US20180038701A1 - Route search device, control method, program and storage medium - Google Patents

Route search device, control method, program and storage medium Download PDF

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Publication number
US20180038701A1
US20180038701A1 US15/555,476 US201515555476A US2018038701A1 US 20180038701 A1 US20180038701 A1 US 20180038701A1 US 201515555476 A US201515555476 A US 201515555476A US 2018038701 A1 US2018038701 A1 US 2018038701A1
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Prior art keywords
unit
route
location
autonomous driving
information
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US15/555,476
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Inventor
Tomoaki Iwai
Yuji Tawaragi
Tomoyuki Fujieda
Tetsuya Kawahara
Youko FUJITA
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Pip Holdings 50% Part Interest KK
Pip Holdings KK
Pioneer Corp
Geotechnologies Inc
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Pioneer Corp
Increment P Corp
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Publication of US20180038701A1 publication Critical patent/US20180038701A1/en
Assigned to PIONEER CORPORATION reassignment PIONEER CORPORATION MERGER (SEE DOCUMENT FOR DETAILS). Assignors: INCREMENT P CORPORATION, PIONEER CORPORATION
Assigned to PIP HOLDINGS K.K. reassignment PIP HOLDINGS K.K. ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: PIONEER CORPORATION
Assigned to INCREMENT P CORPORATION reassignment INCREMENT P CORPORATION CHANGE OF NAME (SEE DOCUMENT FOR DETAILS). Assignors: PIP HOLDINGS K.K.
Assigned to GEOTECHNOLOGIES, INC. reassignment GEOTECHNOLOGIES, INC. CHANGE OF NAME (SEE DOCUMENT FOR DETAILS). Assignors: INCREMENT P CORPORATION
Assigned to PIP HOLDINGS K.K. (50% PART INTEREST), PIONEER CORPORATION (50% PART INTEREST) reassignment PIP HOLDINGS K.K. (50% PART INTEREST) CORRECTIVE ASSIGNMENT TO CORRECT THE RECEIVING PARTY DATA PREVIOUSLY RECORDED AT REEL: 058358 FRAME: 0964. ASSIGNOR(S) HEREBY CONFIRMS THE ASSIGNMENT. Assignors: PIONEER CORPORATION
Abandoned legal-status Critical Current

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3407—Route searching; Route guidance specially adapted for specific applications
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/005—Handover processes
    • B60W60/0053—Handover processes from vehicle to occupant
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/005—Handover processes
    • B60W60/0057—Estimation of the time available or required for the handover
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/005—Handover processes
    • B60W60/0059—Estimation of the risk associated with autonomous or manual driving, e.g. situation too complex, sensor failure or driver incapacity
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/005—Handover processes
    • B60W60/0061—Aborting handover process
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
    • G08G1/0112—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from the vehicle, e.g. floating car data [FCD]
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
    • G08G1/0145—Measuring and analyzing of parameters relative to traffic conditions for specific applications for active traffic flow control
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
    • G08G1/096833—Systems involving transmission of navigation instructions to the vehicle where different aspects are considered when computing the route
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
    • G08G1/0969—Systems involving transmission of navigation instructions to the vehicle having a display in the form of a map
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
    • B60W2555/20—Ambient conditions, e.g. wind or rain
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3407—Route searching; Route guidance specially adapted for specific applications
    • G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3667—Display of a road map
    • G01C21/367—Details, e.g. road map scale, orientation, zooming, illumination, level of detail, scrolling of road map or positioning of current position marker
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle

Definitions

  • the present invention relates to a technology for autonomous driving.
  • Patent Reference-1 discloses a technique for giving notice of becoming incapable of performing autonomous driving and/or directing the driver to a safe location at the time of detecting that necessary requirements for performing autonomous driving becomes unsatisfied.
  • Patent Reference-1 Japanese Patent Application Laid-open under No. 2014-106854
  • An object of the present invention is to provide a route search device capable of preferably informing a location where sufficient peripheral information necessary to perform autonomous driving cannot be acquired.
  • One invention is a route search device including: an acquirement unit configured to acquire information on surroundings of a moving body; a route search unit configured to search for or estimate a moving route where the moving body moves; an environment acquirement unit configured to acquire environment information on surroundings of the moving route searched for or estimated by the route search unit; an extraction unit configured to extract, based on the environment information acquired by the environment acquirement unit, a location on which an accuracy of the acquirement by the acquirement unit is predicted not to meet a predetermined standard from the moving route searched for or estimated by the route search unit; and an informing unit configured to inform a user of the location extracted by the extraction unit.
