WO2020189056A1 - 地図データ出力装置 - Google Patents

地図データ出力装置 Download PDF

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Publication number
WO2020189056A1
WO2020189056A1 PCT/JP2020/003918 JP2020003918W WO2020189056A1 WO 2020189056 A1 WO2020189056 A1 WO 2020189056A1 JP 2020003918 W JP2020003918 W JP 2020003918W WO 2020189056 A1 WO2020189056 A1 WO 2020189056A1
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WO
WIPO (PCT)
Prior art keywords
lane
map data
shape
information
control
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/JP2020/003918
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English (en)
French (fr)
Japanese (ja)
Inventor
拡基 鵜飼
真広 後藤
修一 森本
玲 飯島
千花 津森
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Denso Corp
Toyota Motor Corp
Original Assignee
Denso Corp
Toyota Motor Corp
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 Denso Corp, Toyota Motor Corp filed Critical Denso Corp
Publication of WO2020189056A1 publication Critical patent/WO2020189056A1/ja
Priority to US17/477,261 priority Critical patent/US12215987B2/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • 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
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • 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
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3804—Creation or updating of map data
    • G01C21/3859—Differential updating map data
    • 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
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18163—Lane change; Overtaking manoeuvres
    • 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
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3804—Creation or updating of map data
    • G01C21/3807—Creation or updating of map data characterised by the type of data
    • G01C21/3815—Road data
    • 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
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
    • 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
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/246—Arrangements for determining position or orientation using environment maps, e.g. simultaneous localisation and mapping [SLAM]
    • 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
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B29/00—Maps; Plans; Charts; Diagrams, e.g. route diagram
    • G09B29/003—Maps
    • G09B29/006—Representation of non-cartographic information on maps, e.g. population distribution, wind direction, radiation levels, air and sea routes
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/53—Road markings, e.g. lane marker or crosswalk
    • 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
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
    • 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
    • B60W60/001—Planning or execution of driving tasks

Definitions

  • map data output device that outputs control map data to the vehicle control device.
  • the map data supplied to the control device that controls the running of the vehicle represents the road or the area around the road in detail.
  • vehicle control needs to be done quickly. Therefore, it is required to quickly read the map data from the storage device.
  • the amount of map data is small. Also, the storage capacity of the storage device is not infinite. In this respect as well, it is preferable that the amount of map data is small.
  • the small amount of map data means that the amount of information represented by the map data is small. If the amount of map data is reduced, it may be difficult to control the vehicle with high accuracy.
  • An object of the present disclosure is to provide a map data output device that outputs vehicle control data capable of highly accurate vehicle control while reducing the amount of map data to be stored.
  • the map data output device includes a map storage unit that stores map data that represents lane network information that is modeled by connecting a link indicating a part of a lane on a road. Based on the position determination unit that determines the current position of the vehicle, the read processing unit that reads map data for the area determined based on the current position determined by the position determination unit from the map storage unit, and the map data read by the read processing unit. It also includes a control map creation unit that creates control map data to which information is added to the map data, and an output unit that outputs control map data to a vehicle control device that controls the behavior of the vehicle.
  • the control map data output to the vehicle control device is not stored in the map storage unit, but is data in which information is added to the map data stored in the map storage unit.
  • the map data stored in the map storage unit is data with less information than the control map data. Therefore, the reading speed can be increased as compared with storing the control map data in the map storage unit and reading the control map data, and the storage capacity required for storing the map data is small. it can.
  • the map data itself stored in the map storage unit is the map data that represents the lane network information, that is, the road is represented at the lane level.
  • the control map data output to the vehicle control device further information is added to the map data stored in the map storage unit. Therefore, the vehicle control device enables highly accurate vehicle control.
  • FIG. 1 is a diagram showing a configuration of a vehicle control data output device.
  • FIG. 2 is a flowchart showing a process executed by the positioning unit of FIG.
  • FIG. 3 is a flowchart showing a process executed by the control map creation unit of FIG.
  • FIG. 4 is a diagram for specifically explaining the high-precision map data and the control map data.
  • FIG. 5 is a diagram showing lane shape information included in the high-precision map data.
  • FIG. 6 is a diagram showing lane shape information included in the control map data.
  • FIG. 1 is a diagram showing a configuration of a vehicle control data output device 1 having a function as a map data output device.
  • the vehicle control data output device 1 sequentially outputs vehicle control data to the automatic driving ECU 2.
  • the ECU is an abbreviation for Electrical Control Unit.
  • the vehicle control data output device 1 and the automatic driving ECU 2 are mounted on the vehicle C.
