JP7053275B2 - Driving support device and data structure - Google Patents

Description

The present disclosure relates to processing equipment, programs and / or data.

In Patent Document 1, a roundabout specifying unit that identifies a roundabout existing on the guide route, a current position acquisition unit that acquires the current position of the vehicle, and a vehicle deviating from the guide route in the roundabout. A navigation device including a deviation detection unit for detecting a deviation from the guide route and a display control unit for controlling not to update the display of the guide route when a deviation from the guide route is detected is disclosed.

Japanese Unexamined Patent Publication No. 2016-138866

It is an object of the present disclosure to provide a driving support device and a data structure effective for appropriate driving support.

The driving support device according to one aspect of the present disclosure includes data on the first ring lane at a round-about intersection, data on the second ring lane inside the first ring lane, and data from the second ring lane to the first ring. Data retention that stores transition guidance data that regulates the transition route to the lane, including information on the transition start position in the second annular lane and the transition end position in the first annular lane , and lane network information including. Based on the section, data on the first and second loop lanes, and transition guidance data that includes information about the transition start position in the second loop lane and the transition end position in the first loop lane. , A traveling lane setting unit for setting a planned traveling lane in an intersection is provided.

When the driving lane setting unit selects either the data of the first ring lane or the second ring lane as the data of the approach destination from the approach position of the vehicle to the intersection, the exit position from the intersection is far from the approach position. It is configured to increase the priority of the data in the second ring lane accordingly.

The lane network information further includes data on prohibited positions in the first loop lane and data on the lanes of the road connecting to the intersection, and the driving lane setting unit should drive before reaching the approach position of the vehicle to the intersection. The road lane data is configured to be selected according to the prohibited position and the exit destination from the intersection.

The program according to one aspect of the present disclosure is a program for realizing a reference function in which a control unit having a travel support function for supporting the travel of a vehicle refers to map data stored in a storage unit, and the control unit realizes a reference function. The data includes data on the first ring lane at a round-about intersection, data on the second ring lane inside the first ring lane, and a transition that regulates the transition route from the second ring lane to the first ring lane. The guidance data includes data including information on the position of the transition start in the second ring lane and the position of the transition end in the first ring lane , and the reference function is the data of the first ring lane in the control unit, the second. The driving support function includes a function to refer to the data of the circular lane and the transition guidance data, and the driving support function sets the planned driving lane in the intersection based on the data of the first annular lane and the second annular lane and the transition guidance data. Includes features.

It is a schematic diagram which shows the structure of a driving support system. It is a schematic diagram which shows the content of the map data. It is a table exemplifying the contents of the lane section data. It is a table exemplifying the contents of attribute information. It is a schematic diagram illustrating a roundabout type intersection and an intersection data set. It is a hardware configuration diagram of a driving support device and a server. It is a flowchart which exemplifies the setting procedure of the planned driving lane. It is a flowchart which illustrates the recovery processing procedure. It is a schematic diagram which shows the modification of the intersection data set. It is a table which shows the transformation example of the transition guidance data. It is a schematic diagram which shows the other modification of the intersection data set.

Hereinafter, embodiments will be described in detail with reference to the drawings. In the description, the same elements or elements having the same function are designated by the same reference numerals, and duplicate description will be omitted.

[Driving support system]
The driving support system 1 shown in FIG. 1 is a system that executes automatic driving of the vehicle 2 as an example of driving support of the vehicle 2 (for example, an automobile). The driving support system 1 includes a driving support device 100 mounted on the vehicle 2 and a server 200 connected to the driving support device 100 via a network line.

For example, the server 200 has a map database 211. The map database 211 stores the map data 220 for driving support. As shown in FIG. 2, the map data 220 includes the logical network information 230 and the lane network information 240.

The logical network information 230 is information used for route search to a destination. The logical network information 230 is information composed of a plurality of nodes 231 associated with a predetermined point and a link 232 connecting the nodes 231 to each other, and the route indicated by the series of nodes 231 and the link 232 is the road 3. It corresponds to. In the following description, a route at the logical network level (a route indicated by a series of nodes 231 and a link 232) is referred to as a "logical route". The lane network information 240 is information in which the logical route is subdivided into the lane level of the road, and includes the data of the lane of the road. For example, the lane network information 240 is defined as lane data for each of a plurality of lane sections (hereinafter referred to as "lane section data 250") connected along each lane 3a and 3b and lane section data 250. Includes lane attribute information 260. The lane network information 240 is associated with the logical network information 230.

As illustrated in FIG. 3, the lane section data 250 includes a lane ID, a coordinate point sequence, an approach side lane ID, an exit side lane ID, a lane length, and the like. The lane ID is an ID unique to the lane section. The coordinate point sequence is a data string in which the coordinate data of the points constituting the lane section are arranged in order, and indicates a line along the lane. The approaching lane ID is an ID of another lane section connected to the start point of the lane section. The exit side lane ID is an ID of another lane section connected to the end point of the lane section. The lane length is the length from the start point to the end point of the lane section.

As illustrated in FIG. 4, the lane attribute information 260 includes a lane ID, a lane width, a total number of lanes, a lane number, a left lane ID, a right lane ID, and lane change information. The lane ID is an ID of a lane section that is the target of the attribute information. The lane width is a numerical value indicating the width of the lane. The total number of lanes is the total number of lanes heading in the same direction on the same road. The lane number is a value indicating which lane the lane section belongs to from the left side or the right side. The left lane ID is an ID of another lane section located on the left side of the lane section. The right lane ID is an ID of another lane section located on the right side of the lane section. The lane change information indicates whether or not the lane can be changed to the left side and the right side respectively.

Here, the lane network information 240 further includes a roundabout-type intersection data set (hereinafter, referred to as “intersection data set 300”). FIG. 5 is a schematic diagram illustrating a roundabout type intersection and an intersection data set. The roundabout-type intersection 5 illustrated in FIG. 5 is provided at the intersection of four roads 31, 32, 33, and 34.

