JP7014263B2 - Route setting device - Google Patents

Description

The present disclosure relates to a routing device.

Currently, vehicles having a limited automatic driving function of maintaining a lane on a highway have been commercialized. In the future, it is conceivable to use the automatic driving function not only on expressways but also on general roads. A technique relating to automatic driving on a general road is disclosed in Patent Document 1.

Japanese Unexamined Patent Publication No. 2011-118603

The traffic environment on ordinary roads is very complicated. Therefore, on general roads, automatic driving may be difficult due to the sensing capacity and processing capacity of the automatic driving system. When the automatic driving system determines that it is difficult to continue the automatic driving during the automatic driving, the automatic driving system requests the driver to change the driving. When the driver performs a predetermined operation in response to the driving change request, the state of the vehicle shifts from the automatic driving state to the manual driving state.

If frequent driving change requests occur during autonomous driving, the driver may become distrustful of the autonomous driving system and stop using the autonomous driving function. The present disclosure provides a route setting device capable of suppressing the occurrence of an operation change request.

One aspect of the present disclosure is a route candidate creation unit (25) that creates a route candidate from the current location to the destination, and the automatic driving when the vehicle travels on the route candidate using the automatic driving system (3). The index calculation unit (27) that calculates the replacement index indicating the probability that the system makes a driving change request for the route candidate, the route candidate, and the replacement index calculated for the route candidate are used. The display unit (29) that displays in association with each other, the input unit (31) that accepts the selection of the route candidate by the occupant of the vehicle, and the route of the route candidate based on the selection accepted by the input unit. It is a route setting device (4) including a route setting unit (33) to be set.

The route setting device, which is one aspect of the present disclosure, calculates a replacement index for route candidates. The change index is an index showing the probability that the automatic driving system makes a driving change request when the vehicle travels on a route candidate using the automatic driving system.

The route setting device, which is one aspect of the present disclosure, displays the route candidate in association with the alternative index calculated for the route candidate. The occupant of the vehicle can select, for example, a displayed route candidate having a low replacement index.

The route setting device, which is one aspect of the present disclosure, can accept the selection of route candidates by the occupants. Then, the route setting device, which is one aspect of the present disclosure, can set the route of the route candidate based on the accepted selection.

Therefore, the route setting device, which is one aspect of the present disclosure, can set a route candidate having a low alternation index as a route. If automatic driving is performed along a route with a low change index, it becomes difficult for a driving change request to occur.
Another aspect of the present disclosure is a route candidate creation unit (25) that creates a plurality of route candidates from the current location to the destination, and the automatic route candidate when the vehicle travels on the route candidate using the automatic driving system (3). An index calculation unit (27) that calculates an alternation index indicating the probability that an operation system makes an operation alternation request for at least a part of the plurality of route candidates, a plurality of the route candidates, and at least one of the plurality of the route candidates. The display unit (29) that displays in association with the change index calculated for the unit, the input unit (31) that accepts the selection of the route candidate by the occupant of the vehicle, and the selection accepted by the input unit. Based on this, it is a route setting device (4) including a route setting unit (33) for setting a route from a plurality of the route candidates.
The route setting device, which is another aspect of the present disclosure, can set a route candidate having a low alternation index as a route. If automatic driving is performed along a route with a low change index, it becomes difficult for a driving change request to occur.

In addition, the reference numerals in parentheses described in this column and the scope of claims indicate the correspondence with the specific means described in the embodiment described later as one embodiment, and the technical scope of the present disclosure is defined. It is not limited.

It is a block diagram which shows the structure of the in-vehicle system 1 and the automatic driving device 3. It is a block diagram which shows the functional structure of the route setting part 4. It is a flowchart which shows the whole process which a route setting part 4 executes. It is explanatory drawing which shows the creation example of the route candidate R1 to R3. It is a flowchart which shows the alternate index calculation process which a route setting part 4 executes. It is explanatory drawing which shows the method of calculating the alternation index for the route candidate R. It is explanatory drawing which shows the example of the display of the route candidate in the display device 11. It is explanatory drawing which shows the example of the display of the route candidate in the display device 11. It is explanatory drawing which shows the example of the display of the route candidate in the display device 11. It is explanatory drawing which shows the example of the display of the route candidate in the display device 11. It is explanatory drawing which shows the example of the display during automatic operation in a display device 11.

