified by using the related information R35 and R36 including the identification information of the traffic light information associated with the stop line information SL32 and the stop line information SL33. (Step S20).

The information control unit 3 (peripheral information acquisition unit 8) performs the following processing as a traffic light regulation specifying process.
Based on the ground surface height 5.5 m and / or the shape horizontal type included in the traffic light information TL21 of the feature data 32, the image information of the traffic light TS21 is acquired toward the front in the traveling direction of the vehicle 2. Then, the signal lamp color included in the acquired image information of the traffic light TS21 and the pattern data (blue, yellow, red) stored in the storage unit 4 (not shown) are compared and performed. That is, when the signal lamp color and the blue pattern data included in the image information of the traffic light TS21 match, the traffic light TS21 is identified as a green signal. When the traffic light color and the yellow pattern data included in the image information of the traffic light TS21 match, the traffic light TS21 is identified as a yellow signal. When the signal lamp color and red color included in the image information of the traffic light TS21 match, the traffic light TS21 is identified as a red signal (step S30).

The information control unit 3 (map data acquisition unit 10, guidance unit 14) performs the following processing as guidance information generation processing.
The lane section information LL46 having the information of the coordinates closest to the coordinates of the current location calculated by the position identification process is specified, the coordinate information of the current location and the information of the coordinate point sequence included in the lane section information LL46 are compared, and the vehicle 2 Generates guidance information for moving along the coordinate point sequence of the lane section information LL46, and outputs the guidance information to the vehicle control unit 9.
When the traffic light TS21 is specified to be a green light (TS21 is a green light in step S30), the stop line information SL32 and the stop line information SL33 associated with the lane section information LL46 with no virtual flag are extracted. .. Based on the stop line information SL32 and the traffic light information TL21, guidance information for guiding the vehicle 2 to a point corresponding to the stop line information SL32 and stopping the vehicle is generated and output to the vehicle control unit 9. Guidance information for guiding the vehicle 2 to the section corresponding to the lane section information LL47 is generated at a timing when other vehicles traveling in the section corresponding to the lane section information LL45 do not approach, and is output to the vehicle control unit 9. In this guidance information, the vehicle 2 is not stopped at the point corresponding to the stop line information SL33.
When the traffic light TS21 is specified to be a yellow signal (TS21 is a yellow signal in step S30), the stop line information 32 and the stop line information SL33 associated with the lane section information LL46 are extracted. The vehicle 2 generates guidance information so as to pay attention to other vehicles traveling in the section corresponding to the lane section information LL45, and outputs the guidance information to the peripheral information acquisition unit 8 and the vehicle control unit 9. As an example of this guidance information, the vehicle control unit 9 guides the vehicle to a point corresponding to the stop line information SL32 based on the stop line information SL32 and stops the vehicle, and the vehicle control unit 9 is based on the stop line information SL33 and the signal information TL21. Guidance information to guide the vehicle 2 to the point corresponding to the stop line information SL33 and stop it at the timing when other vehicles traveling in the section corresponding to the lane section information LL45 do not approach, and the vehicle control unit 9 joins the lane at the merging destination. There is information for accelerating and controlling the traveling speed of the vehicle 2, information for the peripheral information acquisition unit 8 to acquire image information of the lane of the merging destination of the vehicle 2, and the like.
When the traffic light TS21 is specified to be a red light (TS21 is a red light in step S30), the stop line information 32 and the stop line information SL33 associated with the lane section information LL46 are extracted. The vehicle 2 generates guidance information so as to pay attention to other vehicles traveling in the section corresponding to the lane section information LL45, and outputs the guidance information to the peripheral information acquisition unit 8 and the vehicle control unit 9. As an example of this guidance information, the vehicle control unit 9 guides the vehicle to a point corresponding to the stop line information SL32 based on the stop line information SL32 and stops the vehicle, and the vehicle control unit 9 is based on the stop line information SL33 and the signal information TL21. Guidance information to guide the vehicle 2 to the point corresponding to the stop line information SL33 and stop it at the timing when other vehicles traveling in the section corresponding to the lane section information LL45 do not approach, and the vehicle control unit 9 joins the lane at the merging destination. There is information for accelerating and controlling the traveling speed of the vehicle 2, information for the peripheral information acquisition unit 8 to acquire image information of the lane of the merging destination of the vehicle 2, and the like.

