JP7036358B2 - Map data structure, transmitter, and driving support device - Google Patents

Description

The present invention relates to map data used for driving assistance.

In recent years, the development of map data suitable for driving support and automatic driving has been progressing. Patent Document 1 describes a method of storing lane information and traffic light information in association with each other and providing driving support according to the traffic light. Further, Patent Document 1 also describes that the stop line information indicating the position of the stop line associated with the traffic light is stored, and driving support is provided so that the vehicle stops at the position of the stop line.

Japanese Unexamined Patent Publication No. 2016-40644

However, the stop line is also provided in a place where there is no traffic light, and it is required to determine the necessity of stopping at the stop line according to various situations as well as the traffic light.

As an example of the problem to be solved by the present invention, the above-mentioned one can be mentioned. An object of the present invention is to appropriately determine whether or not a stop line is necessary according to the situation of a place where a stop line is provided.

The invention according to claim is a transmission device, comprising a storage unit for storing map data and a transmission unit for transmitting the map data to a vehicle, wherein the map data is a lane link relating to a lane of a road. The stop line data includes data and stop line data relating to the stop line, the stop line data includes stop line data associated with the right turn lane, and the stop line data associated with the right turn lane is the stop of the right turn lane within the intersection. Includes line position information and lane links corresponding to the stop line.
The invention according to claim is a driving support device, which is a stop line with reference to an acquisition unit for acquiring map data, a detection unit for detecting a stop line on a traveling road, and the stop line data. The map data includes a determination unit for determining whether or not the vehicle should stop, and an output unit for outputting the determination result, and the map data includes lane link data relating to a lane of a road and stop line data relating to a stop line. , The stop line data includes the stop line data associated with the right turn lane, and the stop line data associated with the right turn lane corresponds to the position information of the stop line of the right turn lane in the intersection and the stop line. Including lane links .
The invention according to the claim is a transmission method executed by a transmission device, which is an acquisition step of acquiring the map data from a storage unit that stores map data, and transmission of the acquired map data to a vehicle. The map data includes lane link data for road lanes and stop line data for stop lines, and the stop line data includes stop line data associated with a right turn lane, said right turn. The stop line data associated with the lane includes the position information of the stop line of the right turn lane within the intersection and the lane link corresponding to the stop line.
The invention according to the claim is a driving support method executed by a driving support device, which comprises an acquisition step of acquiring map data, a detection step of detecting a stop line on a traveling road, and the stop line data. With reference to this, the map data includes a determination step of determining whether or not the vehicle should stop at the stop line and an output process of outputting the determination result, and the map data includes lane link data relating to a lane of a road and a stop line. The stop line data includes the stop line data associated with the right turn lane, and the stop line data associated with the right turn lane includes the position information of the stop line of the right turn lane in the intersection. , Includes lane links corresponding to the stop line.
The invention according to claim is a program executed by a computer, and includes an acquisition step of acquiring the map data from a storage unit that stores map data, and a transmission step of transmitting the acquired map data to a vehicle. , The map data includes lane link data for road lanes and stop line data for stop lines, and the stop line data includes stop line data associated with a right turn lane. The stop line data associated with the right turn lane includes the position information of the stop line of the right turn lane in the intersection and the lane link corresponding to the stop line.
The invention according to the claim is a program executed by a computer, with reference to an acquisition step of acquiring map data, a detection step of detecting a stop line on a traveling road, and the stop line data. The computer is made to execute a determination step of determining whether or not the vehicle should stop at the stop line and an output process of outputting the determination result, and the map data includes lane link data relating to the lane of the road and the stop line. The stop line data includes the stop line data associated with the right turn lane, and the stop line data associated with the right turn lane includes the position information of the stop line of the right turn lane in the intersection. , Includes lane links corresponding to the stop line.

The configuration of the driving support system according to the embodiment is shown. Examples of roads and lanes are shown. An example of road link data and lane link data is shown. An example of stop line data is shown. An example of an object associated with a stop line is shown. Here are other examples of objects associated with stop lines. The configuration of the driving support device is shown. It is a flowchart of a driving support process. An example of the stop line data related to the modified example is shown.

In a preferred embodiment of the invention, the map data structure showing the map corresponds to a plurality of stop lines and a plurality of objects as a basis for determining whether or not to stop the vehicle at the stop lines. Contains information to indicate.

The map data structure described above includes information indicating the correspondence between a plurality of stop lines and a plurality of objects as a basis for determining whether or not to stop the vehicle at the stop lines. Therefore, by referring to this information, it is possible to determine whether or not it is necessary to stop the vehicle at each stop line.

