JP7388890B2 - route guidance device - Google Patents

Description

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

Patent Document 1 discloses a U-turn information acquisition unit that acquires U-turn information indicating intersections where U-turns are possible where U-turns have been made in the past, and a guide unit that guides the user to intersections where U-turns are possible based on the U-turn information. A navigation system is disclosed.

JP 2016-45035 Publication

The present disclosure provides a route guidance device that is effective in properly guiding a vehicle.

A route guidance device according to one aspect of the present disclosure provides a plurality of candidate points at which a U-turn can be made for reversing the direction of travel when reversing the direction of travel at at least one point is necessary to reach a destination. a U-turn point selection unit that selects one candidate point from a plurality of candidate points as a U-turn point based on a score of the possibility that a U-turn of a vehicle will affect the passage of other vehicles; a route output section that outputs a route to the destination including a reversal of the direction of travel due to a turn based on map data; A U-turn point is selected based on a score that is evaluated to be lower when the candidate point is located in a section with a median strip than when the candidate point is located in a section without a median strip.

A route guidance device according to another aspect of the present disclosure provides a plurality of candidates capable of making a U-turn for reversing the traveling direction when reversing the traveling direction at at least one point is necessary to reach a destination. a U-turn point selection unit that selects one candidate point from a plurality of candidate points as a U-turn point based on a score of the possibility that a U-turn of a vehicle at the point will affect the passage of other vehicles; a route output unit that outputs a route to reach a destination including a reversal of direction of travel due to a U-turn; The U-turn point is selected based on the score, which is evaluated to be lower when the candidate point is located in a section where there is no right turn lane than when the candidate point is located in a section without a right turn lane.

A route guidance device according to still another aspect of the present disclosure provides a plurality of route guidance devices capable of making a U-turn for reversing the traveling direction when reversing the traveling direction at at least one point is necessary to reach a destination. a U-turn point selection unit that selects one candidate point from a plurality of candidate points as a U-turn point based on a score of the possibility that a U-turn of a vehicle at the candidate point will affect the passage of other vehicles; a route output section that outputs a route to reach the destination including a reversal of the direction of travel due to a U-turn at When a period is provided, the U-turn point is selected based on the score that is evaluated to be lower than when a right turn exclusive period is not provided at the candidate point.
The U-turn point selection unit may select the candidate point with the lowest score from the plurality of candidate points as the U-turn point.

FIG. 1 is a block diagram illustrating the functional configuration of a route guidance system. FIG. 3 is a schematic diagram illustrating network data. It is a table illustrating link feature data. It is a table illustrating node feature data. It is a table illustrating score data. FIG. 1 is a block diagram illustrating the hardware configuration of a route guidance system. It is a flowchart illustrating a score data construction procedure. FIG. 3 is a schematic diagram showing an example of determining whether or not a U-turn is possible. 2 is a flowchart illustrating a scoring process procedure. 2 is a flowchart illustrating a scoring process procedure. FIG. 2 is a schematic diagram showing an example of scoring. FIG. 2 is a schematic diagram showing an example of scoring. FIG. 2 is a schematic diagram showing an example of scoring. FIG. 2 is a schematic diagram showing an example of scoring. FIG. 2 is a schematic diagram showing an example of scoring. 3 is a flowchart illustrating a route guidance procedure.

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 given the same reference numerals, and redundant description will be omitted.

[Route guidance system]
The route guidance system (route guidance system) according to the present embodiment is a system that derives a route from the current location of a vehicle to a destination, and outputs the route to the driver of the vehicle or the driving system of the vehicle. As shown in FIG. 1, the route guidance system 1 includes a route guidance device 100 and a map server 200. The map server 200 provides the route guidance device 100 with map data for route searching. For example, the map server 200 includes a map data storage section 211, a candidate point extraction section 212, and a candidate point evaluation section 213 as functional components (hereinafter referred to as "functional blocks"). Each functional block will be explained below. The processing executed by each functional block corresponds to the processing executed by the map server 200.

The map data storage unit 211 stores map data. The map data includes network data 220, feature data 230, and score data 240. The network data 220 is data used for route searching from the current location to the destination, and indicates a road network including a plurality of points where U-turns are possible. For example, the network data 220 includes a plurality of nodes each associated with a plurality of points, and links indicating travel routes between the plurality of nodes. The network data 220 may have links for the same road for each direction of travel. In this case, the network data 220 becomes bi-striped data that indicates roads that can be traveled in both directions using two links.

FIG. 2 is a schematic diagram illustrating network data 220, which is two-line data. Node N10 in FIG. 2 is a node associated with intersection CP10 of roads R100 and R200. Node N20 is a node associated with intersection CP20 of roads R100 and R300.

Links L111, L112, and L113 are links associated with lanes heading upward in the drawing on road R100. Link L112 connects node N10 and node N20. Link L111 is connected to link L112 via node N10. Link L113 is connected to link L112 via node N20.