<Modified Example of Embodiment 4>
The above embodiment may be changed as follows.
The stop line information SL1 to SL33 may include accuracy information (high, low) indicating the position accuracy of the stop line information SL1 to SL33. Of the stop line information SL1 to SL33, the information whose accuracy information is "high" is guidance information for the information control unit 3 to control the vehicle 2 to approach the stop line corresponding to the stop line information SL1 to SL33. To generate. Of the stop line information SL1 to SL33, for the information whose accuracy information is "low", the shape of the stop line and the stop line information SL1 to included in the image information acquired by the peripheral information acquisition unit 8 by the information control unit 3 It may be compared with SL33 and generate guidance information for controlling the vehicle 2 to approach the stop line when the shape of the stop line and the stop line information SL1 to SL33 match. In this way, the guidance control of the vehicle is different depending on the accuracy of the stop line information SL1 to SL33.

<Embodiment 5>
The system configuration of the traveling support device of the fifth embodiment is the same as that of the first embodiment.
FIG. 15 is a diagram for explaining the concept of map data according to the fifth embodiment.
Reference numeral 100 is a diagram showing the area around the intersection of an actual general road. TS61 to TS64 represent traffic lights installed at intersections. L1 to L16 represent each of a plurality of lanes constituting the road. SL61 to SL64 represent stop line information. PL1 represents virtual line information that represents a virtual line. This virtual line information PL1 is an example of virtual line information representing a virtual line that defines the stop position of the vehicle at a position where the line that defines the stop position of the vehicle does not exist on the actual road.

The operation flow of the traveling support process of the fifth embodiment will be described with reference to FIGS. 16 and 17.
The information control unit 3 has a process of acquiring the display color and congestion information of the traffic light, a process of specifying the display color of the traffic light, a process of determining the presence / absence of another vehicle, a process of determining the presence / absence of a stopped space, and a process of controlling the traveling of the vehicle 2. I do. Each of the above processes will be specifically described below.

The information control unit 3 (peripheral information acquisition unit 8) performs the following processing as processing for acquiring the display color of the traffic light and the congestion information.
Using the camera or sensor included in the peripheral information acquisition unit 8, the color of the signal light of the traffic light TS63 existing in front of the vehicle 2 in the traveling direction is acquired. Further, the traffic jam information in front of the vehicle 2 in the traveling direction is acquired from the traffic information (step S210). The signal light color of the traffic light TS63 may be acquired by road-to-vehicle communication with the traffic light TS63.

The information control unit 3 performs the following processing as the display color specifying processing of the traffic light.
The signal lamp color acquired by the process of acquiring the display color of the traffic light is compared with the pattern data (blue, yellow, red) stored in the storage unit 4 (not shown). That is, when the signal lamp color and the blue pattern data match, the traffic light TS63 identifies it as a green signal. When the signal lamp color and the yellow pattern data match, the traffic light TS63 identifies the signal as a yellow signal. When the signal lamp color and the red pattern data match, the traffic light TS63 identifies the signal as a red signal (step S220).

The information control unit 3 performs the following processing as a processing for determining the presence or absence of another vehicle.
When the traffic light TS63 is identified as a green light by the traffic light display color specifying process (YES in step S220), another vehicle is in front of the vehicle 2 in the traveling direction using the traffic jam information acquired by the traffic jam information acquisition process. It is determined whether or not there is (step S230).

The information control unit 3 performs the following processing as a processing for determining the presence or absence of a stop space.
When it is determined that there is another vehicle by the process of determining the presence or absence of another vehicle (YES in step S230), the coordinate information of the current position information VP1 (FIG. 17) behind the other vehicle 2 is acquired by vehicle-to-vehicle communication. The length information LG2 (FIG. 17) from the coordinate information of the virtual line information PL1 to the coordinate information of the current position information VP1 is calculated. Then, the vehicle length information LG1 (FIG. 17) and the length information LG2 of the vehicle 2 are compared, and when the vehicle length information LG1 is shorter than the length information LG2, it is determined that there is a stop space. On the other hand, when the vehicle length information LG1 is longer than the length information LG2, it is determined that there is no stop space (step S240). When the vehicle length information LG1 has the same length as the length information LG2, it is determined that there is no stop space.