Each of the roads 31, 32, 33, and 34 has a lane for entering the intersection 5 (hereinafter referred to as "entrance lane") and a lane for exiting the intersection 5 (hereinafter referred to as "exit lane"). And include. Roads 31, 32, 33, and 34 are so-called left-hand driving roads, and the lane on the left side (hereinafter, simply referred to as "left side") toward the intersection 5 is the approach lane, and the right side toward the intersection 5. The lane (hereinafter referred to simply as the "right side") is the exit lane. For example, the road 31 includes approach lanes 31a and 31b and exit lanes 31c and 31d. The approach lanes 31a and 31b and the exit lanes 31c and 31d are arranged in this order from the left side to the right side of the road 31 (in the case of traveling on the right side, from the right side to the left side). Road 32 also includes approach lanes 32a and 32b and exit lanes 32c and 32d. The approach lanes 32a and 32b and the exit lanes 32c and 32d are arranged in this order from the left side to the right side of the road 32. Road 33 also includes approach lanes 33a and 33b and exit lanes 33c and 33d. The approach lanes 33a and 33b and the exit lanes 33c and 33d are arranged in this order from the left side to the right side of the road 33. Road 34 also includes approach lanes 34a and 34b and exit lanes 34c and 34d. The approach lanes 34a and 34b and the exit lanes 34c and 34d are arranged in this order from the left side to the right side of the road 34.

The intersection 5 includes a first ring road 51 that intersects all of the roads 31, 32, 33, and 34, and a second ring road 52 inside the first ring road 51. The traveling direction in the first ring lane 51 and the second ring lane 52 is limited to clockwise when viewed from above (counterclockwise in the case of traveling on the right side). At the intersection 5, the lane change from the second ring lane 52 to the first ring lane 51 is permitted, while the lane change from the first ring lane 51 to the second ring lane 52 is not permitted. Further, the first ring road 51 is provided with two traveling prohibition positions 53 and 54. The traveling prohibition position 53 is provided between the approach lanes 31a and 31b and the exit lanes 31c and 31d, and the travel prohibition position 54 is provided between the approach lanes 33a and 33b and the exit lanes 33c and 33d.

According to the traveling rule in the intersection 5 described above, the approach lane 31a of the road 31 is designated for going straight (exiting the road 33) and turning left (exiting the road 32). The approach lane 31b of the road 31 is designated for going straight and turning right (exiting the road 34). The approach lane 32a of the road 32 is designated for a left turn (exit to the road 33). The approach lane 32b of the road 32 is designated for going straight (exiting the road 34) and turning right (exiting the road 31). The approach lane 33a of the road 33 is designated for going straight (exiting the road 31) and turning left (exiting the road 34). The approach lane 33b of the road 33 is designated for going straight and turning right (exiting the road 32). The approach lane 34a of the road 34 is designated for a left turn (exit to the road 31). The approach lane 34b of the road 34 is designated for going straight (exiting the road 32) and turning right (exiting the road 33). These driving rules are set by the Road Traffic Act and the like.

The intersection data set 300 includes the first ring road data 310, the second ring road data 320, the transition guidance data 330, the first approach route data 341a, 342a, 343a, 344a, and the second approach route data 341b, 342b. , 343b, 344b and exit route data 341c, 342c, 343c, 344c, 341d, 342d, 343d, 344d.

The first ring road data 310 is the data of the first ring road 51. For example, the first ring lane data 310 includes data indicating a line along the first ring lane 51 in a three-dimensional coordinate space. The line of the first ring lane data 310 may be along the first ring lane 51 and may not necessarily be closed in a ring. The second ring lane data 320 is the data of the second ring lane 52. For example, the second ring lane data 320 includes data indicating a line along the second ring lane 52 in the three-dimensional coordinate space. The transition guidance data 330 is data that regulates the transition route from the second annular lane 52 to the first annular lane 51. For example, the transition guidance data 330 includes data that specifies a transition route from the second annular lane 52 to the first annular lane 51 in the three-dimensional coordinate space.

The first approach route data 341a, 342a, 343a, 344a are the data of the first approach route which is the approach route from the roads 31, 32, 33, 34 connecting to the intersection 5 to the first ring road 51. The second approach route data 341b, 342b, 343b, 344b is the data of the second approach route which is the approach route from the roads 31, 32, 33, 34 to the second circular lane 52. The exit route data 341c, 342c, 343c, 344c, 341d, 342d, 343d, 344d are the data of the exit route from the first ring road 51 to the roads 31, 32, 33, 34.

The first approach route data 341a is data of an approach route from the approach lane 31a to the first ring road 51. For example, the first approach route data 341a includes data for designating an approach route from the approach lane 31a to the first ring road 51 in the three-dimensional coordinate space. More specifically, the first approach route data 341a includes data indicating a line connecting the line of the lane section data 251a of the approach lane 31a and the line of the first circular lane data 310.

The second approach route data 341b is the data of the approach route from the approach lane 31b to the second ring lane 52. For example, the second approach route data 341b includes data for designating an approach route from the approach lane 31b to the second ring lane 52 in the three-dimensional coordinate space. More specifically, the second approach route data 341b includes data indicating a line connecting the line of the lane section data 251b of the approach lane 31b and the line of the second ring lane data 320.

The exit route data 341c is data of an exit route from the first ring road 51 to the exit lane 31c. For example, the exit route data 341c includes data for designating an exit route from the first circular lane 51 to the exit lane 31c in the three-dimensional coordinate space. More specifically, the exit route data 341c includes data indicating a line connecting the line of the first circular lane data 310 and the line of the lane section data 251c of the exit lane 31c.

The exit route data 341d is data of an exit route from the first ring road 51 to the exit lane 31d. For example, the exit route data 341d includes data for designating an exit route from the first circular lane 51 to the exit lane 31d in the three-dimensional coordinate space. More specifically, the exit route data 341d includes data indicating a line connecting the line of the first circular lane data 310 and the line of the lane section data 251d of the exit lane 31d.