An exemplary embodiment of the present disclosure will be described with reference to the drawings.
<First Embodiment>
1. 1. Configuration of the in-vehicle system 1 and the automatic driving device 3 The configuration of the in-vehicle system 1 and the automatic driving device 3 will be described with reference to FIGS. 1 and 2. The in-vehicle system 1 and the automatic driving device 3 are mounted on the vehicle. In the following, the vehicle equipped with the in-vehicle system 1 and the automatic driving device 3 will be referred to as the own vehicle. The automatic driving device 3 corresponds to an automatic driving system.

As shown in FIG. 1, the in-vehicle system 1 includes an automatic driving device 3, a GPS 6, a sensor 7, an automatic driving information DB 9, a display device 11, an input device 13, a communication device 15, and a vehicle control actuator. 19 and.

The automatic driving device 3 includes a route setting unit 4 and a vehicle control unit 5. The route setting unit 4 includes a microcomputer having a CPU 21 and, for example, a semiconductor memory such as RAM or ROM (hereinafter referred to as memory 23). Each function of the route setting unit 4 is realized by the CPU 21 executing a program stored in a non-transitional substantive recording medium. In this example, the memory 23 corresponds to a non-transitional substantive recording medium in which a program is stored. In addition, when this program is executed, the method corresponding to the program is executed. The route setting unit 4 may include one microcomputer or a plurality of microcomputers.

As shown in FIG. 2, the route setting unit 4 includes a route candidate creation unit 25, an index calculation unit 27, a display unit 29, an input unit 31, a route setting unit 33, a factor acquisition unit 35, and a distance coefficient. It includes a setting unit 37, a behavior index setting unit 39, and an output unit 41.

The method for realizing the functions of each part included in the route setting unit 4 is not limited to software, and some or all of the functions may be realized by using one or a plurality of hardware. For example, when the above function is realized by an electronic circuit which is hardware, the electronic circuit may be realized by a digital circuit, an analog circuit, or a combination thereof. The route setting unit 4 corresponds to the route setting device.

The vehicle control unit 5 executes automatic driving along the route set by the route setting unit 4. The vehicle control unit 5 controls the vehicle control actuator 19 based on the recognition result of the sensor 7 and the like to execute automatic driving. Further, the vehicle control unit 5 determines whether or not it is difficult to continue the automatic driving during the automatic driving, and if it is determined that it is difficult to continue the automatic driving, the vehicle control unit 5 displays the display device 11. Use to request the driver of your vehicle to change driving. If the driver of the own vehicle performs a predetermined operation in response to the driving change request, the state of the own vehicle shifts from the automatic driving state to the manual driving state. The vehicle control unit 5 corresponds to the automatic driving system.

GPS6 acquires the position information of its own vehicle. The sensor 7 recognizes the environment around the own vehicle. The information DB 9 for automatic driving stores a table (hereinafter referred to as a distance coefficient table) that defines the relationship between the factor and the distance coefficient K.

The factor affects the probability that the vehicle control unit 5 requests the driver to change driving during automatic driving (hereinafter referred to as the change request probability). Factors include, for example, date and time factors, weather factors, road structure factors, and the like. Factors of the date and time include, for example, the time of day, the day of the week, and the like. For example, when the traffic volume increases or decreases at a specific time or day of the week, the time or day of the week affects the recognition result of the sensor 7. As a result, the time or day of the week affects the probability of requesting a change.

Factors of weather include, for example, the distinction between sunny, cloudy, and rainy. In addition, as a factor of the weather, for example, the amount of rainfall can be mentioned. Factors of weather affect the recognition result of the sensor 7. As a result, weather factors affect the probability of a replacement request. When it is cloudy, the probability of requesting a change is higher than when it is sunny. Also, in the case of rain, the probability of requesting a change is higher than in the case of cloudy weather. In addition, the greater the rainfall, the higher the probability of requesting a change.

Factors in the road structure include, for example, the distinction between highways, motorways, national roads, and general roads. Factors in the road structure include, for example, the distinction between straight roads and winding roads. Factors in the road structure include, for example, the distinction between a road with one lane on each side, a road with two lanes on each side, and a road with three or more lanes on each side.

