WO2010100715A1 - On-vehicle information processor - Google Patents

On-vehicle information processor Download PDF

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Publication number
WO2010100715A1
WO2010100715A1 PCT/JP2009/053881 JP2009053881W WO2010100715A1 WO 2010100715 A1 WO2010100715 A1 WO 2010100715A1 JP 2009053881 W JP2009053881 W JP 2009053881W WO 2010100715 A1 WO2010100715 A1 WO 2010100715A1
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WO
WIPO (PCT)
Prior art keywords
lane
lane number
link
lanes
vehicle
Prior art date
Application number
PCT/JP2009/053881
Other languages
French (fr)
Japanese (ja)
Inventor
克宏 松岡
Original Assignee
トヨタ自動車株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by トヨタ自動車株式会社 filed Critical トヨタ自動車株式会社
Priority to PCT/JP2009/053881 priority Critical patent/WO2010100715A1/en
Publication of WO2010100715A1 publication Critical patent/WO2010100715A1/en

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    • 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
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
    • G08G1/096716—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information does not generate an automatic action on the vehicle 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
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096733—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place
    • G08G1/096758—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place where no selection takes place on the transmitted or the received information
    • 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
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
    • G08G1/096783—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a roadside individual element
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Definitions

  • the present invention relates to an information processing apparatus mounted on a vehicle.
  • an in-vehicle information processing apparatus an apparatus that receives information on each lane by road-to-vehicle communication and provides information on a lane in which the host vehicle travels is known.
  • the device described in Patent Document 1 detects a lane change of the host vehicle based on an image of a vehicle-mounted camera, and provides information related to the lane after the lane change.
  • the present invention has been made to solve such a technical problem, and even when the number of lanes increases or decreases after road-to-vehicle communication, an on-vehicle information processing that can acquire an appropriate lane number.
  • An object is to provide an apparatus.
  • the in-vehicle information processing apparatus is an in-vehicle information processing apparatus that estimates a lane number assigned to a lane, a reception unit that receives a lane number of each lane by road-to-vehicle communication, and a reception unit that receives the lane number.
  • Lane number estimation for estimating the relationship between the lane number before the increase / decrease in the number of lanes and the lane number after the increase / decrease in the number of lanes based on the information on the lane number of each lane and the link connection relationship of each lane It is configured with a part.
  • the lane number of each lane is received by the receiving unit, and the lane number and the number of lanes before and after the increase / decrease in the number of lanes are determined by the lane number estimation unit based on the lane number of each lane and the link connection relation information.
  • the relationship with the lane number after increase / decrease is estimated. For this reason, for example, even when the number of lanes increases or decreases after passing a point where road-to-vehicle communication is performed, an appropriate lane number can be estimated based on link connection relationships such as branching and merging.
  • the receiving unit may receive link connection information of each lane.
  • a driving support unit that performs driving support based on support information related to the lane number after the increase or decrease in the number of lanes estimated by the lane number estimation unit.
  • the driving support unit drives the vehicle based on appropriate support information. Can provide support.
  • the driving support unit provides signal information related to the lane number after the increase / decrease in the number of lanes estimated by the lane number estimation unit.
  • the driving support unit sends signal information related to an appropriate lane number to the vehicle. Can be provided.
  • the lane number estimation unit is configured such that the lane number of a link connected to a node serving as a start point, the lane number of a link connected to a node serving as an end point, and a branch link in a section from the start point to the end point It is preferable to estimate the relationship between the lane number before the increase / decrease in the number of lanes and the lane number after the increase / decrease in the number of lanes using the presence / absence of the merge link.
  • the lane of the link connected to the node of the point (starting point) that received the information Since the increase / decrease of the number can be grasped by the presence / absence of the branch link or the merge link, it is possible to appropriately estimate the relationship with the lane number of the link connected to the end node.
  • an appropriate lane number can be acquired even if the number of lanes increases or decreases after road-to-vehicle communication.
  • the in-vehicle information processing according to the present embodiment is an in-vehicle information processing apparatus that estimates a lane number assigned to a lane, and is suitably employed for driving assistance for notifying information acquired by road-to-vehicle communication, for example. .
  • FIG. 1 is a schematic diagram illustrating an outline of the configuration of a vehicle 3 including an in-vehicle information processing apparatus 1 according to the present embodiment.
  • FIGS. 2 and 3 illustrate link information used by the in-vehicle information processing apparatus according to the first embodiment.
  • FIG. 1 is a schematic diagram illustrating an outline of the configuration of a vehicle 3 including an in-vehicle information processing apparatus 1 according to the present embodiment.
  • FIGS. 2 and 3 illustrate link information used by the in-vehicle information processing apparatus according to the first embodiment.
  • FIG. 1 is a schematic diagram illustrating an outline of the configuration of a vehicle 3 including an in-vehicle information processing apparatus 1 according to the present embodiment.
  • FIGS. 2 and 3 illustrate link information used by the in-vehicle information processing apparatus according to the first embodiment.
  • the vehicle 3 includes a communication device (reception unit) 20, an ECU (Electronic Control Unit) 10, and a notification device 21.
  • the ECU is a computer of an electronically controlled automobile device, and includes a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), an input / output interface, and the like. .
  • the communication device 20 is configured to be capable of road-to-vehicle communication with an information providing device R n (n: integer) provided on the road side, and configured to be able to acquire support information.
  • the information providing device R n is arranged on the road, on the road side of the road, or in the vicinity thereof, and for example, an optical beacon is used.
  • Information providing device R n is, for example, configured to be capable of receiving traffic information of the traffic signal near the central management center or the like for traffic control.
  • Communication device 20 when the vehicle 3 passes near the installation point of the information providing apparatus R n, and has a function of communicating with the information providing apparatus R n. This road-to-vehicle communication is so-called spot communication performed only within a predetermined range (service section).
  • the communication device 20 the information and traffic information on the road in the predetermined travel segment of the vehicle 3 has a function of receiving from the information providing apparatus R n as support information.
  • the information regarding the road includes, for example, a node N m (m: integer) and a link L s (s: integer).
  • the road shape is a link L s in which node N m provided at a predetermined point such as an intersection is connected to node N m, and information relating to the lane (lane number k (k: integer), etc.) is recorded accompanying it. It is expressed by The lane number k is assigned to each lane in order from the end (for example, the left end).
  • the traffic signal information is time-series information regarding the lighting state of the traffic signal, and includes, for example, lighting states such as red, blue, and yellow, and lighting times of the respective lights.
  • This traffic signal information is associated with the lane number k.
  • the support information may include other information associated with the lane number k. For example, as other information, information on obstacles, information on regulations (temporary stop, right / left turn prohibition, etc.), information on road surfaces such as freezing, and the like are used.
  • the communication device 20 has a function of outputting the acquired support information to the ECU 10.
  • the ECU 10 includes a lane number estimation unit 11 and a driving support unit 12.
  • Lane number estimating unit 11 has a function of estimating a lane number k after the number lane is increased or decreased based on the connection relation of the lane number k and the link L s of the communication device 20 has acquired. For example, the lane number estimating unit 11 starting from the point passing through the information providing device R n shown in FIG. 2, the link of the lane number (No.1, No.2) connected to the origin node, stop line 40 Based on the lane number (No. 1 to No.
  • the lane number estimation unit 11 has a function of outputting the estimated lane number to the driving support unit 12.
  • the driving support unit 12 has a function of performing driving support based on the lane number output by the lane number estimation unit 11.
  • the driving support unit 12 has a function of identifying the traffic signal information of the lane number based on the lane number output by the lane number estimation unit 11 and causing the notification device 21 to output the identified traffic signal information.
  • the driving support unit 12 specifies traffic signal information of the lane number, information on obstacles, information on regulations, information on road surfaces, and the like based on the lane number output by the lane number estimation unit 11, and in the specified information It may have a function of controlling the vehicle 3 based on it.
  • the notification device 21 has a function of notifying the driver, and for example, a speaker or a display is used.
  • the in-vehicle information processing apparatus 1 includes the communication device 20, the lane number estimation unit 11, and the driving support unit 12 described above.
  • FIGS. 4 and 5 are flowcharts showing the operation of the in-vehicle information processing apparatus 1 according to the present embodiment. Control process shown in FIGS. 4 and 5 is repeatedly executed at a predetermined interval from the timing of receiving assistance information, for example, from the information providing apparatus R n. The operation of the in-vehicle information processing apparatus 1 will be described with reference to the link connection relationship shown in FIG.
  • the in-vehicle information processing apparatus 1 starts from a connection link extraction process (S10).
  • S10 is processing the lane number estimating unit 11 executes, it extracts the links L s which is connected to any source node N m.
  • S12 lane number acquisition process
  • Process in S12 is executed lane number estimating unit 11, a process of acquiring the lane number k s links L s extracted in the processing of S10.
  • the process proceeds to downstream node extraction processing (S14).
  • Processing in S14 executes the lane number estimating unit 11, a process of acquiring the downstream node of the link L s extracted in the processing of S10. If the things that can be the downstream node N m is 2 or more, it links the Nari road is acquired as a downstream node.
  • the process of S14 ends, the process proceeds to a stop line node determination process (S16).
  • the step S16 is executed by the lane number estimating unit 11, the node N m extracted by the processing in S14 is a process of determining whether or not the node N m of the stop line. In the processing of S16, if it is determined not the node N m of the stop line, the process proceeds to the connection link acquisition process (S18).
  • Processing of S18 executes lane number estimating unit 11, a process for extracting connected links L s to the node N m extracted by the processing of S14.
  • the process of S18 ends, the process proceeds to a connection link number determination process (S20).
  • the process of S20 is a process that is executed by the lane number estimation unit 11 and determines whether or not there are two or more links L s extracted in the process of S18. In the process of S20, when there are two or more connection links L s , the process proceeds to the link selection process (S22).
  • Processing of S22 executes lane number estimating unit 11, of the links L s extracted by the processing of S18, a process of selecting the link is not a link that branch or merge.
  • a process of selecting the link is not a link that branch or merge.
  • the links indicated by the arrows shown in FIGS. 6A and 6B are joined links, and the links indicated by the arrows shown in FIGS. 6C and 6D are branched links.
  • the lane number estimation unit 11 extracts a link L s that does not correspond to any of FIGS. 6 (A) to 6 (D).
  • Processing of S24 executes lane number estimating unit 11, a process of acquiring the connection node of the extracted link L s in the processing of S22.