The first approach route data 342a is the data of the approach route from the approach lane 32a to the first ring road 51. For example, the first approach route data 342a includes data for designating an approach route from the approach lane 32a to the first ring road 51 in the three-dimensional coordinate space. More specifically, the first approach route data 342a includes data indicating a line connecting the line of the lane section data 252a of the approach lane 32a and the line of the first circular lane data 310.

The second approach route data 342b is the data of the approach route from the approach lane 32b to the second ring lane 52. For example, the second approach route data 342b includes data for designating an approach route from the approach lane 32b to the second ring lane 52 in the three-dimensional coordinate space. More specifically, the second approach route data 342b includes data indicating a line connecting the line of the lane section data 252b of the approach lane 32b and the line of the second ring lane data 320.

The exit route data 342c is data of an exit route from the first ring road 51 to the exit lane 32c. For example, the exit route data 342c includes data for designating an exit route from the first circular lane 51 to the exit lane 32c in the three-dimensional coordinate space. More specifically, the exit route data 342c includes data indicating a line connecting the line of the first circular lane data 310 and the line of the lane section data 252c of the exit lane 32c.

The exit route data 342d is data of an exit route from the first ring road 51 to the exit lane 32d. For example, the exit route data 342d includes data for designating an exit route from the first circular lane 51 to the exit lane 32d in the three-dimensional coordinate space. More specifically, the exit route data 342d includes data indicating a line connecting the line of the first circular lane data 310 and the line of the lane section data 252d of the exit lane 32d.

The first approach route data 343a is data of the approach route from the approach lane 33a to the first ring road 51. For example, the first approach route data 343a includes data for designating an approach route from the approach lane 33a to the first ring road 51 in the three-dimensional coordinate space. More specifically, the first approach route data 343a includes data indicating a line connecting the line of the lane section data 253a of the approach lane 33a and the line of the first circular lane data 310.

The second approach route data 343b is the data of the approach route from the approach lane 33b to the second ring lane 52. For example, the second approach route data 343b includes data for designating an approach route from the approach lane 33b to the second ring lane 52 in the three-dimensional coordinate space. More specifically, the second approach route data 343b includes data indicating a line connecting the line of the lane section data 253b of the approach lane 33b and the line of the second ring lane data 320.

The exit route data 343c is data of an exit route from the first ring road 51 to the exit lane 33c. For example, the exit route data 343c includes data for designating an exit route from the first circular lane 51 to the exit lane 33c in the three-dimensional coordinate space. More specifically, the exit route data 343c includes data indicating a line connecting the line of the first circular lane data 310 and the line of the lane section data 253c of the exit lane 33c.

The exit route data 343d is data of an exit route from the first ring road 51 to the exit lane 33d. For example, the exit route data 343d includes data for designating an exit route from the first circular lane 51 to the exit lane 33d in the three-dimensional coordinate space. More specifically, the exit route data 343d includes data indicating a line connecting the line of the first circular lane data 310 and the line of the lane section data 253d of the exit lane 33d.

The first approach route data 344a is the data of the approach route from the approach lane 34a to the first ring road 51. For example, the first approach route data 344a includes data for designating an approach route from the approach lane 34a to the first ring road 51 in the three-dimensional coordinate space. More specifically, the first approach route data 344a includes data indicating a line connecting the line of the lane section data 254a of the approach lane 34a and the line of the first circular lane data 310.

The second approach route data 344b is the data of the approach route from the approach lane 34b to the second ring lane 52. For example, the second approach route data 344b includes data for designating an approach route from the approach lane 34b to the second ring lane 52 in the three-dimensional coordinate space. More specifically, the second approach route data 344b includes data indicating a line connecting the line of the lane section data 254b of the approach lane 34b and the line of the second ring lane data 320.

The exit route data 344c is data of an exit route from the first ring road 51 to the exit lane 34c. For example, the exit route data 344c includes data for designating an exit route from the first circular lane 51 to the exit lane 34c in the three-dimensional coordinate space. More specifically, the exit route data 344c includes data indicating a line connecting the line of the first circular lane data 310 and the line of the lane section data 254c of the exit lane 34c.

The exit route data 344d is data of an exit route from the first ring road 51 to the exit lane 34d. For example, the exit route data 344d includes data for designating an exit route from the first circular lane 51 to the exit lane 34d in the three-dimensional coordinate space. More specifically, the exit route data 344d includes data indicating a line connecting the line of the first circular lane data 310 and the line of the lane section data 254d of the exit lane 34d.

Here, the first circular lane data 310 may include data of a plurality of lane sections divided by at least the end points of the plurality of first approach routes. For example, the first ring road data 310 has six lane section data 311, 312, 313, 314, 315, 316 divided by the end points of the four first approach routes and the start points of the four first exit routes. including.

The lane section data 311 is lane section data classified by the end point ep1 of the line of the first approach route data 341a and the start point sp22 of the line of the exit route data 342c and 342d. The lane section data 312 is lane section data divided by the start point sp22 and the end point ep2 of the line of the first approach route data 342a. The lane section data 313 is lane section data classified by the end point ep2 and the start point sp23 of the lines of the exit route data 343c and 343d. The lane section data 314 is lane section data classified by the end point ep3 of the line of the first approach route data 343a and the start point sp24 of the line of the exit route data 344c and 344d. The lane section data 315 is the data of the lane section divided by the start point sp24 and the end point ep4 of the line of the first approach route data 344a. The lane section data 316 is lane section data classified by the end point ep4 and the start point sp21 of the lines of the exit route data 341c and 341d.

The first ring road data 310 may include information regarding the above-mentioned traveling prohibition positions 53 and 54. For example, the first circular lane data 310 does not include lane section data between the start point sp21 and the end point ep1 and between the start point sp23 and the end point ep3. Therefore, according to the first ring road data 310, traveling at the traveling prohibited positions 53 and 54 is prohibited. That is, the first ring road data 310 includes information regarding the traveling prohibited positions 53 and 54.

The second circular lane data 320 may include data of a plurality of lane sections divided by the end points of at least a plurality of second approach routes. For example, the second circular lane data 320 includes four lane section data 3211, 322, 323, 324 divided by the end points of four second approach routes.