In addition, as factors of the road structure, for example, the presence / absence of a right turn lane, the presence / absence of a sidewalk, and the like can be mentioned. Further, as factors of the road structure, for example, the presence / absence of intersections, the number of intersections, the presence / absence of pedestrian crossings, the number of pedestrian crossings, the presence / absence of traffic lights, the number of traffic lights, and the like can be mentioned. Factors of the road structure affect the recognition result of the sensor 7 and the complexity of the control of the vehicle control actuator 19 when performing automatic driving. As a result, road structure factors affect the probability of a replacement request.

In the distance coefficient table, the more the factor increases the probability of requesting replacement, the larger the distance coefficient K associated with the factor. An example of the relationship between the factor in the distance coefficient table and the distance coefficient K is shown below.

When the factor is "sunny" and "motorway", the distance coefficient K is 0.01.
When the factors are "light rainfall of 2 mm / h" and "motorway", the distance coefficient K is 0.02.

When the factors are "strong rainfall of 20 mm / h" and "motorway", the distance coefficient K is 0.1.
When the factors are "sunny" and "national road or general road", the distance coefficient K is 0.05.

When the factors are "light rainfall of 2 mm / h" and "national road or general road", the distance coefficient K is 0.1.
When the factors are "strong rainfall of 20 mm / h" and "national road or general road", the distance coefficient K is 0.5.

Further, the automatic driving information DB 9 stores a table (hereinafter referred to as a behavior index table) that defines the relationship between the behavior type and factor and the behavior index PB.
The behavior is a behavior executed by the own vehicle when traveling on a route candidate. Examples of the types of behavior include going straight at an intersection, turning right at an intersection, turning left at an intersection, changing lanes, and entering an interchange. The behavior index table defines the corresponding behavior index B for the combination of behavior types and factors. Therefore, if the type and factor of the behavior are specified in the behavior index table, the corresponding behavior index PB is determined.

In the behavior index table, the more the combination of behavior types and factors increases the probability of requesting replacement, the larger the behavior index PB associated with the combination.
An example of the relationship between the combination of behavior types and factors in the behavior index table and the behavior index PB is shown below.

When the type of behavior is "straight ahead at an intersection" and the factor is "sunny", the behavior index PB is 0.001.
When the type of behavior is "straight ahead at an intersection" and the factor is "weak rain with a rainfall of 2 mm / h", the behavior index PB is 0.002.

When the type of behavior is "straight ahead at an intersection" and the factor is "strong rain with a rainfall of 20 mm / h", the behavior index PB is 0.01.
When the type of behavior is "turn right or left at an intersection" and the factor is "sunny", the behavior index PB is 0.005.

When the type of behavior is "turn right or left at an intersection" and the factor is "weak rain with a rainfall of 2 mm / h", the behavior index PB is 0.01.
When the type of behavior is "turn right or left at an intersection" and the factor is "strong rain with a rainfall of 20 mm / h", the behavior index PB is 0.05.

The automatic driving information DB 9 stores map information. Map information includes, for example, road profiles, lane count information, speed limit information, intersection information, pedestrian crossing information, and the like. Further, the information DB 9 for automatic driving stores information on roads capable of automatic driving, planned TOR information, and the like.

A part or all of the information stored in the automatic driving information DB 9 may be stored in the information center 45 described later.
The display device 11 is a display installed in the vehicle interior of the own vehicle. The display device 11 can display an image. The input device 13 is installed in the passenger compartment of the own vehicle. The input device 13 accepts the operation of the occupant of the own vehicle. The occupant may be a driver or a occupant other than the driver. Examples of the input device 13 include a touch panel, a keyboard, various switches, a voice input device, and the like.

The communication device 15 performs wireless communication with the information center 45. The information center 45 transmits traffic information, weather information, and the like to the communication device 15. The vehicle control actuator 19 controls the traveling state of the own vehicle in response to an instruction from the vehicle control unit 5.

2. 2. Processing executed by the route setting unit 4 The processing executed by the route setting unit 4 will be described with reference to FIGS. 3 to 11. In step 1 of FIG. 3, the route candidate creation unit 25 acquires the current location of the own vehicle using GPS6.