  • the vehicle C is a vehicle traveling on a road and is equipped with a driving force source such as an engine or a motor.
  • the vehicle C is equipped with a GNSS receiver 3, a camera 4, and the like.
  • the vehicle control data includes data indicating the current position and sensor information, respectively, and control map data 35.
  • the data may mean digitized information.
  • the automatic driving ECU 2 is a vehicle control device.
  • the automatic driving ECU 2 acquires vehicle control data and controls the behavior of the vehicle C using the vehicle control data.
  • the content of the controlled behavior is acceleration, deceleration, stop, start, right / left turn, etc. of the vehicle C.
  • the automatic driving ECU 2 controls the behavior of the vehicle C, so that the vehicle C travels on the road without the operation of the driver. Further, the automatic driving ECU 2 may control the behavior of the vehicle C in order to assist the driving operation of the driver.
  • the GNSS receiver 3 receives a navigation signal transmitted by a navigation satellite included in the GNSS (Global Navigation Satellite System), which is a satellite navigation system. Then, the current position is sequentially calculated based on the received navigation signal. The GNSS receiver 3 outputs the calculated current position to the control unit 40 included in the vehicle control data output device 1.
  • the camera 4 images the surroundings of the vehicle C, and sequentially outputs image data indicating the captured images to the control unit 40.
  • the installation position and angle of view of the camera 4 are adjusted so that the image captured by the camera 4 includes signs and the like existing on the road surface of the road on which the vehicle C travels and around the road.
  • the vehicle control data output device 1 includes an angular velocity sensor 10, an acceleration sensor 20, a map storage unit 30, and a control unit 40.
  • the angular velocity sensor 10 is a sensor that sequentially detects the angular velocity around the vertical axis of the vehicle generated in the vehicle C.
  • a yaw rate sensor can be used for the angular velocity sensor 10.
  • the acceleration sensor 20 detects the acceleration in the vehicle front-rear direction, the vehicle left-right direction, and the vehicle up-down direction generated in the vehicle C, respectively.
  • the map storage unit 30 includes a first map storage unit 31 that stores road network map data 33 and a second map storage unit 32 that stores high-precision map data 34.
  • the first map storage unit 31 and the second map storage unit 32 are both non-volatile storage units.
  • the road network map is a map that expresses the actual road on which vehicle C travels by nodes and road links.
  • a node is a node when each road is represented by a line, such as an intersection.
  • Road links represent road sections between nodes.
  • Road links represent road sections in units of roads rather than lanes.
  • road network maps represent road maps by road links, which are links in units of roads
  • high-precision maps are lane links 342, which are links targeting lanes, that is, lanes (see FIG. 4).
  • lane links 342 which are links targeting lanes, that is, lanes (see FIG. 4).
  • Lane link 342 is a model of a part of a road lane.
  • the attributes of the lane link 342 indicating the continuous parts information indicating that they are connected to each other is given, so that the connection relationship of the lanes in the longitudinal direction of the road can be changed. It is expressed.
  • the connection relationship between the lanes on different roads is given as an attribute of the lane link 342. That is, the information given to the lane link 342 (hereinafter, lane link information) includes the lane network information indicating the lane network. Further, the high-precision map data 34 including the lane link information is data representing the lane network information.
  • the attributes of the lane link 342 include lane shape information which is information for specifying the lane shape in addition to the connection relationship of the lane link 342.
  • the lane shape information includes a shape point 343 (see FIG. 5) indicating a position where the lane exists, and a lane shape attribute which is an attribute for specifying the shape of the lane other than the position where the lane exists.
  • Shape points 343 are located at both endpoints of the lane link 342 and at a plurality of points between the endpoints to indicate the road width direction center of the lane. Shape point 343 is indicated by coordinates expressed in latitude and longitude.
  • Lane shape attributes include lane gradient, curvature, width value, and the like.
  • the high-precision map data 34 includes the lane network information is to enable the automatic driving ECU 2 to perform highly accurate vehicle control.
  • the amount of data (in other words, the amount of information) of the high-precision map data 34 becomes too large, which causes a decrease in the data reading speed. Therefore, the high-precision map data 34 of the present embodiment has a small amount of information in consideration of the reading speed. Then, in order to make up for the insufficient amount of information, the control unit 40 performs data interpolation or the like based on the high-precision map data 34.
  • the control unit 40 can be realized by a computer equipped with a CPU, ROM, RAM, I / O, a bus line connecting these configurations, and the like.
  • the ROM stores a program for causing a general-purpose computer to function as a control unit 40.
  • the control unit 40 has the position determination unit 41, the read processing unit 42, the control map creation unit 43, and the output unit 44. Functions as. Execution of these functions means that the method corresponding to the program is executed.
