JP7365280B2 - information processing equipment - Google Patents

Description

The present invention relates to an information processing device that performs processing for setting a recommended route within an intersection into which a moving object enters.

In recent years, with the development of road transportation networks, one of the most important aspects of driving a moving object such as a vehicle is how to effectively pass through intersections. Because of this situation, a technique has been proposed for deriving a recommended route within an intersection where vehicles enter (see Patent Document 1, etc.).

JP2020-38365A

However, in many conventional techniques, including the conventional technique disclosed in Patent Document 1, emphasis is placed on how to reach the destination quickly, and techniques that place emphasis on risk avoidance at intersections are , has not been seen or heard so far.

An example of the problem to be solved by the present invention is to enable a moving body to drive in an intersection while avoiding risks.

In order to solve the above-mentioned problem, the invention according to claim 1 includes: a route acquisition unit that acquires a planned inflow lane and a planned outflow lane of the moving body with respect to an intersection into which the moving body enters; intersection information divided into a plurality of areas, in which safety-related attributes are determined for each area for each inflow lane and outflow lane of the intersection, the planned inflow lane, the An intersection information acquisition unit that acquires intersection information regarding the scheduled outflow lane, and sets a recommended route for the mobile object to take when passing through the intersection based on the acquired intersection information corresponding to the planned inflow lane and the planned outflow lane. The system is characterized by comprising a recommended route setting section.

In the present invention, "inflow" means that a moving object such as a car enters an intersection, and "outflow" means that a moving object such as a car leaves the intersection. Further, an "inflow lane" is a lane that leads toward an intersection, and an "outflow lane" is a lane that branches off to exit from an intersection.

The invention according to claim 4 is an information processing method executed by an information processing device that sets a recommended route for a moving body to take when passing through an intersection, the method comprising: a route acquisition step of acquiring a planned inflow lane and a planned outflow lane of the intersection; and intersection information in which the intersection is divided into a plurality of areas by at least lane boundary lines, each of which is divided into a plurality of areas for each inflow lane and outflow lane of the intersection. An intersection information acquisition step of acquiring intersection information regarding the planned inflow lane and the planned outflow lane among intersection information for which attributes related to safety are determined for the area, and corresponds to the acquired planned inflow lane and planned outflow lane. The present invention is characterized in that it includes a recommended route setting step of setting a recommended route for the mobile object to take when passing through the intersection, based on intersection information.

The invention according to claim 5 is characterized in that the information processing method according to claim 4 is executed by a computer.

The invention according to claim 6 is characterized in that the information processing program according to claim 5 is stored.

1 is a configuration diagram of a system having an information processing device according to an embodiment of the present invention. 2 is a functional configuration diagram of the information processing apparatus shown in FIG. 1. FIG. It is a figure showing the point of creating intersection information data in a present example. It is a figure showing the point of creating intersection information data in a present example. It is a figure showing the point of creating intersection information data in a present example. It is a figure showing the point of creating intersection information data in a present example. FIG. 3 is a diagram showing an example of intersection information data created in the above manner. FIG. 7 is a diagram showing another example of intersection information data created in the above manner. This is a table showing a database in which intersection information data created in the above manner is recorded. It is a figure showing an example of a recommended route in a present example. 3 is a flowchart showing the operation of the information processing apparatus shown in FIG. 2. FIG.

An information processing device according to an embodiment of the present invention will be described below. In an information processing device according to an embodiment of the present invention, the route acquisition unit acquires a scheduled incoming lane and a scheduled outgoing lane of a moving object, for an intersection into which a moving object such as a car enters. Intersection information obtained by the intersection information acquisition unit, where the intersection is divided into a plurality of areas by at least lane boundary lines, and where safety-related attributes are determined for each area for each inflow lane and outflow lane of the intersection. Among the information, intersection information regarding the planned inflow lane and the planned outflow lane is acquired. Then, the recommended route setting unit sets a recommended route for the mobile object to take when passing through the intersection, based on the acquired intersection information corresponding to the planned inflow lane and the planned outflow lane. By doing this, traffic information with safety-related attributes determined for each area divided into multiple areas is obtained for each inflow lane and outflow lane within an intersection, and based on the intersection information, moving objects are Since the recommended route is set when passing through an intersection, the recommended route can be set quickly. Therefore, according to the information processing device of this embodiment, it is possible to drive a moving object such as a car while avoiding risks within an intersection.