  • the process shifts again to the stop line node determination process (S16).
  • the process of S20 when the number of connection links L s is not 2 or more, the process proceeds to the merge link determination process (S26).
  • Processing of S26 is executed by the lane number estimating unit 11, it is determined whether only one extracted connection link L s in the processing of S18 is only merge link.
  • the lane number estimation unit 11 determines whether or not the connection link L s extracted in the process of S18 is one of FIGS. 6 (A) and 6 (B).
  • the connection link L s is equal to or only merge link moves to the right exchange determination process (S28).
  • Processing of S28 is executed by the lane number estimating unit 11, connecting link L s extracted in the process of S18 is a process of determining whether or not to join the right.
  • the lane number estimation unit 11 determines whether or not the connection link L s extracted in the process of S18 is FIG.
  • the process proceeds to the lane number change processing, adds 1 to the lane number of the origin node N m (S30).
  • the process of S30 ends, the process proceeds to the connection node extraction process again (S24).
  • Process step S34 is executed by the lane number estimating unit 11, a process of acquiring the lane number k e link L s extracted by the processing of S12, S18 or S22.
  • S14 when it is determined that the stop line node N m in step S16 the downstream node N m extracted in the processing of the already processed processing step S34 so that acquires lane numbers k e with at S12 You may skip.
  • S36 a difference number calculation process
  • Processing of S36 is executed by the lane number estimating unit 11 subtracts the lane number k s in acquired origin in the processing in S12 from the lane number k e at stop line acquired in the process of S34, the difference numbers k This is a process for calculating def .
  • the process of S36 proceeds to the total process (S38).
  • step S38 a process of lane number estimating unit 11 executes, adds the difference numbers k def calculated in the processing of S36 in the lane number k s of all the originating node N m. If the lane number after addition is negative, the lane number is regarded as 1. (Please check whether there is any technical error.) When the processing of S38 is finished, the control processing shown in FIGS.
  • the control processing shown in FIGS. By executing the control processing shown in FIGS. 4 and 5, for one lane, the starting lane number k s , the ending lane number k e , and the link linking number (branch or merge) are used as the starting lane number k. It is possible to associate s with the lane number k e of the end point, and associate the lane number k s of the starting point and the lane number k e of the end point with respect to the entire lane based on the association. Therefore, when the vehicle 3 receives support on the stop line 40, the driving support unit 12 can provide signal information based on an appropriate lane.
  • one of the nodes N 1 and N 2 at the passing point of the information providing device R 1 is set as a starting point node.
  • the node N 2 is the starting point node.
  • the link L 2 connected to the origin node N 2 is extracted (S10).
  • the lane number 2 of the link L2 is acquired (S12).
  • the node N 5 is obtained as a downstream node of the link L 2 (S14).
  • the node N 5 extracted in the process of S14 is a stop line node N 7 to N 10 (S16). Since the node N 5 is not the stop line nodes N 7 to N 10 , the links L 4 and L 7 connected to the node N 5 are extracted (S18). Since the extracted links are two or more, links that are not branches or merged links are extracted (S20, S22). Of the links L 4 and L 7 , the link L 4 is a branch link, and the link L 7 is not a branch or merging link, so the link L 7 is extracted (S 22). Then, the node N 9 is extracted as the connection node of the link L 7 (S24). Node N 9 is because it is the stop line node, lane No.
  • the lane numbers 2 links L 2 from the lane number 3 links L 7 is subtracted difference number 1 is obtained (S36).
  • the difference number 1 is added to the lane number 1 of the originating node N 1, lane number of the origin node N 1 is set to 2. Further, the difference number 1 is added to the lane number 2 of the origin node N 2, lane number of the origin node N 2 is set to 3. In this way, by searching for the link connection relationship in only one of the lanes, it is possible to obtain the lane numbers of all the lanes after being changed by changing the number of lanes after driving support.
  • any one of the nodes N 10 to N 13 at the passing point of the information providing device R 1 is set as a starting node.
  • the node N 13 is set as the starting node.
  • the link L 12 connected to the originating node N 13 is extracted (S10).
  • the lane number 4 of the link L 12 is obtained (S12).
  • the node N 17 is obtained as a downstream node of the link L 12 (S14).
  • the link L 14 connected to the node N 17 is extracted (S18). Since extracted link is not 2 or more (S20), the link L 14 is merged link whether it is determined (S26), it is determined that confluence links to the left (S28). Then, are 3 lanes number of the link L 12 is minus one 4 (S32). Then, N 16 is extracted as a connection node (S24). N 16 is not a stop line node (S16), and since there are two or more connected links L 14 and L 16 , a link L 16 that is not a merged link is extracted (S22). Then, the connection node N 19 of the link L 16 is extracted (S24).
  • the node N 19 is a stop line node (S16)
  • the lane number 2 of the link L 16 connected to the node N 19 is extracted (S34).
  • the difference number ⁇ 1 is obtained by subtracting the calculated lane number 3 of the link L 14 from the lane number 2 of the link L 16 (S 36).
  • the difference number ⁇ 1 is added to each of the origin nodes N 10 to N 13 (S38).
  • the originating node N 10 because the lane number is a negative value, regarded as 1.
  • the lane numbers of the stop lines corresponding to the origin nodes N 10 to N 13 are calculated as 1, 1, 2, 2, respectively. In this way, by searching for the link connection relationship in only one of the lanes, it is possible to obtain the lane numbers of all the lanes after being changed by changing the number of lanes after driving support.
  • the lane number of each lane and the link connection information of each lane are received by the communication device 20, and each received by the lane number estimation unit 11 is received.
  • the relationship between the lane number k e after the lane numbers k s and number of lanes increases or decreases before increasing or decreasing the number of lanes is estimated. Therefore, even if the number of lanes after passing through the installation point of the information providing apparatus R n which performs road-vehicle communication is increased or decreased, to estimate the appropriate lane number based on the link connection relationship such branching and merging Can do.
  • the in-vehicle information processing apparatus 1 can estimate the lane numbers of all lanes based on the determination result in one lane without searching for all the stop lanes. For this reason, for example, in the case of a four-lane road shape, the number of searches can be simply 1 ⁇ 4. Since the number of searches is inversely proportional to the number of lanes, as the number of lanes increases, the number of searches is reduced and the calculation load can be further reduced.
  • the driving support unit 12 even if the number of lanes increases or decreases after passing through the installation point of the information providing apparatus R n which performs road-vehicle communication, the driving support unit 12 Thus, driving assistance can be performed on the vehicle based on appropriate assistance information.
  • the driving support unit 12 even if the number of lanes increases or decreases after passing through the installation point of the information providing apparatus R n which performs road-vehicle communication, the driving support unit 12 Thus, signal information related to an appropriate lane number can be provided to the vehicle.
  • the vehicle information processing apparatus 1 even if the number of lanes increases or decreases after passing through the installation point of the information providing apparatus R n which performs road-vehicle communication, information has been received Since the increase / decrease of the lane number k s of the link L s connected to the node N m at the point (starting point) can be grasped by the presence or absence of the branch link or the merging link, the lane of the link L s connected to the node N m at the starting point a number k s, it is possible to appropriately estimate the relationship between the lane number k e link L s which is connected to the node N m endpoint.
  • the in-vehicle information processing apparatus is configured in substantially the same manner as the in-vehicle information processing apparatus 1 according to the first embodiment, and is compared with the in-vehicle information processing apparatus 1 according to the first embodiment.
  • the estimation method of the number estimation unit 11 is different.
  • the description of the same parts as those in the first embodiment will be omitted, and the differences will be mainly described.
  • the in-vehicle information processing apparatus is configured in substantially the same manner as the in-vehicle information processing apparatus 1 according to the first embodiment, and a partial function of the lane number estimation unit 11 is different. Based on the number of starting lanes, the number of end lanes, and the number of links that branch or merge, the lane number estimating unit 11 determines the lane number at the starting point and the lane number at the ending point without following the links. It has a function to estimate the relationship. Other functions are the same as those of the in-vehicle information processing apparatus 1 of the first embodiment.
  • FIG. 7 is a flowchart showing the operation of the in-vehicle information processing apparatus according to the second embodiment
  • FIG. 8 is a schematic diagram for explaining the operation of the in-vehicle information processing apparatus according to the second embodiment.
  • Control process shown in FIG. 7 is repeatedly executed at a predetermined interval from the timing of receiving assistance information, for example, from the information providing apparatus R n.
  • the in-vehicle information processing apparatus starts from the information extraction process (S40).
  • the processing of S40 is executed by the lane number estimation unit 11, and information indicating that the number of start lanes, the number of stop lanes, and the number of lanes increases in the left direction is given from the road alignment information received by the communication device 20.
  • link L s number L_ plus the number L_ minus links L s of information indicating that it reduces the lane in the left direction is applied
  • the link L s of information indicating that the lane is increased in the right direction is applied the number R_ plus
  • acquires the number R_ minus links L s of information indicating that the lane is reduced in the right direction is given.
  • S44 lane number increase / decrease determination processing
  • the process of S44 is a process which the lane number estimation part 11 performs, and determines whether there is increase / decrease in the number of lanes.
  • Lane number estimating unit 11 speed change is calculated by the processing in S42 X_ L
  • X_ R is determined whether both of them are 0, count change X_ L, when X_ R are both 0, the number of lanes It is determined that there is no increase / decrease. If it is determined in S44 that there is no increase or decrease in the number of lanes, the control process shown in FIG. 7 is terminated. On the other hand, if there is an increase or decrease in the number of lanes in the process of S44, the process proceeds to a lane number estimation process (S46).
  • the process of S46 is a process which the lane number estimation part 11 performs, and estimates the lane number after the number of lanes change.
  • Lane number estimating unit 11 the lane number as a starting point, by adding the increased or decreased number X_ L lane in the left direction calculated in the processing of S42, estimates a lane number after the number of lanes changes.
  • the lane number estimation part 11 performs the process of S46 with respect to all the lanes.
  • the process of S46 proceeds to a calculation check process (S48).
  • the process of S48 is a process which the lane number estimation part 11 performs, and confirms the calculation of the estimated value of S46.
  • the lane number estimation unit 11 subtracts the maximum value of the lane number after the lane number change estimated in the process of S46 from the number of lanes at the end point, and the subtraction result and the increase / decrease number of the lane in the right direction calculated in the process of S42 X_ R and checks whether equal.
  • the process proceeds to employ the process (S52).