The lane section data 321 is lane section data divided by the end point ep11 of the line of the second approach route data 341b and the end point ep12 of the line of the second approach route data 342b. The lane section data 322 is lane section data divided by the end point ep12 and the end point ep13 of the line of the second approach route data 343b. The lane section data 323 is lane section data divided by the end point ep13 and the end point ep14 of the line of the second approach route data 344b. The lane section data 324 is lane section data classified by the end point ep14 and the end point ep11.

The lane section data 311 to 316 include a coordinate point sequence indicating a line along the first ring road 51. The lane section data 321 to 324 include a coordinate point sequence indicating a line along the second circular lane 52. For example, the lane section data 311 to 316 and the lane section data 321 to 324 may include the same configuration content as the configuration content of the lane section data 250 exemplified in FIG.

The intersection data set 300 may include lane attribute information similar to the lane attribute information 260 exemplified in FIG. 4 for each of the lane section data 311 to 316 and the lane section data 321 to 324. In the lane attribute information of the lane section data 311 to 316 and the lane section data 321 to 324, at least the lane change information can be omitted. The intersection data set 300 may not include lane attribute information for lane section data 311 to 316 and lane section data 321 to 324.

The transition guidance data 330 and the second approach route data 341b, 342b, 343b, 344b may be set so that the transition route from the second ring lane 52 to the first ring lane 51 intersects the second approach route. .. For example, the transition guidance data 330 is set so as to associate any lane section of the second ring lane 52 with any lane section of the first ring lane 51 as a start section and an end section of the lane change. There is. Specifically, the transition guidance data 330 includes transition route data 331, 332, 333, 334.

The transition route data 331 associates the lane section indicated by the lane section data 324 with the lane section indicated by the lane section data 311 as the start section and the end section. That is, the transition route data 331 is set so that the start point of the transition route from the second annular lane 52 to the first annular lane 51 is located in the start section, and the end point of the transition route is located in the end section. ing. For example, the transition route data 331 is data of the transition route from the start section to the end section, and includes data indicating the transition route in the three-dimensional space. More specifically, the transition route data 331 includes data indicating a line connecting the line of the lane section data 324 and the line of the lane section data 311. The line of the transition route data 331 intersects the line of the second approach route data 341b.

In other words, the transition route data 331 is set to connect the start point sp31 arranged on the line of the lane section data 324 and the end point ep32 arranged on the line of the lane section data 311. The start point sp31 is arranged on the upstream side in the traveling direction from the end point ep11, and the end point ep32 is arranged on the downstream side in the traveling direction from the end point ep1. The lane section data 324 is divided into lane section data 324a (upstream side in the traveling direction) and lane section data 324b (downstream side in the traveling direction) by the start point sp31, and the lane section data 311 is divided into lane section data 311a (travel direction) by the end point ep32. It can be considered that the data is divided into (upstream side) and lane section data 311b (downstream side in the traveling direction). Even if this is considered, the transition guidance data 330 uses any lane section of the second loop lane 52 and any lane section of the first loop lane 51 as the start section and the end section of the lane change. There is no change in being set to associate. For example, the transition route data 331 connects the lane section data 324a, 324b boundary node (start point sp31) and the lane section data 311a, 311b boundary node (end point ep32), thereby lane section data 324a, 324b. And the lane section data 311a and 311b are associated with each other.

The transition route data 332 associates the lane section indicated by the lane section data 321 with the lane section indicated by the lane section data 313 as the start section and the end section. For example, the transition route data 332 is data of the transition route from the start section to the end section, and includes data indicating the transition route in the three-dimensional space. More specifically, the transition route data 332 includes data indicating a line connecting the line of the lane section data 321 and the line of the lane section data 313. The line of the transition route data 332 intersects the line of the second approach route data 342b.

The transition route data 333 associates the lane section indicated by the lane section data 322 with the lane section indicated by the lane section data 314 as the start section and the end section. For example, the transition route data 333 is data of the transition route from the start section to the end section, and includes data indicating the transition route in the three-dimensional space. More specifically, the transition route data 333 includes data indicating a line connecting the line of the lane section data 322 and the line of the lane section data 314. The line of the transition route data 333 intersects the line of the second approach route data 343b.

The transition route data 334 associates the lane section indicated by the lane section data 323 with the lane section indicated by the lane section data 316 as the start section and the end section. For example, the transition route data 334 is data of the transition route from the start section to the end section, and includes data indicating the transition route in the three-dimensional space. More specifically, the transition route data 334 includes data indicating a line connecting the line of the lane section data 323 and the line of the lane section data 316. The line of the transition route data 334 intersects the line of the second approach route data 344b.

The transition route data 331 to 334 include a coordinate point sequence indicating a line along the transition route. For example, the transition route data 331 to 334 may include the same configuration content as the configuration content of the lane section data 250 exemplified in FIG. The density of the coordinate point sequence of the transition route data 331 to 334 may be lower than the density of the coordinate point sequence of the lane section data 311 to 316 and the lane section data 321 to 324. For example, the coordinate point sequence of the transition path data 331 to 334 may be composed of only two points, a start point and an end point.

The intersection data set 300 does not include lane attribute information for the transition route data 331 to 334, but may include lane attribute information for the transition route data 331 to 334, if necessary. The intersection data set 300 in FIG. 5 is an example, and can be appropriately changed according to the configuration of the intersection 5. For example, when the intersection 5 includes three or more ring lanes, the intersection data set 300 may include three or more ring lane data.

Returning to FIG. 1, the vehicle 2 includes a user interface 21, a GPS receiver 22, an in-vehicle camera 23, a radar 24, an accelerator actuator 25, a brake actuator 26, a steering actuator 27, and a driving support device 100. Have.

The user interface 21 includes an input unit and a display unit (not shown). The input unit is, for example, a keypad or the like, and acquires information input by the user. The display unit is, for example, a liquid crystal monitor or the like, and displays information to the user. The input unit and the display unit may be integrated as in the so-called touch panel.