In addition, the intersection information has attributes determined in accordance with the lighting state of the traffic lights installed at the intersection, and the recommended route setting unit may further acquire the lighting state of the traffic lights at the intersection and set the recommended route. . For example, when a moving object is at an intersection, especially when turning left or right, the driving of the moving object becomes more complicated depending on the lighting state of the traffic lights, so the lighting state of the traffic light at the intersection is obtained and recommended. By reflecting this information in route settings, it is possible to increase accuracy and allow moving objects such as cars to drive while avoiding risks at intersections.

The device further includes a surrounding situation acquisition section that obtains the surrounding situation including any of other moving objects, passersby, obstacles, or driving regulations, and the recommended route setting section acquires the surrounding situation including any of other moving objects, passersby, obstacles, or driving regulations. It is even better to change the recommended route depending on the surrounding situation. By doing this, for example, if another moving object suddenly drives dangerously, a child suddenly jumps out, a load suddenly falls from the loading platform of another moving object, or another moving object suddenly causes an accident, etc. By reflecting regulations and the like in the setting of recommended routes, it is possible to further increase accuracy and allow moving objects such as cars to drive risk-free at intersections. Note that travel regulations and the like that are known in advance may be included in the initial stage of setting the recommended route.

Further, it may include an output section that outputs the surrounding situation acquired by the surrounding situation acquisition section. By doing this, for example, when a moving object such as a car approaches an intersection, travel restrictions may occur due to the sudden fall of cargo from the loading platform of another moving object, or a sudden accident involving another moving object. In this case, the information can be transmitted to a server device or the like and reflected in the setting of a recommended route in a subsequent mobile unit.

Further, in the information processing method according to an embodiment of the present invention, in the course acquisition step, the planned entry lane and expected exit lane of the moving object are obtained for the intersection into which the moving object will enter. In the intersection information acquisition process, the intersection information is obtained by dividing the intersection into a plurality of areas by at least lane boundary lines, and safety-related attributes are determined for each of the inflow lanes and outflow lanes of the intersection. Among the intersection information, intersection information regarding the planned inflow lane and the planned outflow lane is acquired. Then, in the recommended route setting step, a recommended route for the mobile object to pass through the intersection is set based on the obtained intersection information corresponding to the planned inflow lane and the planned outflow lane. By doing this, traffic information with safety-related attributes determined for each area divided into multiple areas is obtained for each inflow lane and outflow lane within an intersection, and based on the intersection information, moving objects are Since the recommended route is set when passing through an intersection, the recommended route can be set quickly. Therefore, according to the information processing method of this embodiment, it is possible to drive a moving object such as a car while avoiding risks within an intersection.

Further, the information processing method described above is executed by a computer. By doing so, it is possible to quickly set a recommended route at an intersection using a computer, and it is possible to drive a moving object such as a car while avoiding risks within the intersection.

Furthermore, the above-described information processing program may be stored in a computer-readable storage medium. By doing so, the program can be distributed as a standalone program in addition to being incorporated into a device, and version upgrades can be easily performed.

An information output device according to an embodiment of the present invention will be described with reference to FIGS. 1 to 11. FIG. 1 shows a typical system configuration example of this embodiment. The system according to this embodiment includes an information processing device 1 and a server device 10. The information processing device 1 according to this embodiment is mounted on an automobile V as a moving object. The information processing device 1 and the server device 10 can communicate via a network N such as the Internet.

As shown in FIG. 2, the information processing device 1 according to the present embodiment includes a route acquisition section 2, an intersection information acquisition section 3, a surrounding situation acquisition section 4, and a recommended route setting section 5.