Links L121, L122, and L123 are links associated with lanes heading downward in the drawing on road R100. Link L122 connects node N10 and node N20. Link L121 is connected to link L122 via node N10. Link L123 is connected to link L122 via node N20.

Links L211 and L212 are links associated with lanes heading to the right in the figure on road R200. Links L211 and L212 are connected via node N10. Links L221 and L222 are links associated with lanes heading leftward in the drawing on road R200. Links L221 and L222 are connected via node N10.

Links L311 and L312 are links associated with lanes heading to the right in the drawing on road R300. Links L311 and L312 are connected via node N20. Links L321 and L322 are links associated with lanes heading leftward in the drawing on road R300. Links L321 and L222 are connected via node N20.

Node N10 includes links NL11, NL12, NL13, and NL14 indicating a travel route within intersection CP10. Link NL11 connects links L111 and L112. Link NL12 connects links L121 and L122. Link NL13 connects links L211 and L212. Link NL14 connects links L221 and L222.

Node N20 includes links NL21, NL22, NL23, and NL24 indicating a travel route within intersection CP20. Link NL21 connects links L112 and L113. Link NL22 connects links L122 and L123. Link NL23 connects links L311 and L312. Link NL24 connects links L321 and L322.

The feature data 230 is data in which feature information is associated with the network data 220. The terrestrial features include all objects that are involved in the passage of the route indicated by the network data 220. Specific examples of features include road lanes, median strips, sidewalks, curbs, traffic lights, road signs, sign marks on roads, and the like. The feature data 230 includes link feature data 231 shown in FIG. 3 and node feature data 232 shown in FIG. 4.

As shown in FIG. 3, the link feature data 231 associates features existing in the lane with links. The table in FIG. 3 shows that there are two straight lanes, a median strip, and a speed sign in the lane corresponding to link L111. It is shown that there are two straight lanes and a median strip in the lane corresponding to link L112. It is shown that there are two straight lanes and a median strip in the lane corresponding to link L113.

As shown in FIG. 4, the node feature data 232 associates features existing at points such as intersections with nodes. As an example, the node feature data 232 is associated with one of a plurality of approach routes to the node. According to the table in FIG. 4, there are red lights, yellow lights, green lights, left turn/straight lanes, straight lanes, right turn lanes, and right turn signals on the approach route from link L111 to node N10. has been done. It is shown that a red light, a yellow light, a green light, a left turn/straight lane, a straight lane, a right turn lane, and a right turn signal are present on the approach route from the link L122 to the node N10. It is shown that red lights, yellow lights, green lights, left turn/straight lanes, no-turn signs, and no-turn marks on the road surface are present on the approach route from link L211 to node N10. It is shown that red lights, yellow lights, green lights, left turn/straight lanes, no-turn signs, and no-turn marks on the road surface are present on the approach route from link L222 to node N10.

The score data 240 indicates a score of the possibility that a U-turn of a vehicle will affect the passage of other vehicles for each of a plurality of U-turn possible points in the road network (the road network indicated by the network data 220). In the network data 220, at least some nodes may be U-turn possible points. As shown in FIG. 5, the score data 240 indicates, for each point specified by a node or the like, whether or not a U-turn can be made, and the score if a U-turn is possible. When the point where a U-turn is possible is an intersection, the score data 240 indicates, for each approach route to the intersection, whether or not a U-turn is possible, and the above-mentioned score if a U-turn is possible.

Returning to FIG. 1, the candidate point extraction unit 212 extracts points (hereinafter referred to as "candidate points") that are candidates for U-turn possible points in the network data 220. For example, the candidate point extraction unit 212 extracts a point where a U-turn of the vehicle is physically possible as a candidate point. A point where a vehicle can physically make a U-turn is a point that satisfies at least the following requirements.
Condition 1) The vehicle must be located on a road that allows driving in both directions.
Condition 2) There are no obstacles to vehicle transition (for example, a median strip) between the vehicle and the oncoming lane.

For example, an intersection on a road that allows travel in both directions can be a point where a U-turn is physically possible. A point where a break that is larger than the vehicle width exists in the median strip between the lane in which the vehicle is traveling and the oncoming lane may be a point where it is physically possible to make a U-turn. On a road where there is no obstacle such as a median strip between the lane in which the vehicle is traveling and the oncoming lane, any point can be a point where it is physically possible to make a U-turn.

The candidate point evaluation unit 213 determines whether or not a U-turn is possible for each candidate point extracted by the candidate point extraction unit 212. The candidate point evaluation unit 213 scores the possibility that a U-turn of a vehicle will affect the passage of other vehicles for each candidate point determined to be a U-turn possible (U-turn possible point). When the U-turn possible point is an intersection, the candidate point evaluation unit 213 determines whether a U-turn is possible and scores the possibility for each approach route to the U-turn possible point.