In step 2, the route candidate creation unit 25 acquires the destination. The destination may be one input by the occupant to the input device 13, or may be one obtained from a scheduler or the like (not shown).

In step 3, the route candidate creation unit 25 creates a plurality of route candidates from the current location acquired in step 1 to the destination acquired in step 2 using the map information stored in the automatic driving information DB 9. do.

FIG. 4 shows an example of creating a route candidate. In this example, the route candidate creation unit 25 creates route candidates _R1 , _R2 , and R3 from the current location P1 to the destination P2. The route candidate R1 is a route candidate that sequentially passes through the general roads 46 and 47, the interchange 49, the expressway 51, the interchange 52, and the general roads 53 and 55. The route candidate R2 is a route candidate that sequentially passes through the general roads 46, 57, and 55. The route candidate R3 is a route candidate that sequentially passes through general roads 46 and 47, national roads 59, and general roads 57 and 55.

Returning to FIG. 3, in step 4, a replacement index is calculated for each of the plurality of route candidates created in step 3. The replacement index is an index showing the probability of requesting replacement when traveling on a route candidate. The higher the probability of requesting a replacement, the higher the replacement index.

The process of step 4 will be described in detail with reference to FIG. The index calculation unit 27 executes the process shown in FIG. 5 for each of the plurality of route candidates. In step 11 of FIG. 5, the factor acquisition unit 35 acquires the factor in the route candidate. Factors to be acquired include, for example, date and time factors, weather factors, road structure factors, and the like. When the factor differs depending on the location in the route candidate, the factor acquisition unit 35 acquires the factor at each location.

The factor acquisition unit 35 can acquire the factor of the date and time from a clock (not shown), for example. Further, the factor acquisition unit 35 can acquire the weather information from the information center 45 by using the communication device 15, and can acquire the weather factor from the weather information. Further, the factor acquisition unit 35 can acquire the factor of the road structure from the map information stored in the automatic driving information DB 9.

In step 12, the index calculation unit 27 divides the route candidates into one or more sections according to the factors. Within each section, the factors are the same. FIG. 6 shows an example of classifying route candidates. _In this case, the route candidate R is divided into sections S1 to _S4 . _Within section S1, all factors are the same. The same applies to the sections _S2 to _S4 .

In step 13, the distance coefficient setting unit 37 sets the distance coefficient K for each section divided in step 12 based on the factors in the section. That is, the distance coefficient setting unit 37 sets the distance coefficient K in the section by collating the factor in the section with the distance coefficient table. _In the example shown in FIG. ₆ , the distance coefficient setting unit 37 _sets the distance coefficient K1 in the section S1 by collating the factor in the section S1 with the distance coefficient table. Similarly, the distance coefficient setting unit 37 _sets the distance coefficients K2 to _K4 in the sections S2 to _S4 , _respectively .

In step 14, the index calculation unit 27 calculates the distance of each section divided in step 12. In the example shown in FIG. 6, the index calculation unit 27 calculates the distance L ₁ in the section S ₁ , the distance L ₂ in the section S ₂ , the distance L _{3 in the section S 3 ,} and the distance L ₄ in the section S ₄ , respectively.

In step 15, the index calculation unit 27 calculates the distance component PL of the alternation index _P by the equation (1).

距離成分Ｐ_Ｌは、区間の距離Ｌ_ｉと、距離係数Ｋ_ｉとを乗算した値を、全ての区間について積算した値である。距離Ｌ_ｉは区間Ｓ_ｉの距離であり、距離係数Ｋ_ｉは区間Ｓ_ｉにおける距離係数である。ｉは１以上ｍ以下の自然数である。ｍは経路候補が含む区間の数である。

The distance component _{PL is a value obtained by multiplying the distance Li of the section by the distance coefficient K i and integrating} the values for all the sections. The distance _Li is the distance of the section S _i , and the distance coefficient K _i is the distance coefficient in the section S _i . i is a natural number of 1 or more and m or less. m is the number of sections included in the route candidate.

