WO2023037893A1 - 車両用データ生成サーバ、車両制御装置 - Google Patents

車両用データ生成サーバ、車両制御装置 Download PDF

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Publication number
WO2023037893A1
WO2023037893A1 PCT/JP2022/032096 JP2022032096W WO2023037893A1 WO 2023037893 A1 WO2023037893 A1 WO 2023037893A1 JP 2022032096 W JP2022032096 W JP 2022032096W WO 2023037893 A1 WO2023037893 A1 WO 2023037893A1
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WIPO (PCT)
Prior art keywords
vehicle
data
traffic light
lighting
traffic
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/JP2022/032096
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English (en)
French (fr)
Japanese (ja)
Inventor
元貴 北原
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
Priority to DE112022004320.2T priority Critical patent/DE112022004320T5/de
Priority to JP2023546880A priority patent/JP7683712B2/ja
Publication of WO2023037893A1 publication Critical patent/WO2023037893A1/ja
Priority to US18/597,718 priority patent/US20240208501A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G06V20/584—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of vehicle lights or traffic lights
    • 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
    • B60W30/14—Adaptive cruise control
    • B60W30/143—Speed control
    • B60W30/146—Speed limiting
    • 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
    • B60W30/14—Adaptive cruise control
    • B60W30/143—Speed control
    • 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
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • 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
    • B60W30/18154—Approaching an intersection
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/146—Display means
    • 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
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/802—Longitudinal distance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
    • B60W2555/60—Traffic rules, e.g. speed limits or right of way
    • 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
    • B60W2556/65—Data transmitted between vehicles

Definitions

  • the present disclosure relates to a vehicle data generation server and a vehicle control device that generate data for supporting vehicle control for traffic lights with arrow lights.
  • an in-vehicle device combines position information, lighting color, and lighting pattern information indicating the lighting shape of each lighting unit that constitutes a traffic signal, and detection results of the lighting state of the traffic signal by an in-vehicle camera.
  • the lighting shape means a circle, an arrow, a number, or the like. Information about the direction of the arrow can also be included for the lighting portion whose lighting shape is arrow-shaped.
  • the green arrow light which is an arrow-shaped light part that lights up in green, is parallel to the red round light part, which is a round light part that lights up in red, as a sign to permit limited/exceptional passage in some directions. often lit up.
  • traffic lights with green arrow lights are also referred to as traffic lights with arrow lights.
  • the vehicle can use the light pattern information disclosed in Patent Document 1, it can be determined whether or not the vehicle should stop even for traffic signals with green arrow lights from the arrangement pattern of the lighting units specified by image recognition. can be possible.
  • the light pattern information disclosed in Patent Document 1 includes detailed information such as what part of the traffic light, what shape, and what color it lights. Such lighting pattern data may have a large data size. Data management can also be complicated. From the viewpoint of reducing the communication load, it is preferable that the data used in the vehicle be simpler data. In the first place, Patent Document 1 does not mention at all how to create detailed lighting pattern information.
  • the present disclosure has been made based on the above points of focus, and one of its purposes is to provide vehicle data that can generate data that can determine whether to stop before an intersection based on the lighting state of a traffic light. It is to provide a generation server and a vehicle control device.
  • the vehicle data generation server disclosed herein is a vehicle data generation server that generates vehicle control data for a traffic light, and receives from a plurality of vehicles information indicating lanes on which the vehicles are running, a report acquisition unit that acquires, as a traffic signal response report, a data set that indicates a combination of traffic signal lighting colors observed by the system and vehicle behavior with respect to the combination of the lighting colors; Based on this, passable pattern data indicating a combination of lighting colors that are passable for each lane or stop pattern data indicating a combination of lighting colors that should be stopped for each lane is generated as traffic signal response policy data for each traffic light.
  • a traffic light response policy generation unit and a transmission processing unit that transmits traffic light response policy data generated by the traffic light response policy generation unit to an external device.
  • the above server generates and transmits a data set indicating combinations of lighting colors that can be passed and should be stopped for each lane as traffic light response policy data.
  • the vehicle can determine whether the vehicle can pass through the intersection at present.
  • it is not necessary to recognize the shape of the lighting portion such as the direction of the arrow, it is possible to determine whether or not the passage is permitted from a relatively long distance.