The GPS receiver 22 receives a satellite signal for GPS (Global Positioning System). The vehicle-mounted camera 23 acquires image information around the vehicle 2. The radar 24 acquires information on objects around the vehicle 2. The accelerator actuator 25 adjusts the opening degree of the accelerator of the vehicle 2 by using, for example, an electric motor or the like as a power source. The brake actuator 26 adjusts the operating state of the brake of the vehicle 2 by using, for example, an electric motor or the like as a power source. The steering actuator 27 adjusts the steering angle of the vehicle 2 by using, for example, an electric motor as a power source.

The driving support device 100 executes driving support for the vehicle 2. The driving support is provided within the intersection 5 based on at least the entry position to the intersection 5, the exit position from the intersection 5, the first ring lane data 310 and the second ring lane data 320, and the transition guidance data 330. Includes setting the planned driving lane in. For example, the driving support device 100 has a destination information acquisition unit 111, a position information acquisition unit 112, another vehicle information acquisition unit 113, and a map information acquisition unit as a functional configuration (hereinafter referred to as “functional module”). It has 114, a map data holding unit 115, a route search unit 116, a traveling lane setting unit 117, and a traveling control unit 118.

The destination information acquisition unit 111 acquires the destination information of the vehicle 2 based on the input to the user interface 21. The position information acquisition unit 112 acquires the current position information of the vehicle 2 from the GPS receiver 22. The other vehicle information acquisition unit 113 acquires information on the traveling state of vehicles around the vehicle 2 based on the information from the vehicle-mounted camera 23 and the radar 24. The information regarding the traveling state includes, for example, information on the current position and speed of surrounding vehicles.

The map information acquisition unit 114 acquires the map data 220 of the planned travel range of the vehicle 2 from the map database 211. For example, the map information acquisition unit 114 acquires map data 220 in a predetermined range including the current position of the vehicle 2 and the position of the destination from the map database 211. The map data holding unit 115 holds the map data 220 acquired by the map information acquisition unit 114. The route search unit 116 contains the logical network information 230 stored in the map data holding unit 115, the location information of the destination acquired by the destination information acquisition unit 111, and the current position acquired by the location information acquisition unit 112. Based on the information, the planned travel route of the vehicle 2 from the current position to the destination is derived.

The traveling lane setting unit 117 sets the planned traveling lane of the vehicle 2 so as to enable traveling along the planned traveling route set by the route search unit 116. For example, the traveling lane setting unit 117 is inside the intersection based on the approach position to the intersection 5, the exit position from the intersection 5, the first ring lane data 310 and the second ring lane data 320, and the transition guidance data 330. Set the planned driving lane in.

When the traveling lane setting unit 117 selects either the first ring lane data 310 or the second ring lane data 320 as the data of the approach destination from the approach position, the exit position is moved away from the approach position. It may be configured to increase the priority of the second ring lane data 320. For example, the traveling lane setting unit 117 selects the first circular lane data 310 as the data of the approach destination from the approach position when the approach position and the exit position are adjacent to each other along the traveling direction in the intersection 5. It may be configured in. When the approach position and the exit position are not adjacent to each other along the traveling direction in the intersection 5, the traveling lane setting unit 117 selects the second circular lane data 320 as the data of the approach destination from the approach position. It may be configured in. When the traveling lane setting unit 117 has traveling prohibited positions 53 and 54 between the approaching position and the exiting position along the traveling direction in the intersection 5, the second circular lane data is used as the data of the approaching destination from the approaching position. It may be configured to select 320.

Further, the traveling lane setting unit 117 is configured to select the data of the road lane to be traveled before reaching the approach position according to the approach destination from the approach position, for example, the vehicle 2 is the road 31. When entering the intersection 5 from, the traveling lane setting unit 117 determines which of the lane section data 251a and 251b, depending on whether the approach destination from the road 31 is the first ring lane 51 or the second ring lane 52. It may be configured to select. Specifically, the traveling lane setting unit 117 selects the lane section data 251a when the approach destination from the road 31 is the first ring lane 51, and the approach destination from the road 31 is the second ring lane 52. In that case, the lane section data 251b is selected.

The traveling control unit 118 avoids a collision with a peripheral vehicle based on the current position information acquired by the position information acquisition unit 112 and the information on the traveling state of the peripheral vehicle acquired by the other vehicle information acquisition unit 113. The accelerator actuator 25, the brake actuator 26, and the steering actuator 27 are controlled so that the vehicle 2 travels along the planned traveling lane set by the traveling lane setting unit 117.

The above-mentioned driving support device 100 is composed of one or a plurality of computers. For example, the driving support device 100 has a circuit 190 shown in FIG. The circuit 190 has one or more processors 191 and a memory 192, a storage 193, a communication port 194, and an input / output port 195. The storage 193 has a computer-readable recording medium, such as a hard disk. The storage 193 includes a storage area of a program for constituting each of the above-mentioned functional modules, and a storage area allocated to the above-mentioned map data holding unit 115. The recording medium may be a removable medium such as a non-volatile semiconductor memory, a magnetic disk, or an optical disk. The memory 192 temporarily stores the program loaded from the storage 193 and the calculation result by the processor 191. The processor 191 constitutes each of the above-mentioned functional modules by executing the above program in cooperation with the memory 192. The communication port 194 is connected to the network line NW by a wireless communication method, and performs data communication with the server 200 via the network line NW in accordance with a command from the processor 191. The input / output port 195 inputs / outputs an electric signal to / from the user interface 21, the GPS receiver 22, the in-vehicle camera 23, the radar 24, the accelerator actuator 25, the brake actuator 26, and the steering actuator 27 in accordance with a command from the processor 191. I do.