In step 16, the index calculation unit 27 extracts the behavior B included in the route candidate. The behavior B to be extracted is a behavior associated with the behavior index PB in the behavior index table. In the example shown in FIG. 6, the index calculation unit 27 extracts the behaviors B ₁ to B ₈ .

In step 17, the behavior index setting unit 39 first identifies the factors at the location of behavior B for each of the behavior B extracted in step 16. In the example shown in FIG. 6, the behavior index setting unit 39 identifies a factor at the location of behavior _B1 . Similarly, the behavior index setting unit 39 also identifies factors at the locations of behaviors B ₂ to B ₈ .

Next, the behavior index setting unit 39 sets the behavior index PB for each of the behavior B extracted in step 16 based on the type of behavior and the factor at the location of the behavior. That is, the behavior index setting unit 39 sets the behavior index PB in the behavior B by collating the type of the behavior B and the combination of factors at the location of the behavior B with the behavior index table.

In the example shown in FIG. 6, the behavior index setting unit 39 collates the combination of the type of the behavior B ₁ and the factors at the location of the behavior B ₁ with the behavior index table, and thereby the behavior index PB in the behavior B ₁ . Set to ₁ . Similarly, the behavior index setting unit 39 sets the behavior indexes PB ₂ to PB ₈ for the behaviors B ₂ to B ₈ , respectively.

In step 18, the index calculation unit 27 calculates the behavior component P _B of the alternation index P by the equation (2).

挙動成分Ｐ_Ｂは、前記ステップ１７で設定した挙動指標ＰＢ_ｊを、挙動ごとに積算した値である。挙動指標ＰＢ_ｊは挙動Ｂ_ｊの挙動指標である。ｊは１以上ｎ以下の自然数である。ｎは経路候補が含む挙動Ｂの数である。図６に示す事例では、挙動指標ＰＢ_１～ＰＢ_８を積算した値が挙動成分Ｐ_Ｂである。

The behavior component P _B is a value obtained by integrating the behavior index PB _j set in step 17 for each behavior. The behavior index PB _j is a behavior index of the behavior B _j . j is a natural number of 1 or more and n or less. n is the number of behaviors B included in the route candidate. In the example shown in FIG. 6, the value obtained by integrating the behavior indexes PB ₁ to PB ₈ is the behavior component P _B.

In step 19, the index calculation unit 27 adds the distance component PL calculated in step 15 and the behavior component _{P B calculated} in step 18 as shown in the equation (3), and the alternation index P. Is calculated.

図３に戻り、ステップ５では、表示ユニット２９が、前記ステップ３で作成した複数の経路候補を表示装置１１に表示する。また、表示ユニット２９は、前記ステップ４で算出した、各経路候補の交代指標も、経路候補と対応付けて表示装置１１に表示する。

Returning to FIG. 3, in step 5, the display unit 29 displays the plurality of route candidates created in step 3 on the display device 11. Further, the display unit 29 also displays the alternation index of each route candidate calculated in step 4 on the display device 11 in association with the route candidate.

Examples of the display in the display device 11 are shown in FIGS. 7 and 8. In the display shown in FIGS. 7 and 8, a plurality of route candidates and an alternation index P corresponding to each route candidate are shown. The display shown in FIG. 8 further shows the weather forecast for each region. In the display of the display device 11, the plurality of route candidates may be distinguishable by, for example, a color or by the form of a line.

In the display of the display device 11, as shown in FIGS. 9 and 10, one route candidate may be divided into a plurality of sections and displayed, and the alternation index P of each section may be shown. Examples of the method of classifying route candidates include a method of classifying by a certain distance, a method of classifying according to a road structure, a method of classifying into an automatic driving section and a manual driving section, and the like. In the display of the display device 11, the plurality of sections may be distinguishable by, for example, colors or by the form of lines.

As shown in FIG. 9, the route candidate may be capable of automatic driving except near the current location and the vicinity of the destination, and as shown in FIG. 10, the section where automatic driving is possible and the automatic driving are not possible. There may be a mixture of sections where manual operation is performed.

In step 6, the input unit 31 determines whether or not the selection operation by the occupant has been performed on the input device 13. The selection operation is an operation of selecting one route candidate from the plurality of route candidates displayed on the display device 11 in step 5. When the selection operation is performed, the input unit 31 accepts the selection operation and proceeds to step 7. On the other hand, if the selection operation has not been performed yet, the process returns to the previous step 6.