In one aspect of the map data structure described above, the object includes a pedestrian crossing in the vicinity of the stop line. In a preferred example in this case, in the above information, for a stop line to which a pedestrian crossing is associated as the object, it is shown that the vehicle is stopped at the stop line when an object exists around the pedestrian crossing. Information is further associated.

In another aspect of the map data structure described above, the object comprises a traffic light in the vicinity of the stop line. In a preferred example in this case, in the above information, regarding the stop line to which the traffic light is associated as the object, the information indicating that the vehicle is stopped at the stop line when the traffic light is red or yellow is provided. Further associated.

In another aspect of the map data structure described above, in the information, information indicating that the vehicle is stopped at the stop line is further associated with the stop line to which the object is not associated.

In another aspect of the map data structure described above, the object comprises a right turn lane provided within an intersection. In a preferred example in this case, in the above information, for the stop line to which the right turn lane is associated as the object, the information indicating that the vehicle is stopped at the stop line when an oncoming vehicle is present further corresponds. It is attached.

In another aspect of the map data structure described above, the information includes the position coordinates of the stop line.

In another preferred embodiment of the present invention, the transmitting device includes a storage unit for storing map data having the above-mentioned map data structure, and a transmitting unit for transmitting the map data to a vehicle. With this transmission device, the above map data can be transmitted to the vehicle for use.

In another preferred embodiment of the present invention, the driving support device refers to the above-mentioned information, an acquisition unit for acquiring map data having the above-mentioned map data structure, a detection unit for detecting a stop line on a traveling road, and the above information. Then, a determination unit for determining whether or not the vehicle should stop at the stop line and an output unit for outputting the determination result are provided. As a result, it is possible to appropriately support the driving of the vehicle in a place where there is a stop line.

Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.
[System configuration]
FIG. 1 shows a configuration of a driving support system to which the present invention is applied. The driving support system includes a server 10 and a driving support device 20 mounted on the vehicle 3. The server 10 and the driving support device 20 are configured to enable wireless communication. Although only one vehicle 3 is shown in FIG. 1 for convenience of explanation, a large number of vehicles 3 actually communicate with the server 10.

The server 10 stores the map data, and provides the map data around the current position of the vehicle 3 to the driving support device 20 at the request of the driving support device 20. In this embodiment, since driving support is provided in consideration of the traveling lane of the vehicle 3, lane link data including information for each lane is prepared as map data in addition to road link data including information for each road. ing. Specifically, the server 10 has a road link database (hereinafter, the database is referred to as "DB") 11, a lane link DB 12, and a stop line DB 13. The road link DB 11 stores the road link data, the lane link DB 12 stores the lane link data, and the stop line DB 13 stores the stop line data.

[Map data]
(Road link data and lane link data)
First, road link data and lane link data will be described. Now, as shown in FIG. 2A, it is assumed that there is a "road 1" with two lanes on each side. The two lanes to the east will be called "Road 1A" and the two lanes to the west will be called "Road 1B". Road 1A to the east has "lane 1A-1" and "lane 1A-2", and road 1B to the west has "lane 1B-1" and "lane 1B-2".

In this case, as the data relating to the road 1, as shown in FIG. 2B, "road link RL1A" corresponding to the road 1A and "road link RL1B" corresponding to the road 1B are prepared as the road link data. .. In addition to this, as lane link data, "lane link LL1A-1" corresponding to lane 1A-1, "lane link LL1A-2" corresponding to lane 1A-2, and "lane link LL1A-2" corresponding to lane 1B-1. "Lane link LL1B-1" and "lane link LL1B-2" corresponding to lane 1B-2 are prepared. In the example of FIG. 2, the nodes at both ends of each road link and lane link are assumed to be "node N1" and "node N2".

FIG. 3A shows an example of road link data in the case of FIG. As shown in FIG. 3A, the road link data includes a road link ID, a start point node, an end point node, a corresponding lane link, and an attribute.

The "road link ID" is the identification information uniquely given to each road link, the "start point node" is the ID of the node that is the start point of the road link, and the "end point node" is the end point of the road link. Is the ID of the node. The "corresponding lane link" is the ID of the lane link corresponding to the road link as shown in FIG. 2 (B). The "attribute" is various attribute information related to the road link, and includes, for example, the number of lanes, the road width, and the like.

On the other hand, FIG. 3B shows an example of lane link data in the case of FIG. As shown in FIG. 3B, the lane link data includes a lane link ID, a start point node, an end point node, a corresponding road link, and an attribute.