The route obtaining unit 2 obtains the planned incoming lane and the planned outgoing lane of the vehicle V in real time based on the position estimation information and navigation information or turn signal information. That is, the driving lane of the own vehicle is acquired from the position estimation information, and the expected incoming lane can be acquired from the driving lane. Furthermore, it is also possible to obtain the expected outflow lane based on the route information indicated by the navigation information. Alternatively, the expected outflow lane can also be acquired based on direction information from a turn signal.

The server device 10 has a database 100 that records intersection information. Intersection information, which will be described in detail later, is information in which an intersection is divided into multiple areas by lane boundaries, and attributes related to safety are assigned to each area for each incoming lane and outgoing lane of the intersection. be. Then, the intersection information acquisition unit 3 acquires intersection information of the intersection into which the vehicle enters. Note that the intersection information acquired by the intersection information acquisition unit 3 may be only the intersection information corresponding to the planned incoming lane and the planned outgoing lane of the vehicle V. Further, the intersection information may be recorded in the automobile V as a moving object.

The surrounding situation acquisition unit 4 obtains surrounding situations such as moving objects such as other cars and motorcycles traveling around the vehicle V, passersby, obstacles, and travel regulations. The surrounding situation acquisition unit 4 is composed of an on-vehicle camera, an on-vehicle sensor, etc. of the vehicle V, and is also used as a means for checking the lighting status of traffic lights.

The recommended route setting unit 5 sets a recommended route for the vehicle V to take when passing through an intersection, based on the acquired intersection information corresponding to the planned inflow lane and the planned outflow lane. That is, the recommended route setting unit 5 is a central processing unit of a terminal that constitutes the information processing device 1.

In this embodiment, the recommended route setting unit 5 of the information processing device 1 is connected to the automatic control unit 6 of the automobile V, and the automobile V is controlled to travel automatically within the intersection. There is.

Next, a procedure for creating intersection information to be stored in the database of the server device 10 and a usage example will be explained based on FIGS. 3 to 10.

First, as shown in FIG. 3, IDs are assigned to lanes flowing into and out of the intersection SI. For example, the ID of the leftmost lane below the intersection SI in FIG. 3 is given as A-01.

Next, as shown in Figure 4, the area of the intersection SI is extended to the stop line of the incoming lane and the boundary of the opposing outgoing lane, as surrounded by a thick line, and is defined as an area surrounded by the road boundary line. Define. If the stop line is about to disappear and cannot be seen or is absent, the stop line is assumed to be at its normal position.

Subsequently, as shown in FIG. 5, the area of the intersection SI surrounded by thick lines is further divided into areas by connecting the incoming lane and the opposing outgoing lane. Then, area IDs from (0, 0) to (n, m) are assigned to each of the divided areas.

Finally, a plurality of safety-related attributes that differ depending on the combination of the inflow lane and the outflow lane are set in the areas (0,0) to (n,m). Note that FIG. 6 shows intersection information data superimposed on roads, intersections, crosswalks, etc. for easy visualization, and FIG. 7 shows only intersection information data. As shown in FIGS. 6 and 7, in this embodiment, four levels of attributes are set, as an example. Specifically, areas with light dots belong to recommended areas, areas with dark dots belong to areas that can be entered, areas with diagonal lines belong to areas that require caution, and areas with crossed lines belong to dangerous areas. It is an area. FIG. 7 shows intersection information data corresponding to the inflow lane A-01 to the outflow lane B-11 or the outflow lane B-12, and FIG. 8 shows the intersection information data from the inflow lane A-02 to the outflow lane D-11 or the outflow lane This is intersection information data corresponding to -12, and if the incoming lane and outgoing lane are different, the distribution of safety degrees will be different. FIG. 9 is a table showing a database in which intersection information data is recorded, and the safety of the area (n, m) for each ID of each route is classified and recorded. For example, in the intersection information data corresponding to the incoming lane A-01 to the outgoing lane B-11 or the outgoing lane B-12, areas 10, 11, 01, 02, and 12 are recommended areas. Note that the "," between "n" and "m" is omitted in the input.