  • the process of S52 is a process of adopting the estimated value calculated in the process of S46 and converting the starting lane number into the estimated value.
  • the control process shown in FIG. 7 ends.
  • the case of the map shape shown in FIG. 8 will be described as an example.
  • the same effect as the in-vehicle information processing device according to the first embodiment is obtained, and the calculation cost is reduced as compared with the in-vehicle information processing device according to the first embodiment. It becomes possible to do.
  • Each embodiment described above shows an example of an in-vehicle information processing apparatus according to the present invention.
  • the in-vehicle information processing apparatus according to the present invention is not limited to the in-vehicle information processing apparatus according to each embodiment, and the in-vehicle information processing apparatus according to each embodiment is modified without changing the gist described in each claim. Or may be applied to other things.
  • road-to-vehicle communication using an optical beacon has been described as an example, but any road-to-vehicle communication using radio waves may be used.
  • the information about the road in the predetermined travel segment of the vehicle 3 by the communication device 20 an example has been described for receiving from the information providing apparatus R n as support information, as the information on the road, a lane number only It may be. That is, the communication device 20, a lane number in the installation position of the information providing apparatus R n, and may have a function of receiving only lane number in support point such as a stop line. Then, the lane number estimation unit 11 refers to the lane number output by the communication device 20 and the link information (information on the link connection relationship of each lane) included in the navigation device 3 provided in the vehicle 3, for example. You may have a function which estimates the relationship between the lane number before increase / decrease and the lane number after increase / decrease in the number of lanes.

Abstract

An on-vehicle information processor (1) which estimates a lane number assigned to a lane is provided with a communication device (20) which receives the lane number of each lane by road-to-vehicle communication, and a lane number estimation part (11) which estimates the relation between the lane number before increase/decrease in the number of lanes and that after the increase/decrease, based on information relating to the lane number of each lane received by the communication device (20) and the link connection relation of each lane. Thereby, a proper lane number can be acquired even when the number of lanes are increased/decreased after passing through the installation spot of an information-providing device (Rn) which performs the road-to-vehicle communication.

Description

車載情報処理装置In-vehicle information processing equipment
　本発明は、車載された情報処理装置に関するものである。 The present invention relates to an information processing apparatus mounted on a vehicle.
　従来、車載情報処理装置として、各車線に関する情報を路車間通信で受信して、自車両が走行する車線に関する情報を提供するものが知られている。例えば、特許文献１記載の装置は、車載カメラの画像に基づいて自車両の車線変更を検出し、車線変更後の車線に関する情報を提供するものである。
特開２００７－３２８５２１号公報 2. Description of the Related Art Conventionally, as an in-vehicle information processing apparatus, an apparatus that receives information on each lane by road-to-vehicle communication and provides information on a lane in which the host vehicle travels is known. For example, the device described in Patent Document 1 detects a lane change of the host vehicle based on an image of a vehicle-mounted camera, and provides information related to the lane after the lane change.
JP 2007-328521 A
　しかしながら、従来の運転支援装置にあっては、各車線に関する情報を用いて情報提供や運転支援を適切に行うことができないおそれがある。例えば、路車間通信の提供時点での車線数と、支援が必要な交差点付近での車線数とが異なる場合には、走行する車線を変更しなくても走行車線の車線番号が異なるものとなるため、路車間通信の提供時点での車線番号に基づいて情報提供や運転支援を行うと適切な支援とならない場合がある。 However, in the conventional driving assistance device, there is a possibility that information provision and driving assistance cannot be appropriately performed using information on each lane. For example, if the number of lanes at the time of provision of road-to-vehicle communication differs from the number of lanes near the intersection where assistance is required, the lane number of the traveling lane will be different without changing the lane in which the vehicle travels For this reason, providing information and driving support based on the lane number at the time of providing road-to-vehicle communication may not provide appropriate support.
　そこで、本発明はこのような技術課題を解決するためになされたものであって、路車間通信後に車線数が増減した場合であっても、適切な車線番号を取得することができる車載情報処理装置を提供することを目的とする。 Therefore, the present invention has been made to solve such a technical problem, and even when the number of lanes increases or decreases after road-to-vehicle communication, an on-vehicle information processing that can acquire an appropriate lane number. An object is to provide an apparatus.
　すなわち本発明に係る車載情報処理装置は、車線に割り当てられた車線番号を推定する車載情報処理装置であって、路車間通信により各車線の車線番号を受信する受信部と、前記受信部により受信した各車線の前記車線番号、及び各車線の前記リンク接続関係の情報に基づいて、車線数の増減前の前記車線番号と車線数の増減後の前記車線番号との関係を推定する車線番号推定部を備えて構成される。 That is, the in-vehicle information processing apparatus according to the present invention is an in-vehicle information processing apparatus that estimates a lane number assigned to a lane, a reception unit that receives a lane number of each lane by road-to-vehicle communication, and a reception unit that receives the lane number. Lane number estimation for estimating the relationship between the lane number before the increase / decrease in the number of lanes and the lane number after the increase / decrease in the number of lanes based on the information on the lane number of each lane and the link connection relationship of each lane It is configured with a part.
　本発明によれば、受信部により各車線の車線番号が受信され、車線番号推定部により、各車線の車線番号及びリンク接続関係の情報に基づいて、車線数の増減前の車線番号と車線数の増減後の車線番号との関係が推定される。このため、例えば、路車間通信を行った地点を通過した後で車線数が増減した場合であっても、分岐や合流といったリンク接続関係に基づいて適切な車線番号を推定することができる。 According to the present invention, the lane number of each lane is received by the receiving unit, and the lane number and the number of lanes before and after the increase / decrease in the number of lanes are determined by the lane number estimation unit based on the lane number of each lane and the link connection relation information. The relationship with the lane number after increase / decrease is estimated. For this reason, for example, even when the number of lanes increases or decreases after passing a point where road-to-vehicle communication is performed, an appropriate lane number can be estimated based on link connection relationships such as branching and merging.
　ここで、前記受信部は、各車線のリンク接続関係の情報を受信してもよい。 Here, the receiving unit may receive link connection information of each lane.
　また、前記車線番号推定部により推定した車線数の増減後の前記車線番号と関連した支援情報に基づいて運転支援を行う運転支援部をさらに備えることが好適である。このように構成することで、例えば、路車間通信を行った地点を通過した後で車線数が増減した場合であっても、運転支援部により、適切な支援情報に基づいて車両に対して運転支援を行うことができる。 In addition, it is preferable to further include a driving support unit that performs driving support based on support information related to the lane number after the increase or decrease in the number of lanes estimated by the lane number estimation unit. With this configuration, for example, even if the number of lanes increases or decreases after passing through a point where road-to-vehicle communication is performed, the driving support unit drives the vehicle based on appropriate support information. Can provide support.
　また、前記運転支援部は、前記車線番号推定部により推定した車線数の増減後の前記車線番号と関連した信号情報を提供することが好適である。このように構成することで、例えば、路車間通信を行った地点を通過した後で車線数が増減した場合であっても、運転支援部により、適切な車線番号と関連した信号情報を車両へ提供することができる。 Further, it is preferable that the driving support unit provides signal information related to the lane number after the increase / decrease in the number of lanes estimated by the lane number estimation unit. By configuring in this way, for example, even when the number of lanes has increased or decreased after passing a point where road-to-vehicle communication has been performed, the driving support unit sends signal information related to an appropriate lane number to the vehicle. Can be provided.
　さらに、前記車線番号推定部は、起点となるノードに接続されるリンクの前記車線番号、終点となるノードに接続されるリンクの前記車線番号、及び前記起点から前記終点までの区間における分岐リンクもしくは合流リンクの有無を用いて、車線数の増減前の前記車線番号と車線数の増減後の前記車線番号との関係を推定することが好適である。 Further, the lane number estimation unit is configured such that the lane number of a link connected to a node serving as a start point, the lane number of a link connected to a node serving as an end point, and a branch link in a section from the start point to the end point It is preferable to estimate the relationship between the lane number before the increase / decrease in the number of lanes and the lane number after the increase / decrease in the number of lanes using the presence / absence of the merge link.
　このように構成することで、例えば、路車間通信を行った地点を通過した後で車線数が増減した場合であっても、情報を受信した地点（起点）のノードに接続されるリンクの車線番号の増減を、分岐リンクもしくは合流リンクの有無により把握できるので、終点のノードに接続されるリンクの車線番号との関係を適切に推定することが可能となる。 By configuring in this way, for example, even if the number of lanes increases or decreases after passing through a point where road-to-vehicle communication is performed, the lane of the link connected to the node of the point (starting point) that received the information Since the increase / decrease of the number can be grasped by the presence / absence of the branch link or the merge link, it is possible to appropriately estimate the relationship with the lane number of the link connected to the end node.
　本発明によれば、路車間通信後に車線数が増減した場合であっても、適切な車線番号を取得することができる。 According to the present invention, an appropriate lane number can be acquired even if the number of lanes increases or decreases after road-to-vehicle communication.
第１実施形態に係る車載情報処理装置を備える車両の構成を示すブロック図である。It is a block diagram which shows the structure of a vehicle provided with the vehicle-mounted information processing apparatus which concerns on 1st Embodiment. 第１実施形態に係る車載情報処理装置が用いるリンク情報を説明する概要図である。It is a schematic diagram explaining the link information which the vehicle-mounted information processing apparatus which concerns on 1st Embodiment uses. 第１実施形態に係る車載情報処理装置が用いるリンク情報を説明する概要図である。It is a schematic diagram explaining the link information which the vehicle-mounted information processing apparatus which concerns on 1st Embodiment uses. 第１実施形態に係る車載情報処理装置の動作を示すフローチャートである。It is a flowchart which shows operation | movement of the vehicle-mounted information processing apparatus which concerns on 1st Embodiment. 第１実施形態に係る車載情報処理装置の動作を示すフローチャートである。It is a flowchart which shows operation | movement of the vehicle-mounted information processing apparatus which concerns on 1st Embodiment. 第１実施形態に係る車載情報処理装置の動作を説明する概要図である。It is a schematic diagram explaining operation | movement of the vehicle-mounted information processing apparatus which concerns on 1st Embodiment. 第２実施形態に係る車載情報処理装置の動作を示すフローチャートである。It is a flowchart which shows operation | movement of the vehicle-mounted information processing apparatus which concerns on 2nd Embodiment. 第２実施形態に係る車載情報処理装置が用いるリンク情報を説明する概要図である。It is a schematic diagram explaining the link information which the vehicle-mounted information processing apparatus which concerns on 2nd Embodiment uses.