The "lane link ID" is the identification information uniquely given to each lane link, the "start point node" is the ID of the node that is the start point of the lane link, and the "end point node" is the end point of the lane link. Is the ID of the node. The "corresponding road link" is an ID of the road link corresponding to the lane link as shown in FIG. 2 (B). The "attribute" is various attribute information regarding the road link, and includes information such as lane width, number of lanes, and lanes in an intersection.

The contents of the road link data and the lane link data shown in FIG. 3 are examples, and if the correspondence between the two is clear, the common information (for example, the start point node, the end point node, etc.) is one of the data. May be included only.

(Stop line data)
Next, the stop line data will be described. The stop line data is prepared for each lane and for each stop line provided on the road, and is used when deciding what kind of driving support should be provided at the stop line. FIG. 4 shows an example of stop line data. The stop line data includes a stop line ID, location information, a corresponding lane link, and an object.

The "stop line ID" is identification information uniquely assigned to each stop line. "Position information" indicates the geographical position of the stop line, and is specifically indicated by latitude and longitude. In addition to latitude and longitude, altitude information may be included. The "corresponding lane link" is the lane link ID of the lane in which the stop line is provided. Since the stop line data is provided for each lane, basically one lane link corresponds to one stop line.

The "object" is an object provided in association with the stop line, and includes a traffic light, a road sign, a road marking, and the like. The object is the basis for determining whether or not the vehicle should stop at the stop line. Specifically, the objects set in the stop line data include "traffic lights", "pedestrian crossings", "lanes in intersections", and the like, and their IDs are included in the stop line data.

FIG. 5A shows an example of an environment in which a traffic light is set as an object in the stop line data. The stop line ST1 in this case is a stop line at an intersection provided with a signal. In many cases, a pedestrian crossing is also provided at an intersection with a traffic light, but when a traffic light is present, it is preferable to give priority to the traffic light. In the driving support at the stop line where the traffic light is set as the object, it is determined whether or not to stop the vehicle according to the state (color) of the traffic light. That is, when the object is a traffic light, the stop necessity determination condition is "stop if the traffic light is red or yellow, and stop is not necessary if the traffic light is blue".

FIG. 5B shows an example of an environment in which a pedestrian crossing is set as an object in the stop line data. In the driving support on the stop line ST2 where the pedestrian crossing is set as the object, whether or not to stop the vehicle depending on whether or not there is a person or an object (vehicle, bicycle, etc.) on or near the pedestrian crossing. Is determined. That is, when the object is a pedestrian crossing, the stop necessity determination condition is "stop if there is an object around the pedestrian crossing, no stop is necessary if there is no object".

FIG. 5C shows an example of an environment in which an object is not set in the stop line data. Normally, the stop line ST3, which has neither a traffic light nor a pedestrian crossing, is temporarily stopped. Therefore, it is necessary to always stop the vehicle for driving support on the stop line ST3 where the object is not set. That is, the stop necessity determination condition on the stop line where the object is not set is "always stop". As shown in FIG. 5C, if there is a stop sign (“stop”) on the road surface, or if there is a stop sign, these are used as objects in the stop line data. You may register it.

FIG. 6 shows an example of an environment in which a right turn lane is set as an object in the stop line data. The stop line ST4 in this case has a right turn lane in the intersection and corresponds to a stop line provided near the center of the intersection for guiding a right-turning vehicle. In the driving support at the stop line set in the lane in the intersection as an object, it is determined whether or not to stop the vehicle depending on the presence or absence of the vehicle in the lane intersecting with the lane in the intersection. That is, when the object is in the right turn lane, the stop necessity determination condition is "stop if there is an oncoming vehicle, stop is not necessary if there is no oncoming vehicle".

[Driving support device]
Next, the driving support device 20 will be described in detail.
(Constitution)
FIG. 7 shows the configuration of the driving support device 20. The driving support device 20 is mounted on the vehicle 3. The driving support device 20 may be mounted on the vehicle as a navigation device or the like, in addition to being built in the vehicle 3.

The driving support device 20 includes a communication unit 21, a positioning unit 22, a camera 23, a map DB 24, a storage unit 25, a control unit 26, a display unit 27, and a voice output unit 28. The communication unit 21 communicates with the server 10 by wireless communication. The communication unit 21 is mainly used to download map data from the server 10. The positioning unit 22 includes a GPS receiver, a self-supporting positioning device, and the like, and positions the current position of the vehicle 3. The camera 23 is attached to the front part of the vehicle 3 or the vicinity of the windshield in the vehicle interior, and photographs the front of the vehicle 3.