FIG. 10 is a diagram showing an example of a recommended route in this embodiment. Similar to FIG. 7, FIG. 10 shows intersection information data corresponding to the inflow lane A-01 to the outflow lane B-11 or the outflow lane B-12, but in FIG. 10, the oncoming vehicle V1 turns right. A surrounding situation acquisition unit 4 comprising an on-vehicle camera, an on-vehicle sensor, etc. of the vehicle V acquires the surrounding situation about which the driver is attempting to move. However, there is no impact on safety, and the recommended route remains the same as in Figure 7. Normally, when setting a recommended route, a recommended area is selected and set, but in an emergency such as when there is an obstacle in the recommended area, an avoidance route that includes areas that can be entered is set in order of priority. Set as a recommended route.

Next, the operation of the information processing device 1 according to this embodiment will be explained with reference to the flowchart in FIG. 11. Note that this flowchart can be configured as an information processing program by configuring it as a program executed by a computer functioning as the information processing device 1. Further, this information output program is not limited to being stored in the memory of the information processing device 1, but may be stored in a storage medium such as a memory card or an optical disc.

First, in step S1, the route acquisition unit 2 acquires the scheduled incoming lane and scheduled outgoing lane of the intersection SI through which the vehicle V will pass. Subsequently, in step S2, the intersection information acquisition unit 3 acquires intersection information. Subsequently, in step S3, the surrounding situation acquisition unit 4 obtains the lighting situation of the traffic light and the surrounding situation. Then, in step S4, the recommended route setting section 5 sets a recommended route. As described above, when setting a recommended route, a recommended area is usually selected and set. However, in an emergency, such as when a passerby suddenly jumps out, an avoidance route that includes an accessible area is set as the recommended route. In addition, at this time, for example, even when the car V turns right, there are times when the blue light is on and times when only the blue arrow right turn signal is on, and in this case, the safety of both parties is ensured. Since the degree of intersection is different, it is better to create two different pieces of intersection information corresponding to each, and select and set the recommended route according to the lighting state of the traffic lights.

According to the present embodiment, in the information processing device 1, the route acquisition unit 2 acquires the expected incoming lane and expected outgoing lane of the automobile V with respect to the intersection SI into which the automobile V as a moving object enters. The intersection information acquisition unit 3 obtains intersection information in which the intersection SI is divided into a plurality of areas by at least lane boundary lines, and attributes related to safety are determined for each area for each inflow lane and outflow lane of the intersection SI. Among the intersection information obtained, the intersection information regarding the scheduled incoming lane and the scheduled outgoing lane is acquired. Then, the recommended route setting unit 5 sets a recommended route for the vehicle V to take when passing through the intersection SI, based on the obtained intersection information corresponding to the planned inflow lane and the planned outflow lane. By doing so, within the intersection SI, traffic information in which attributes related to safety are determined for each area divided into a plurality of areas is acquired for each inflow lane and outflow lane, and based on the intersection information, the vehicle However, since the recommended route is set when passing through the intersection SI, the recommended route can be quickly set. Therefore, according to the information processing device 1 of this embodiment, it is possible to drive the vehicle V within the intersection SI while avoiding risks.

Further, the intersection information has attributes determined in accordance with the lighting state of the traffic lights provided at the intersection SI, and the recommended route setting unit 5 further acquires the lighting state of the traffic lights at the intersection SI and sets the recommended route. Set. For example, when the vehicle V is at the intersection SI, especially when the vehicle V is turning left or right, the driving of the vehicle V becomes more complicated depending on the lighting state of the traffic light, so the lighting state of the traffic light at the intersection is obtained. By reflecting this in the setting of the recommended route, it is possible to increase the accuracy and allow the vehicle V to drive within the intersection SI while avoiding risks.

