JP7177024B2 - MAP CONTROL DEVICE, VEHICLE, MAP SERVER, COMPUTER PROGRAM AND MAP CONTROL METHOD - Google Patents

Description

The present invention relates to a map control device, vehicle, map server, computer program, and map control method.

For example, Patent Literature 1 describes a system that individually generates a dynamic map when there is a request for automatic driving using the dynamic map for areas or roads where the dynamic map is not maintained.

JP 2019-095286 A

However, in the conventional technology described in Patent Document 1 mentioned above, when another vehicle enters the route on which a certain vehicle (own vehicle) is scheduled to travel by automatic driving, there is a possibility that the own vehicle will be stuck. rice field. For example, if there is a narrow spot on the route on which the vehicle is scheduled to travel, and another vehicle enters the narrow spot from the opposite direction of the vehicle, Because the vehicle cannot pass by another vehicle, the self-driving vehicle stops and gets stuck.

The present invention has been made in consideration of such circumstances, and an object of the present invention is to contribute to smooth automatic driving of a vehicle (automatic driving vehicle) that performs automatic driving using map information.

(1) One aspect of the present invention is a map control device installed in an autonomous vehicle that performs autonomous driving using map information distributed from a map server, and based on the map information, the autonomous driving vehicle a determination unit that determines whether or not there is an entry deterrent location that satisfies deterrence conditions for deterring entry of the other automated vehicle that is different from the automated vehicle on the scheduled travel route of the above; control for transmitting to the map server map change information for changing the map information so that the automatic driving vehicle different from the automatic driving vehicle does not enter the entry deterred location when it is determined that the and the map change information is information for adding to the map information that an obstacle exists at the entry deterrent location, and indicates the position of the entry deterrent location where the obstacle is to be placed. When the map information is obstacle information and the map information indicates that an obstacle exists at the entry deterrent location in the map change information, the autonomous vehicle different from the autonomous vehicle is automatically driven to enter the entry deterrent area. A map control device that determines that a restricted location cannot be traveled, and performs automatic driving so as not to enter the restricted location .
(2) In one aspect of the present invention, the control unit transmits map change cancellation information for canceling the map change information to the map server after the automatic vehicle passes through the entry deterrent location (1) above. map controller.
(3) An aspect of the present invention is the above (1), wherein the control unit transmits the map change information to the map server before the autonomous vehicle reaches a position at a predetermined distance from the entry deterrent location. or (2).

(4) One aspect of the present invention is a vehicle including the map control device according to any one of (1) to (3) above.

(5) One aspect of the present invention is a map server that distributes map information used by an automatic driving vehicle for automatic driving to the automatic driving vehicle, based on the map information, on the planned travel route of the automatic driving vehicle a determination unit for determining whether or not there is an entry deterrent location that satisfies deterrence conditions for deterring entry of the other automated vehicle different from the automated vehicle; a map updating unit that changes the map information so that the automatic driving vehicle other than the automatic driving vehicle does not enter the entry restraint location when the automatic driving vehicle Obstacle presence information indicating that an obstacle exists at the entry deterrent location is added to the map information used by the autonomous vehicle other than the vehicle, and the map information is added to the entry deterrent location. When it is indicated that an obstacle exists, the other automated driving vehicle, which is different from the automated driving vehicle, judges that it cannot travel through the entry deterred location by automated driving, and is instructed not to enter the entry deterred location. It is a map server that automatically operates automatically .

(6) According to one aspect of the present invention, a computer installed in an automatic driving vehicle that performs automatic driving using map information distributed from a map server stores a travel schedule of the automatic driving vehicle based on the map information. a determination step of determining whether or not there is an entry deterrent location that satisfies deterrence conditions for deterring entry of the autonomous vehicle different from the autonomous vehicle on the route; a control step of transmitting, to the map server, map change information for changing the map information so that the automatic driving vehicle different from the automatic driving vehicle does not enter the entry deterred location when it is determined; wherein the map change information is information for adding to the map information that an obstacle exists at the entry deterrence point, and the entry deterrence that places the obstacle is information for adding to the map information is obstacle information indicating the position of a location, and when the map information indicates that an obstacle exists at the entry deterrent location in the map change information, the other automated driving vehicle, which is different from the automated driving vehicle, It is a computer program that determines that it is impossible to travel through the entry-restricted location by automatic operation, and performs automatic operation so as not to enter the entry-restricted location .