In step 7, the display unit 29 displays the route candidate selected by the selection operation on the display device 11.
In step 8, the input unit 31 determines whether or not the confirmation operation has been performed on the input device 13. The confirmation operation is an operation for confirming that the route candidate displayed in step 7 is set as a route. If the confirmation operation has been performed, the process proceeds to step 9, and if the confirmation operation has not yet been performed, the process returns to the previous step 8.

In step 9, the route setting unit 33 sets the route candidate displayed on the display device 11 in step 7 as a route.
In step 10, the output unit 41 outputs the route set in step 9 to the vehicle control unit 5. The vehicle control unit 5 automatically operates along the output route. The display unit 29 may display, for example, the display shown in FIG. 11 on the display device 11 during automatic operation. This display shows the current location of the own vehicle on the route, the distance to the destination, the automatic driving distance, and the replacement index P in the remaining automatic driving section.

The automatic driving distance means the distance from the current location to the point where the planned driving change occurs. The display unit 29 may further display the predicted time to arrive at the destination or the predicted required time to reach the destination on the display device 11. The predicted time and the predicted required time can be represented by, for example, a picture imitating an analog clock. The portion of the route that has already passed may not be displayed on the display device 11. Further, the display device 11 may display an enlarged view of the periphery of the current location of the own vehicle.

3. 3. Effects of the route setting unit 4 (1A) The route setting unit 4 calculates a replacement index for each of the plurality of route candidates. The replacement index is an index showing the probability of requesting replacement. The route setting unit 4 displays the plurality of route candidates and the alternation index calculated for each of the plurality of route candidates in association with each other. The occupant of the own vehicle can select, for example, a route candidate having a low replacement index from the plurality of displayed route candidates. The route setting unit 4 sets a route from a plurality of route candidates based on the selection of the route candidate.

Therefore, the route setting unit 4 can set a route candidate having a low alternation index as a route among a plurality of route candidates. If automatic driving is performed along a route with a low change index, it becomes difficult for a driving change request to occur.

(1B) The route setting unit 4 calculates the alternation index using a value obtained by multiplying the distance in the route candidate by the distance coefficient. Therefore, the substitution index is an index that more accurately reflects the substitution request probability. As a result, it becomes easier to select a route candidate in which a driving change request is unlikely to occur based on the change index.

(1C) The route setting unit 4 acquires a factor that affects the change request probability. Then, the route setting unit 4 sets the distance coefficient based on the factor. Therefore, the substitution index is an index that more accurately reflects the substitution request probability. As a result, it becomes easier to select a route candidate in which a driving change request is unlikely to occur based on the change index.

(1D) The route setting unit 4 calculates the alternation index using the value obtained by integrating the behavior index for each behavior. The behavior index is an index associated with the behavior executed by the own vehicle when traveling on the route candidate. Therefore, the substitution index is an index that more accurately reflects the substitution request probability. As a result, it becomes easier to select a route candidate in which a driving change request is unlikely to occur based on the change index.

(1E) The route setting unit 4 acquires a factor that affects the change request probability. Then, the route setting unit 4 sets the behavior index based on the type of behavior and the factor in the place of behavior. Therefore, the substitution index is an index that more accurately reflects the substitution request probability. As a result, it becomes easier to select a route candidate in which a driving change request is unlikely to occur based on the change index.

(1F) The factor acquired by the route setting unit 4 is a factor selected from the group consisting of the date and time, the weather, and the road structure. These factors have a large effect on the probability of requesting a change. The route setting unit 4 calculates the alternation index in consideration of these factors. Therefore, the substitution index is an index that more accurately reflects the substitution request probability. As a result, it becomes easier to select a route candidate in which a driving change request is unlikely to occur based on the change index.

4. Other Embodiments Although the embodiments of the present disclosure have been described above, the present disclosure is not limited to the above-described embodiments, and can be variously modified and implemented.

(1) The distance component PL may not be calculated, and the behavior component _{P B may} be used as the alternation index P. Even in this case, the effects of (1A) and (1D) can be achieved. Further, the distance component PL may be used as the alternation index _P without calculating the behavior component P _B. Even in this case, the effects of (1A) and (1B) can be achieved.