符号の説明Explanation of symbols
１…車載情報処理装置、３…車両、１１…車線番号推定部、１２…運転支援部、２０…通信装置（受信部） DESCRIPTION OF SYMBOLS 1 ... Car-mounted information processing apparatus, 3 ... Vehicle, 11 ... Lane number estimation part, 12 ... Driving assistance part, 20 ... Communication apparatus (reception part)
　以下、添付図面を参照して本発明の実施形態について説明する。なお、各図において同一又は相当部分には同一の符号を付し、重複する説明を省略する。 Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In addition, in each figure, the same code | symbol is attached | subjected to the same or an equivalent part, and the overlapping description is abbreviate | omitted.
（第１実施形態）
　本実施形態に係る車載情報処理は、車線に割り当てられた車線番号を推定する車載情報処理装置であって、例えば路車間通信により取得した情報を報知する運転支援に好適に採用されるものである。 (First embodiment)
The in-vehicle information processing according to the present embodiment is an in-vehicle information processing apparatus that estimates a lane number assigned to a lane, and is suitably employed for driving assistance for notifying information acquired by road-to-vehicle communication, for example. .
　最初に、第１実施形態に係る車載情報処理装置の構成について説明する。図１は、本実施形態に係る車載情報処理装置１を備える車両３の構成概要を説明する概要図、図２，３は、第１実施形態に係る車載情報処理装置が用いるリンク情報を説明する概要図である。 First, the configuration of the in-vehicle information processing apparatus according to the first embodiment will be described. FIG. 1 is a schematic diagram illustrating an outline of the configuration of a vehicle 3 including an in-vehicle information processing apparatus 1 according to the present embodiment. FIGS. 2 and 3 illustrate link information used by the in-vehicle information processing apparatus according to the first embodiment. FIG.
　図1に示すように、車両３は、通信装置（受信部）２０、ＥＣＵ（Electronic Control Unit）１０及び報知装置２１を備えている。ここで、ＥＣＵとは、電子制御する自動車デバイスのコンピュータであり、ＣＰＵ（Central Processing Unit）、ＲＯＭ（Read Only Memory）、ＲＡＭ（Random Access Memory）、及び入出力インターフェイスなどを備えて構成されている。 As shown in FIG. 1, the vehicle 3 includes a communication device (reception unit) 20, an ECU (Electronic Control Unit) 10, and a notification device 21. Here, the ECU is a computer of an electronically controlled automobile device, and includes a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), an input / output interface, and the like. .
　通信装置２０は、道路側に設けられた情報提供装置Ｒｎ（ｎ：整数）と路車間通信可能に構成され、支援情報を取得可能に構成されている。情報提供装置Ｒｎは、図２，３に示すように、道路上、道路の路側又はその周辺に配置されており、例えば光ビーコンが用いられる。情報提供装置Ｒｎは、例えば交通制御を行う中央管理センター等から周辺の信号機の信号機情報を受信可能に構成されている。通信装置２０は、車両３が情報提供装置Ｒｎの設置地点付近を通過する際に、情報提供装置Ｒｎと通信する機能を有している。この路車間通信は、所定の範囲内（サービス区間）でのみ行われる、いわゆるスポット通信である。 The communication device 20 is configured to be capable of road-to-vehicle communication with an information providing device R n (n: integer) provided on the road side, and configured to be able to acquire support information. As shown in FIGS. 2 and 3, the information providing device R n is arranged on the road, on the road side of the road, or in the vicinity thereof, and for example, an optical beacon is used. Information providing device R n is, for example, configured to be capable of receiving traffic information of the traffic signal near the central management center or the like for traffic control. Communication device 20, when the vehicle 3 passes near the installation point of the information providing apparatus R n, and has a function of communicating with the information providing apparatus R n. This road-to-vehicle communication is so-called spot communication performed only within a predetermined range (service section).
　そして、通信装置２０は、車両３の所定走行区間の道路に関する情報及び信号機情報を、支援情報として情報提供装置Ｒｎから受信する機能を有している。道路に関する情報は、例えばノードＮｍ（ｍ：整数）及びリンクＬｓ（ｓ：整数）を含んでいる。道路形状は、交差点等の所定地点に設けられたノードＮｍと、ノードＮｍを接続し、例えば車線に関する情報（車線番号ｋ（ｋ：整数）等）が付随して記録されたリンクＬｓにより表現される。なお、車線番号ｋは、端（例えば左端）から順に車線ごとに割り当てられるものである。信号機情報は、信号機の点灯状態に関する時系列の情報であって、例えば、赤、青、黄色等の点灯状態、それぞれの点灯時間等を含んでいる。この信号機情報は、車線番号ｋと関連付けされている。また、支援情報は、車線番号ｋと関連付けされた他の情報を含んでもよい。例えば、他の情報として、障害物に関する情報、規制（一時停止、右左折禁止等）に関する情報、凍結等の路面に関する情報等が用いられる。通信装置２０は、取得した支援情報をＥＣＵ１０へ出力する機能を有している。 Then, the communication device 20, the information and traffic information on the road in the predetermined travel segment of the vehicle 3 has a function of receiving from the information providing apparatus R n as support information. The information regarding the road includes, for example, a node N m (m: integer) and a link L s (s: integer). The road shape is a link L s in which node N m provided at a predetermined point such as an intersection is connected to node N m, and information relating to the lane (lane number k (k: integer), etc.) is recorded accompanying it. It is expressed by The lane number k is assigned to each lane in order from the end (for example, the left end). The traffic signal information is time-series information regarding the lighting state of the traffic signal, and includes, for example, lighting states such as red, blue, and yellow, and lighting times of the respective lights. This traffic signal information is associated with the lane number k. Further, the support information may include other information associated with the lane number k. For example, as other information, information on obstacles, information on regulations (temporary stop, right / left turn prohibition, etc.), information on road surfaces such as freezing, and the like are used. The communication device 20 has a function of outputting the acquired support information to the ECU 10.
　ＥＣＵ１０は、車線番号推定部１１及び運転支援部１２を備えている。車線番号推定部１１は、通信装置２０が取得した車線番号ｋ及びリンクＬｓの接続関係に基づいて車線数が増減された後の車線番号ｋを推定する機能を有している。例えば、車線番号推定部１１は、図２に示す情報提供装置Ｒｎを通過した地点を起点とし、起点ノードに接続されたリンクの車線番号（Ｎｏ．１、Ｎｏ．２）と、停止線４０での停止線ノードに接続されたリンクの車線番号（Ｎｏ．１～Ｎｏ．４）と、停止線４０を終点とする区間までのリンクの分岐又は合流の有無とに基づいて、起点と終点での車線番号の対応を推定する機能を有している。車線番号推定部１１は、推定した車線番号を運転支援部１２へ出力する機能を有している。 The ECU 10 includes a lane number estimation unit 11 and a driving support unit 12. Lane number estimating unit 11 has a function of estimating a lane number k after the number lane is increased or decreased based on the connection relation of the lane number k and the link L s of the communication device 20 has acquired. For example, the lane number estimating unit 11 starting from the point passing through the information providing device R n shown in FIG. 2, the link of the lane number (No.1, No.2) connected to the origin node, stop line 40 Based on the lane number (No. 1 to No. 4) of the link connected to the stop line node at and the presence or absence of branching or merging of the link up to the section with the stop line 40 as the end point, It has a function to estimate the correspondence of the lane number. The lane number estimation unit 11 has a function of outputting the estimated lane number to the driving support unit 12.
　運転支援部１２は、車線番号推定部１１が出力した車線番号に基づいて、運転支援を行う機能を有している。例えば、運転支援部１２は、車線番号推定部１１が出力した車線番号に基づいて、当該車線番号の信号機情報を特定し、特定した信号機情報を報知装置２１に出力させる機能を有している。また、運転支援部１２は、車線番号推定部１１が出力した車線番号に基づいて、当該車線番号の信号機情報、障害物に関する情報、規制に関する情報、路面に関する情報等を特定し、特定した情報に基づいて車両３を制御する機能を有していても良い。 The driving support unit 12 has a function of performing driving support based on the lane number output by the lane number estimation unit 11. For example, the driving support unit 12 has a function of identifying the traffic signal information of the lane number based on the lane number output by the lane number estimation unit 11 and causing the notification device 21 to output the identified traffic signal information. In addition, the driving support unit 12 specifies traffic signal information of the lane number, information on obstacles, information on regulations, information on road surfaces, and the like based on the lane number output by the lane number estimation unit 11, and in the specified information It may have a function of controlling the vehicle 3 based on it.
　報知装置２１は、運転者に報知する機能を有しており、例えば、スピーカやディスプレイが用いられる。 The notification device 21 has a function of notifying the driver, and for example, a speaker or a display is used.
　上述した通信装置２０、車線番号推定部１１及び運転支援部１２を含んで車載情報処理装置１が構成される。 The in-vehicle information processing apparatus 1 includes the communication device 20, the lane number estimation unit 11, and the driving support unit 12 described above.
　次に、本実施形態に係る車載情報処理装置１の動作を説明する。図４，５は、本実施形態に係る車載情報処理装置１の動作を示すフローチャートである。図４，５に示す制御処理は、例えば情報提供装置Ｒｎから支援情報を受信したタイミングから所定の間隔で繰り返し実行される。なお、車載情報処理装置１の動作は、図６に示すリンク接続関係を参照して説明する。 Next, the operation of the in-vehicle information processing apparatus 1 according to this embodiment will be described. 4 and 5 are flowcharts showing the operation of the in-vehicle information processing apparatus 1 according to the present embodiment. Control process shown in FIGS. 4 and 5 is repeatedly executed at a predetermined interval from the timing of receiving assistance information, for example, from the information providing apparatus R n. The operation of the in-vehicle information processing apparatus 1 will be described with reference to the link connection relationship shown in FIG.
　図４に示すように、車載情報処理装置１は、接続リンク抽出処理から開始する（Ｓ１０）。Ｓ１０の処理は、車線番号推定部１１が実行し、任意の起点ノードＮｍに接続されるリンクＬｓを抽出する処理である。車線番号推定部１１は、情報提供装置Ｒｎの通過地点を起点ノードＮｍとし、起点ノードＮｍに接続されるリンクＬｓを抽出する。Ｓ１０の処理が終了すると、車線番号取得処理へ移行する（Ｓ１２）。 As shown in FIG. 4, the in-vehicle information processing apparatus 1 starts from a connection link extraction process (S10). Processing of S10 is processing the lane number estimating unit 11 executes, it extracts the links L s which is connected to any source node N m. Lane number estimating unit 11, a passing point of the information providing apparatus R n as a start point node N m, and extracts the link L s which is connected to the originating node N m. When the process of S10 ends, the process proceeds to a lane number acquisition process (S12).