  • Another invention is a control method executed by a route search device, including: an acquirement process to acquire information on surroundings of a moving body; a route search process to search for or estimate a moving route where the moving body moves; an environment acquirement process to acquire environment information on surroundings of the moving route searched for or estimated by the route search process; an extraction process to extract, based on the environment information acquired by the environment acquirement process, a location on which an accuracy of the acquirement by the acquirement process is predicted not to meet a predetermined standard from the moving route searched for or estimated by the route search process; and an informing process to inform a user of the location extracted by the extraction process.
  • Still another invention is a program executed by a computer, making the computer function as: an acquirement unit configured to acquire information on surroundings of a moving body; a route search unit configured to search for or estimate a moving route where the moving body moves; an environment acquirement unit configured to acquire environment information on surroundings of the moving route searched for or estimated by the route search unit; an extraction unit configured to extract, based on the environment information acquired by the environment acquirement unit, a location on which an accuracy of the acquirement by the acquirement unit is predicted not to meet a predetermined standard from the moving route searched for or estimated by the route search unit; and an informing unit configured to inform a user of the location extracted by the extraction unit.
  • FIG. 1 illustrates a schematic configuration of an autonomous driving system.
  • FIG. 2 is a block diagram of a driving assistance device.
  • FIG. 3 is a flowchart indicating a procedure of a process at the time of setting a route.
  • FIG. 4 is a flowchart indicating a procedure of a process executed by the driving assistance device during running based on autonomous driving.
  • FIG. 5 illustrates a display example which suggests an avoidance route.
  • FIG. 6 illustrates a display example at the time of approaching an autonomous driving unsuitable location.
  • a route search device including: an acquirement unit configured to acquire information on surroundings of a moving body; a route search unit configured to search for or estimate a moving route where the moving body moves; an environment acquirement unit configured to acquire environment information on surroundings of the moving route searched for or estimated by the route search unit; an extraction unit configured to extract, based on the environment information acquired by the environment acquirement unit, a location on which an accuracy of the acquirement by the acquirement unit is predicted not to meet a predetermined standard from the moving route searched for or estimated by the route search unit; and an informing unit configured to inform a user of the location extracted by the extraction unit.
  • the above route search device includes an acquirement unit, a route search unit, an environment acquirement unit, an extraction unit and an informing unit.
  • the acquirement unit is configured to acquire information on surroundings of a moving body.
  • the route search unit is configured to search for or estimate a moving route where the moving body moves.
  • the environment acquirement unit is configured to acquire environment information on surroundings of the moving route searched for or estimated by the route search unit.
  • the extraction unit is configured to extract, based on the environment information acquired by the environment acquirement unit, a location on which an accuracy of the acquirement by the acquirement unit is predicted not to meet a predetermined standard from the moving route.
  • the informing unit is configured to inform a user of the location extracted by the extraction unit. According to this mode, the route search device can preliminarily inform the user of the existence of such a location that peripheral information cannot be acquired with a sufficient accuracy required to perform autonomous driving.
  • the route search device further includes an autonomous driving control unit configured to perform autonomous driving of a vehicle based on the information on the surroundings acquired by the acquirement unit, wherein the predetermined standard is a standard for determining whether or not the accuracy of the acquirement by the acquirement unit meets an accuracy required to perform the autonomous driving.
  • the route search device can predict such a location that peripheral information cannot be acquired with a sufficient accuracy required to perform autonomous driving, and can inform the user thereof.
  • the informing unit is configured to output a warning of an inability to continue to perform the autonomous driving shortly if the moving body comes close to the location extracted by the extraction unit within a predetermined distance. According to this mode, the route search device can prevent the sudden stop of autonomous driving and switching to manual driving despite no time for a driver to deal with manual driving.
  • the informing unit is configured, at a time when the autonomous driving is not turned off despite an alert issued to prompt an input for turning off the autonomous driving, to guide the moving body to a location where the moving body is able to stop before the moving body entering the location extracted by the extraction unit. According to this mode, the route search device can let the user stand by at a safe location before switching from autonomous driving to manual driving.