Whether or not the vehicle can make a U-turn can be determined based on the presence or absence of a no-turn sign, a no-turn mark, or the like. The presence or absence of a no-turning sign, a no-turning mark, etc. can be determined based on the feature data 230. Therefore, the candidate point evaluation unit 213 determines whether or not a U-turn is possible based on at least the feature data 230.

Factors related to the possibility that a U-turn of a vehicle will affect the passage of other vehicles include the presence or absence of a median strip in the section where the candidate point is located, the lane structure of the road, the specifications of traffic lights, etc. Information regarding these factors can be obtained based on the feature data 230. Therefore, the candidate point evaluation unit 213 scores the above-mentioned possibilities based on at least the feature data 230.

For example, when making a U-turn in a section with a median strip, it is possible to wait for the U-turn while retreating to the break in the median strip, so when making a U-turn in a section without a median strip, In comparison, it can be said that a U-turn by a vehicle is less likely to affect the passage of other vehicles. Therefore, the candidate point evaluation unit 213 determines whether the U-turn is possible when the U-turn is possible in a section with a median strip compared to the case where the U-turn is possible in a section without a median strip. A point may be given a low score.

Note that "the point where a U-turn is possible is located in a section with a median strip" does not mean that there is a median strip at the point where a U-turn is possible, but rather that there is a median strip at the point where a U-turn is possible. This means that there is a median strip in front of and behind the possible point. "If the relevant U-turn possible point is located in a section without a median strip" means that the U-turn is located in a hypothetical section where all conditions other than the absence of a median strip match the "section with a median strip" above. This means that a turnable point is located.

Additionally, when making a U-turn in a section with a right-turn lane, it is possible for the vehicle to wait for the U-turn in the right-turn lane, compared to a U-turn in a section without a right-turn lane. It can be said that a U-turn is unlikely to affect the traffic of other vehicles going straight through the U-turn possible point. In addition, in a situation where it is necessary to wait for a U-turn, it is also necessary to wait for a right turn, so it can be said that waiting for a U-turn in a right-turn lane is unlikely to affect the passage of other vehicles making a right turn at the point where a U-turn is possible. Therefore, the candidate point evaluation unit 213 determines whether the U-turn is possible when the U-turn possible point is located in a section with a right-turn lane, compared to the case where the U-turn possible point is located in a section without a right-turn lane. A point may be given a low score. In addition, "if the relevant U-turn possible point is located in a section without a right-turn lane" means a hypothetical section where all conditions other than the absence of a right-turn lane match the above-mentioned "section with a right-turn lane". This means the case where the U-turn possible point is located.

Additionally, when making a U-turn in a section with a right-turn only signal, it is possible to make a U-turn during the right-turn only period, so it is possible to make a U-turn without affecting the traffic of other vehicles in the oncoming lane. becomes. Therefore, the candidate point evaluation unit 213 determines that when a right-turn exclusive period is provided by a traffic light at a U-turn possible point, compared to a case where a right-turn exclusive period is not provided at the U-turn possible point, You may give a lower score. In addition, "if a right turn only period is not established at the point where a U-turn is possible" means a hypothetical section where all conditions other than the fact that a right turn only period is not provided match the above "section with a right turn signal". This means the case where the U-turn possible point is located.

The traffic volume at the point where a U-turn is possible is also a factor that contributes to the above possibility. Therefore, the candidate point evaluation unit 213 may score the above-mentioned possibility further based on past statistical data regarding the traffic volume of the U-turn possible point.

The candidate point evaluation unit 213 stores the determination result of whether or not a U-turn is possible and the scoring result of the possibility as the score data 240 in the map data storage unit 211 .

The route guidance device 100 derives a route from the current location to the destination and outputs it to the user interface 400. When a reversal of the traveling direction is required at least at one point to reach the destination, the route guidance device 100 guides the vehicle at each of a plurality of candidate points where a U-turn is possible for reversing the traveling direction. Scoring the possibility that a U-turn will affect the passage of other vehicles based on map data, selecting the U-turn point with the lowest score of the above-mentioned possibility from a plurality of candidate points, and the U-turn point The vehicle is configured to output, based on map data, a route to reach the destination including a reversal of the traveling direction due to a U-turn.

For example, the route guidance device 100 includes, as functional blocks, a position information acquisition section 117, a map data acquisition section 112, a map data storage section 113, a route search section 111, a candidate point evaluation section 114, and a U-turn point selection section. 115 and a route output section 116. Each functional block will be explained below. The processing executed by each functional block corresponds to the processing executed by the route guidance device 100.

The location information acquisition unit 117 acquires location information of the current location and location information of the destination. For example, the position information acquisition unit 117 acquires the position information of the current location from the vehicle's position sensor 300, and acquires the position information of the destination from the vehicle user interface 400. The position sensor 300 detects the current location of the vehicle using, for example, GPS (Global Positioning System). The position sensor 300 may detect the current location using a speed sensor, an acceleration sensor, a gyro sensor, or the like.