　Ｓ１２の処理は、車線番号推定部１１が実行し、Ｓ１０の処理で抽出したリンクＬｓの車線番号ｋｓを取得する処理である。Ｓ１２の処理が終了すると、下流ノード抽出処理へ移行する（Ｓ１４）。 Process in S12 is executed lane number estimating unit 11, a process of acquiring the lane number k s links L s extracted in the processing of S10. When the processing of S12 ends, the process proceeds to downstream node extraction processing (S14).
　Ｓ１４の処理は、車線番号推定部１１が実行し、Ｓ１０の処理で抽出したリンクＬｓの下流ノードを取得する処理である。下流ノードＮｍとなりうるものが２以上ある場合には、道なりとなるリンクが下流ノードとして取得される。Ｓ１４の処理が終了すると、停止線ノード判定処理へ移行する（Ｓ１６）。 Processing in S14 executes the lane number estimating unit 11, a process of acquiring the downstream node of the link L s extracted in the processing of S10. If the things that can be the downstream node N m is 2 or more, it links the Nari road is acquired as a downstream node. When the process of S14 ends, the process proceeds to a stop line node determination process (S16).
　Ｓ１６の処理は、車線番号推定部１１が実行し、Ｓ１４の処理で抽出したノードＮｍが停止線のノードＮｍであるか否かを判定する処理である。Ｓ１６の処理において、停止線のノードＮｍでないと判定した場合には、接続リンク取得処理へ移行する（Ｓ１８）。 The step S16 is executed by the lane number estimating unit 11, the node N m extracted by the processing in S14 is a process of determining whether or not the node N m of the stop line. In the processing of S16, if it is determined not the node N m of the stop line, the process proceeds to the connection link acquisition process (S18).
　Ｓ１８の処理は、車線番号推定部１１が実行し、Ｓ１４の処理で抽出したノードＮｍに接続されたリンクＬｓを抽出する処理である。Ｓ１８の処理が終了すると、接続リンク数判定処理へ移行する（Ｓ２０）。 Processing of S18, executes lane number estimating unit 11, a process for extracting connected links L s to the node N m extracted by the processing of S14. When the process of S18 ends, the process proceeds to a connection link number determination process (S20).
　Ｓ２０の処理は、車線番号推定部１１が実行し、Ｓ１８の処理で抽出したリンクＬｓの数が２以上存在するか否かを判定する処理である。Ｓ２０の処理において、接続リンクＬｓの数が２以上存在する場合には、リンク選択処理へ移行する（Ｓ２２）。 The process of S20 is a process that is executed by the lane number estimation unit 11 and determines whether or not there are two or more links L s extracted in the process of S18. In the process of S20, when there are two or more connection links L s , the process proceeds to the link selection process (S22).
　Ｓ２２の処理は、車線番号推定部１１が実行し、Ｓ１８の処理で抽出したリンクＬｓのうち、分岐または合流したリンクではないリンクを選択する処理である。例えば、図６（Ａ）、（Ｂ）に示す矢印のリンクが合流したリンクであり、図６（Ｃ）、（Ｄ）に示す矢印のリンクが分岐したリンクである。車線番号推定部１１は、図６（Ａ）～（Ｄ）の何れにも該当しないリンクＬｓを抽出する。Ｓ２２の処理が終了すると、接続ノード抽出処理へ移行する（Ｓ２４）。 Processing of S22, executes lane number estimating unit 11, of the links L s extracted by the processing of S18, a process of selecting the link is not a link that branch or merge. For example, the links indicated by the arrows shown in FIGS. 6A and 6B are joined links, and the links indicated by the arrows shown in FIGS. 6C and 6D are branched links. The lane number estimation unit 11 extracts a link L s that does not correspond to any of FIGS. 6 (A) to 6 (D). When the process of S22 ends, the process proceeds to a connection node extraction process (S24).
　Ｓ２４の処理は、車線番号推定部１１が実行し、Ｓ２２の処理で抽出したリンクＬｓの接続ノードを取得する処理である。Ｓ２４の処理が終了すると、停止線ノード判定処理へ再度移行する（Ｓ１６）。 Processing of S24, executes lane number estimating unit 11, a process of acquiring the connection node of the extracted link L s in the processing of S22. When the process of S24 is completed, the process shifts again to the stop line node determination process (S16).
　一方、Ｓ２０の処理において、接続リンクＬｓの数が２以上存在しない場合には、合流リンク判定処理へ移行する（Ｓ２６）。Ｓ２６の処理は、車線番号推定部１１が実行し、Ｓ１８の処理で１つだけ抽出された接続リンクＬｓが合流リンクのみであるか否かを判定する処理である。車線番号推定部１１は、Ｓ１８の処理で抽出した接続リンクＬｓが図６（Ａ）、（Ｂ）の何れかであるか否かを判定する。Ｓ２６の処理において、接続リンクＬｓが合流リンクのみであると判定した場合には、右側交流判定処理へ移行する（Ｓ２８）。 On the other hand, in the process of S20, when the number of connection links L s is not 2 or more, the process proceeds to the merge link determination process (S26). Processing of S26 is executed by the lane number estimating unit 11, it is determined whether only one extracted connection link L s in the processing of S18 is only merge link. The lane number estimation unit 11 determines whether or not the connection link L s extracted in the process of S18 is one of FIGS. 6 (A) and 6 (B). In the processing of S26, when the connection link L s is equal to or only merge link moves to the right exchange determination process (S28).
　Ｓ２８の処理は、車線番号推定部１１が実行し、Ｓ１８の処理で抽出された接続リンクＬｓが右側に合流するか否かを判定する処理である。車線番号推定部１１は、Ｓ１８の処理で抽出した接続リンクＬｓが図６（Ａ）であるか否かを判定する。Ｓ２８の処理において、右側に合流すると判定した場合には、車線番号変更処理へ移行し、起点ノードＮｍの車線番号に１を加算する（Ｓ３０）。Ｓ３０の処理が終了すると、接続ノード抽出処理へ再度移行する（Ｓ２４）。 Processing of S28 is executed by the lane number estimating unit 11, connecting link L s extracted in the process of S18 is a process of determining whether or not to join the right. The lane number estimation unit 11 determines whether or not the connection link L s extracted in the process of S18 is FIG. In the processing of S28, when determining to join the right, the process proceeds to the lane number change processing, adds 1 to the lane number of the origin node N m (S30). When the process of S30 ends, the process proceeds to the connection node extraction process again (S24).
　一方、Ｓ２８の処理において、右側に合流しないと判定した場合には、車線番号変更処理へ移行し、起点ノードＮｍの車線番号ｋｓに－１を加算する（Ｓ３２）。Ｓ３０の処理が終了すると、接続ノード抽出処理へ再度移行する（Ｓ２４）。 On the other hand, in the processing of S28, when it is determined not to join the right, the process proceeds to the lane number change processing, adds -1 lane number k s of the originating node N m (S32). When the process of S30 ends, the process proceeds to the connection node extraction process again (S24).
　また、Ｓ２６の処理において、合流リンクでない場合には、分岐リンク及び合流リンクでないため、接続ノード抽出処理へ再度移行する（Ｓ２４）。 In the process of S26, if it is not a joining link, it is neither a branching link nor a joining link, so the process proceeds to the connection node extraction process again (S24).
　一方、Ｓ１６の処理において、停止線のノードＮｍであると判定した場合には、車線番号取得処理へ移行する（図５のＳ３４）。Ｓ３４の処理は、車線番号推定部１１が実行し、Ｓ１２、Ｓ１８又はＳ２２の処理で抽出したリンクＬｓの車線番号ｋｅを取得する処理である。なお、Ｓ１４の処理において抽出した下流ノードＮｍをＳ１６の処理において停止線ノードＮｍであると判定した場合には、既にＳ１２の処理で車線番号ｋｅを取得しているのでＳ３４の処理をスキップしてもよい。Ｓ３４の処理が終了すると、差分番号算出処理へ移行する（Ｓ３６）。 On the other hand, in the processing of S16, when it is determined that the node N m of the stop line, the process proceeds to the lane number obtaining process (S34 in FIG. 5). Process step S34 is executed by the lane number estimating unit 11, a process of acquiring the lane number k e link L s extracted by the processing of S12, S18 or S22. Incidentally, S14 when it is determined that the stop line node N m in step S16 the downstream node N m extracted in the processing of the already processed processing step S34 so that acquires lane numbers k e with at S12 You may skip. When the process of S34 ends, the process proceeds to a difference number calculation process (S36).
　Ｓ３６の処理は、車線番号推定部１１が実行し、Ｓ３４の処理で取得した停止線での車線番号ｋｅからＳ１２の処理で取得した起点での車線番号ｋｓを減算して、差分番号ｋｄｅｆを算出する処理である。Ｓ３６の処理が終了すると、合計処理へ移行する（Ｓ３８）。 Processing of S36 is executed by the lane number estimating unit 11 subtracts the lane number k s in acquired origin in the processing in S12 from the lane number k e at stop line acquired in the process of S34, the difference numbers k This is a process for calculating def . When the process of S36 is completed, the process proceeds to the total process (S38).
　Ｓ３８の処理は、車線番号推定部１１が実行し、Ｓ３６の処理で算出した差分番号ｋｄｅｆを全ての起点ノードＮｍの車線番号ｋｓに加算する処理である。なお、加算後の車線番号が負となる場合には、車線番号を１とみなす。（技術的に誤りが無いかご確認願います。）Ｓ３８の処理を終了すると、図４、５に示す制御処理を終了する。 Processing of step S38, a process of lane number estimating unit 11 executes, adds the difference numbers k def calculated in the processing of S36 in the lane number k s of all the originating node N m. If the lane number after addition is negative, the lane number is regarded as 1. (Please check whether there is any technical error.) When the processing of S38 is finished, the control processing shown in FIGS.