(2) The distance coefficient K may be a fixed value that is not affected by the factors. Even in this case, the effects of (1A) and (1B) can be achieved. The behavior index PB may be a value that is not affected by factors and is uniquely determined by the type of behavior. Even in this case, the effects of (1A) and (1D) can be achieved.

(3) The factor may be one or two factors selected from the group consisting of date and time, weather, and road structure. Even in this case, the effects of (1A) to (1F) can be achieved.
(4) The route setting unit 4 may be a device independent of the vehicle control unit 5. Even in this case, the effects of (1A) to (1F) can be achieved.

(5) The route setting unit 4 may correct the alternation index P according to the accuracy of the map DB used for vehicle control of automatic driving. This will be described below. The route setting unit 4 determines a correction constant _CL for the distance component PL and a correction constant _{C B} for the behavior component P _B according to the accuracy of the map DB. The value obtained by multiplying the correction constant C _L by the distance component P _L is defined as the corrected distance component P _L. The value obtained by multiplying the correction constant C _B by the behavior component P _B is defined as the corrected behavior component P _B.

The route setting unit 4 may identify the map DB. For example, the manufacturer-provided map DB or the manufacturer-certified map DB may be distinguished from the non-certified map DB. Then, the route setting unit 4 can prevent the automatic driving from functioning when the map DB used for the vehicle control of the automatic driving is a non-authenticated map DB.

(6) The route setting unit 4 may correct the alternation index P according to the situation related to the availability of GPS satellites. This will be described below. Situations related to the availability of GPS satellites include, for example, areas where tall buildings gather, mountain roads, and other factors that block GPS satellites for a long time, causing the road to branch off in the middle of the road (the first in the following). The situation) and so on. Further, as a situation related to the availability of GPS satellites, for example, a situation in which a short tunnel, an independent tall building, or the like exists (hereinafter referred to as a second situation) can be mentioned.

The route setting unit 4 determines a correction constant _CL for the distance component PL and a correction constant _{C B} for the behavior component P _B according to the situation related to the availability of the GPS satellite. The correction constant _CL becomes, for example, a larger value as the degree of the first situation becomes more remarkable. The correction constant C _B becomes, for example, a larger value as the degree of the second situation becomes more remarkable. The value obtained by multiplying the correction constant C _L by the distance component P _L is defined as the corrected distance component P _L. The value obtained by multiplying the correction constant C _B by the behavior component P _B is defined as the corrected behavior component P _B.

(7) The route setting unit 4 may change the alternation index P according to the actual travel distance. An example is shown below. The route setting unit 4 has a function of accumulating the distance traveled by the own vehicle by automatic driving (hereinafter referred to as the automatic driving distance X) and a function of storing the number of times N _tor of the driving change request.

Let P _df be the alternation index P when the automatic driving distance X is 0 km. Every time the automatic driving distance X increases by a certain distance, the alternation index P is updated by the following equation (4). The constant distance is, for example, 100 km.

Equation (4) P = _NTor / X
Alternatively, the change index P may be updated by the equation (4) every time a driving change request is generated. However, until the automatic driving distance X reaches a certain distance, the change index P is not updated even if a driving change request occurs. The constant distance is, for example, 100 km. This is because if the alternation index P is updated when the automatic driving distance X is short, the value may not match the actual situation.

Instead of the above equation (4), the alternation index P may be updated using the following equation (5).
Equation (5) P = (N _tor + N _df ) / (X + X _df )
In equation (5), N _df and X _df are default values.

(8) The route setting unit 4 may change the driving change index based on the actual driving location. An example is shown below. The route setting unit 4 has a function of accumulating the number of times the own vehicle has passed a predetermined road structure (hereinafter referred to as the number of times of passing Y) and a function of storing the number of times N _tor of making a driving change request. Let P _df be the alternation index P when the number of passages Y is 0.