User interface 400 obtains user input and displays information to the user. For example, user interface 400 includes an input device and a display device. Specific examples of the display device include a liquid crystal monitor or an organic EL (Electro Luminescence) monitor. A specific example of the input device is a keypad. The input device may be integrated with the display device as a so-called touch panel.

The map data acquisition unit 112 acquires map data of an area including the current location and the destination (hereinafter referred to as “search target area”) from the map server 200 based on the information acquired by the location information acquisition unit 117. For example, the map data acquisition unit 112 acquires network data 220, feature data 230, and score data 240 of the search target area from the map server 200. The map data storage unit 113 stores the map data acquired by the map data acquisition unit 112.

The route search unit 111 searches for a route from the current location to the destination based on map data stored in the map data storage unit 113. For example, the route search unit 111 searches for a route from the current location to the destination using a known method such as the Dijkstra method or the Bellman-Ford method. In the search at this point, whether the destination faces the lane in which the vehicle is traveling or the oncoming lane when reaching the destination is not considered. Furthermore, it does not take into account which lane the vehicle is traveling in at the current location. Hereinafter, the search result at this point will be referred to as a "schematic route."

After deriving the approximate route, the route search unit 111 determines whether or not it is necessary to reverse the direction of travel at at least one point in order to reach the destination from the current location. For example, the route search unit 111 determines that it is necessary to reverse the direction of travel at the destination if the destination faces the opposite lane of the lane in which the vehicle is traveling when reaching the destination according to the general route. . Further, the route search unit 111 determines that the direction of travel at the current location needs to be reversed when the lane in which the vehicle is traveling at the current location is in the opposite direction to the lane according to the general route. Hereinafter, the point where the direction of travel needs to be reversed will be referred to as the "reversal point."

When the route search unit 111 determines that it is necessary to reverse the direction of travel at the reversal point, the candidate point evaluation unit 114 evaluates each of the plurality of candidate points at which a U-turn is possible for reversing the direction of travel. , the probability that a vehicle's U-turn will affect the passage of other vehicles is scored based on map data. For example, the candidate point evaluation unit 114 extracts a plurality of U-turn possible points within a predetermined distance from the reversal point from the map data in the map data storage unit 113 as a plurality of candidate points, and according to the score data 240, the Establish a likelihood score. Thus, scoring the likelihood of each candidate point includes obtaining the results of the scoring performed in advance. Note that the candidate points extracted by the candidate point evaluation unit 114 are not necessarily limited to points on the same road as the reversal point.

By following the score data 240, the candidate point evaluation unit 114 determines whether the candidate point is located in a section with a median strip, compared to a case where the candidate point is located in a section without a median strip. A point may be given a low score. In addition, "when the candidate point is located in a section without a median strip" means that the candidate point is located in a hypothetical section where all conditions other than the absence of a median strip match the "section with a median strip" above. It means when the point is located.

The candidate point evaluation unit 114 evaluates the score of the candidate point lower when the candidate point is located in a section with a right-turn lane than when the candidate point is located in a section without a right-turn lane. You can. In addition, "when the candidate point is located in a section without a right-turn lane" means that the candidate point is located in a hypothetical section where all conditions other than the absence of a right-turn lane match the above-mentioned "section with a right-turn lane". It means when the point is located.

The candidate point evaluation unit 114 determines whether a right-turn exclusive period is provided by a traffic signal at the candidate point (for example, when the candidate point is located in a section with a right-turn signal), or when a right-turn exclusive period is not provided at the candidate point. The score of the candidate point may be evaluated lower than that of the candidate point. In addition, "if a right-turn exclusive period is not established at the candidate point" means that the candidate point is located in a hypothetical section where all conditions other than the fact that a right-turn exclusive period is not established match the above-mentioned "section with a right-turn exclusive signal". It means when the point is located.

The traffic volume at the candidate location is also a factor contributing to the above possibility. Therefore, the candidate point evaluation unit 114 may score the above-mentioned possibility further based on real-time information regarding the traffic volume of the candidate point. The candidate point evaluation unit 114 may score the above-mentioned possibility based on past statistical data regarding the traffic volume of the candidate point.

The candidate point evaluation unit 114 may score the above-mentioned possibilities further based on physical constraints such as road width. For example, the wider the road, the more quickly it becomes possible to make a U-turn with less turning of the steering wheel, which reduces the possibility that a U-turn by a vehicle will affect the passage of other vehicles. Therefore, the candidate point evaluation unit 114 may evaluate the possibility score lower as the road width available for the U-turn becomes wider.

Note that instead of acquiring a score that is the result of scoring performed in advance, the candidate point evaluation unit 114 acquires the network data 220 and feature data each time it processes the route guidance procedure described below. A score obtained by scoring the above-mentioned possibilities based on H.230 may be used. The scoring method in this case is the same as the scoring method by the candidate point evaluation unit 213, for example. That is, as a result, it is sufficient if the U-turn point selection unit 115 described below uses the score.