In addition, the recommended route setting section 5 further includes a surrounding situation acquisition section 4 that obtains surrounding situations such as other cars, motorcycles, passersby, obstacles, or driving regulations around the vehicle V. Change the recommended route according to the acquired surrounding conditions. By doing this, for example, sudden dangerous driving of other cars or motorcycles, children suddenly jumping out, luggage suddenly falling from the cargo bed of other cars, sudden accidents involving other cars or motorcycles, etc. By reflecting the travel restrictions and the like in the setting of the recommended route, it is possible to further increase the accuracy and allow the vehicle V to drive within the intersection SI while avoiding risks. Note that travel regulations and the like that are known in advance may be included in the initial stage of setting the recommended route recorded in the database of the server device 10.

Further, it may be provided with an output unit that outputs the surrounding situation acquired by the surrounding situation acquisition unit 4 so as to be able to transmit it to the server device 10. By doing this, for example, when car V approaches intersection SI, if there is a travel restriction due to a sudden drop of luggage from another car's loading platform, a sudden accident involving another car or motorcycle, etc. , the information can be transmitted to the server device 10 and reflected in the setting of a recommended route for a subsequent moving object such as a car.

Further, the present invention is not limited to the above embodiments. That is, those skilled in the art can implement various modifications based on conventionally known knowledge without departing from the gist of the present invention. Of course, such modifications fall within the scope of the present invention as long as they still include the information processing apparatus of the present invention.

For example, in the embodiment described above, the recommended route setting unit 5 of the information processing device 1 is connected to the automatic control unit of the car V to perform automatic driving, but the present invention is not limited to this. It may also be implemented by displaying it as a driving support image for a person.

Further, in the above-described embodiment, the moving object is the automobile V, but the moving object is not limited to this, and may be implemented as a simple automatic guided vehicle, for example. In this case, more emphasis is placed on avoiding harm to moving objects such as other cars and motorcycles than on avoiding risks to one's own vehicle.

V Car (mobile object)
SI Intersection 1 Information processing device 2 Route acquisition unit 3 Intersection information acquisition unit 4 Surrounding situation acquisition unit 5 Recommended route setting unit 6 Automatic control unit

Claims (6)

a route acquisition unit that acquires a planned inflow lane and a planned outflow lane of the mobile object for an intersection into which the mobile object will enter;
Intersection information in which an intersection is divided into a plurality of areas by at least lane boundary lines, in which safety-related attributes are determined for each area for each inflow lane and outflow lane of the intersection, an intersection information acquisition unit that acquires intersection information regarding the scheduled inflow lane and the scheduled outflow lane;
a recommended route setting unit that sets a recommended route for the mobile object to take when passing through the intersection, based on the acquired intersection information corresponding to the planned inflow lane and the planned outflow lane;
An information processing device comprising: The intersection information has attributes determined in accordance with the lighting state of a traffic light installed at the intersection,
The information processing device according to claim 1, wherein the recommended route setting unit further acquires a lighting state of a traffic light at the intersection and sets a recommended route. further comprising a surrounding situation acquisition unit that obtains surrounding situations including any of other moving objects, passersby, obstacles, or travel regulations of the moving object,
The information processing apparatus according to claim 1 or 2, wherein the recommended route setting section changes the recommended route according to the surrounding situation acquired by the surrounding situation acquisition section. An information processing method executed by an information processing device that sets a recommended route for a moving object to take when passing through an intersection, the method comprising:
a route acquisition step of acquiring a planned inflow lane and a planned outflow lane of the mobile object with respect to the intersection into which the mobile object enters;
Intersection information in which the intersection is divided into a plurality of areas by at least lane boundary lines, in which safety-related attributes are determined for each area for each inflow lane and outflow lane of the intersection. , an intersection information acquisition step of acquiring intersection information regarding the scheduled inflow lane and the scheduled outflow lane;
a recommended route setting step of setting a recommended route for the mobile object to take when passing through the intersection, based on the obtained intersection information corresponding to the planned inflow lane and the planned outflow lane;
An information processing method characterized by comprising: An information processing program that causes a computer to execute the information processing method according to claim 4. A computer-readable storage medium storing the information processing program according to claim 5.

Images