The information control unit 3 performs the following processing as processing for controlling the traveling of the vehicle 2.
When the traffic light TS63 is identified as a red signal or the traffic light TS63 is a yellow signal by the display color identification process of the traffic light (NO in step S220), it is determined that there is no stop space for the vehicle 2 (NO in step S240). In the case of), the vehicle 2 is guided to a point corresponding to the stop line information SL61 (FIG. 17) and stopped (step S250). This process is an example in which the control unit guides the vehicle to the actual stop line and stops it by using the stop line information when another vehicle exists in a predetermined area.

When it is determined that there is a stop space for the vehicle 2 (YES in step S240), the vehicle 2 is guided to a point ahead in the traveling direction of the point corresponding to the virtual line information PL1 and stopped (step S260). When this process uses the virtual line information to move the vehicle beyond the point corresponding to the virtual line information to the predetermined area when there is no other vehicle in the predetermined area ahead in the traveling direction from the point corresponding to the virtual line information. This is an example of a control unit that induces and stops the vehicle.

The peripheral information acquisition unit 8 acquires an image of the paint constituting the pedestrian crossing, and guides the vehicle 2 to the front of the traveling direction of the point corresponding to the virtual line information PL1 and to the front of the paint constituting the pedestrian crossing. It may be stopped by letting it stop.

When it is determined that there is no other vehicle by the process of determining the presence or absence of another vehicle (NO in step S230), the vehicle 2 is controlled to travel so as to pass through the intersection (step S270).

The process of determining the presence or absence of the stop space (step S240) may be performed according to the traveling direction of the vehicle 2.
FIG. 18 shows a state in which the vehicle 2 traveling in the lane L8 is about to turn left into the lane 9. Vehicle-to-vehicle communication is performed from the vehicle 2 to another vehicle, the coordinate information of the current position information VP2 behind the other vehicle 2 is acquired, and the length information from the coordinate information of the virtual line information PL2 to the coordinate information of the current position information VP2. Calculate LG4. Then, the vehicle length information LG3 and the length information LG4 of the vehicle 2 are compared, and when the vehicle length information LG3 is shorter than the length information LG4, it is determined that there is a stop space. On the other hand, when the vehicle length information LG3 is longer than the length information LG4, it is determined that there is no stop space. Further, when the vehicle length information LG3 has the same length as the length information LG4, it is determined that there is no stop space. Here, the virtual line information existing in front of the traveling direction of the vehicle 2 may acquire the virtual line information existing along the route searched by the route search unit 11.

<Modified example of embodiment 5>
The virtual line information according to the fifth embodiment may be changed as follows.

The virtual line information may be dynamically set according to the display content of the first traffic light and the display content of the second traffic light.
In FIG. 18, when the display content of the traffic light TS63, which is the first traffic light, is red, and the display content of the traffic light TS64, which is the second traffic light, indicates that the vehicle can go straight to the lane L8, a virtual line. PL2 is set to the left side (forward in the traveling direction) of the lane L8. By setting in this way, it is possible to prevent the vehicle 2 from obstructing the passage of a straight-ahead vehicle traveling in the lane L8.

On the other hand, in FIG. 19, the display content of the traffic light TS63, which is the first traffic light, is shown to be red, and the display content of the traffic light TS64, which is the second traffic light, shows that only a left turn is possible with respect to the lane L8. In this case, the virtual line PL3 is set to the right side (rearward in the traveling direction) of the lane L8. By setting in this way, even if the vehicle 2 exists at a position intersecting the lane L8, it does not obstruct the passage of other vehicles, so that more vehicles can be used in the virtual line PL2 as compared with the virtual line PL2 (FIG. 18). Can be driven forward in the direction of travel.

The virtual line information may be set in relation to each of the plurality of traffic lights.
In FIG. 20, the virtual line information PL4 is set in the traffic light TS62, the virtual line information PL5 is set in the traffic light TS63, the virtual line information PL6 is set in the traffic light TS64, and the virtual line information PL7 is set in the traffic light TS61. Each of the virtual line information PL4 to PL7 includes coordinate information (x: latitude information, y: longitude information, z: altitude information) corresponding to the start point and the end point.