  • the position determination unit 41 periodically determines the current position of the vehicle C.
  • the current position determined by the position determining unit 41 is an accuracy that can not only identify the road on which the vehicle C is traveling, but also identify which lane of the road the vehicle C is traveling on.
  • FIG. 2 is a flowchart showing a process executed by the position determination unit 41.
  • the process executed by the position determination unit 41 will be described with reference to FIG.
  • the positioning unit 41 executes the process shown in FIG. 2 at regular intervals.
  • the constant cycle is determined based on the cycle in which the automatic operation ECU 2 requests the update of the current position.
  • the cycle in which the automatic operation ECU 2 requests the update of the current position is, for example, 100 ms.
  • the current position is acquired from the GNSS receiver 3.
  • the position is estimated based on the relative locus.
  • the relative locus is a movement locus of the vehicle C whose origin is the position where the current position was determined last time, and is created based on the sensor values from the angular velocity sensor 10 and the acceleration sensor 20.
  • the relative locus may be created by further using the sensor values from the wheel speed sensor or the vehicle speed sensor.
  • the current position is determined by combined navigation.
  • Combined navigation is a method of determining the current position by combining the current position by GNSS and the position estimated by the relative trajectory.
  • the acceptance or rejection of these positions is determined based on the accuracy of the current position by GNSS and the position estimated by the relative trajectory.
  • the weighting coefficient of those positions is determined based on the respective accuracy, and based on the weighting coefficient, either the current position by GNSS or the position estimated by the relative locus is set to the other position.
  • the current position is determined by making corrections in consideration.
  • map matching is performed.
  • the map used in S4 is a road network map, and by matching the road network map with the relative trajectory whose end point is the current position determined in S3, the road link on which the vehicle C exists and the vehicle C on the road link are matched. Determine the position and heading of the vehicle.
  • the map used in S5 is a high-precision map, and the lane in which the vehicle C is traveling is determined by matching the high-precision map with the relative trajectory whose end point is the current position determined in S3.
  • the read-out processing unit 42 reads out the high-precision map data 34 of the area determined based on the current position determined by the current position determination unit 41 from the second map storage unit 32.
  • the area to be read out can be a road within a certain distance along the road and the vicinity of the road with reference to the current position.
  • the road that is the guidance route is the area of the road and its surroundings for a relatively longer distance than the road that is not the guidance route.
  • the read cycle may be longer than the current position update cycle.
  • the current position update cycle can be 100 ms, while the read cycle can be 2000 ms.
  • the control map creation unit 43 creates control map data 35 in which information is added to the high-precision map data 34 based on the high-precision map data 34 read by the read processing unit 42. That is, the amount of information of the control map data 35 is larger than the amount of information of the high-precision map data 34.
  • the control map creation unit 43 further adds lane network information to the high-precision map data 34. Further, the control map creation unit 43 further adds lane shape information to the high-precision map data 34.
  • the process executed by the control map creation unit 43 will be described with reference to FIG.
  • the process shown in FIG. 3 is executed every time the read processing unit 42 reads the high-precision map data 34.
  • the high-precision map data 34 read by the reading processing unit 42 is acquired.
  • the high-precision map data 34 acquired in S11 becomes the original data for creating the control map data 35.
  • lane network information to be added to the acquired high-precision map data 34 is created.
  • the lane network information to be added is a lane connection relationship that is not represented in the high-precision map data 34 acquired in S11.
  • FIG. 4 schematically shows an actual road.
  • the road is one lane.
  • the width increases from the position P2 and becomes two lanes from the position P3.
  • the middle part of FIG. 4 is the high-precision map data 34 corresponding to the actual road shown in the upper part of FIG. In the middle part of FIG. 4, the actual road is shown by overlapping the two-dot chain line.
  • roads are described separately in lane blocks 341.
  • the lane block 341 is a road divided so that a plurality of lane blocks 341 exist in the longitudinal direction of the road, and includes at least one lane link 342.
  • the high-precision map data 34 stores lane link information in units of lane block 341.
  • the information stored in association with the lane block 341 includes lane link information about the lane link 342 included in the lane block 341, the number of lanes included in the lane block 341, and the like.
  • the lane link information includes the ID of the lane link 342. It also includes the IDs of other lane links 342 to which the lane link 342 connects.
  • the lane link information includes laneless information indicating whether or not the lane link 342 includes a laneless section.
  • a laneless section means a section in which the number of lanes is not specified.
  • a laneless section is not a section without lane markings. There is no lane marking in the one-lane road section, but since the number of lanes is one, the one-lane road section is not a non-lane section.