The U-turn point selection unit 115 selects the U-turn point with the lowest probability score from the plurality of candidate points. As described above, if the possibility is scored based on whether the candidate point is located in a section with a right-turn lane, the U-turn point selection unit 115 may perform the following processing. There is sex. That is, the U-turn point selection unit 115 determines that a U-turn for reversing the direction of travel is possible at a first candidate point at a first distance from the reversal point and a second candidate point at a second distance from the reversal point. 2 distance is larger than the first distance, the first candidate point is located in a section that does not include a right-turn lane, and the second candidate point is located in a section that includes a right-turn lane, then the second candidate point is a U-turn. There is a possibility of selecting it as a location.

The route output unit 116 outputs a route including a reversal of the traveling direction due to a U-turn at a U-turn point, based on the map data in the map data storage unit 113 . For example, the route output unit 116 derives a detailed route based on the network data 220 that adds the reversal of the traveling direction due to a U-turn at a U-turn point to the above-mentioned general route, outputs it to the user interface 400, and displays it on the user interface 400. display on the device. The route output unit 116 may output the detailed route to a driving support device (for example, an automatic driving device) of the vehicle.

FIG. 6 is a block diagram illustrating the hardware configuration of the route guidance system 1. As shown in FIG. 6, the map server 200 includes a circuit 290. Circuit 290 includes at least one processor 291 , memory 292 , storage 293 , and communication port 294 . Storage 293 stores a program for generating score data 240 and map data including score data 240. For example, the storage 293 includes a storage area allocated to the map data storage section 211 and a storage area allocated to a program for configuring the candidate point extraction section 212 and the candidate point evaluation section 213 in the map server 200.

The memory 292 temporarily stores programs loaded from the storage 293, calculation results by the processor 291, and the like. The processor 291 configures each functional block of the map server 200 by cooperating with the memory 292 and executing the above programs. The communication port 294 communicates with the route guidance device 100 via the communication network NW according to instructions from the processor 291.

Route guidance device 100 has a circuit 190. Circuit 190 includes at least one processor 191 , memory 192 , storage 193 , input/output port 194 , and communication port 195 . Storage 193 stores U-turn information for each of a plurality of candidate points where a U-turn is possible for reversing the traveling direction when a reversal of the traveling direction at at least one point is necessary to reach the destination. scoring the possibility of the U-turn affecting the passage of other vehicles based on map data; selecting the U-turn point with the lowest score of the above-mentioned possibility from a plurality of candidate points; and It stores a program for causing the route guidance device 100 to output a route including a reversal of direction due to a turn to reach a destination based on map data. For example, the storage 193 includes a storage area allocated to the map data storage section 113, a location information acquisition section 117, a map data acquisition section 112, a route search section 111, a candidate point evaluation section 114, a U-turn point selection section 115, and a route output section. and a storage area allocated to a program for configuring the section 116 in the route guidance device 100.

The memory 192 temporarily stores programs loaded from the storage 193, calculation results by the processor 191, and the like. The processor 191 configures each functional block of the route guidance device 100 by cooperating with the memory 192 and executing the above programs. The input/output port 194 inputs and outputs information between the position sensor 300 and the user interface 400 according to instructions from the processor 191. The communication port 195 communicates with the map server 200 via the communication network NW according to instructions from the processor 191.

Note that the circuits 190 and 290 are not necessarily limited to having each function configured by a program. For example, at least part of the functions of the circuits 190 and 290 may be configured by a dedicated logic circuit or an ASIC (Application Specific Integrated Circuit) that integrates the logic circuit.

[Score data construction procedure]
Next, as an example of a map data generation method, a procedure for generating score data 240 performed by the map server 200 will be illustrated. As shown in FIG. 7, the map server 200 first executes steps S01, S02, and S03. In step S01, the candidate point extraction unit 212 extracts points from the network data 220 that are physically possible for a vehicle to make a U-turn as candidate points. In step S02, the candidate point evaluation unit 213 selects one of the extracted candidate points. Hereinafter, the selected candidate point will be referred to as a "selected point." In step S03, the candidate point evaluation unit 213 confirms, based on the feature data 230, whether a turning prohibition indication such as a turning prohibition sign or a turning prohibition mark is present at the selected point.

If it is determined in step S03 that the no-turn indication is present at the selected point, the map server 200 executes step S04. In step S04, the candidate point evaluation unit 213 determines that a U-turn is not possible at the selected point. For example, as shown in FIG. 8, when there is a turning prohibition sign 10, a turning prohibition mark 20, etc. on the link L111 that enters the node N10, the candidate point evaluation unit 213 determines that a U-turn from the link L111 to the link L121 is not possible. It is determined that there is.

Returning to FIG. 7, if it is determined in step S03 that no turning prohibition display is present at the selected point, the map server 200 executes step S05. In step S05, the candidate point evaluation unit 213 scores the possibility of affecting the passage of other vehicles when the vehicle makes a U-turn at the selected point. A specific scoring procedure will be exemplified later.