(7) According to one aspect of the present invention, a computer of a map server that distributes map information used for automatic driving by an automatic driving vehicle to the automatic driving vehicle, based on the map information, the planned traveling route of the automatic driving vehicle a judgment step of judging whether or not there exists an entry deterrent location that satisfies a deterrent condition for deterring the entry of the other autonomous vehicle that is different from the autonomous vehicle; and determining that the entry deterrent location exists. a map update step of changing the map information so that the automatic driving vehicle different from the automatic driving vehicle does not enter the entry restraint place when the automatic driving vehicle is detected , and The map updating step adds obstacle existence information indicating that an obstacle exists at the entry deterrent location to the map information used by the automatic driving vehicle different from the automatic driving vehicle, When the map information indicates that an obstacle exists at the entry deterrent location, the autonomous vehicle other than the automated vehicle is determined to be unable to travel through the entry deterrent location by automatic driving. , a computer program that performs automatic operation so as not to enter the entry deterred location .

(8) In one aspect of the present invention, a map control device installed in an autonomous vehicle that performs automatic driving using map information distributed from a map server controls the automatic driving vehicle based on the map information. a determination step of determining whether or not there is an entry deterrent location that satisfies deterrence conditions for deterring entry of the autonomous vehicle different from the autonomous vehicle on the planned travel route; and map change information for changing the map information so that the automatic driving vehicle different from the automatic driving vehicle does not enter the entry restraining place when it is determined that the entry restraining place exists. and a control step of transmitting the information to a server , wherein the map change information is information for adding to the map information that an obstacle exists at the entry deterrent location, and the entry control step for arranging the obstacle is included. is obstacle information indicating the position of a deterrent location, and when the map information indicates that an obstacle exists at the entry deterrent location in the map change information, the other autonomous vehicle different from the autonomous vehicle is 1. A map control method in which it is determined that the vehicle cannot travel through the entry deterred location by automatic driving, and automatic driving is performed so as not to enter the entry deterred location .

(9) In one aspect of the present invention, a map server that distributes map information used by an automatic driving vehicle for automatic driving to the automatic driving vehicle, based on the map information, on the planned travel route of the automatic driving vehicle a determination step of determining whether or not there is an entry deterred location that satisfies a deterrence condition for deterring entry of the automated vehicle different from the automated vehicle; a map updating step of changing the map information so that the automatic driving vehicle other than the automatic driving vehicle does not enter the entry deterred location when it is determined that the automatic driving vehicle exists, and the map updating step adds obstacle existence information indicating that an obstacle exists at the entry deterrent location to the map information used by the other automatic driving vehicle different from the automatic driving vehicle, and the map information is When it is indicated that an obstacle exists at the entry deterrent point, the autonomous vehicle other than the autonomous vehicle is determined to be unable to travel through the entry deterrent point by automatic driving, and the entry deterrent is determined. It is a map control method that automatically drives so as not to enter a place .

ADVANTAGE OF THE INVENTION According to this invention, the effect that it can contribute to the smooth automatic driving of the vehicle (automatic driving vehicle) which drives automatically using map information is acquired.

1 is a block diagram showing a configuration example of a map distribution system according to one embodiment; FIG. 3 is a block diagram showing a configuration example of a map control unit according to one embodiment; FIG. 4 is a flow chart showing an example of the procedure of a map control method according to one embodiment; It is a figure which shows the specific example of the map control method which concerns on one Embodiment. It is a figure which shows the specific example of the map control method which concerns on one Embodiment. FIG. 11 is a block diagram showing a configuration example of a map distribution system according to another embodiment; FIG. 11 is a block diagram showing a configuration example of a map server according to another embodiment; 9 is a flow chart showing an example of the procedure of a map control method according to another embodiment;

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a block diagram showing a configuration example of a map distribution system according to one embodiment. In the map distribution system 1 shown in FIG. 1, the map server 3 distributes map information 20 to each vehicle 5-1, 5-2. Hereinafter, each vehicle will be referred to as "vehicle 5" unless otherwise distinguished. The vehicle 5 is, for example, an automobile, and is a vehicle (automatic driving vehicle) that automatically drives using the map information 20 . As an example of this embodiment, the map information 20 is a dynamic map. The map server 3 is, for example, a server of a dynamic map system that manages dynamic maps. Each vehicle 5 communicates with the map server 3 via the mobile communication network.