  • the route search device further includes a safe location search unit configured to search for the location where the moving body is able to stop at a time when the extraction unit extracts the location on which the accuracy of the acquirement by the acquirement unit is predicted not to meet the predetermined standard.
  • the route search device can smoothly guide the user to a predetermined safe location.
  • the route search unit is configured, in a case where the location extracted by the extraction unit is included in the moving route, to search for another moving route which does not include the location extracted by the extraction unit.
  • the route search device can preferably avoid running on a section where the accuracy of the acquirement by the acquirement unit does not meet a predetermined standard.
  • the route search device further includes a communication unit configured to communicate with a server device which receives and stores information generated by plural moving bodies based on output of sensors thereof, wherein the environment acquirement unit is configured to acquire information from the server device as the environment information, the information being generated by a moving body passing through the moving route or a periphery thereof.
  • the route search device acquires environment information on surroundings of the moving route thereby to precisely extract a location where the accuracy of the acquirement by the acquirement unit is predicted not to meet a predetermined standard.
  • the route search device sends information on the location extracted by the extraction unit to the server device.
  • a control method executed by a route search device including: an acquirement process to acquire information on surroundings of a moving body; a route search process to search for or estimate a moving route where the moving body moves; an environment acquirement process to acquire environment information on surroundings of the moving route searched for or estimated by the route search process; an extraction process to extract, based on the environment information acquired by the environment acquirement process, a location on which an accuracy of the acquirement by the acquirement process is predicted not to meet a predetermined standard from the moving route searched for or estimated by the route search process; and an informing process to inform a user of the location extracted by the extraction process.
  • the route search device can extract such a location that peripheral information cannot be acquired with a sufficient accuracy required to perform autonomous driving, and can preliminarily inform the user the existence thereof.
  • a program executed by a computer making the computer function as: an acquirement unit configured to acquire information on surroundings of a moving body; a route search unit configured to search for or estimate a moving route where the moving body moves; an environment acquirement unit configured to acquire environment information on surroundings of the moving route searched for or estimated by the route search unit; an extraction unit configured to extract, based on the environment information acquired by the environment acquirement unit, a location on which an accuracy of the acquirement by the acquirement unit is predicted not to meet a predetermined standard from the moving route searched for or estimated by the route search unit; and an informing unit configured to inform a user of the location extracted by the extraction unit.
  • the computer can extract such a location that peripheral information cannot be acquired with a sufficient accuracy required to perform autonomous driving, and can preliminarily inform the user the existence thereof.
  • the program can be treated in a state that it is stored in a storage medium.
  • FIG. 1 illustrates a schematic configuration of an autonomous driving system according to the embodiment.
  • the autonomous driving system includes plural driving assistance devices 1 each of which moves together with each vehicle, and a server device 2 which communicates with each of the driving assistance devices 1 via a network 9 .
  • the autonomous driving system stores information needed to determine whether or not autonomous driving can be performed.
  • the driving assistance devices 1 are stationary navigation devices or portable phones such as a smart phone, and acquire from the server device 2 detailed map information (referred to as “enhanced map information D 1 ”) which includes information necessary to perform autonomous driving. Then, on the basis of the received enhanced map information D 1 , the driving assistance devices 1 perform driving assistance such as a guidance of a route and autonomous driving.
  • the driving assistance devices 1 send the server device 2 information (referred to as “sensor information D 2 ”) which is either output information from a sensor unit 12 such as a camera or recognized information based thereon. It is noted that the sensor information D 2 includes time information indicating time when each of the driving assistance devices 1 generates the sensor information D 2 and position information indicating a location where each of the driving assistance devices 1 generates the sensor information D 2 .
  • the driving assistance devices 1 send the server device 2 information on the location as actual result information on autonomous driving.
  • each of the driving assistance devices 1 predicts a point or a section (referred to as “autonomous driving unsuitable location Pn”) unsuitable for performing autonomous driving on the predetermined route.
  • Each of the driving assistance devices 1 is an example of “the route search device” according to the present invention.
  • the server device 2 stores the enhanced map DB 21 and updates the enhanced map DB 21 by receiving the sensor information D 2 from each of the driving assistance devices 1 .
  • the enhanced map DB 21 includes road data, traffic information, peripheral state information and weather information.
  • the road data include map information on positions and shapes of roads, traffic lanes, traffic intersection, signs and buildings.
  • the traffic information indicates traffic conditions of congested roads and the like.