　以上で図４、５に示す制御処理を終了する。図４、５に示す制御処理を実行することで、一つの車線について、起点の車線番号ｋｓ、終点の車線番号ｋｅ、及びリンク接続関係（分岐や合流）に基づいて起点の車線番号ｋｓと終点の車線番号ｋｅとを関連付けし、その関連付けに基づいて全体の車線について起点の車線番号ｋｓと終点の車線番号ｋｅとを関連付けすることができる。よって、車両３が停止線４０で支援を受ける際に、適切な車線に基づいた信号情報を運転支援部１２により提供することができる。 The control processing shown in FIGS. By executing the control processing shown in FIGS. 4 and 5, for one lane, the starting lane number k s , the ending lane number k e , and the link linking number (branch or merge) are used as the starting lane number k. It is possible to associate s with the lane number k e of the end point, and associate the lane number k s of the starting point and the lane number k e of the end point with respect to the entire lane based on the association. Therefore, when the vehicle 3 receives support on the stop line 40, the driving support unit 12 can provide signal information based on an appropriate lane.
　次に、本実施形態に係る車載情報処理装置の作用効果について説明する。例えば、図２に示す地図形状の場合を例に説明する。最初に、情報提供装置Ｒ１の通過地点にあるノードＮ１、Ｎ２の何れか一方が起点ノードとされる。例えば、ノードＮ２が起点ノードとされる。そして、起点ノードＮ２に接続されるリンクＬ２が抽出される（Ｓ１０）。そして、リンクＬ２の車線番号２が取得される（Ｓ１２）。そして、リンクＬ２の下流ノードとしてノードＮ５が取得される（Ｓ１４）。そして、Ｓ１４の処理で抽出したノードＮ５が停止線のノードＮ７～Ｎ１０であるか否かが判定される（Ｓ１６）。ノードＮ５は停止線ノードＮ７～Ｎ１０でないため、ノードＮ５に接続するリンクＬ４、Ｌ７が抽出される（Ｓ１８）。抽出したリンクは２以上であるので、分岐又は合流リンクでないリンクが抽出される（Ｓ２０、Ｓ２２）。リンクＬ４、Ｌ７のうち、リンクＬ４は分岐リンクであり、リンクＬ７は分岐又は合流リンクでないので、リンクＬ７が抽出される（Ｓ２２）。そして、リンクＬ７の接続ノードとしてノードＮ9が抽出される（Ｓ２４）。ノードＮ９は、停止線ノードであるので、リンクＬ７の車線番号３が取得される（Ｓ３４）。そして、リンクＬ７の車線番号３からリンクＬ２の車線番号２が減算されて差分番号１が得られる（Ｓ３６）。そして、差分番号１が起点ノードＮ１の車線番号１に加算され、起点ノードＮ１の車線番号が２とされる。また、差分番号１が起点ノードＮ２の車線番号２に加算され、起点ノードＮ２の車線番号が３とされる。このように、何れか一方の車線のみリンク接続関係を探索することで、運転支援後に車線数の変更により変化した後の全ての車線の車線番号を得ることができる。 Next, functions and effects of the in-vehicle information processing apparatus according to the present embodiment will be described. For example, the case of the map shape shown in FIG. 2 will be described as an example. First, one of the nodes N 1 and N 2 at the passing point of the information providing device R 1 is set as a starting point node. For example, the node N 2 is the starting point node. Then, the link L 2 connected to the origin node N 2 is extracted (S10). Then, the lane number 2 of the link L2 is acquired (S12). Then, the node N 5 is obtained as a downstream node of the link L 2 (S14). Then, it is determined whether or not the node N 5 extracted in the process of S14 is a stop line node N 7 to N 10 (S16). Since the node N 5 is not the stop line nodes N 7 to N 10 , the links L 4 and L 7 connected to the node N 5 are extracted (S18). Since the extracted links are two or more, links that are not branches or merged links are extracted (S20, S22). Of the links L 4 and L 7 , the link L 4 is a branch link, and the link L 7 is not a branch or merging link, so the link L 7 is extracted (S 22). Then, the node N 9 is extracted as the connection node of the link L 7 (S24). Node N 9 is because it is the stop line node, lane No. 3 of the link L 7 is obtained (S34). Then, the lane numbers 2 links L 2 from the lane number 3 links L 7 is subtracted difference number 1 is obtained (S36). The difference number 1 is added to the lane number 1 of the originating node N 1, lane number of the origin node N 1 is set to 2. Further, the difference number 1 is added to the lane number 2 of the origin node N 2, lane number of the origin node N 2 is set to 3. In this way, by searching for the link connection relationship in only one of the lanes, it is possible to obtain the lane numbers of all the lanes after being changed by changing the number of lanes after driving support.
　次に、図３に示す地図形状の場合を例に本実施形態に係る車載情報処理装置の作用効果を説明する。最初に、情報提供装置Ｒ１の通過地点にあるノードＮ１０～Ｎ１３の何れか一つが起点ノードとされる。例えば、ノードＮ１３が起点ノードとされる。そして、起点ノードＮ１３に接続されるリンクＬ１２が抽出される（Ｓ１０）。そして、リンクＬ１２の車線番号４が取得される（Ｓ１２）。そして、リンクＬ１２の下流ノードとしてノードＮ１７が取得される（Ｓ１４）。そして、Ｓ１４の処理で抽出したノードＮ１７が停止線のノードＮ１８～Ｎ１９であるか否かが判定される（Ｓ１６）。ノードＮ１７は停止線ノードＮ１８～Ｎ１９でないため、ノードＮ１７に接続するリンクＬ１４が抽出される（Ｓ１８）。抽出したリンクは２以上でないので（Ｓ２０）、リンクＬ１４が合流リンクか否かが判断され（Ｓ２６）、左側への合流リンクと判断される（Ｓ２８）。そして、リンクＬ１２の車線番号が４から１を差し引いた３とされる（Ｓ３２）。そして、接続ノードとしてＮ１６が抽出される（Ｓ２４）。Ｎ１６は停止線ノードでなく（Ｓ１６）、接続されたリンクはＬ１４、Ｌ１６の２つ以上あるので、合流リンクでないリンクＬ１６が抽出される（Ｓ２２）。そして、リンクＬ１６の接続ノードＮ１９が抽出される（Ｓ２４）。ノードＮ１９が停止線ノードであるため（Ｓ１６）、ノードＮ１９に接続したリンクＬ１６の車線番号２が抽出される（Ｓ３４）。そして、リンクＬ１６の車線番号２から演算後のリンクＬ１４の車線番号３を減算して差分番号－１が得られる（Ｓ３６）。そして、差分番号－１を各起点ノードＮ１０～Ｎ１３に加算する（Ｓ３８）。この時、起点ノードＮ１０は車線番号が負の値になるので、１とみなす。これにより、各起点ノードＮ１０～Ｎ１３に対応する停止線の車線番号がそれぞれ１、１、２、２と算出される。このように、何れか一方の車線のみリンク接続関係を探索することで、運転支援後に車線数の変更により変化した後の全ての車線の車線番号を得ることができる。 Next, the operation and effect of the in-vehicle information processing apparatus according to the present embodiment will be described using the map shape shown in FIG. First, any one of the nodes N 10 to N 13 at the passing point of the information providing device R 1 is set as a starting node. For example, the node N 13 is set as the starting node. Then, the link L 12 connected to the originating node N 13 is extracted (S10). The lane number 4 of the link L 12 is obtained (S12). The node N 17 is obtained as a downstream node of the link L 12 (S14). Then, it is determined whether or not the node N 17 extracted in the process of S14 is the stop line nodes N 18 to N 19 (S16). Since the node N 17 is not the stop line nodes N 18 to N 19 , the link L 14 connected to the node N 17 is extracted (S18). Since extracted link is not 2 or more (S20), the link L 14 is merged link whether it is determined (S26), it is determined that confluence links to the left (S28). Then, are 3 lanes number of the link L 12 is minus one 4 (S32). Then, N 16 is extracted as a connection node (S24). N 16 is not a stop line node (S16), and since there are two or more connected links L 14 and L 16 , a link L 16 that is not a merged link is extracted (S22). Then, the connection node N 19 of the link L 16 is extracted (S24). Since the node N 19 is a stop line node (S16), the lane number 2 of the link L 16 connected to the node N 19 is extracted (S34). Then, the difference number −1 is obtained by subtracting the calculated lane number 3 of the link L 14 from the lane number 2 of the link L 16 (S 36). Then, the difference number −1 is added to each of the origin nodes N 10 to N 13 (S38). At this time, the originating node N 10 because the lane number is a negative value, regarded as 1. As a result, the lane numbers of the stop lines corresponding to the origin nodes N 10 to N 13 are calculated as 1, 1, 2, 2, respectively. In this way, by searching for the link connection relationship in only one of the lanes, it is possible to obtain the lane numbers of all the lanes after being changed by changing the number of lanes after driving support.
　以上、第１実施形態に係る車載情報処理装置１によれば、通信装置２０により各車線の車線番号及び各車線のリンク接続関係の情報が受信され、車線番号推定部１１により、受信された各車線の車線番号及びリンク接続関係の情報に基づいて、車線数の増減前の車線番号ｋｓと車線数の増減後の車線番号ｋｅとの関係が推定される。このため、路車間通信を行う情報提供装置Ｒｎの設置地点を通過した後で車線数が増減した場合であっても、分岐や合流といったリンク接続関係に基づいて適切な車線番号を推定することができる。よって、例えば道なりに走行した場合の起点における車線番号と終点（停止線）での車線番号とを一致させて、終点（停止線）での車線番号に基づいて運転支援することも可能となる。さらに、第１実施形態に係る車載情報処理装置１では、全ての停止車線数分を探索することなく、一つの車線での判定結果に基づいて、全車線の車線番号を推定することができる。このため、例えば４車線の道路形状の場合には、探索回数が単純に１／４とすることができる。そして、探索回数は車線数に反比例するため、車線数が多くなればなるほど探索回数が減少されて演算負荷をより軽減することができる。 As described above, according to the in-vehicle information processing apparatus 1 according to the first embodiment, the lane number of each lane and the link connection information of each lane are received by the communication device 20, and each received by the lane number estimation unit 11 is received. based on information on the lane number and link connection relationship lane, the relationship between the lane number k e after the lane numbers k s and number of lanes increases or decreases before increasing or decreasing the number of lanes is estimated. Therefore, even if the number of lanes after passing through the installation point of the information providing apparatus R n which performs road-vehicle communication is increased or decreased, to estimate the appropriate lane number based on the link connection relationship such branching and merging Can do. Therefore, for example, it is possible to provide driving assistance based on the lane number at the end point (stop line) by matching the lane number at the start point when traveling along a road with the lane number at the end point (stop line). . Furthermore, the in-vehicle information processing apparatus 1 according to the first embodiment can estimate the lane numbers of all lanes based on the determination result in one lane without searching for all the stop lanes. For this reason, for example, in the case of a four-lane road shape, the number of searches can be simply ¼. Since the number of searches is inversely proportional to the number of lanes, as the number of lanes increases, the number of searches is reduced and the calculation load can be further reduced.