Every time the number of passages Y increases by a certain number of times, the alternation index P is updated by the following equation (6). A certain number of times is a natural number of 1 or more.
Equation (6) P = _NTor / Y
Alternatively, the change index P may be updated by the equation (6) every time the operation change request is generated a certain number of times. A certain number of times is a natural number of 1 or more. However, the replacement index P is not updated even if the operation replacement request occurs a certain number of times until the cumulative number of replacement requests reaches a predetermined threshold value. The threshold is, for example, 10 times. This is because if the change index P is updated when the cumulative number of times of the operation change request is small, the value may not be suitable for the actual situation.

(9) A plurality of functions possessed by one component in the above embodiment may be realized by a plurality of components, or one function possessed by one component may be realized by a plurality of components. .. Further, a plurality of functions possessed by the plurality of components may be realized by one component, or one function realized by the plurality of components may be realized by one component. Further, a part of the configuration of the above embodiment may be omitted. Further, at least a part of the configuration of the above embodiment may be added or replaced with the configuration of the other above embodiment. It should be noted that all aspects included in the technical idea specified from the wording described in the claims are embodiments of the present disclosure.

(10) In addition to the above-mentioned route setting device, a system having the route setting device as a component, a program for operating a computer as the route setting device, a non-transitional actual recording of a semiconductor memory or the like in which this program is recorded, etc. The present disclosure can also be realized in various forms such as a medium and a route setting method.

1 ... In-vehicle system, 3 ... Automatic driving device, 4 ... Route setting unit, 5 ... Vehicle control unit, 11 ... Display device, 13 ... Input device, 25 ... Route candidate creation unit, 27 ... Index calculation unit, 29 ... Display unit , 31 ... Input unit, 33 ... Route setting unit, 35 ... Factor acquisition unit, 37 ... Distance coefficient setting unit, 39 ... Behavior index setting unit

Claims (6)

A route candidate creation unit (25) that creates route candidates from the current location to the destination, and
An index calculation unit (27) that calculates a change index indicating the probability that the automatic driving system makes a driving change request when the vehicle travels on the route candidate using the automatic driving system (3) for the route candidate.
A display unit (29) that displays the route candidate in association with the alternative index calculated for the route candidate, and
An input unit (31) that accepts the selection of the route candidate by the occupant of the vehicle, and
A route setting unit (33) that sets a route of the route candidate based on the selection received by the input unit, and a route setting unit (33).
Equipped with
The index calculation unit is configured to calculate the alternation index by using the value obtained by integrating the behavior index preliminarily associated with the behavior executed by the vehicle when traveling on the route candidate for each behavior. ,
The behavior is a route setting device (4) including going straight at an intersection and turning left or right at an intersection. A route candidate creation unit (25) that creates multiple route candidates from the current location to the destination, and
Index calculation for calculating at least a part of the plurality of route candidates as a replacement index indicating the probability that the automatic driving system makes a driving change request when the vehicle travels on the route candidate using the automatic driving system (3). Unit (27) and
A display unit (29) that displays a plurality of the route candidates in association with each other and the alternation index calculated for at least a part of the plurality of route candidates.
An input unit (31) that accepts the selection of the route candidate by the occupant of the vehicle, and
A route setting unit (33) that sets a route from a plurality of the route candidates based on the selection received by the input unit, and
Equipped with
The index calculation unit is configured to calculate the alternation index by using the value obtained by integrating the behavior index preliminarily associated with the behavior executed by the vehicle when traveling on the route candidate for each behavior. ,
The behavior is a route setting device (4) including going straight at an intersection and turning left or right at an intersection. The route setting device according to claim 1 or 2.
A factor acquisition unit (35) that acquires factors that affect the probability, and
A behavior index setting unit (39) that sets the behavior index based on the type of behavior and the factor at the location of the behavior.
Further equipped with a route setting device. The route setting device according to any one of claims 1 to 3 .
The index calculation unit is a route setting device configured to calculate the alternation index using a value obtained by multiplying the distance in the route candidate by the distance coefficient. The route setting device according to claim 4 .
A factor acquisition unit (35) that acquires factors that affect the probability, and
A distance coefficient setting unit (37) that sets the distance coefficient based on the above factors, and
Further equipped with a route setting device. The route setting device according to claim 3 or 5 .
The factor is a route setting device that is a factor selected from the group consisting of date and time, weather, and road structure.

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