  • the peripheral state information indicates the state of surroundings of each road such as a lane restriction due to a traffic accident or constructions.
  • the weather information indicates present or forecasted weather on each road.
  • the server device 2 In response to a request from a driving assistance device 1 , the server device 2 extracts data corresponding to an area where the driving assistance device 1 exists or data corresponding to surroundings of a route set by the driving assistance device 1 , and sends the data to the driving assistance device 1 as the enhanced map information D 1 .
  • FIG. 2 is a block diagram indicating a functional configuration of a driving assistance device 1 .
  • the driving assistance device 1 mainly includes a communication unit 11 , a sensor unit 12 , a determination unit 13 , an enhanced map information processing unit 14 , a route setting unit 15 , a user interface (also referred to as “user I/F”) 16 , an autonomous driving control unit 17 and an informing unit 18 .
  • the communication unit 11 communicates with the server device 2 thereby to receive the enhanced map information D 1 and send the sensor information D 2 . It is noted that the communication unit 11 may communicate with other driving assistance devices 1 mounted on other vehicles thereby to exchange position information and the like with them.
  • the sensor unit 12 includes an external sensor 20 and an internal sensor 30 , and generates information on a vehicle (own vehicle) moving together with the driving assistance device 1 .
  • the external sensor 20 is a sensor for acquiring information on surroundings of the own vehicle, and includes a camera 22 , a laser sensor 23 such as a LIDAR (Light Detection and Ranging or Laser Illuminated Detection and Ranging), a radar 24 and a sonar 25 .
  • the internal sensor 30 is a sensor which detects the state of the own vehicle, and includes a satellite positioning sensor 31 such as a GPS receiver, a gyro sensor 32 , a vehicle speed sensor 33 and a vehicle control signal sensor 34 for acquiring from the vehicle various kinds of information such as information on the state of a direction indicator. Output signals from the external sensor 20 and the internal sensor 30 are supplied to the determination unit 13 and the route setting unit 15 .
  • the sensor unit 12 is an example of “the acquirement unit” according to the present invention.
  • the determination unit 13 determines the position of the own vehicle, the state of the own vehicle and the peripheral state of the own vehicle based on the output signals from the sensor unit 12 . For example, in order to precisely estimate the own vehicle position necessary to perform autonomous driving, the determination unit 13 estimates the own vehicle position not only by the output of the satellite positioning sensor 31 but also by recognizing the road white line(s) on the lane where the own vehicle is running and the position of traffic sign(s) ahead of the own vehicle based on the output of the external sensor 20 including the camera 22 . The determination unit 13 recognizes the running state and the driving operation state of the own vehicle including running speed information and traveling direction information regarding the own vehicle based on the output of the internal sensor 30 including the vehicle speed sensor 33 and the vehicle control signal sensor 34 .
  • the determination unit 13 recognizes a peripheral state of the road where the own vehicle is running, wherein examples of the peripheral state include a traffic accident location, a restricted lane and a newly established lane.
  • the determination unit 13 supplies the enhanced map information processing unit 14 with information recognized based on the output of the sensor unit 12 .
  • the determination unit 13 supplies the communication unit 11 with the output information acquired from the sensor unit 12 or information recognized based thereon as the sensor information D 2 .
  • the enhanced map information processing unit 14 performs predetermined processing based on the enhanced map information D 1 received from the server device 2 and/or information received from the determination unit 13 , and includes a road data storage unit 41 , a peripheral state storage unit 42 , a traffic information storage unit 43 , a weather information storage unit 44 , an autonomous driving unsuitable location prediction unit 45 and a safe location search unit 46 .
  • the enhanced map information processing unit 14 is an example of “the environment acquirement unit” according to the present invention.
  • the road data storage unit 41 stores road data and facility information which are preliminarily recorded as map information. It is noted that the road data storage unit 41 may update the stored road data based on the enhanced map information D 1 as necessary.
  • the peripheral state storage unit 42 stores information on peripheral state of a road specified by the enhanced map information D 1 or information received from the determination unit 13 . If the enhanced map information D 1 includes information on actual result of whether or not autonomous driving can be performed on a road where other vehicles have already run, the peripheral state storage unit 42 stores the information on the actual result. If the enhanced map information D 1 includes information on whether or not there are any marks along a road such as a road white line or a sign necessary for the sensor unit 12 to recognize in order to perform autonomous driving, the peripheral state storage unit 42 also stores that information.