The vehicle 5 has an automatic driving system 10 . The automatic driving system 10 includes an automatic driving section 15 , map information 20 and a map control section 30 . The automatic driving unit 15 uses the map information 20 provided in the automatic driving system 10 to automatically drive the own vehicle 5 . The automatic driving system 10 has storage means for storing map information 20 . The map information 20 is information including dynamic information 21, quasi-dynamic information 22, quasi-static information 23, and static information 24, which are components of a dynamic map. The map control unit 30 performs control for changing the map information 20 distributed from the map server 3 to the vehicle 5 . The map control unit 30 corresponds to a map control device.

Each function of the automatic driving system 10 is realized by the automatic driving system 10 having computer hardware such as a CPU (Central Processing Unit) and memory, and the CPU executing a computer program stored in the memory. be done.

FIG. 2 is a block diagram showing a configuration example of a map control unit according to this embodiment. In FIG. 2 , the map control section 30 includes a determination section 31 and a control section 32 .

Based on the map information 20 provided in the automatic driving system 10, the determination unit 31 determines whether another vehicle 5 different from the own vehicle 5 enters the route (planned traveling route) on which the own vehicle 5 is scheduled to travel by automatic operation. It is determined whether or not there is an entry deterrent location that satisfies deterrence conditions for deterring this. The suppression condition is set in the map control section 30 in advance. For example, the deterrent condition is a narrow spot with no road width that allows the vehicles 5 to pass each other. For example, the deterrent condition is where the vehicle 5 turns right.

When it is determined that an entry deterred location exists, the control unit 32 transmits map change information to the map server to change the map information 20 so that another vehicle 5 different from the own vehicle 5 does not enter the entry deterred location. Send to 3. As an example of this embodiment, the map change information is information for changing the semi-dynamic information 22 . Specifically, the map change information is information for adding to the semi-dynamic information 22 that an obstacle exists at an entry deterrent point, and is the position (latitude, longitude, ) is the obstacle information. Further, the map change information includes identification information (vehicle ID) of the own vehicle 5 .

When the quasi-dynamic information 22 indicates that an obstacle exists at the entry deterred location, the vehicle 5 determines that it cannot travel through the entry deterred location by automatic driving, and prevents the vehicle from entering the entry deterred location. Autonomous driving.

Next, a map control method according to this embodiment will be described with reference to FIG. FIG. 3 is a flow chart showing an example of the procedure of the map control method according to this embodiment.

(Step S<b>1 ) In the map control unit 30 , the determination unit 31 reads the travel route from the automatic driving unit 15 and acquires the planned travel route of the vehicle 5 .

(Step S2) The determination unit 31 collates the planned travel route of the host vehicle 5 with the map information 20 provided in the automatic driving system 10, and determines whether or not there is an entry deterrent location that satisfies the deterrent condition on the planned travel route. to judge whether

(Step S3) As a result of the determination in step S2, if there is an entry restraint point, the process proceeds to step S4, and if not, the process returns to step S1.

(Step S4) The controller 32 generates obstacle information indicating the position (latitude and longitude) of the entry deterrent location where the obstacle is placed.

(Step S<b>5 ) The control unit 32 transmits map change information including the obstacle information and the vehicle ID of the own vehicle 5 to the map server 3 . The vehicle 5 that has transmitted this map change information to the map server 3 is hereinafter referred to as the change transmission source vehicle 5 .