  • the width When changing from one lane to two lanes, the width often increases.
  • the section where the width increases may be a non-lane section.
  • the section from position P2 to position P3 is a laneless section. Therefore, in the high-precision map data 34 shown in the middle of FIG. 4, the lane link information about the lane link 342a included in the left lane block 341a includes information indicating that the lane link 342a has a laneless section. Is done.
  • the right lane block 341b includes two lane links 342b1 and 342b2.
  • the lane link 342b2 indicates that the number of lanes has increased to 2 in the direction of road travel rather than the position P3.
  • the high-precision map data 34 does not give connection information to the end points of the increased lane link 342 on the non-lane section side.
  • the control map creation unit 43 assigns a connection relationship to the lane link 342 whose connection relationship is omitted.
  • the lower part of FIG. 4 is a diagram for explaining the control map data 35 to which the connection relationship is given.
  • the lower part of FIG. 4 also shows the actual road overlaid with a two-dot chain line.
  • a connection relationship is given to the end point of the lane link 342, which is in the middle of the road but whose end point is not given a connection relationship with another lane link 342.
  • the branching lane link 342 is added to the lane block 341 on the side with the smaller number of lanes.
  • the lane block 341a is the lane block 341 on the side with a small number of lanes.
  • the width of the lane block 341a increases from the position P2 to the position P3.
  • the section where the width increases can be considered as the branching part of the lane. Therefore, a branching lane link 342 is added to this branching portion.
  • a broken line 5 which is a section line indicating that the lane can be changed is marked on this road after the position P3.
  • the lane link information is given an attribute indicating whether or not the lane can be changed.
  • a lane link that branches on the condition that the lane link information representing a plurality of lane links 342 included in the lane block 341 on the side with a large number of lanes includes information indicating that lanes can be changed to each other. 342 may be added.
  • the lane block 341 on the side with a small number of lanes is the lane block 341a.
  • the lane block 341a of the high-precision map data 34 is divided, and a part thereof is designated as the lane block 341c.
  • the lane block 341c is a section whose width increases as the road travels. The starting point of the section where the width increases as the road progresses can be determined by the change in width. Further, the division position can be determined based on the width value invalid flag indicating whether the width value is valid or invalid.
  • the width value invalid flag is a flag provided in a plurality of lane longitudinal directions with respect to one lane link 342, and is included in the lane link information.
  • the width value invalid flag may divide the lane block 341 at a position where the width value is changed from valid to invalid, or vice versa.
  • the lane link 342c2 is added to the lane block 341c on the side closer to the lane block 341b on the side with a large number of lanes.
  • the lane block 341c will have two lane links 342, a lane link 342c1 and a lane link 342c2. That is, the number of lanes in the lane block 341c is increased so as to be the same as the number of lanes included in the lane block 341b.
  • the lane link 342 existing in the lane block 341 created by the division is given a connection relationship with the lane link 342 included in the lane blocks 341 that are continuous in the front-rear direction. That is, the lane link 342c1 is provided with a connection relationship between the lane link 342a and the lane link 342b1, and the lane link 342c2 is provided with a connection relationship between the lane link 342a and the lane link 342b2.
  • FIG. 4 is an example when the lanes branch, but when the lanes merge, the lane link 342 is added in the same manner.
  • the part where the lane link 342 is added is the part where the width is reduced. This is because the part where the width decreases can be considered as the confluence part.
  • the merging portion and the branching portion described above are specific modes of the merging portion, respectively.
  • lane shape information to be added to the acquired high-precision map data 34 is created.
  • FIG. 5 conceptually shows the lane shape information before addition, that is, the lane shape information included in the high-precision map data 34.
  • the shape point 343 is shown on the upper side
  • the shape attribute point 344 is shown on the lower side.
  • the shape points 343 at both ends are indicated by circles
  • the shape points 343 between the end points are indicated by triangles.
  • the shape attribute point 344 is a position where the shape attribute of the lane link 342 is shown.
  • the lane link information includes a plurality of types of attributes, and shape attribute points 344 are provided for each type of attribute.
  • the shape points 343 are arranged at points where the curvature of the lane shape changes.
  • the shape attribute point 344 is arranged at a position where the attribute changes or a position where the attribute change tendency changes. Therefore, the position where the shape point 343 is arranged does not always coincide with the position where the attribute change point is arranged.
  • the two shape points 343 on the left side and the shape point 343 on the far right have corresponding shape attribute points 344, but the shape attributes are located at the positions where the other shape points 343 are arranged.
  • Point 344 is not located.