　また、第１実施形態に係る車載情報処理装置１によれば、路車間通信を行う情報提供装置Ｒｎの設置地点を通過した後で車線数が増減した場合であっても、運転支援部１２により、適切な支援情報に基づいて車両に対して運転支援を行うことができる。 Further, according to the vehicle information processing apparatus 1 according to the first embodiment, even if the number of lanes increases or decreases after passing through the installation point of the information providing apparatus R n which performs road-vehicle communication, the driving support unit 12 Thus, driving assistance can be performed on the vehicle based on appropriate assistance information.
　また、第１実施形態に係る車載情報処理装置１によれば、路車間通信を行う情報提供装置Ｒｎの設置地点を通過した後で車線数が増減した場合であっても、運転支援部１２により、適切な車線番号と関連した信号情報を車両へ提供することができる。 Further, according to the vehicle information processing apparatus 1 according to the first embodiment, even if the number of lanes increases or decreases after passing through the installation point of the information providing apparatus R n which performs road-vehicle communication, the driving support unit 12 Thus, signal information related to an appropriate lane number can be provided to the vehicle.
　さらに、第１実施形態に係る車載情報処理装置１によれば、路車間通信を行う情報提供装置Ｒｎの設置地点を通過した後で車線数が増減した場合であっても、情報を受信した地点（起点）のノードＮｍに接続されるリンクＬｓの車線番号ｋｓの増減を、分岐リンクもしくは合流リンクの有無により把握できるので、起点のノードＮｍに接続されるリンクＬｓの車線番号ｋｓと、終点のノードＮｍに接続されるリンクＬｓの車線番号ｋｅとの関係を適切に推定することが可能となる。 Furthermore, according to the vehicle information processing apparatus 1 according to the first embodiment, even if the number of lanes increases or decreases after passing through the installation point of the information providing apparatus R n which performs road-vehicle communication, information has been received Since the increase / decrease of the lane number k s of the link L s connected to the node N m at the point (starting point) can be grasped by the presence or absence of the branch link or the merging link, the lane of the link L s connected to the node N m at the starting point a number k s, it is possible to appropriately estimate the relationship between the lane number k e link L s which is connected to the node N m endpoint.
（第２実施形態）
　第２実施形態に係る車載情報処理装置は、第１実施形態に係る車載情報処理装置１とほぼ同様に構成されるものであって、第１実施形態に係る車載情報処理装置１と比べ、車線番号推定部１１の推定手法が相違する。なお、第２実施形態においては、第１実施形態と重複する部分は説明を省略し、相違点を中心に説明する。 (Second Embodiment)
The in-vehicle information processing apparatus according to the second embodiment is configured in substantially the same manner as the in-vehicle information processing apparatus 1 according to the first embodiment, and is compared with the in-vehicle information processing apparatus 1 according to the first embodiment. The estimation method of the number estimation unit 11 is different. In the second embodiment, the description of the same parts as those in the first embodiment will be omitted, and the differences will be mainly described.
　本実施形態に係る車載情報処理装置は、第１実施形態に係る車載情報処理装置１とほぼ同様に構成され、車線番号推定部１１の有する一部機能が相違する。車線番号推定部１１は、通信装置２０が受信した起点車線数、終点車線数、及び分岐又は合流するリンクの数に基づいて、リンクを辿ることなく起点での車線番号と終点での車線番号との関係を推定する機能を有している。その他の機能は、第１実施形態の車載情報処理装置１と同様である。 The in-vehicle information processing apparatus according to the present embodiment is configured in substantially the same manner as the in-vehicle information processing apparatus 1 according to the first embodiment, and a partial function of the lane number estimation unit 11 is different. Based on the number of starting lanes, the number of end lanes, and the number of links that branch or merge, the lane number estimating unit 11 determines the lane number at the starting point and the lane number at the ending point without following the links. It has a function to estimate the relationship. Other functions are the same as those of the in-vehicle information processing apparatus 1 of the first embodiment.
　次に、第２実施形態に係る車載情報処理装置の動作について説明する。図７は、第２実施形態に係る車載情報処理装置の動作を示すフローチャート、図８が第２実施形態に係る車載情報処理装置の動作を説明する概要図である。図７に示す制御処理は、例えば情報提供装置Ｒｎから支援情報を受信したタイミングから所定の間隔で繰り返し実行される。 Next, the operation of the in-vehicle information processing apparatus according to the second embodiment will be described. FIG. 7 is a flowchart showing the operation of the in-vehicle information processing apparatus according to the second embodiment, and FIG. 8 is a schematic diagram for explaining the operation of the in-vehicle information processing apparatus according to the second embodiment. Control process shown in FIG. 7 is repeatedly executed at a predetermined interval from the timing of receiving assistance information, for example, from the information providing apparatus R n.
　図７に示すように、車載情報処理装置は、情報抽出処理から開始する（Ｓ４０）。Ｓ４０の処理は、車線番号推定部１１が実行し、通信装置２０が受信した道路線形情報の中から、起点車線数、停止車線数、左方向に車線が増えることを示す情報が付与されているリンクＬｓの数Ｌ_ｐｌｕｓ、左方向に車線が減ることを示す情報が付与されているリンクＬｓの数Ｌ_ｍｉｎｕｓ、右方向に車線が増えることを示す情報が付与されているリンクＬｓの数Ｒ_ｐｌｕｓ、右方向に車線が減ることを示す情報が付与されているリンクＬｓの数Ｒ_ｍｉｎｕｓを取得する。例えば、図８に示すように、起点ノードＮ１、Ｎ２から終点ノードＮ１１、Ｎ１２までの区間における全車線において、左右方向の増減を示すリンクの数をそれぞれ抽出する。Ｓ４０の処理が終了すると、車線増減算出処理へ移行する（Ｓ４２） As shown in FIG. 7, the in-vehicle information processing apparatus starts from the information extraction process (S40). The processing of S40 is executed by the lane number estimation unit 11, and information indicating that the number of start lanes, the number of stop lanes, and the number of lanes increases in the left direction is given from the road alignment information received by the communication device 20. link L s number L_ plus the number L_ minus links L s of information indicating that it reduces the lane in the left direction is applied, the link L s of information indicating that the lane is increased in the right direction is applied the number R_ plus, acquires the number R_ minus links L s of information indicating that the lane is reduced in the right direction is given. For example, as shown in FIG. 8, the number of links indicating increase / decrease in the left-right direction is extracted in all lanes in the section from the start node N 1 , N 2 to the end node N 11 , N 12 . When the process of S40 ends, the process proceeds to a lane increase / decrease calculation process (S42).
　Ｓ４２の処理は、車線番号推定部１１が実行し、右方向への増減、及び左方向への増減を算出する処理である。例えば、左方向への車線の増減数Ｘ_Ｌを、Ｘ_Ｌ＝Ｌ_ｐｌｕｓ－Ｒ_ｍｉｎｕｓとして算出する。同様に、右方向への車線の増減数Ｘ_Ｒを、Ｘ_Ｒ＝Ｒ_ｐｌｕｓ－Ｌ_ｍｉｎｕｓとして算出する。Ｓ４２の処理が終了すると、車線数増減判定処理へ移行する（Ｓ４４）。 The process of S42 is a process which the lane number estimation part 11 performs, and calculates the increase / decrease in the right direction and the increase / decrease in the left direction. For example, a count change X_ L lane to the left is calculated as X_ L = L_ plus -R_ minus. Similarly, the increase or decrease the number X_ R lane to the right is calculated as X_ R = R_ plus -L_ minus. When the processing of S42 is completed, the routine proceeds to lane number increase / decrease determination processing (S44).
　Ｓ４４の処理は、車線番号推定部１１が実行し、車線数の増減があるか否かを判定する処理である。車線番号推定部１１は、Ｓ４２の処理で算出した増減数Ｘ_Ｌ、Ｘ_Ｒが共に０であるか否かを判定し、増減数Ｘ_Ｌ、Ｘ_Ｒが共に０である場合には、車線数の増減がないと判定する。Ｓ４４の処理において、車線数の増減がないと判定した場合には、図７に示す制御処理を終了する。一方、Ｓ４４の処理において、車線数の増減がある場合には、車線番号推定処理へ移行する（Ｓ４６）。 The process of S44 is a process which the lane number estimation part 11 performs, and determines whether there is increase / decrease in the number of lanes. Lane number estimating unit 11, speed change is calculated by the processing in S42 X_ L, X_ R is determined whether both of them are 0, count change X_ L, when X_ R are both 0, the number of lanes It is determined that there is no increase / decrease. If it is determined in S44 that there is no increase or decrease in the number of lanes, the control process shown in FIG. 7 is terminated. On the other hand, if there is an increase or decrease in the number of lanes in the process of S44, the process proceeds to a lane number estimation process (S46).
　Ｓ４６の処理は、車線番号推定部１１が実行し、車線数変更後の車線番号を推定する処理である。車線番号推定部１１は、起点となる車線番号に、Ｓ４２の処理で算出した左方向への車線の増減数Ｘ_Ｌを加算して、車線数変更後の車線番号を推定する。車線番号推定部１１は、Ｓ４６の処理を全ての車線に対して実行する。Ｓ４６の処理が終了すると、演算チェック処理へ移行する（Ｓ４８）。 The process of S46 is a process which the lane number estimation part 11 performs, and estimates the lane number after the number of lanes change. Lane number estimating unit 11, the lane number as a starting point, by adding the increased or decreased number X_ L lane in the left direction calculated in the processing of S42, estimates a lane number after the number of lanes changes. The lane number estimation part 11 performs the process of S46 with respect to all the lanes. When the process of S46 is completed, the process proceeds to a calculation check process (S48).