  • a camera or an image recognition device with a relatively low resolution can be used, it is possible to determine whether passage is permitted or not as long as the combination of lighting colors can be identified.
  • the traffic light response policy data indicates whether or not traffic is permitted for each lane based on the combination of colors, and does not necessarily include information on the shape of the lighting section and information on the arrangement of the housing. In other words, it has the advantage of being able to reduce the data size of the traffic light pattern information as compared with the lighting pattern information disclosed in Patent Document 1.
  • a vehicle control device recognizes, based on an input from an in-vehicle device, the lane in which the vehicle is traveling corresponds to which lane from the left or right side of the road.
  • a vehicle lane recognition unit a lighting state acquisition unit that acquires data indicating the lighting state of a traffic light corresponding to the lane of the vehicle, and a predetermined external device related to traffic signals arranged along the road through which the vehicle is scheduled to pass.
  • a response policy data receiving unit for receiving traffic signal response policy data indicating a combination of lighting colors that are passable for each lane or a combination of lighting colors that are prohibited from passing, and a traffic signal response received by the response policy data receiving unit Based on the policy data, the own vehicle lane number, and the lighting state acquired by the lighting state acquisition unit, it is determined whether or not the lighting state of the traffic signal corresponds to the lighting state in which the own vehicle can pass.
  • a passability determination unit and a response unit that performs vehicle control according to the determination result of the passability determination unit are provided.
  • the vehicle control device performs vehicle control using the traffic light response policy data generated by the vehicle data generation server. According to the above vehicle control device, it is possible to determine whether or not the vehicle can pass through the intersection based on the combination of colors of the lighting portions even in a situation where the shapes of the lighting portions of the traffic lights cannot be recognized.
  • FIG. 1 is a block diagram showing the configuration of a vehicle control system;
  • FIG. It is a block diagram which shows the structure of a front camera.
  • 3 is a functional block diagram of a driving assistance ECU;
  • FIG. It is a figure which shows an example of an entrance prohibition image.
  • It is a figure which shows an example of a passable image.
  • It is a flowchart for demonstrating a signal response report process. It is a figure which shows an example of the item with which a traffic light response report is provided.
  • It is a block diagram which shows the structure of a map generation server.
  • FIG. 4 is a flow chart showing an example of a procedure for generating traffic light response policy data; It is a figure which shows an example of a road structure. It is a figure which shows an example of the traffic light for roads shown in FIG. It is a figure which shows an example of passable pattern data.
  • FIG. 10 is a diagram showing another example of passable pattern data; It is a figure which shows an example of stop pattern data.
  • FIG. 10 is a diagram showing another example of stop pattern data; It is a figure which shows an example of passable pattern data.
  • FIG. 4 is a diagram showing an example of a lighting pattern of a traffic light having a plurality of green arrow lights; 19 is a diagram showing passable pattern data corresponding to the lighting pattern of the traffic light shown in FIG. 18; FIG. FIG.
  • FIG. 4 is a diagram showing an example of a lighting pattern of a traffic light having a plurality of green arrow lights; 21 is a diagram showing passable pattern data corresponding to the lighting pattern of the traffic light shown in FIG. 20; FIG. It is a flowchart corresponding to traffic light passage assistance processing.
  • FIG. 10 is a diagram showing the relationship between the distance from the traffic light and the image recognition result for the green arrow; It is a figure which shows the setting example of the area number which shows the lighting location of a horizontal signal. It is a figure which shows the setting example of the area number which shows the lighting location of a vertical traffic signal. It is a figure which shows the other example of the item with which a traffic light response report is provided.
  • FIG. 10 is a diagram showing the relationship between the distance from the traffic light and the image recognition result for the green arrow; It is a figure which shows the setting example of the area number which shows the lighting location of a horizontal signal. It is a figure which shows the setting example of the area number which shows the lighting location
  • FIG. 10 is a diagram showing a configuration example of passable pattern data using position information of lit locations;
  • FIG. 10 is a diagram showing passable pattern data in the case where the passable pattern for each lane is indicated by the relative position of the green lighted portion with respect to the red lighted portion;
  • the green light provided on the traffic light 9 below indicates the lighting state that permits passage, and the yellow and red lights indicate the lighting state that instructs the vehicle to stop.