The server 200 is composed of one or a plurality of computers. For example, the server 200 has the circuit 290 shown in FIG. The circuit 290 has one or more processors 291 and a memory 292, a storage 293, and a communication port 294. The storage 293 has a computer-readable recording medium, such as a hard disk. The storage 293 includes a storage area of a program for configuring each of the above-mentioned functional modules, and a storage area allocated to the above-mentioned map database 211. The recording medium may be a removable medium such as a non-volatile semiconductor memory, a magnetic disk, or an optical disk. The memory 292 temporarily stores the program loaded from the storage 293 and the calculation result by the processor 291. The processor 291 constitutes each of the above-mentioned functional modules by executing the above program in cooperation with the memory 292. The communication port 294 is connected to the network line NW by a wired or wireless communication method, and performs data communication with the communication port 194 of the operation support device 100 via the network line NW in accordance with a command from the processor 291. ..

[Driving support procedure]
Subsequently, as an example of the driving support method, a procedure for setting a planned traveling lane executed by the driving support device 100 will be illustrated. FIG. 7 is a flowchart showing a procedure for setting a planned traveling lane executed by the driving support device 100 until the vehicle 2 scheduled to enter the intersection 5 exits the intersection 5.

As shown in FIG. 7, the driving support device 100 first executes step S01. In step S01, the traveling lane setting unit 117 confirms whether or not the exit position (scheduled exit position) is adjacent to the approach position (scheduled approach position) along the traveling direction in the intersection 5.

If it is determined in step S01 that the exit position is not adjacent to the approach position, the driving support device 100 executes step S02. In step S02, the traveling lane setting unit 117 confirms whether or not the vehicle 2 can reach the exit position when entering the first ring road 51. For example, the traveling lane setting unit 117 determines that it is impossible to reach the exit position when the traveling prohibited positions 53 and 54 exist between the current position of the vehicle 2 and the exit position, and determines that the vehicle 2 cannot reach the exit position. If the traveling prohibited positions 53 and 54 do not exist between the current position and the exit position, it is determined that the exit position can be reached.

If it is determined in step S01 that the exit position is adjacent to the approach position, or if it is determined in step S02 that the exit position can be reached, the driving support device 100 executes step S03. In step S03, the traveling lane setting unit 117 sets the lane section data for approaching to the first circular lane 51 as the data of the road lane to be traveled before reaching the approaching position. For example, when the vehicle 2 is scheduled to enter the intersection 5 from the road 31, the traveling lane setting unit 117 selects the lane section data 251a.

If it is determined in step S02 that the exit position cannot be reached, the driving support device 100 executes step S04. In step S04, the traveling lane setting unit 117 sets the lane section data for approaching to the second circular lane 52 as the data of the road lane to be traveled before reaching the approaching position. For example, when the vehicle 2 is scheduled to enter the intersection 5 from the road 31, the traveling lane setting unit 117 selects the lane section data 251b.

Next, the driving support device 100 executes step S05. In step S05, the traveling lane setting unit 117 sets the transition route from the second ring road 52 to the first ring road 51. For example, the traveling lane setting unit 117 sets a transition route from the second ring road 52 to the first ring road 51 according to the exit position. Specifically, the traveling lane setting unit 117 is set so as to complete the transition to the first ring road 51 between the exit destination road and the road immediately before (entry position side) the road. A transition route from the second ring lane 52 to the first ring lane 51 is set. For example, when a vehicle entering the intersection 5 from the road 31 is exited to the road 33, the traveling lane setting unit 117 completes the transition to the first ring road 51 between the road 33 and the road 32. Select data 332.

After executing steps S01 and S05, the driving support device 100 executes step S06. In step S06, the traveling lane setting unit 117 selects one of the exit lanes on the exit destination road.

Next, the driving support device 100 executes step S07. In step S07, the traveling lane setting unit 117 confirms whether or not the vehicle 2 is traveling in the planned traveling lane. For example, the traveling lane setting unit 117 acquires information indicating whether or not the vehicle 2 is traveling in the planned traveling lane from the traveling control unit 118.

If it is determined in step S07 that the vehicle 2 is not traveling in the planned driving lane, the driving support device 100 executes step S08. In step S08, the traveling lane setting unit 117 executes a recover process for continuously guiding the vehicle 2 to the destination. The specific processing content of step S08 will be described later.

Next, the driving support device 100 executes step S09. If it is determined in step S07 that the vehicle 2 is traveling in the planned driving lane, the driving support device 100 executes step S09 without executing step S08. In step S09, the traveling lane setting unit 117 confirms whether or not the vehicle 2 has reached the exit position. For example, the traveling lane setting unit 117 acquires information indicating whether or not the vehicle 2 has reached the exit position from the traveling control unit 118.

If it is determined in step S09 that the vehicle 2 has not reached the exit position, the driving support device 100 returns the process to step S07. After that, until the vehicle 2 reaches the exit position, confirmation of whether or not the vehicle is traveling in the planned traveling lane and recovery processing when the vehicle deviates from the planned traveling lane are repeated. If it is determined in step S09 that the vehicle 2 has reached the exit position, the driving support device 100 ends the process.

Subsequently, the recovery processing procedure in step S08 will be exemplified. As shown in FIG. 8, the driving support device 100 first executes step S11. In step S11, the traveling lane setting unit 117 confirms whether or not the vehicle 2 is traveling in the second annular lane 52.

If it is determined in step S11 that the vehicle 2 is traveling in the second annular lane 52, the driving support device 100 executes step S12. In step S12, the traveling lane setting unit 117 waits for the vehicle 2 to reach the approach position again (orbit around the intersection 5). When the vehicle 2 reaches the approach position again, the vehicle 2 returns to the planned driving lane.

If it is determined in step S11 that the vehicle 2 is not traveling in the second ring lane 52, the driving support device 100 executes step S13. In step S13, the traveling lane setting unit 117 confirms whether or not the vehicle 2 can reach the exit position. For example, the traveling lane setting unit 117 determines that it is impossible to reach the exit position when the traveling prohibited positions 53 and 54 exist between the current position of the vehicle 2 and the exit position, and determines that the vehicle 2 cannot reach the exit position. If the traveling prohibited positions 53 and 54 do not exist between the current position and the exit position, it is determined that the exit position can be reached.