　Ｓ４８の処理は、車線番号推定部１１が実行し、Ｓ４６の推定値の演算を確認する処理である。車線番号推定部１１は、終点の車線数からＳ４６の処理で推定した車線数変更後の車線番号の最大値を減算し、その減算結果とＳ４２の処理で算出した右方向への車線の増減数Ｘ_Ｒとが等しくなるか否かを確認する。Ｓ５０の処理において、減算結果とＳ４２の処理で算出した右方向への車線の増減数Ｘ_Ｒとが等しくなると判定した場合には、採用処理へ移行する（Ｓ５２）。 The process of S48 is a process which the lane number estimation part 11 performs, and confirms the calculation of the estimated value of S46. The lane number estimation unit 11 subtracts the maximum value of the lane number after the lane number change estimated in the process of S46 from the number of lanes at the end point, and the subtraction result and the increase / decrease number of the lane in the right direction calculated in the process of S42 X_ R and checks whether equal. In the processing of S50, if it is determined subtraction result and the count change X_ R lane rightward calculated in the processing S42 for the equal, the process proceeds to employ the process (S52).
　Ｓ５２の処理は、Ｓ４６の処理で演算した推定値を採用し、起点の車線番号を推定値に変換する処理である。Ｓ５２の処理が終了すると、図７に示す制御処理を終了する。 The process of S52 is a process of adopting the estimated value calculated in the process of S46 and converting the starting lane number into the estimated value. When the process of S52 ends, the control process shown in FIG. 7 ends.
　一方、Ｓ５０の処理において、減算結果とＳ４２の処理で算出した右方向への車線の増減数Ｘ_Ｒとが等しくないと判定した場合には、図７に示す制御処理を終了する。 Meanwhile, in the processing of S50, when the subtraction result and the count change X_ R lane rightward calculated in process S42 for is not equal ends the control process illustrated in FIG 7.
　以上で図７に示す制御処理を終了する。図７に示す制御処理を実行するこにより、リンクを辿ることなく、リンクの左右方向の増減に基づいて車線数を適切に推定することができる。 This completes the control process shown in FIG. By executing the control process shown in FIG. 7, the number of lanes can be appropriately estimated based on the increase or decrease in the horizontal direction of the link without following the link.
　次に、第２実施形態に係る車載情報処理装置の作用効果について説明する。例えば、図８に示す地図形状の場合を例に説明する。図８に示す道路形状から、起点車線数が２、停止線車線数が４、左方向に車線が増えることを示す情報が付与されているリンクＬｓの数Ｌ_ｐｌｕｓが１（Ｌ４のみ）、左方向に車線が減ることを示す情報が付与されているリンクＬｓの数Ｌ_ｍｉｎｕｓが０、右方向に車線が増えることを示す情報が付与されているリンクＬｓの数Ｒ_ｐｌｕｓが１（Ｌ３のみ）、右方向に車線が減ることを示す情報が付与されているリンクＬｓの数Ｒ_ｍｉｎｕｓが０であることが取得される（Ｓ４０）。そして、左方向への車線数の増減数Ｘ_Ｌ＝１－０＝１が算出される。同様に、右方向への車線の増減数Ｘ_Ｒ＝１－０＝１と算出される（Ｓ４２）。車線数は増減しているので、推定値が算出される（Ｓ４４、Ｓ４６）。すなわち、左方向への増減１が各車線番号に加算される。これにより、車線番号１が車線番号２となり、車線番号２が車線番号３と推定される。そして、演算チェックにより、終点車線数４から推定車線番号の最大値３が減算されて１となり、右方向への車線の増減数Ｘ_Ｒと一致する（Ｓ５０）。このため、車線番号１を車線番号２とし、車線番号２を車線番号３と推定したことの正しさが確認され、これらの車線番号を車線数増減後の車線番号とする（Ｓ５２）。 Next, functions and effects of the in-vehicle information processing apparatus according to the second embodiment will be described. For example, the case of the map shape shown in FIG. 8 will be described as an example. The road shape shown in FIG. 8, the origin number of lanes 2, stop line number of lanes 4, number L_ plus links L s of information indicating that the increase lane to the left is granted 1 (L 4 only) the number L_ minus 0 links L s of information indicating that it reduces the traffic lane to the left is given, the number R_ plus links L s of information indicating that the lane is increased in the right direction is given 1 (L 3 only), it is obtained the number R_ minus links L s of information indicating that it reduces the lane in the right direction is given is 0 (S40). Then, the number of number of lanes increases or decreases in the left direction X_ L = 1-0 = 1 is calculated. Similarly, it is calculated to be increased or decreased number X_ R = 1-0 = 1 lane in the right direction (S42). Since the number of lanes has increased or decreased, an estimated value is calculated (S44, S46). That is, the leftward increase / decrease 1 is added to each lane number. Thereby, lane number 1 becomes lane number 2, and lane number 2 is estimated as lane number 3. Then, by the operation check, the maximum value 3 becomes 1 is subtracted estimated lane number from the end number of lanes 4, consistent with the increased or decreased number X_ R lane in the right direction (S50). For this reason, the correctness of having estimated the lane number 1 as the lane number 2 and the lane number 2 as the lane number 3 is confirmed, and these lane numbers are set as the lane numbers after the increase / decrease in the number of lanes (S52).
　以上、第２実施形態に係る車載情報処理装置によれば、第１形態に係る車載情報処理装置と同様の効果を奏するとともに、第１実施形態に係る車載情報処理装置に比べて演算コストを軽減することが可能となる。 As described above, according to the in-vehicle information processing device according to the second embodiment, the same effect as the in-vehicle information processing device according to the first embodiment is obtained, and the calculation cost is reduced as compared with the in-vehicle information processing device according to the first embodiment. It becomes possible to do.
　なお、上述した各実施形態は本発明に係る車載情報処理装置の一例を示すものである。本発明に係る車載情報処理装置は、各実施形態に係る車載情報処理装置に限られるものではなく、各請求項に記載した要旨を変更しない範囲で、各実施形態に係る車載情報処理装置を変形し、又は他のものに適用したものであってもよい。 Each embodiment described above shows an example of an in-vehicle information processing apparatus according to the present invention. The in-vehicle information processing apparatus according to the present invention is not limited to the in-vehicle information processing apparatus according to each embodiment, and the in-vehicle information processing apparatus according to each embodiment is modified without changing the gist described in each claim. Or may be applied to other things.
　例えば、上述した各実施形態において、光ビーコンによる路車間通信を例に説明したが、電波を利用した路車間通信であれば何でも良い。 For example, in each of the embodiments described above, road-to-vehicle communication using an optical beacon has been described as an example, but any road-to-vehicle communication using radio waves may be used.
　また、上述した実施形態では、通信装置２０により車両３の所定走行区間の道路に関する情報を、支援情報として情報提供装置Ｒｎから受信する例を説明したが、道路に関する情報としては、車線番号のみであってもよい。すなわち、通信装置２０が、情報提供装置Ｒｎの設置位置における車線番号、及び、停止線等の支援地点における車線番号のみを受信する機能を有しても良い。そして、車線番号推定部１１は、通信装置２０が出力した車線番号と、例えば車両３に備わるナビゲーション装置３が有するリンク情報（各車線のリンク接続関係の情報）とを参照して、車線数の増減前の車線番号と車線数の増減後の車線番号との関係を推定する機能を有しても良い。 Further, in the above embodiment, the information about the road in the predetermined travel segment of the vehicle 3 by the communication device 20, an example has been described for receiving from the information providing apparatus R n as support information, as the information on the road, a lane number only It may be. That is, the communication device 20, a lane number in the installation position of the information providing apparatus R n, and may have a function of receiving only lane number in support point such as a stop line. Then, the lane number estimation unit 11 refers to the lane number output by the communication device 20 and the link information (information on the link connection relationship of each lane) included in the navigation device 3 provided in the vehicle 3, for example. You may have a function which estimates the relationship between the lane number before increase / decrease and the lane number after increase / decrease in the number of lanes.

Claims (5)

  1. 　車線に割り当てられた車線番号を推定する車載情報処理装置であって、
    　路車間通信により各車線の車線番号を受信する受信部と、
    　前記受信部により受信した各車線の前記車線番号、及び各車線の前記リンク接続関係の情報に基づいて、車線数の増減前の前記車線番号と車線数の増減後の前記車線番号との関係を推定する車線番号推定部を備えること、
    を特徴とする車載情報処理装置。     An in-vehicle information processing apparatus that estimates a lane number assigned to a lane,
    A receiving unit for receiving the lane number of each lane by road-to-vehicle communication;
    Based on the lane number of each lane received by the receiving unit and the link connection information of each lane, the relationship between the lane number before the increase or decrease in the number of lanes and the lane number after the increase or decrease in the number of lanes A lane number estimation unit for estimation,
    An in-vehicle information processing apparatus characterized by
  2. 　前記受信部は、各車線のリンク接続関係の情報を受信する請求項１記載の車載情報処理装置。 The in-vehicle information processing apparatus according to claim 1, wherein the receiving unit receives link connection information of each lane.
  3. 　前記車線番号推定部により推定した車線数の増減後の前記車線番号と関連した支援情報に基づいて運転支援を行う運転支援部をさらに備える請求項１又は２に記載の車載情報処理装置。 The in-vehicle information processing apparatus according to claim 1 or 2, further comprising a driving support unit that performs driving support based on support information related to the lane number after the increase or decrease in the number of lanes estimated by the lane number estimation unit.
  4. 　前記運転支援部は、前記車線番号推定部により推定した車線数の増減後の前記車線番号と関連した信号情報を提供する請求項３に記載の車載情報処理装置。 The in-vehicle information processing apparatus according to claim 3, wherein the driving support unit provides signal information related to the lane number after the increase / decrease in the number of lanes estimated by the lane number estimation unit.
  5. 　前記車線番号推定部は、起点となるノードに接続されるリンクの前記車線番号、終点となるノードに接続されるリンクの前記車線番号、及び前記起点から前記終点までの区間における分岐リンクもしくは合流リンクの有無を用いて、車線数の増減前の前記車線番号と車線数の増減後の前記車線番号との関係を推定する請求項１～４の何れか一項に記載の車載情報処理装置。 The lane number estimation unit includes the lane number of a link connected to a node serving as a start point, the lane number of a link connected to a node serving as an end point, and a branch link or a merge link in a section from the start point to the end point The in-vehicle information processing apparatus according to any one of claims 1 to 4, wherein a relationship between the lane number before the increase / decrease in the number of lanes and the lane number after the increase / decrease in the number of lanes is estimated using the presence / absence of traffic.
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