  • the traffic information storage unit 43 stores traffic information on traffic jams and traffic restrictions included in the enhanced map information D 1 . It is noted that the traffic information storage unit 43 may receive and store traffic information on traffic jams and traffic restrictions delivered from a VICS (registered trademark, Vehicle Information Communication System) center.
  • the weather information storage unit 44 stores weather information included in the enhanced map information D 1 or weather information corresponding to the own vehicle position and its periphery, wherein the latter weather information is received by the communication unit 11 from a server (not shown) which stores weather information corresponding to various regions.
  • the autonomous driving unsuitable location prediction unit 45 predicts an autonomous driving unsuitable location Pn existing on the route set by the route setting unit 15 to be described later.
  • the autonomous driving unsuitable location prediction unit 45 recognizes a section existing on or near the predetermined route as an autonomous driving unsuitable location Pn, wherein the section is estimated that the accuracy (referred to as “sensor accuracy”) of detections through the sensor unit 12 with respect to obstructions such as a vehicle in front and a pedestrian and marks for driving such as a road white line does not meet an accuracy (referred to as “standard accuracy”) required to perform autonomous driving.
  • sensor accuracy the accuracy of detections through the sensor unit 12 with respect to obstructions such as a vehicle in front and a pedestrian and marks for driving such as a road white line does not meet an accuracy (referred to as “standard accuracy”) required to perform autonomous driving.
  • standard accuracy is an example of “the predetermined standard” according to the present invention.
  • the autonomous driving unsuitable location prediction unit 45 determines that the sensor accuracy during running on such a section that there are rainfalls or snow falls whose amount is higher than a standard value or that there is road surface freezing or heavy fog does not meet the standard accuracy, and recognizes the section as an autonomous driving unsuitable location Pn.
  • the autonomous driving unsuitable location prediction unit 45 may calculate each expected time of arrival of the own vehicle corresponding to each point on the route to determine whether or not every point on the route corresponds to an autonomous driving unsuitable location Pn based on weather forecast at each expected time of the arrival.
  • the autonomous driving unsuitable location prediction unit 45 determines that the sensor accuracy during running on the section does not meet the standard accuracy and recognizes the section as an autonomous driving unsuitable location Pn.
  • the autonomous driving unsuitable location prediction unit 45 detects, on the basis of the environment information, a section where another vehicle ran and could not perform autonomous driving, the autonomous driving unsuitable location prediction unit 45 determines that the sensor accuracy during running on the section does not meet the standard accuracy and recognizes the section as an autonomous driving unsuitable location Pn.
  • the autonomous driving unsuitable location prediction unit 45 sends information on the detected autonomous driving unsuitable location Pn to the server device 2 via the communication unit 11 .
  • the server device 2 stores the sent information on the autonomous driving unsuitable location Pn on the enhanced map DB 21 or updates the enhanced map DB 21 by using the sent information.
  • the autonomous driving unsuitable location prediction unit 45 is an example of “the extraction unit” according to the present invention.
  • the safe location search unit 46 detects, in a case where there is an autonomous driving unsuitable location Pn along the predetermined route, a location (simply referred to as “safe location”) where a vehicle can safely stop before the vehicle enters the autonomous driving unsuitable location Pn.
  • the safe location is a location where a vehicle can safely stop and examples of the safe location include a parking lot, an empty lot and a parking facility.
  • the safe location search unit 46 searches for a location which is available at the expected time of the arrival of the vehicle and is near the autonomous driving unsuitable location Pn.
  • the safe location search unit 46 sends information on the detected safe location to the server device 2 via the communication unit 11 .
  • the route setting unit 15 searches for a route to a destination inputted through the user I/F 16 .
  • the route setting unit 15 searches for a recommended route in consideration of conditions (i.e., time, distance and/or toll) other than the condition on whether or not autonomous driving can be performed.
  • the route setting unit 15 also searches for a route (referred to as “avoidance route”) to the destination which avoids the autonomous driving unsuitable location Pn.
  • the route setting unit 15 is an example of “the route search unit” according to the present invention.
  • the user I/F 16 is an interface for the user to input the destination and to turn autonomous driving on or off.
  • Examples of the user I/F 16 include a button, a switch, a touch panel and a remote controller.