The map DB 24 stores the map data downloaded from the server 10 through the communication unit 21. The storage unit 25 includes a RAM, a ROM, and the like, and stores a program for operating the operation support device 20. Further, the storage unit 25 provides a working memory for executing various processes.

The control unit 26 controls the entire operation support device 20. Specifically, the control unit 26 executes a map data acquisition process for downloading map data from the server 10, a driving support process for a stop line, and the like. The information provided to the driver by the driving support process is displayed on the display unit 27 or output as a voice message by the voice output unit 28.

(Map data acquisition process)
First, the map data acquisition process will be described. The control unit 26 receives the current position of the vehicle 3 from the positioning unit 22, and requests the server 10 for map data in a predetermined range around it through the communication unit 21. Then, the control unit 26 stores the map data received from the server 10 in the map DB 24. In this way, the map data within a predetermined range from the current position of the vehicle 3 is stored in the map DB 24. The map data includes road link data, lane link data, and stop line data as described above.

(Driving support processing)
Next, the driving support process related to the stop line using the map data will be described. FIG. 8 is a flowchart of the driving support process. This process is mainly executed by the control unit 26 of the operation support device 20. It should be noted that this process is repeatedly executed at predetermined time intervals while the vehicle 3 is running.

First, the control unit 26 determines whether or not a stop line has been detected in front of the vehicle 3 based on the current position of the vehicle acquired from the positioning unit 22 and the captured image acquired from the camera 23 (step S10). ). Depending on the mounting position and orientation of the camera 23 with respect to the vehicle 3, how far (m ahead) the image captured by the camera 23 is capturing the position in front of the vehicle, that is, the position of the captured image and the vehicle position. The distance difference between them is known in advance. Therefore, the control unit 26 detects the stop line by image analysis of the captured image of the camera 23, and is based on the current position of the vehicle when the stop line is detected and the distance difference between the position of the captured image and the vehicle position. Then, the position coordinates of the stop line are calculated. In this way, the control unit 26 acquires the position coordinates of the stop line detected by the camera 23.

Next, the control unit 26 refers to the stop line data in the map DB 24, and acquires the stop line ID of the stop line based on the position coordinates of the stop line detected in step S10 (step S11). Specifically, the control unit 26 searches for a stop line having position information that matches the acquired position coordinates of the stop line from the stop line data, and acquires the stop line ID.

Next, the control unit 26 refers to the stop line data, acquires an object associated with the stop line ID (step S12), and based on the stop necessity determination condition for the object, the control unit 26 of the vehicle. It is determined whether or not it is necessary to stop (step S13). Here, as described above, the determination of whether or not the vehicle needs to be stopped is performed based on the conditions for determining whether or not the vehicle needs to be stopped, which are predetermined for each object.

Specifically, when the object is a traffic light, the stop necessity determination condition is "stop if the traffic light is red or yellow, and stop is not necessary if the traffic light is blue". Therefore, the control unit 26 detects the color of the traffic light corresponding to the detected stop line by image analysis of the captured image of the camera 23, and determines whether or not the vehicle needs to be stopped. When the object is a pedestrian crossing, the condition for determining whether or not to stop is "stop if there is an object around the pedestrian crossing, and stop is unnecessary if there is no object". Therefore, the control unit 26 determines whether or not there is an object around the pedestrian crossing corresponding to the detected stop line by image analysis of the captured image of the camera 23, and determines whether or not the vehicle needs to be stopped.

Further, when there is no object, the condition for determining whether or not the vehicle needs to be stopped is "always stop", so the control unit 26 determines that the vehicle needs to be stopped. Further, when the object is a right turn lane, the stop necessity determination condition is "stop if there is an oncoming vehicle, stop is not necessary if there is no oncoming vehicle". Therefore, the control unit 26 determines whether or not an oncoming vehicle is coming by image analysis of the captured image of the camera 23, and determines whether or not the vehicle needs to be stopped.

When it is determined that the vehicle does not need to be stopped (step S14: No), the process ends. On the other hand, when it is determined that the vehicle needs to be stopped (step S14: Yes), the control unit 26 instructs the driver to stop by displaying on the display unit 27 or outputting a voice message by the voice output unit 28 (step S14: Yes). Step S15). Then, the process ends.

As described above, in this embodiment, by referring to the stop line data and determining the conditions related to the object associated with each stop line, it is determined whether or not it is necessary to stop the vehicle at the stop line, and the vehicle is operated. Can be presented to a person.