(Step S6) When the map server 3 receives the map change information from the change transmission source vehicle 5, the map server 3, with respect to the semi-dynamic information 22 of the map information 20 managed by itself, indicates the obstacle information of the map change information. Add obstacle presence information indicating that an obstacle exists at the position (latitude, longitude) of the entry deterrent location. In addition, the map server 3 stores the vehicle ID (hereinafter referred to as the change transmission source vehicle ID) of the change transmission source vehicle 5 that transmitted the map change information based on the obstacle existence information and the obstacle existence information. are associated and recorded. The map server 3 transmits to each vehicle 5 the set of the obstacle existence information and the change transmission source vehicle ID. The map server 3 may or may not transmit the set of the obstacle existence information and the change transmission source vehicle ID to the change transmission source vehicle 5 .

When the map control unit 30 of the vehicle 5 receives the combination of the obstacle existence information and the change transmission source vehicle ID from the map server 3, it determines whether or not the change transmission source vehicle ID is the vehicle ID of the own vehicle 5. . As a result of determination of the change transmission source vehicle ID, if the change transmission source vehicle ID is the vehicle ID of the own vehicle 5, the map control unit 30 determines that the obstacle existence information is transmitted from the own vehicle 5 to the map server in step S5. 3 (the position where the obstacle exists is the same as the position of the entry deterrent point). As a result of this confirmation, if the obstacle existence information is the same as the content of the obstacle information transmitted from the own vehicle 5 to the map server 3 in step S5, the map control unit 30 is included in the automatic driving system 10. The obstacle presence information is not reflected in the semi-dynamic information 22 of the map information 20. On the other hand, the obstacle presence information is different from the content of the obstacle information transmitted from the own vehicle 5 to the map server 3 in step S5. If different, the map control unit 30 reflects the obstacle existence information on the semi-dynamic information 22 of the map information 20 provided in the automatic driving system 10 . Further, as a result of determination of the change transmission source vehicle ID, if the change transmission source vehicle ID is not the vehicle ID of the own vehicle 5, the map control unit 30 controls the semi-dynamic map information 20 provided in the automatic driving system 10. The obstacle presence information is reflected in the information 22 .

As a result, in the change transmission source vehicle 5 that has transmitted the map change information to the map server 3 in step S5, the obstacle existence information is reflected in the semi-dynamic information 22 of the map information 20 provided in the automatic driving system 10. (that is, because the quasi-dynamic information 22 does not indicate that an obstacle exists at the restricted entry location), the change transmission source vehicle 5 can enter the restricted entry location by automatic driving. On the other hand, in the vehicles 5 other than the change transmission source vehicle 5 that transmitted the map change information to the map server 3 in step S5, the semi-dynamic information 22 of the map information 20 provided in the automatic driving system 10 is affected by the fault. Since the object existence information is reflected (that is, the quasi-dynamic information 22 indicates that an obstacle exists at the entry deterrent location), the other vehicle 5 is automatically driven to travel through the entry deterrent location. is determined to be impossible, and automatic operation is performed so as not to enter the entry restraint point.

(Step S7) The change transmission source vehicle 5 passes through the entry restraint point by automatic driving.

(Step S8) The control unit 32 of the map control unit 30 of the change transmission source vehicle 5 transmits to the map server 3 map change cancellation information for canceling the map change information transmitted to the map server 3 in step S5.

When the map server 3 receives the map change cancellation information from the change transmission source vehicle 5, the map server 3 deletes the corresponding obstacle existence information from the semi-dynamic information 22 of the map information 20 managed by itself. Further, the map server 3 records the map change cancellation information in association with the set of the corresponding obstacle existence information and the change transmission source vehicle ID. The map server 3 transmits cancellation information of the obstacle existence information to each vehicle 5 . Note that the map server 3 may or may not transmit the cancellation information of the obstacle existence information to the change transmission source vehicle 5 .

When the map control unit 30 of the vehicle 5 receives the cancellation information of the obstacle presence information from the map server 3 , it deletes the corresponding obstacle presence information from the semi-dynamic information 22 of the map information 20 provided in the automatic driving system 10 . Note that the semi-dynamic information 22 of the map information 20 provided in the automatic driving system 10 of the change transmission source vehicle 5 does not include the corresponding obstacle presence information, so the semi-dynamic information 22 is maintained as it is. After step S8, the process returns to step S1.