After executing step S04 or step S05, the map server 200 executes steps S06 and S07. In step S06, the candidate point evaluation unit 213 adds the determination result that a U-turn is not possible or the scoring result to the score data 240 of the map data storage unit 211. In step S07, the candidate point evaluation unit 213 checks whether the U-turn impossibility determination or the above-mentioned possibility scoring has been completed for all candidate points.

If it is determined in step S07 that a U-turn is not possible or that there remain candidate points for which the above-mentioned possibility scoring has not been completed, the map server 200 returns the process to step S02. Thereafter, the selection of candidate points and the U-turn impossibility determination or scoring of the above-mentioned possibilities are repeated until the U-turn impossibility determination or the scoring of the above-mentioned possibilities is completed for all candidate points. If it is determined in step S07 that a U-turn is not possible or that the scoring of the above-mentioned possibilities has been completed for all candidate points, the procedure for constructing the score data 240 is completed.

9 and 10 are flowcharts illustrating the scoring procedure in step S05. As shown in FIG. 9, the map server 200 first executes step S11. In step S11, the candidate point evaluation unit 213 checks based on the feature data 230 whether the selected point is located in a section with a median strip.

If it is determined in step S11 that the selected point is located in a section with a median strip, the map server 200 executes step S12. In step S12, the candidate point evaluation unit 213 checks based on the feature data 230 whether the selected point is located in a section with a right turn lane.

If it is determined in step S12 that the selected point is located in a section with a right turn lane, the map server 200 executes step S13. In step S13, the candidate point evaluation unit 213 checks whether a right turn exclusive period is provided by a traffic light at the selected point. In other words, the candidate point evaluation unit 213 checks whether the selected point is located in a section where a right turn exclusive period is provided by a traffic light. For example, the candidate point evaluation unit 213 checks, based on the feature data 230, whether a right turn dedicated signal exists for the section including the selected point.

In step S13, if it is determined that a right turn exclusive period is provided by the traffic light at the selected point, as shown in FIG. The traffic light 50 for the section including the right turn has a right turn signal 51. In this case, as shown in FIG. 9, the candidate point evaluation unit 213 sets the score of the possibility to 1 (step S14).

In step S13, if it is determined that a right turn exclusive period is not provided by the traffic light at the selected point, as shown in FIG. 50 does not have a right turn dedicated signal 51. In this case, the U-turn of the vehicle at the selected point is more likely to affect the traffic of other vehicles in the oncoming lane, compared to the case where the traffic light 50 has the right turn only signal 51. Therefore, the candidate point evaluation unit 213 increases the score of the above-mentioned possibility compared to the scoring in step S14. For example, the candidate point evaluation unit 213 sets the score of the possibility to 2, as shown in FIG. 9 (step S15).

If it is determined in step S12 that the selected point is not located in a section with a right turn lane, the map server 200 executes step S16. In step S16, the candidate point evaluation unit 213 checks based on the feature data 230 whether the selected point is located in a section with a right turn/straight lane.

If it is determined in step S16 that the selected point is located in a section with a right turn/straight lane, the map server 200 executes step S17. In step S17, similarly to step S13, the candidate point evaluation unit 213 checks whether a right turn exclusive period is provided by a traffic light at the selected point.

In step S17, if it is determined that a right turn exclusive period is provided by the traffic light at the selected point, as shown in FIG. 13, the selected point is located in a section with a median strip 30 and a right turn/straight lane 42, The traffic light 50 for the period including the selected point has a right turn dedicated signal 51. In this case, although a right turn exclusive period is provided by the right turn exclusive signal 51, the right turn exclusive period is set in the right turn/straight lane, so compared to the case where the right turn exclusive period is waited in the right turn exclusive lane, the following There is a high possibility that the traffic of other vehicles will be affected. Therefore, the candidate point evaluation unit 213 increases the score of the above-mentioned possibility compared to the scoring in step S15. For example, the candidate point evaluation unit 213 sets the score of the possibility to 3, as shown in FIG. 9 (step S18).

In step S17, if it is determined that a right turn exclusive period is not provided by the traffic light at the selected point, the selected point is located in a section with a median strip 30 and a right turn/straight lane 42, as shown in FIG. , the traffic light 50 does not have a right turn dedicated signal 51. Therefore, the candidate point evaluation unit 213 increases the score of the above-mentioned possibility compared to the scoring in step S18. For example, the candidate point evaluation unit 213 sets the score of the possibility to 4, as shown in FIG. 9 (step S19).

In step S16, if it is determined that the selected point is not located in a section with a right turn/straight lane, as shown in FIG. It will be located. In this case, you will have to wait to make a U-turn in the straight lane 43 or the straight/left turn lane 44, so compared to waiting for a U turn in the right turn lane 41 or the right turn/straight lane 42, the following There is a high possibility that the traffic of other vehicles will be affected. Therefore, the candidate point evaluation unit 213 increases the score of the above-mentioned possibility compared to the scoring in step S19. For example, the candidate point evaluation unit 213 sets the score of the possibility to 5, as shown in FIG. 9 (step S21).