  • the expression green as a lighting color can be interpreted as blue in Japan.
  • the expression yellow as the lighting color in the present disclosure can be interpreted as amber in some regions such as England.
  • the traffic light 9 can include a traffic light with an arrow light 9A, which is equipped with an arrow light device (arrow light) that is a lighting device that displays an arrow.
  • arrow light arrow light
  • a green arrow light is a lighting device that permits passage in the direction indicated by the green arrow.
  • the traffic signal 9 with the green arrow light is also called an arrow-type traffic signal in Japan.
  • a green arrow light may also be referred to as a blue arrow light.
  • a green arrow light corresponds to a lighting device displaying a green arrow.
  • yellow arrow lights that display yellow arrows
  • red arrow lights that display red arrows.
  • the present disclosure can also be appropriately applied to a traffic light 9 equipped with a yellow arrow light or a red arrow light.
  • FIG. 1 is a diagram showing an example of a schematic configuration of a map cooperation system Sys including a vehicle control system 1 according to the present disclosure.
  • the map cooperation system Sys includes a vehicle control system 1 built in a vehicle Ma, a map generation server 3 and a map distribution server 4 .
  • FIG. 1 shows only one vehicle Ma equipped with the vehicle control system 1, there may be a plurality of vehicles Ma equipped with the vehicle control system 1.
  • MGS shown in FIG. 1 stands for Map Generation Server.
  • MDS is an abbreviation for Map Distribution/Delivery Server.
  • the vehicle control system 1 can be mounted on various vehicles Ma that can travel on roads.
  • the vehicle Ma may be a four-wheeled vehicle, a two-wheeled vehicle, a three-wheeled vehicle, or the like.
  • a motorized bicycle can also be included in a two-wheeled vehicle.
  • the vehicle Ma may be an owner's car owned by an individual, or may be a vehicle provided for a car sharing service or a vehicle rental service (so-called rental car). Also, the vehicle Ma may be a service car. Service cars include taxis, fixed-route buses, shared buses, and the like.
  • a taxi or bus may be a robot taxi without a driver.
  • the vehicle control system 1 transmits to the map generation server 3 the lighting status of the traffic lights observed during travel and the position information of various features.
  • the map generation server 3 generates map data used in the vehicle control system 1 based on information provided from a plurality of vehicles, and provides a part or all of the map data to the map distribution server 4 .
  • the vehicle control system 1 performs wireless communication with the map distribution server 4 to download necessary map data from the map distribution server 4 and use it for driving support, automatic driving, and navigation.
  • map data handled by the map distribution server 4 is basically the same as the map data generated by the map generation server 3 .
  • the map distribution server 4 may generate distribution data according to the application based on the map data provided from the map generation server 3 and distribute it to the vehicle.
  • the map data generated by the map generation server 3 and the map data distributed to the vehicle may not be exactly the same.
  • a server that generates map data (traffic signal data) and a server that distributes map data to vehicles are separately provided, but the embodiment is not limited to this.
  • the map generation server 3 and the map distribution server 4 may be integrated as one map server.
  • Map data includes road structure data and feature data.
  • the road structure data is so-called network data indicating connection relationships of roads, and includes, for example, node data and link data.
  • the node data is data about nodes that are intersections, points where the number of lanes increases or decreases, and points where roads diverge/merge.
  • Link data is data about road links, which are road sections connecting nodes.
  • the link data includes data such as lane information, curvature, and slope included in the road link.
  • a road link can also be called a road segment.
  • the data related to the road structure may be described for each lane.
  • the road structure data may include lane network data indicating connectivity relationships at the lane level. Each road link and each lane link is given a link ID, which is a unique identifier.
  • Feature data can be divided into roadside data, road marking data, and three-dimensional object data.
  • the roadside data indicates the position of the roadside.
  • the road marking data is data indicating installation positions and types of road markings.
  • Pavement markings refer to the paint applied to the pavement to regulate or direct traffic on the road.
  • pavement markings can be referred to as pavement paint.
  • road markings include lane markings indicating lane boundaries, pedestrian crossings, stop lines, driving lanes, safety zones, and control arrows. Lines, symbols, and characters provided on the road surface correspond to road markings.