4 and 5 are diagrams showing a specific example of the map control method according to this embodiment.

(Specific example 1)
FIG. 4(1) shows that there is a right turn point Pa, which is an entry restraint point, on the planned travel route A1 of the vehicle 5-1. Therefore, it is preferable for the smooth automatic operation of the vehicle 5-1 to prevent the vehicle 5-2 from entering the right turn point Pa along the planned travel route A2. As a result, the vehicle 5-1 generates obstacle information for arranging an obstacle at the right turn point Pa, and transmits map change information including the obstacle information to the map server 3. FIG. Based on this map change information, the map server 3 adds obstacle existence information indicating that an obstacle 110 exists at the right turn point Pa to the semi-dynamic information 22, as shown in FIG. 5(1). do. This quasi-dynamic information 22 is distributed to the vehicle 5-2 and reflected in the map information 20 of the vehicle 5-2, so that the vehicle 5-2 determines that it cannot drive at the right turn point Pa by automatic driving. Then, automatic operation is performed so as not to enter the right turn point Pa. For example, the vehicle 5-2 temporarily stops before the right turn point Pa along the traveling route A21. As a result, the vehicle 5-1 can smoothly turn right at the right turn point Pa by automatic operation according to the planned travel route A1.

(Specific example 2)
FIG. 4(2) shows that there is a "narrow point Pb where the vehicle 5 can pass each other", which is an entry restraint point, on the planned travel route B1 of the vehicle 5-1. Therefore, it is preferable for the smooth automatic operation of the vehicle 5-1 to prevent the vehicle 5-2 from entering the narrow spot Pb along the planned travel route B2. As a result, the vehicle 5-1 generates obstacle information for arranging an obstacle in the narrow spot Pb, and transmits map change information including the obstacle information to the map server 3. FIG. Based on this map change information, the map server 3 adds obstacle presence information indicating that an obstacle 120 exists in a narrow spot Pb to the semi-dynamic information 22, as shown in FIG. 5(2). do. This semi-dynamic information 22 is distributed to the vehicle 5-2 and reflected in the map information 20 of the vehicle 5-2, so that the vehicle 5-2 determines that it cannot travel in the narrow place Pb by automatic driving. Then, automatic operation is performed so as not to enter the narrow spot Pb. For example, the vehicle 5-2 temporarily stops before the narrow point Pb on the traveling route B21. As a result, the vehicle 5-1 can smoothly pass through the narrow spot Pb by automatic operation following the planned travel route B1.

As described above, according to the present embodiment, it is possible to contribute to smooth automatic driving of a vehicle (automatic driving vehicle) that automatically drives using map information.

Note that the control unit 32 of the map control unit 30 preferably transmits the map change information to the map server 3 before the own vehicle 5 reaches a predetermined distance from the entry restraint point. This is because while the distance from the own vehicle 5 to the entry deterred location is to some extent, it is better to make the other vehicle 5 recognize that it cannot travel through the entry deterred location. This is because driving can be performed more smoothly.

[Other embodiments]
FIG. 6 is a block diagram showing a configuration example of a map distribution system according to another embodiment. In FIG. 6, parts corresponding to those in FIG. 1 are denoted by the same reference numerals, and descriptions thereof are omitted. In the map distribution system 1 a shown in FIG. 6 , the automatic driving system 10 provided in the vehicle 5 does not have the map control section 30 . Instead, the map server 3a has a function corresponding to the map control section 30. FIG.

FIG. 7 is a block diagram showing a configuration example of a map server according to another embodiment.
7, the map server 3a includes map information 20, a determination unit 301, a map update unit 302, and a distribution unit 303. FIG.

Each function of the map server 3a is realized by the map server 3a having computer hardware such as a CPU and memory, and the CPU executing a computer program stored in the memory. The map server 3a may be configured using a general-purpose computer device, or may be configured as a dedicated hardware device. For example, the map server 3a may be configured using a server computer connected to a communication network such as the Internet. Further, each function of the map server 3a may be realized by cloud computing.