If it is determined in step S11 that the selected point is not located in a section with a median strip, the map server 200 executes steps S22 to S31, which are similar to steps S12 to S21, as shown in FIG. If the selected point is not located in a section with a median strip, it is not possible to retreat to the break in the median strip and wait for a U-turn, so the impact on the traffic of other vehicles following is greater than in the case where step S11 exists. There is a high possibility that Therefore, the candidate point evaluation unit 213 makes the minimum value of the possibility scores in steps S22 to S31 larger than the maximum value of the possibility scores in steps S12 to S21. For example, the candidate point evaluation unit 213 sets the probability score to 6 in step S24 corresponding to step S14, sets the probability score to 7 in step S25 corresponding to step S15, and sets the probability score to 7 in step S28 corresponding to step S18. The score of the above possibility is set to 8, the score of the above possibility is set to 9 in step S29 corresponding to step S19, and the score of the above possibility is set to 10 in step S31 corresponding to step S21. This completes the scoring procedure.

[Route guidance procedure]
Next, as an example of a route guidance method, a route guidance procedure executed by the route guidance device 100 will be illustrated. This procedure includes making a U-turn of the vehicle at each of a plurality of candidate points where a U-turn is possible for reversing the direction of travel when a reversal of the direction of travel at at least one point is necessary to reach the destination. scoring the possibility of the U-turn affecting the passage of other vehicles based on map data; selecting the U-turn point with the lowest score of the above-mentioned possibility from a plurality of candidate points; and The method includes outputting a route including a reversal of the traveling direction due to a turn to reach a destination based on map data.

As shown in FIG. 16, the route guidance device 100 first executes steps S41, S42, S43, S44, and S45. In step S41, the position information acquisition unit 117 acquires the position information of the destination from the user interface 400. In step S42, the position information acquisition unit 117 acquires position information of the current location from the position sensor 300.

In step S43, the map data acquisition unit 112 acquires map data of the area including the current location and the destination (the above-mentioned search target area) from the map server 200, and stores it in the map data storage unit 113. In step S44, the route search unit 111 searches for a route from the current location to the destination (the above-mentioned rough route) based on the map data stored in the map data storage unit 113. In step S45, the route search unit 111 determines whether or not it is necessary to reverse the direction of travel at at least one point (the reversal point) in order to reach the destination from the current location.

If it is determined in step S45 that the direction of travel needs to be reversed, the route guidance device 100 executes steps S46, S47, S48, S49, and S51. In step S46, the candidate point evaluation section 114 extracts a plurality of U-turn possible points within a predetermined distance from the reversal point from the map data in the map data storage section 113 as a plurality of candidate points.

In step S47, the candidate point evaluation section 114 determines the above-mentioned probability score of each candidate point according to the score data 240 included in the map data in the map data storage section 113. In step S48, the U-turn point selection unit 115 selects the U-turn point with the lowest probability score from the plurality of candidate points.

In step S49, the route output unit 116 derives a route including a reversal of the traveling direction due to a U-turn at a U-turn point, based on the map data in the map data storage unit 113. For example, the route output unit 116 derives, based on the network data 220, a detailed route in which a reversal of the traveling direction due to a U-turn at a U-turn point is added to the above-mentioned general route. In step S51, the route output unit 116 outputs the detailed route to the user interface 400, and displays it on the display device of the user interface 400.

If it is determined in step S45 that reversing the traveling direction is not necessary, the route guidance device 100 executes step S51 without executing steps S46 to S49. In this case, the route output unit 116 outputs the above-mentioned general route as a detailed route to the user interface 400 and displays it on the display device of the user interface 400.

Next, the route guidance device 100 executes step S52. In step S52, the position information acquisition unit 117 confirms whether the vehicle has reached the destination. If it is determined in step S52 that the vehicle has not reached the destination, the route guidance device 100 executes step S53. In step S53, the position information acquisition unit 117 confirms whether the vehicle has deviated from the already output detailed route.

If it is determined in step S53 that the vehicle has not deviated from the detailed route, the route guidance device 100 returns the process to step S52. Thereafter, unless the vehicle deviates from the detailed route, the route guidance device 100 waits for the vehicle to reach the destination. If it is determined in step S53 that the vehicle has deviated from the detailed route, the route guidance device 100 returns the process to step S42. As a result, the search for the general route and the output of the detailed route are executed again based on the current location after the deviation. If it is determined in step S52 that the vehicle has reached the destination, the route guidance procedure is completed.

[Effects of this embodiment]
As described above, when a reversal of the traveling direction is required at least at one point in order to reach the destination, the route guidance device 100 selects a plurality of candidates capable of making a U-turn for reversing the traveling direction. a U-turn point selection unit 115 that selects one candidate point from a plurality of candidate points as a U-turn point based on a score of the possibility that a U-turn of a vehicle at the point will affect the passage of other vehicles; A route output unit 116 is provided, which outputs a route including a reversal of the traveling direction due to a U-turn at , based on the map data, to reach the destination. For example, the U-turn point selection unit 115 may select the candidate point with the lowest score from a plurality of candidate points as the U-turn point.