If it is determined in step S13 that the exit position can be reached, the driving support device 100 executes step S14. In step S14, the traveling lane setting unit 117 changes the planned traveling lane so that the vehicle 2 reaches the exit position along the first ring road 51.

If it is determined in step S13 that the exit position cannot be reached, the driving support device 100 executes steps S15, S16, and S17 in order. In step S15, the traveling lane setting unit 117 changes the exit position so that the vehicle 2 can be reached. In step S16, the traveling lane setting unit 117 changes the planned traveling lane so that the vehicle 2 reaches the exit position after the change along the first ring road 51. In step S17, the route search unit 116 changes the logical route according to the change of the exit position. This completes the recovery process.

[Effect of this embodiment]
As described above, the driving support device 100 includes data 310 of the first circular lane 51 at the roundabout type intersection 5, data 320 of the second circular lane 52 inside the first circular lane 51, and the first. The map data holding unit 115 that stores the lane network information 240 including the transition guidance data 330 that regulates the transition route from the second ring lane 52 to the first ring lane 51, the approach position to the intersection 5, and the approach position from the intersection 5. The traveling lane setting unit 117 that sets the planned traveling lane in the intersection 5 based on the exit position, the data 310 and 320 of the first annular lane 51 and the second annular lane 52, and the transition guidance data 330. Be prepared.

According to this driving support device, even when the roundabout type intersection 5 includes the first ring road 51 and the second ring road 52, the data 310 and 320 of the first ring road 51 and the second ring lane 52 are used. By following the transition guidance data 330, it is possible to set an appropriate planned driving lane within the intersection 5. Therefore, it is effective for appropriate driving support at the roundabout type intersection 5.

The lane network information 240 includes data 341a, 342a, 343a, 344a of the first approach route, which is an approach route from the roads 31, 32, 33, 34 connected to the intersection 5 to the first ring road 51, and the road 31, Further including data of the second approach route 341b, 342b, 343b, 344b which is an approach route from 32, 33, 34 to the second ring road 52, transition guidance data 330 and data of the second approach route 341b, 342b, The 343b and 344b may be set so that the transition route from the second annular lane 52 to the first annular lane 51 intersects the second approach route. If the transition route from the second ring lane 52 to the first ring lane 51 does not intersect the second approach route, a steep lane to the first ring lane 51 after entering the second ring lane 52 from the second approach route. There is a possibility that the driving route to be changed will be set. For example, if the start point of the transition route is located immediately after the end point of the second approach route, the planned driving lane to enter the transition route may be set immediately after passing the second approach route. .. On the other hand, if the second approach route and the transition route intersect, at least it is impossible to set the planned traveling lane to enter the transition route immediately after passing the approach route. Therefore, it is possible to set a more appropriate planned driving lane.

The data 310 of the first circular lane 51 includes data of a plurality of lane sections divided by at least the end points of the plurality of first approach routes, and includes data of the second circular lane 52. 320 includes data 321, 322, 323, 324 of a plurality of lane sections divided by the end points of at least a plurality of second approach routes, and transition guidance data includes any lane section of the second ring lane 52. Any lane section of the first circular lane 51 may be set to be associated with the start section and the end section of the lane change. In this case, the combination of the lane section of the first ring road 51 and the lane section of the second ring road 52 can be changed and the planned traveling lane can be flexibly set while complying with the regulation by the transition guidance data 330.

The transition guidance data 330 may include data on the transition route from the start section to the end section of the lane change. In this case, by designating the transition route from the start section to the end section, it is possible to provide driving support for promoting a lane change on a stable route.

The data 310 of the first ring lane, the data 320 of the second ring lane and the data 330 of the transition route include the coordinate point sequence, and the density of the coordinate point sequence of the data 330 of the transition route is the first ring lane and the second ring lane. It may be lower than the density of the coordinate point sequence of the data 310 and 320 of. In this case, the data capacity of the lane network information 240 can be suppressed.

When the traveling lane setting unit 117 selects data 310 or 320 of either the first ring lane 51 or the second ring lane 52 as the data of the approach destination from the approach position, the exit position is far from the approach position. It may be configured to increase the priority of the data of the second ring road 52 according to the above. In this case, it is possible to set a planned traveling lane in which the first ring road 51 and the second ring road 52 are used more appropriately.

The traveling lane setting unit 117 selects the data of the first circular lane 51 as the data of the approach destination from the approach position when the approach position and the exit position are adjacent to each other along the traveling direction in the intersection 5. It may be configured in. In this case, it is possible to set a planned traveling lane that efficiently leads from the approach position to the exit position.

The data of the first circular lane includes information regarding the prohibited positions 53 and 54 in the first annular lane 51, and the traveling lane setting unit 117 is placed between the approach position and the exit position along the traveling direction in the intersection 5. When there are travel prohibited positions 53 and 54, the data of the second ring road 52 may be selected as the data of the approach destination from the approach position. In this case, it is possible to set a planned traveling lane that leads from the approaching position to the exiting position while avoiding the traveling prohibition positions 53 and 54.

The lane network information 240 further includes data on the lanes of roads 31, 32, 33, and 34 connected to the intersection 5, and the traveling lane setting unit 117 contains data on the road lane to be traveled before reaching the approach position. It may be configured to be selected according to the approach destination from the approach position. In this case, it is possible to set a planned traveling lane in which the first ring road 51 and the second ring road 52 are used more appropriately.

The transition guidance data 330 may include area data indicating a configurable area of the transition route from the start section to the end section of the lane change. In the transition guidance data 330 illustrated in FIG. 9, the transition route data 331, 332, 333, 334 includes the area data 351, 352, 353, 354, respectively.

The area data 351 indicates a settable area of a transition route from the lane section indicated by the lane section data 324 to the lane section indicated by the lane section data 311. The area data 352 indicates a settable area of a transition route from the lane section indicated by the lane section data 321 to the lane section indicated by the lane section data 313. The area data 353 indicates a settable area of a transition route from the lane section indicated by the lane section data 322 to the lane section indicated by the lane section data 314. The area data 354 indicates a settable area of a transition route from the lane section indicated by the lane section data 323 to the lane section indicated by the lane section data 316.