Based on the map information 20 provided in the map server 3a, the determination unit 301 determines that another vehicle 5 different from the target vehicle 5 will enter the planned travel route of the vehicle 5 (hereinafter referred to as the target vehicle 5). It is determined whether or not there is an entry deterrent location that satisfies deterrence conditions for deterrence. The map update unit 302 changes the map information 20 so that another vehicle 5 different from the target vehicle 5 does not enter the entry deterred location when it is determined that there is an entry deterred location. A method of changing the map information 20 is the same as that of the map server 3 described above.

The distribution unit 303 distributes update information of the map information 20 to each vehicle 5 . However, the distribution unit 303 prevents the target vehicle 5 from reflecting the update information of the map information 20 that is changed so that the target vehicle 5 does not enter the determined entry deterrent location.

Next, a map control method according to another embodiment will be described with reference to FIG. FIG. 8 is a flow chart showing an example of the procedure of a map control method according to another embodiment.

(Step S<b>11 ) In the map server 3 a , the determination unit 301 reads the travel route of the target vehicle 5 and acquires the planned travel route of the target vehicle 5 . The planned travel route of the target vehicle 5 may be registered in the map server 3a in advance, or may be obtained from the target vehicle 5 online.

(Step S12) The determination unit 301 collates the planned travel route of the target vehicle 5 with the map information 20 provided in the map server 3a, and determines whether or not there is an entry deterrent location that satisfies the deterrent condition on the planned travel route. to judge.

(Step S13) As a result of the determination in step S12, if there is an entry restraint point, the process proceeds to step S14, and if not, the process returns to step S11.

(Step S14) The map update unit 302 generates obstacle information indicating the position (latitude and longitude) of the entry deterrent location where the obstacle is arranged.

(Step S15) The map update unit 302 updates the semi-dynamic information 22 of the map information 20 provided in the map server 3a with the position (latitude and longitude) of the entry restraint point indicated in the obstacle information generated in step S14. Add obstacle presence information indicating that an obstacle exists. The map update unit 302 also records the obstacle existence information and the vehicle ID of the target vehicle 5 (hereinafter referred to as target vehicle ID) in association with each other. The distribution unit 303 transmits the obstacle presence information to each vehicle 5 . Note that the distribution unit 303 does not transmit the obstacle existence information to the target vehicle 5 .

When the automatic driving system 10 of the vehicle 5 receives the obstacle presence information from the map server 3a, it reflects the obstacle presence information on the semi-dynamic information 22 of its own map information 20 . Since the obstacle presence information is not transmitted from the map server 3a to the target vehicle 5, the obstacle presence information is reflected in the semi-dynamic information 22 of the map information 20 provided in the automatic driving system 10 of the target vehicle 5. not.

As a result, in the target vehicle 5, the obstacle existence information is not reflected in the quasi-dynamic information 22 of the map information 20 provided in the automatic driving system 10 (that is, the quasi-dynamic information 22 is an obstacle in the entry restraint location). (because it does not indicate the existence of an object), the target vehicle 5 can enter the entry-restricted location by automatic operation. On the other hand, in the vehicles 5 other than the target vehicle 5, the obstacle existence information is reflected in the semi-dynamic information 22 of the map information 20 provided in the automatic driving system 10 (that is, the semi-dynamic information 22 indicates that there is an obstacle at the entry deterrent location), the other vehicle 5 determines that it cannot drive through the entry deterrent location by automatic driving, and automatically instructs it not to enter the entry deterrent location. do the driving.

(Step S16) The target vehicle 5 passes through the entry restraint point by automatic driving. The target vehicle 5 transmits information on the route traveled by itself (travel route history) to the map server 3a.

(Step S17) When the map update unit 302 of the map server 3a detects that the target vehicle 5 has passed through the entry prevention point based on the travel route history of the target vehicle 5, the map information 20 provided in the map server 3a is automatically updated. The corresponding obstacle presence information relating to the target vehicle 5 (target vehicle ID) is deleted from the target information 22 . Further, the map updating unit 302 records deletion information indicating deletion of the obstacle presence information in association with the combination of the corresponding obstacle presence information and the target vehicle ID. The distribution unit 303 transmits cancellation information of the obstacle existence information to each vehicle 5 . Note that the distribution unit 303 may or may not transmit the cancellation information of the obstacle existence information to the target vehicle 5 .