According to the route guidance device 100, a U-turn point where a U-turn of a vehicle is unlikely to affect the passage of other vehicles is accurately selected, and a route including a U-turn at the U-turn point is output. Therefore, it is effective in suppressing the influence that a U-turn of a vehicle has on the passage of other vehicles.

The candidate point evaluation unit 114 determines whether any candidate point among the plurality of candidate points is located in a section with a median strip 30 compared to a case where the candidate point is located in a section without a median strip 30. , the score of the candidate point may be evaluated low. In this case, accurate scoring of the possibility that a U-turn of a vehicle will affect the passage of other vehicles can be easily performed.

The candidate point evaluation unit 114 determines whether a candidate point among the plurality of candidate points is located in a section with a right-turn lane 41 compared to a case where the candidate point is located in a section without a right-turn lane 41. , the score of the candidate point may be evaluated low. In this case, more accurate scoring of the possibility that a U-turn of a vehicle will affect the passage of other vehicles can be easily performed.

Candidate point evaluation unit 114 determines that when a right turn exclusive period is provided by the traffic light 50 at any one of the plurality of candidate points, the candidate point evaluation unit 114 A point may be given a low score. In this case, more accurate scoring of the possibility that a U-turn of a vehicle will affect the passage of other vehicles can be easily performed.

Although the embodiments have been described above, the present invention is not necessarily limited to the embodiments described above, and various changes can be made without departing from the gist thereof.

The embodiments described above provide a route guidance device and data structure that are effective in suppressing the influence of a U-turn of a vehicle on the passage of other vehicles. Further, the aspects described in all or part of the above embodiments include providing a route guidance device effective for appropriate guidance of a vehicle, improving processing speed, improving processing accuracy, improving usability, and utilizing data. Appropriate data, programs, recording media, devices, such as improving functions or providing appropriate functions, improving functions or providing appropriate functions, reducing capacity of data and/or programs, miniaturizing devices and/or systems, etc. and/or system provision, and data, programs, recording media, devices, and/or systems that reduce production/manufacturing costs, facilitate production/manufacturing, shorten production/manufacturing time, etc. Solve one of the issues of optimizing production/manufacturing.

30... Median strip, 41... Right turn lane, 50... Traffic light, 100... Route guidance device, 114... Candidate point evaluation section, 115... U-turn point selection section, 116... Route output section, 220... Network data, 240... score data.

Claims (4)

When a reversal of the direction of travel at at least one point is necessary to reach the destination, the U-turn of the vehicle at a plurality of candidate points where a U-turn is possible for reversing the direction of travel may result in the passing of other vehicles. a U-turn point selection unit that selects one candidate point from the plurality of candidate points as a U-turn point based on a score of possibility of influence;
a route output unit that outputs a route to reach the destination including a reversal of the traveling direction due to a U-turn at the U-turn point,
The U-turn point selection unit compares the case where any one of the plurality of candidate points is located in a section with a median strip with the case where the candidate point is located in a section without a median strip. The route guidance device selects the U-turn point based on the score evaluated to be low. When a reversal of the direction of travel at at least one point is necessary to reach the destination, the U-turn of the vehicle at a plurality of candidate points where a U-turn can be made for reversing the direction of travel may interfere with the passage of other vehicles. a U-turn point selection unit that selects one candidate point from the plurality of candidate points as a U-turn point based on a score of possibility of influence;
a route output unit that outputs a route to reach the destination including a reversal of the traveling direction due to a U-turn at the U-turn point,
The U-turn point selection unit compares the case where any candidate point of the plurality of candidate points is located in a section with a right-turn lane with the case where the candidate point is located in a section without a right-turn lane. The route guidance device selects the U-turn point based on the score evaluated to be low. When a reversal of the direction of travel at at least one point is necessary to reach the destination, the U-turn of the vehicle at a plurality of candidate points where a U-turn can be made for reversing the direction of travel may interfere with the passage of other vehicles. a U-turn point selection unit that selects one candidate point from the plurality of candidate points as a U-turn point based on a score of possibility of influence;
a route output unit that outputs a route to reach the destination including a reversal of the traveling direction due to a U-turn at the U-turn point,
The U-turn point selection unit is configured to select a U-turn point selection unit that, when a right-turn exclusive period is provided by a traffic light at any one of the plurality of candidate points, the U-turn point selection unit selects a right-turn-only period at a lower rate than a case where the right-turn exclusive period is not provided at the candidate point. A route guidance device that selects the U-turn point based on the score evaluated as follows. The route guidance device according to any one of claims 1 to 3, wherein the U-turn point selection unit selects the candidate point with the lowest score from the plurality of candidate points as the U-turn point.

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