  • the autonomous driving control unit 17 performs autonomous driving of the vehicle based on the route set by the route setting unit 15 if the setting of autonomous driving is on-state. For example, while performing autonomous driving, the autonomous driving control unit 17 controls the vehicle by adjusting the acceleration amount, the brake amount and the steering angle based on peripheral state of the own vehicle recognized by the determination unit 13 .
  • the informing unit 18 displays a predetermined image on a display and/or outputs predetermined sound (voice) through an audio output device. For example, according to the embodiment, when there is an autonomous driving unsuitable location Pn on the predetermined route, the informing unit 18 informs the existence of the autonomous driving unsuitable location Pn and suggests an avoidance route which the route setting unit 15 searches for.
  • the display example of the informing unit 18 will be described in detail in the section “Display Example”.
  • a CPU which functions as the determination unit 13 , the enhanced map information processing unit 14 , the route setting unit 15 , the autonomous driving control unit 17 and the informing unit 18 , is an example of a computer which executes the program according to the present invention.
  • FIG. 3 is a flowchart indicating a procedure of a route setting process prior to drive based on autonomous driving.
  • the driving assistance device 1 executes the process of the flowchart illustrated in FIG. 3 at the time when the destination is specified through the user I/F 16 .
  • the route setting unit 15 of the driving assistance device 1 sets a running route where autonomous driving is to be performed (step S 101 ).
  • the route setting unit 15 searches for a recommended route in consideration of conditions (i.e., time, distance and/or toll) other than the condition on whether or not autonomous driving can be performed.
  • the determination unit 13 estimates the own vehicle position, the own vehicle state and the peripheral state based on the output of the sensor unit 12 (step S 102 ).
  • the determination unit 13 also sends information on the estimation result and output information of the sensor unit 12 to the server device 2 via the communication unit 11 as the sensor information D 2 .
  • the enhanced map information processing unit 14 receives the enhanced map information D 1 from the server device 2 via the communication unit 11 (step S 103 ). Then, the enhanced map information processing unit 14 stores the received enhanced map information D 1 as the environment information on the road data storage unit 41 , the peripheral state storage unit 42 , the traffic information storage unit 43 and the weather information storage unit 44 .
  • the autonomous driving unsuitable location prediction unit 45 of the enhanced map information processing unit 14 predicts an autonomous driving unsuitable location Pn existing on or around the route set at step S 101 (step S 104 ).
  • the autonomous driving unsuitable location prediction unit 45 sends information on the detected autonomous driving unsuitable location Pn to the server device 2 .
  • the autonomous driving unsuitable location prediction unit 45 determines whether or not there exists an autonomous driving unsuitable location Pn on the running route set at step S 101 (step S 105 ). Then, if there exists an autonomous driving unsuitable location Pn on the running route set at step S 101 (step S 105 ; Yes), the route setting unit 15 searches for an avoidance route (step S 106 ). In contrast, if there exists no autonomous driving unsuitable location Pn on the running route set at step S 101 (step S 105 ; No), the autonomous driving control unit 17 starts to drive the vehicle based on the route set at step S 101 (step S 111 ).
  • the informing unit 18 After searching for the avoidance route at step S 106 , the informing unit 18 displays the running route set at step S 101 together with the autonomous driving unsuitable location(s) Pn and the avoidance route in a selectable manner (step S 107 ). Thereby, the informing unit 18 lets the user recognize the position of the autonomous driving unsuitable location Pn and select whether to run on the running route set at step S 101 or on the avoidance route.
  • the Display example at step S 107 will be described later.
  • step S 108 When the avoidance route is selected (step S 108 ; Yes), the autonomous driving control unit 17 starts to drive the vehicle based on the avoidance route (step S 109 ). Thereby, the driving assistance device 1 can start to perform autonomous driving based on such a route that switching to manual driving is not needed.
  • the safe location search unit 46 searches for a safe location where the vehicle is able to drop by before entering the autonomous driving unsuitable location Pn (step S 110 ). As described later, the safe location searched for at step S 110 is used for a target of the guidance executed at the time when the vehicle comes close to the autonomous driving unsuitable location Pn. The safe location search unit 46 sends information on the safe location to the server device 2 . Then, the autonomous driving control unit 17 starts to drive the vehicle based on the route set at step S 101 (step S 111 ).
  • FIG. 4 is a flowchart indicating a procedure of the process executed by the driving assistance device 1 during running based on autonomous driving.
  • the driving assistance device 1 executes the process of the flowchart illustrated in FIG. 4 at the time of starting to drive the vehicle based on autonomous driving.