For example, the area data 351, 352, 353, 354 are composed of polygon coordinate point sequences scattered in a plane, as shown in FIG. The link coordinate point sequence in FIG. 10 is a coordinate point sequence indicating a standard transition path. As an example, the link coordinate point sequence is composed of only two points, a start point and an end point.

As described above, when the transition guidance data 330 includes the area data 351, 352, 353, 354, the planned traveling lane can be set more flexibly.

Although the embodiments have been described above, the present invention is not necessarily limited to the above-described embodiments, and various modifications can be made without departing from the gist thereof. For example, the intersection data set 300 may include a plurality of individual lane data set for each combination of the lane section from which the intersection is entered (the lane section before the approach) and the lane section to which the intersection is exited.

FIG. 11 is a schematic diagram illustrating individual lane data when the approaching lanes 31a and 31b of the road 31 are set as the approaching lane section. The intersection data set 300 of FIG. 11 has individual lane data 361, 362, 363, 364 with the approach lane 31a as the entry source lane section, and individual lane data 371, 372 with the approach lane 31b as the entry source lane section. 373,374,375,376 and the like.

The individual lane data 361 is data that defines a traveling lane from the approach lane 31a to the exit lane 32d. The individual lane data 362 is data that defines a traveling lane from the approach lane 31a to the exit lane 32c. The individual lane data 363 is data that defines a traveling lane from the approach lane 31a to the exit lane 33d. The individual lane data 364 is data that defines a traveling lane from the approach lane 31a to the exit lane 33c. The individual lane data 371 is data that defines a traveling lane from the approach lane 31b to the exit lane 33d. The individual lane data 372 is data that defines a traveling lane from the approach lane 31b to the exit lane 33c. The individual lane data 373 is data that defines a traveling lane from the approach lane 31b to the exit lane 34d. The individual lane data 374 is data that defines a traveling lane from the approach lane 31b to the exit lane 34c. The individual lane data 375 is data that defines a traveling lane from the approach lane 31b to the exit lane 31d. The individual lane data 376 is data that defines a traveling lane from the approach lane 31b to the exit lane 31c.

In this case, each of the individual lane data 361 to 364 individually includes the first approach route data, the first circular lane data, and the exit route data, and each of the individual lane data 371 to 376 is the second approach route data and the second. (2) Circular lane data, transition route data, first circular lane data and exit route data are individually included.

The driving support device 100 does not necessarily have to control the accelerator actuator 25, the brake actuator 26, the steering actuator 27, and the like to perform automatic driving of the vehicle 2. For example, the lane change support unit 150 may notify the driver by the user interface 21 whether or not the lane change is necessary and whether or not the lane change is possible, instead of controlling the accelerator actuator 25, the brake actuator 26, and the steering actuator 27. ..

The embodiments described in all or part of the above embodiments include providing a driving support device effective for realizing appropriate driving support related to lane change, improving processing speed, improving processing accuracy, improving usability, and data. Appropriate data, programs, records such as improvement of functions or provision of appropriate functions, provision of other functions or provision of appropriate functions, reduction of data and / or program capacity, miniaturization of devices and / or systems, etc. Providing media, equipment and / or systems, and reducing production / manufacturing costs of data, programs, equipment or systems, facilitating production / manufacturing, shortening production / manufacturing time, etc., data, programs, recording media, equipment and / Or solve any one of the problems of appropriate system production / manufacturing.

5 ... intersection, 31, 32, 33, 34 ... road, 51 ... first ring lane, 52 ... second ring lane, 53, 54 ... prohibited position, 100 ... driving support device, 115 ... map data holding unit (data) Holding unit) 117 ... Driving lane setting unit, 240 ... Lane network information, 310 ... First circular lane data (first circular lane data), 311, 312, 313, 314, 315, 316 ... Multiple first approaches Data of a plurality of lane sections divided by the end points of the route, 321, 322, 323, 324 ... Data of a plurality of lane sections divided by the end points of a plurality of second approach routes, 320 ... Second circular lane data (No. 1) Two-ring lane data), 330 ... Transition guidance data, 341a, 342a, 343a, 344a ... First approach route data (first approach route data), 341b, 342b, 343b, 344b ... Second approach route data (first approach route data) (Ii) Access route data).

Claims (4)

The data of the first ring lane of the round-about type intersection, the data of the second ring lane inside the first ring lane, and the predetermined position of the first ring lane from the predetermined position of the second ring lane. A data holding unit that stores transition guidance data that regulates the transition route to , including information on the position of the transition start in the second circular lane and the position of the transition end in the first circular lane , and lane network information including the data. When,
A driving support device including a traveling lane setting unit for setting a planned traveling lane in the intersection based on the data of the first annular lane and the second annular lane and the transition guidance data. When the traveling lane setting unit selects either the data of the first ring lane or the data of the second ring lane as the data of the entry destination from the entry position of the vehicle to the intersection, the exit position from the intersection. The driving support device according to claim 1, wherein is configured to increase the priority of the data of the second ring road as the distance from the approach position increases. The lane network information further includes data on the prohibited position in the first ring road and data on the lane of the road connected to the intersection.
The traveling lane setting unit is configured to select data on the road lane to be traveled before reaching the approaching position of the vehicle at the intersection, according to the prohibited position and the exit destination from the intersection. The driving support device according to claim 1 or 2. It is a program that makes the control unit realize a reference function of referring to the map data stored in the storage unit to the control unit having the travel support function for supporting the driving of the vehicle.
The map data includes data on the first roundabout at a roundabout, data on the second roundabout inside the first roundabout, and transition from the second roundabout to the first roundabout. Includes transition guidance data that regulates routes , including data containing information about the location of the transition start in the second roundabout and the location of the transition end in the first roundabout .
The reference function includes a function of causing the control unit to refer to the data of the first ring lane, the data of the second ring lane, and the transition guidance data.
The traveling support function is a program including a function of setting a planned traveling lane in the intersection based on the data of the first annular lane and the second annular lane and the transition guidance data.

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