Further, the virtual line information may set virtual polygon information in relation to each of a plurality of traffic lights.
In FIG. 21, the virtual polygon information PG1 is set in the traffic light TS62, the virtual polygon information PG2 is set in the traffic light TS63, the virtual polygon information PG3 is set in the traffic light TS64, and the virtual polygon information PG4 is set in the traffic light TS61. Each of the virtual polygon information PG1 to PG4 includes coordinate information (x: latitude information, y: longitude information, z: altitude information) corresponding to each of the plurality of shape points. Each of the virtual polygon information PG1 to PG4 can be used as a predetermined area in which the vehicle 2 can stand by.

Further, the virtual line information may be set in association with each of the plurality of lane section information.
In FIG. 22, LL61 and LL62 represent lane section information. The lane section information LL61 is associated with the virtual line information PL7 by the related information R62, the virtual line information PL5 by the related information R63, and the virtual line information PL6 by the related information R64. The lane section information LL62 is associated with the virtual line information PL7 by the related information R61, the virtual line information PL6 by the related information R65, and the virtual line information PL5 by the related information R66. By using the above-mentioned related information, it is possible to acquire virtual line information related to the lane section information corresponding to the lane in which the vehicle 2 travels.

This travel support device has virtual line information, and if it is determined whether there is a stop space for the vehicle 2 in a predetermined area ahead in the traveling direction from the point corresponding to the virtual line information, and if it is determined that there is a stop space, The vehicle 2 is guided to a point ahead in the traveling direction of the point corresponding to the virtual line information and stopped. Therefore, the stop position of the vehicle 2 can be determined more accurately than the conventional traveling support device.

The map data 20 includes at least two pieces of information described in the first to fifth embodiments, and the map data 20 is used to process the first embodiment (FIG. 5) and the second embodiment (FIG. 5). 5), the process of the third embodiment (FIG. 11), the process of the fourth embodiment (FIG. 5), and the process of the fifth embodiment (FIG. 16) may be configured to perform all the processes described in at least two of them. , The map data 20 includes the information described in all of the first to fifth embodiments, and the map data 20 is used to process the first embodiment (FIG. 5) and the second embodiment (FIG. 5). The configuration may be such that all of the processes described in at least two of the process of the third embodiment (FIG. 11), the process of the fourth embodiment (FIG. 5), and the process of the fifth embodiment (FIG. 16) are performed.

The lane movement end point realized by Patent Document 1 is specified at a position a predetermined distance before the stop line if there is a stop line, and if there is no stop line, the lane movement end point is a predetermined distance before the approach start point at the intersection. It was supposed to have a stop line. In the lane inside the intersection, even if it is the same lane, it is necessary to stop the vehicle at the point where there is an actual stop line or stop at the point where there is no actual stop line, depending on the regulation contents of the traffic light. At the end point of lane movement in Document 1, the guidance may not always be desirable. The embodiments described above solve these problems.

The embodiments described in all or part of the above embodiments provide a travel support device capable of appropriately guiding and controlling a moving body and a data structure of map data used in the travel support device. Improvement of processing speed, improvement of processing accuracy, improvement of usability, improvement of functions using data or provision of appropriate functions, improvement of other functions or provision of appropriate functions, reduction of data and / or program capacity, equipment and / Or provision of appropriate data, programs, recording media, devices and / or systems such as miniaturization of systems, reduction of production / manufacturing costs of data, programs, devices or systems, facilitation of production / manufacturing, production / It solves any one problem of appropriate production / manufacturing of data, programs, recording media, devices and / or systems such as shortening of manufacturing time.

1 Driving support system, 2 Vehicles, 3 Information control unit, 4 Storage unit, 5 Input unit, 6 Position acquisition unit, 7 Vehicle speed information acquisition unit, 8 Peripheral information acquisition unit, 9 Vehicle control unit, 10 Map data acquisition unit, 11 Route search unit, 12 location identification unit, 13 route identification unit, 14 guidance unit, 20 map data, 30 road network data, 31 lane network data, 32 feature data, 33 attribute data

Claims (2)