  • the position of the shape attribute point 344 is indicated by the distance moved on the lane link 342 from the end point of the lane link 342. That is, the shape attribute point 344 is indicated by a relative position with respect to the end point of the lane link 342.
  • the case where the shape point 343 and the shape attribute point 344 are arranged at the same position is indicated by double-headed arrows.
  • the position where only one of the shape point 343 and the shape attribute point 344 is arranged is indicated by a one-way arrow.
  • the control map creation unit 43 creates a shape point 343 or a shape attribute point 344 at the tip of the one-way arrow shown in FIG.
  • FIG. 6 shows the control map data 35 created by the control map creation unit 43.
  • all the shape points 343 and the shape attribute points 344 correspond to each other. Further, not only the shape point 343 and the shape attribute point 344 correspond to each other, but also all the shape points 343 are given a correspondence relationship with the shape attribute point 344.
  • the shape point 343 indicated by the downward triangle is the shape point 343 created by the control map creation unit 43.
  • the shape attribute point 344 indicated by the rhombus is the shape attribute point 344 created by the control map creation unit 43.
  • control map creation unit 43 creates the shape point 343.
  • the position where the shape attribute point 344 is arranged is indicated by the relative position with respect to the end point of the lane link 342. Therefore, a new shape point 343 is created at a position moved by the relative position from the coordinates of the end point of the lane link 342.
  • the value of the lane shape attribute at the newly created shape attribute point 344 is created by interpolating the value of the lane shape attribute of the shape attribute point 344 arranged before and after the position where the newly created shape attribute point 344 is created. That is, as the value of the lane shape attribute at the newly created shape attribute point 344, the value of the lane shape attribute of the shape attribute point 344 arranged before and after the position where the newly created shape attribute point 344 is created is newly created. It is calculated by proportional calculation according to the distance to the shape attribute point 344.
  • the lane network information created in S12 and the lane shape information created in S13 are added to the high-precision map data 34 acquired in S11 to obtain the control map data 35.
  • the output unit 44 outputs vehicle control data to the automatic driving ECU 2.
  • the vehicle control data includes data indicating the current position and sensor information, respectively. It also includes control map data 35.
  • the current position is acquired from the position determination unit 41.
  • the sensor information is acquired from the angular velocity sensor 10, the acceleration sensor 20, and the like.
  • the control map data 35 is created by the control map creation unit 43.
  • the output cycle of the control map data 35 can be made longer than the output cycle of other vehicle control data.
  • the control map data 35 to be output to the automatic driving ECU 2 is not stored in the map storage unit 30.
  • the control map data 35 is data in which information is added to the high-precision map data 34 stored in the second map storage unit 32.
  • the high-precision map data 34 stored in the second map storage unit 32 is data having less information than the control map data 35. Therefore, it is possible to store the control map data 35 in the second map storage unit 32 and read it out faster than reading the control map data 35, and it is necessary to store the map data. Storage capacity can be reduced.
  • the high-precision map data 34 itself stored in the second map storage unit 32 is the map data representing the lane network information, that is, the road is represented at the lane level. Since information is added to the high-precision map data 34 of the control map data 35, the automatic driving ECU 2 can control the vehicle with high accuracy.
  • control unit 40 and its method described in the present disclosure may be realized by a dedicated computer constituting a processor programmed to execute one or a plurality of functions embodied by a computer program.
  • control unit 40 and its method described in the present disclosure may be realized by a dedicated hardware logic circuit.
  • control unit 40 and its method described in the present disclosure may be realized by one or more dedicated computers configured by a combination of a processor that executes a computer program and one or more hardware logic circuits. ..
  • the hardware logic circuit is, for example, ASIC or FPGA.
  • the storage medium for storing the computer program is not limited to the ROM, and may be stored in a computer-readable non-transition tangible recording medium as an instruction executed by the computer.
  • the above program may be stored in the flash memory.
  • the controls and methods thereof described in the present disclosure are realized by one or more dedicated computers having a processor and memory programmed to perform one or more functions embodied by a computer program. May be good.
  • the control unit and the method thereof described in the present disclosure may be realized by one or more dedicated computers including a processor composed of one or more dedicated hardware logic circuits.
  • the control unit and methods thereof described in the present disclosure include a processor and memory programmed to perform one or more functions and a processor configured by combining one or more hardware logic circuits. It may be realized by one or more dedicated computers.
  • the computer program may be stored in a computer-readable non-transitional tangible recording medium as an instruction executed by the computer.
  • each step is expressed as, for example, S1. Further, each step can be divided into a plurality of substeps, while the plurality of steps can be combined into one step.

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JP2022123988A (ja) * 2021-02-15 2022-08-25 本田技研工業株式会社 区画線認識装置
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