  • the autonomous driving control unit 17 performs autonomous driving based on the predetermined running route (step S 201 ). Then, the determination unit 13 estimates the own vehicle position, the own vehicle state and the peripheral state based on the output of the sensor unit 12 (step S 202 ). The determination unit 13 also sends information on the estimation result and output information of the sensor unit 12 to the server device 2 via the communication unit 11 as the sensor information D 2 .
  • the enhanced map information processing unit 14 receives the enhanced map information D 1 from the server device 2 via the communication unit 11 (step S 203 ). Then, the enhanced map information processing unit 14 stores the received enhanced map information D 1 as the environment information on the road data storage unit 41 , the peripheral state storage unit 42 , the traffic information storage unit 43 and the weather information storage unit 44 .
  • the autonomous driving unsuitable location prediction unit 45 of the enhanced map information processing unit 14 predicts an autonomous driving unsuitable location Pn existing on or around the route set at step S 101 (step S 204 ).
  • the autonomous driving unsuitable location prediction unit 45 sends information on the detected autonomous driving unsuitable location Pn to the server device 2 .
  • the autonomous driving unsuitable location prediction unit 45 determines whether or not there exists an autonomous driving unsuitable location Pn on the predetermined running route (step S 205 ). Then, if there exists an autonomous driving unsuitable location Pn on the predetermined running route (step S 205 ; Yes), the autonomous driving unsuitable location prediction unit 45 determines whether or not the vehicle comes close to the autonomous driving unsuitable location Pn within a predetermined distance (step S 206 ).
  • the above-mentioned predetermined distance is determined in consideration of time needed to perform a switching operation to manual driving and time needed for a driver to prepare for manual driving after switching to manual driving.
  • step S 205 the driving assistance device 1 executes each process at step S 201 to S 205 again and determines whether or not an autonomous driving unsuitable location Pn occurs on the predetermined route as time goes by.
  • step S 206 When the vehicle comes close to the autonomous driving unsuitable location Pn within the predetermined distance (step S 206 ; Yes), the informing unit 18 gives notice which prompts switching to manual driving through an audio guidance or a display (step S 207 ). Then, the driving assistance device 1 determines whether or not an operation for switching to manual driving is detected through the user I/F 16 (step S 208 ). Then, when the driving assistance device 1 detects an operation for switching to manual driving in a predetermined time after the notice at S 207 (step S 208 ; Yes), the driving assistance device 1 terminates autonomous driving and ends the process of the flowchart.
  • the driving assistance device 1 When the driving assistance device 1 does not detect any operation for switching to manual driving in the predetermined time after the notice at S 207 (step S 208 ; No), the driving assistance device 1 starts to guide the vehicle to the safe location (step S 209 ). Preferably, in this case, the driving assistance device 1 guides the vehicle to the safe location detected at step S 110 in FIG. 3 .
  • FIG. 5 illustrates a display example displayed by the informing unit 18 at the time of setting a route at step S 107 in FIG. 3 .
  • the mark 50 indicates the present position of the vehicle and the position 51 indicates the position of the destination.
  • the informing unit 18 displays an avoidance route 52 in addition to a predetermined route 53 set at step S 101 on the map (not shown).
  • the informing unit 18 displays the predetermined route 53 so that the section of the autonomous driving unsuitable location Pn and the sections other than the autonomous driving unsuitable location Pn are differently displayed (e.g., differently colored).
  • the informing unit 18 lets the user preferably recognize the position of the autonomous driving unsuitable location Pn.
  • the informing unit 18 displays a window 55 including buttons 56 and 57 for selecting whether or not to set the avoidance route as a running route instead of the predetermined route 53 .
  • the driving assistance device 1 detects the YES button 56 pushed, the autonomous driving control unit 17 starts to perform autonomous driving based on the avoidance route 52 .
  • the driving assistance device 1 detects the NO button 57 pushed, the autonomous driving control unit 17 starts to perform autonomous driving based on the predetermined route 53 .
  • FIG. 6 illustrates a display example displayed by the informing unit 18 at step S 207 in FIG. 4 .
  • the driving assistance device 1 in response to the selection of the No button 57 in FIG. 5 , performs autonomous driving based on the predetermined route 53 including an autonomous driving unsuitable location Pn.