[Modification example]
(Modification 1)
In the above embodiment, as shown in FIG. 4, only the object is stored in the stop line data. Therefore, the driving support device 20 side stores the stop necessity determination condition for the object and makes the determination. Instead, the stop necessity determination condition itself regarding the object may be included in the stop line data. FIG. 9 shows an example of stop line data including a stop necessity determination condition. By doing so, the operation support device 20 can easily acquire the corresponding stop necessity determination condition based on the stop line ID and determine the stop necessity.

(Modification 2)
In the above embodiment, the map data including the stop line data is used by the driving support device mounted on the vehicle, but instead, it may be used for automatic driving by the autonomous driving vehicle. When it is determined whether or not the vehicle needs to be stopped (step S14) in the flowchart of the driving support process of FIG. 8 when it is used for automatic driving, when it is determined that the vehicle does not need to be stopped (step S14: No). The driving support device outputs, for example, a signal indicating that the vehicle does not need to be stopped or a signal indicating that the vehicle is running to a control unit that controls the automatic driving of the autonomous driving vehicle. On the other hand, when it is determined that the vehicle needs to be stopped (step S14: Yes), the driving support device outputs a signal indicating the stop of the vehicle to, for example, a control unit that controls the automatic driving of the autonomous driving vehicle.

3 Vehicle 10 Server 11 Road Link DB
12 lane link DB
13 Stop line DB
20 Driving support device

Claims (7)

A storage unit that stores map data,
A transmission unit that transmits the map data to the vehicle,
Equipped with
The map data includes lane link data relating to the lane of the road and stop line data relating to the stop line.
The stop line data includes the stop line data associated with the right turn lane.
The stop line data associated with the right turn lane is a transmission device including the position information of the stop line of the right turn lane in the intersection and the lane link corresponding to the stop line . The acquisition unit that acquires map data, and
A detector that detects a stop line on a moving road,
With reference to the stop line data , a determination unit for determining whether or not the vehicle should stop at the stop line, and
An output unit that outputs the judgment result and
Equipped with
The map data includes lane link data relating to the lane of the road and stop line data relating to the stop line.
The stop line data includes the stop line data associated with the right turn lane.
The stop line data associated with the right turn lane is a driving support device including the position information of the stop line of the right turn lane in the intersection and the lane link corresponding to the stop line . When the detection unit detects the stop line of the right turn lane in the intersection, the determination unit states that the vehicle should stop if there is an oncoming vehicle, and that the vehicle does not need to stop if there is no oncoming vehicle. The driving support device according to claim 2. A transmission method performed by a transmitter,
The acquisition process of acquiring the map data from the storage unit that stores the map data, and
A transmission process for transmitting the acquired map data to the vehicle, and
Equipped with
The map data includes lane link data relating to the lane of the road and stop line data relating to the stop line.
The stop line data includes the stop line data associated with the right turn lane.
The stop line data associated with the right turn lane is a transmission method including the position information of the stop line of the right turn lane in the intersection and the lane link corresponding to the stop line. It is a driving support method executed by a driving support device.
The acquisition process to acquire map data and
A detection process that detects a stop line on a moving road,
With reference to the stop line data, a determination step of determining whether or not the vehicle should stop at the stop line, and
The output process that outputs the judgment result and
Equipped with
The map data includes lane link data relating to the lane of the road and stop line data relating to the stop line.
The stop line data includes the stop line data associated with the right turn lane.
The stop line data associated with the right turn lane is a driving support method including the position information of the stop line of the right turn lane in the intersection and the lane link corresponding to the stop line. A program run by a computer
The acquisition process of acquiring the map data from the storage unit that stores the map data, and
A transmission process for transmitting the acquired map data to the vehicle, and
To the computer to execute
The map data includes lane link data relating to the lane of the road and stop line data relating to the stop line.
The stop line data includes the stop line data associated with the right turn lane.
The stop line data associated with the right turn lane is a program including the position information of the stop line of the right turn lane in the intersection and the lane link corresponding to the stop line. A program run by a computer
The acquisition process to acquire map data and
A detection process that detects a stop line on a moving road,
With reference to the stop line data, a determination step of determining whether or not the vehicle should stop at the stop line, and
The output process that outputs the judgment result and
To the computer to execute
The map data includes lane link data relating to the lane of the road and stop line data relating to the stop line.
The stop line data includes the stop line data associated with the right turn lane.
The stop line data associated with the right turn lane is a program including the position information of the stop line of the right turn lane in the intersection and the lane link corresponding to the stop line.

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