It is a driving support device that supports the driving of a vehicle.
Information corresponding to the first section in which a vehicle traveling on the first road and then joining the second road connected to the first road travels, and in the traveling direction of the first section. Corresponds to the first section information including the position information corresponding to a plurality of positions along the first section and the second section constituting a part of the second road connected to the front in the traveling direction with respect to the first section. Information, at a position where the second section information including position information corresponding to a plurality of positions along the traveling direction of the second section and the stop line in front of the intersection on the second road do not exist. The virtual information associated with the first section information, including the position information corresponding to the first stop position of the vehicle to be stopped, and the virtual information associated with the first stop position from the first stop position with respect to the traveling direction of the vehicle . Real information including position information corresponding to the second stop position before the point where the vehicle joins the second road from the first road at the position where the actual stop line behind exists . A map data storage unit having signal information relating to a signal that regulates the passage of a vehicle heading for an intersection, the virtual information and the signal information are associated with each other, and the actual information and the signal information are associated with each other .
The process of generating guidance information for guiding and controlling a vehicle based on the position information corresponding to a plurality of positions along the traveling direction of the first section information, and the process related to the first section information. Control to execute a process of specifying virtual information and a process of generating guidance information for guiding and controlling a vehicle based on the position information corresponding to the first stop position included in the specified virtual information. Has a part ,
When the vehicle is traveling on the first road, the control unit acquires the regulation content of the signal based on the virtual information and the signal information associated with the real information, and the acquired. When the regulation content of the traffic light is the first regulation content that the vehicle traveling on the second road should stop at a position in front of the intersection, the vehicle traveling on the first road is referred to as the vehicle. The vehicle is driven from the first road to the second road, and is guided to stop before the first stop position based on the virtual information, and the acquired regulation content of the signal is the second. When the vehicle traveling on the road is the second regulation content that allows the vehicle to pass through the intersection, the vehicle traveling on the first road is placed at the second stop position based on the actual information. After that, based on the situation of the vehicle traveling on the second road, the vehicle is driven from the first road to the second road, and passes through the first stop position. A driving support device that guides people to pass through the intersection . It is a program that realizes a reference function that refers to the map data stored in the storage unit to a control unit having a driving support function that supports the driving of the vehicle.
The map data is information corresponding to a first section in which a vehicle traveling on a first road and then merging with a second road connected to the first road travels, and is the first information. The first section information including position information corresponding to a plurality of positions along the traveling direction of the section, and the second road forming a part of the second road connected to the front of the traveling direction with respect to the first section. The second section information including the position information corresponding to a plurality of positions along the traveling direction of the second section, and the stop line in front of the intersection on the second road. The virtual information associated with the first section information and the first stop position with respect to the traveling direction of the vehicle, including the position information corresponding to the first stop position where the vehicle does not exist and the vehicle should stop. It is a position where an actual stop line behind the stop position of the vehicle exists, and includes position information corresponding to a second stop position before the point where the vehicle merges from the first road to the second road. It has real information and traffic light information about a traffic light that regulates the passage of a vehicle toward the intersection, the virtual information and the traffic light information are associated with each other, and the real information and the traffic light information are associated with each other.
The reference function includes a function of causing the control unit to refer to the first section information, the second section information , the virtual information , the reality information, and the traffic light information .
The travel support function includes a process of generating guidance information for guiding and controlling a vehicle based on position information corresponding to a plurality of positions along the travel direction of the first section information, and the first method. A process for specifying the virtual information related to the section information and a guidance information for guiding and controlling the vehicle based on the position information corresponding to the first stop position included in the specified virtual information are generated. Including the function of executing processing, when the vehicle is traveling on the first road, the regulation content of the signal is acquired based on the signal information associated with the virtual information and the real information. When the acquired regulation content of the traffic light is the first regulation content that a vehicle traveling on the second road should stop at a position in front of the intersection, the vehicle travels on the first road. The vehicle is driven from the first road to the second road, and is guided to stop before the first stop position based on the virtual information, and the acquisition of the signal is regulated. When the content is the second regulation content that the vehicle traveling on the second road can pass through the intersection, the vehicle traveling on the first road is said to be the vehicle traveling on the first road based on the actual information. It is guided to stop before the second stop position, and then traveled from the first road to the second road based on the situation of the vehicle traveling on the second road, and the first stop is performed. A program including a function of executing a process of guiding a person to pass through a position and to pass through the intersection .

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