When the automatic driving system 10 of the vehicle 5 receives the cancellation information of the obstacle presence information from the map server 3a, it deletes the corresponding obstacle presence information from the semi-dynamic information 22 of its own map information 20 . Note that the semi-dynamic information 22 of the map information 20 provided in the automatic driving system 10 of the target vehicle 5 does not include the corresponding obstacle existence information, so the semi-dynamic information 22 is maintained as it is. After step S17, the process returns to step S11.

According to this other embodiment, there is an effect that it is possible to contribute to smooth automatic driving of the target vehicle 5 (automatic driving vehicle) that automatically drives using the map information.

Although the embodiment of the present invention has been described in detail above with reference to the drawings, the specific configuration is not limited to this embodiment, and design changes and the like are included within the scope of the present invention.

Alternatively, a computer program for realizing the functions of the devices described above may be recorded in a computer-readable recording medium, and the program recorded in the recording medium may be read and executed by the computer system. Note that the “computer system” referred to here may include hardware such as an OS and peripheral devices.
In addition, "computer-readable recording medium" includes writable nonvolatile memories such as flexible discs, magneto-optical discs, ROMs and flash memories, portable media such as DVDs (Digital Versatile Discs), and computer system built-in media. A storage device such as a hard disk that

Furthermore, "computer-readable recording medium" means a volatile memory (e.g., DRAM (Dynamic Random Access Memory)), which holds the program for a certain period of time, is also included.
Further, the above program may be transmitted from a computer system storing this program in a storage device or the like to another computer system via a transmission medium or by a transmission wave in a transmission medium. Here, the "transmission medium" for transmitting the program refers to a medium having a function of transmitting information, such as a network (communication network) such as the Internet or a communication line (communication line) such as a telephone line.
Further, the program may be for realizing part of the functions described above. Further, it may be a so-called difference file (difference program) that can realize the above-described functions in combination with a program already recorded in the computer system.

1, 1a... Map distribution system 3, 3a... Map server 5-1, 5-2... Vehicle 10... Automatic driving system 15... Automatic driving unit 20... Map information 21... Dynamic information 22... Semi-dynamic information 23 Semi-static information 24 Static information 30 Map control unit 31 Determination unit 32 Control unit 301 Determination unit 302 Map update unit 303 Distribution unit

Claims (9)