  • the informing unit 18 displays a windows 59 which prompts switching to manual driving according to step S 207 . Additionally, on the window 59 , the informing unit 18 displays a warning that the guidance to a safe location (in this case, “ ⁇ parking”) preliminary searched for at step S 110 in FIG. 3 starts if there is no operation for switching to manual driving in a predetermined time (one minute in this case). Furthermore, according to FIG. 6 , the informing unit 18 illustrates the position of the safe location “ ⁇ parking” and a route to the location on the map. In the case of the example illustrated in FIG. 6 , as with the example illustrated in FIG. 5 , the informing unit 18 displays the predetermined route 53 so that the section of the autonomous driving unsuitable location Pn and the sections other than the autonomous driving unsuitable location Pn are displayed in different manners.
  • a safe location in this case, “ ⁇ parking”
  • the enhanced map information processing unit 14 of the driving assistance device 1 acquires from the determination unit 13 information on surroundings of the vehicle which is necessary to perform autonomous driving, and also acquires from the server device 2 environment information on surroundings of a route on which autonomous driving is to be performed.
  • the enhanced map information processing unit 14 extracts, as an autonomous driving unsuitable location Pn, a location at which the accuracy of the acquirement of the sensor unit 12 is predicted not to satisfy a standard for acquiring the information on the surroundings of the vehicle needed to perform autonomous driving.
  • the informing unit 18 informs the extracted autonomous driving unsuitable location Pn to a user.
  • the driving assistance device 1 can extract such an autonomous driving unsuitable location Pn that the information on the surroundings of the vehicle with a sufficient accuracy required to perform autonomous driving cannot be acquired, and inform the user of the existence thereof in advance.
  • the driving assistance device 1 performs autonomous driving after searching for a route to the destination specified by the user I/F 16 . Instead, even in a case that any destination is not specified, by referring to the past traveling history of the vehicle, the driving assistance device 1 may estimate a route where the vehicle should advance and perform autonomous driving based on the estimated route. In this case, the driving assistance device 1 stores information on roads where the vehicle ran as the traveling history, and predicts a running route by using known statistical means with reference to the traveling history. Then, for example, the driving assistance device 1 performs autonomous driving based on the predicted route if the degree of accuracy of the predicted route is equal to or higher than a predetermined value.
  • FIGS. 3 and 4 are merely examples and procedures to which the present invention can be applied are not limited to them.
  • the driving assistance device 1 may search for a safe location and predict an autonomous driving unsuitable location Pn at the same time. In this case, the driving assistance device 1 searches for a safe location regardless of whether or not an autonomous driving unsuitable location Pn is detected. In another example, while running according to autonomous driving, the driving assistance device 1 may repeatedly and continuously search for a safe location which is preferable to drop by from the present position. In still another example, the driving assistance device 1 may search for an autonomous driving unsuitable location Pn only at the time of setting a route and may not search for an autonomous driving unsuitable location Pn again at the time of performing autonomous driving. Namely, in this case, the driving assistance device 1 does not execute the process at step S 204 in FIG. 4 .
  • the server device 2 may execute the prediction process of an autonomous driving unsuitable location Pn in substitution for the autonomous driving unsuitable location prediction unit 45 .
  • the server device 2 detects an autonomous driving unsuitable location Pn existing on roads each registered in the enhanced map DB 21 in a similar way as detecting the autonomous driving unsuitable location Pn by the autonomous driving unsuitable location prediction unit 45 . Then, the server device 2 stores on the enhanced map DB 21 information on the detected autonomous driving unsuitable location Pn as information on road conditions. The server device 2 also sends the enhanced map information D 1 including the information on the autonomous driving unsuitable location Pn to the driving assistance device 1 . Even in this mode, preferably, the driving assistance device 1 acquires an autonomous driving unsuitable location Pn predicted based on the environment information to inform the user thereof.
  • the driving assistance device 1 warns the driver to pay attention to the predetermined location.
  • the predetermined location include a school zone, a silver zone and a residential area.
  • a server system including a plurality of server devices may executes the process of the server device 2 explained in the above embodiment.
  • each of the server devices executes a process assigned in advance by receiving information needed to execute the process from the other server devices as necessary.
  • the driving assistance device 1 may receive weather information from a server device collecting weather information other than the server device 2 and stores the weather information on the weather information storage unit 44 if the weather information is neither registered in the enhanced map DB 21 nor included in the enhanced map information D 1 .

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