A map control device installed in a self-driving car that performs self-driving using map information distributed from a map server,
Based on the map information, whether or not there is an entry deterrent location that satisfies deterrence conditions for deterring entry of the autonomous vehicle different from the autonomous vehicle on the planned travel route of the autonomous vehicle. a judgment unit for judging
map change information for changing the map information so that the automated vehicle other than the automated vehicle does not enter the restricted entry location when it is determined that the location is restricted from entering; a control unit for transmitting to
The map change information is information for adding to the map information that an obstacle exists at the entry deterrent point, and is obstacle information indicating the position of the entry deterrent point where the obstacle is to be placed,
When the map information indicates that an obstacle exists at the entry deterrent location in the map change information, the autonomous vehicle other than the automated vehicle travels through the entry deterrent location by automatic driving. is judged to be impossible, and automatic operation is performed so as not to enter the entry restraint point.
Map controller. The control unit transmits, to the map server, map change cancellation information for canceling the map change information after the automatic driving vehicle passes through the entry restraint point.
The map control device according to claim 1. The control unit transmits the map change information to the map server before the automatic driving vehicle reaches a position at a predetermined distance from the entry prevention point.
The map control device according to claim 1 or 2. A vehicle comprising the map control device according to any one of claims 1 to 3. A map server that distributes map information used by an automated driving vehicle for automated driving to the automated driving vehicle,
Based on the map information, whether or not there is an entry deterrent location that satisfies deterrence conditions for deterring entry of the autonomous vehicle different from the autonomous vehicle on the planned travel route of the autonomous vehicle. a judgment unit for judging
A map update unit that changes the map information so that the automatic driving vehicle different from the automatic driving vehicle does not enter the entry prevention point when it is determined that the entry prevention point exists ,
The map updating unit adds obstacle existence information indicating that an obstacle exists at the entry deterrent location to the map information used by the other automatic driving vehicle different from the automatic driving vehicle,
When the map information indicates that an obstacle exists at the entry deterrent location, the autonomous vehicle other than the automated vehicle is determined to be unable to travel through the entry deterrent location by automatic driving. , Perform automatic operation so as not to enter the entry deterrent location,
map server. The computer installed in the self-driving car that performs self-driving using the map information distributed from the map server,
Based on the map information, whether or not there is an entry deterrent location that satisfies deterrence conditions for deterring entry of the autonomous vehicle different from the autonomous vehicle on the planned travel route of the autonomous vehicle. a determination step of determining
map change information for changing the map information so that the automated vehicle other than the automated vehicle does not enter the restricted entry location when it is determined that the location is restricted from entering; a control step that sends to
A computer program for executing
The map change information is information for adding to the map information that an obstacle exists at the entry deterrent point, and is obstacle information indicating the position of the entry deterrent point where the obstacle is to be placed,
When the map information indicates that an obstacle exists at the entry deterrent location in the map change information, the autonomous vehicle other than the automated vehicle travels through the entry deterrent location by automatic driving. is judged to be impossible, and automatic operation is performed so as not to enter the entry restraint point.
computer program. To the computer of the map server that distributes the map information that the automatic driving car uses for automatic driving to the automatic driving car,
Based on the map information, whether or not there is an entry deterrent location that satisfies deterrence conditions for deterring entry of the autonomous vehicle different from the autonomous vehicle on the planned travel route of the autonomous vehicle. a determination step of determining
a map updating step of changing the map information so that the automatic driving vehicle different from the automatic driving vehicle does not enter the entry restraining place when it is determined that the entry restraining place exists;
A computer program for executing
The map updating step adds obstacle existence information indicating that an obstacle exists at the entry deterrent location to the map information used by the automatic driving vehicle different from the automatic driving vehicle,
When the map information indicates that an obstacle exists at the entry deterrent location, the autonomous vehicle other than the automated vehicle is determined to be unable to travel through the entry deterrent location by automatic driving. , Perform automatic operation so as not to enter the entry deterrent location,
computer program. A map control device installed in an automated driving vehicle that performs automated driving using map information distributed from a map server, on the basis of the map information, the automated driving vehicle and the automatic driving vehicle on the planned travel route. a determination step of determining whether there is an entry deterrent location that satisfies deterrence conditions that deter another automatic driving vehicle from entering;
The map control device changes the map information so that the automatic driving vehicle different from the automatic driving vehicle does not enter the entry restraining place when it is determined that the entry restraining place exists. a control step of transmitting information to the map server ;
The map change information is information for adding to the map information that an obstacle exists at the entry deterrent point, and is obstacle information indicating the position of the entry deterrent point where the obstacle is to be placed,
When the map information indicates that an obstacle exists at the entry deterrent location in the map change information, the autonomous vehicle other than the automated vehicle travels through the entry deterrent location by automatic driving. is judged to be impossible, and automatic operation is performed so as not to enter the entry restraint point.
Map control method. A map server that distributes map information used for automatic driving by an automatic driving vehicle to the automatic driving vehicle, based on the map information, is on the scheduled traveling route of the automatic driving vehicle. a judgment step of judging whether or not there is an entry deterrent location that satisfies a deterrent condition for deterring an automatic vehicle from entering;
A map updating step of changing the map information so that the automatic driving vehicle different from the automatic driving vehicle does not enter the entry restraining place when the map server determines that the entry restraining place exists. When,
including
The map updating step adds obstacle existence information indicating that an obstacle exists at the entry deterrent location to the map information used by the automatic driving vehicle different from the automatic driving vehicle,
When the map information indicates that an obstacle exists at the entry deterrent location, the autonomous vehicle other than the automated vehicle is determined to be unable to travel through the entry deterrent location by automatic driving. , Perform automatic operation so as not to enter the entry deterrent location,
Map control method.

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