  • Road markings can include not only paint, but also different colors of the road surface itself, lines, symbols, and characters formed by road studs, stones, and the like.
  • Three-dimensional object data represents the position and type of a predetermined three-dimensional structure installed along the road.
  • Three-dimensional structures installed along roads include, for example, traffic signs, commercial signboards, poles, guardrails, curbs, utility poles, and traffic lights.
  • a traffic sign refers to a signboard provided with at least one of a symbol, a character string, and a pattern that act as, for example, a regulatory sign, a guide sign, a warning sign, an instruction sign, or the like.
  • the map data includes data relating to traffic signs and traffic lights 9 as three-dimensional object data.
  • the traffic light data included in the map data includes the center coordinates of the housing, arrangement type, size information, green arrow light information, and passable pattern data.
  • the arrangement type indicates whether the three-color lighting units are arranged vertically or horizontally.
  • the arrangement type corresponds to information indicating whether the traffic signal is vertical or horizontal, or the installation attitude.
  • the size information indicates horizontal and vertical lengths.
  • the arrow information indicates the presence/absence, number, and direction of green arrows.
  • the green arrow light information indicates, for example, whether a green arrow light is included or the number of green arrow lights provided.
  • the green arrow light information also includes the direction of the green arrow light.
  • Passable pattern data is data indicating a combination of passable lighting colors for each lane. Passable pattern data will be described separately later.
  • Data related to various features are linked with network data.
  • a feature such as a traffic light provided on a specific lane or a feature for a specific lane is associated with associated (corresponding) link data or node data.
  • Some or all of the features installed along the road and predetermined road markings such as stop lines are used as landmarks, which will be described later.
  • the map data includes data on installation positions and types of landmarks.
  • map data is divided into multiple patches and managed (generated/updated/distributed).
  • Each patch corresponds to map data for a different area.
  • map data is stored in units of map tiles obtained by dividing the map recording area into rectangles.
  • a map tile is a subordinate concept of a patch.
  • Each map tile is given a tile ID, which is a unique identifier.
  • the map data for each patch or map tile is part of the entire map recording area, in other words, local map data.
  • a map tile corresponds to partial map data.
  • the map distribution server 4 distributes partial map data according to the position of the vehicle control system 1 based on a request from the vehicle control system 1 .
  • the recording range of individual patches does not have to be rectangular.
  • the patch recording range may be hexagonal, circular, or the like.
  • Each patch may be set so as to partially overlap adjacent patches. That is, each patch may be set so as to overlap another patch near the boundary.
  • the manner in which the map data is divided may be defined by the data size.
  • the map recording area may be divided and managed within a range defined by the data size. In that case, each patch is set so that the amount of data is less than a predetermined value.
  • the data size in one delivery can be set to a certain value or less.
  • the above-mentioned map data is updated from time to time, for example, by integrating probe data uploaded from multiple vehicles.
  • the map data handled by the map cooperation system Sys of this embodiment is a probe data map (hereinafter referred to as a PD map) generated and updated by integrating probe data observed by a plurality of vehicles.
  • the map data handled by the map cooperation system Sys is a high-precision map ( Henceforth, it may be an HD map).
  • LiDAR is an abbreviation for Light Detection and Ranging or Laser Imaging Detection and Ranging. LiDAR may include a Time-Of-Flight (ToF) camera that produces range images.
  • the map data handled by the map cooperation system Sys may be navigation map data, which is map data for navigation, provided that it includes feature data such as traffic lights 9 and landmarks.
  • the vehicle control system 1 includes a front camera 11, a vehicle state sensor 12, a locator 13, a V2X vehicle-mounted device 14, an HMI system 15, a travel actuator 16, and a driving support ECU 20, as shown in FIG.
  • the ECU in the member name is an abbreviation for Electronic Control Unit, meaning an electronic control unit.
  • HMI is an abbreviation for Human Machine Interface.
  • V2X is an abbreviation for Vehicle to X (Everything), and refers to communication technology that connects cars with various things.
  • the "V" in V2X can refer to an automobile as the own vehicle, and the "X” can refer to various entities other than the own vehicle, such as pedestrians, other vehicles, road facilities, networks, and servers.
  • the host vehicle in the present disclosure refers to the vehicle Ma on which the vehicle control system 1 is mounted, as seen from the vehicle control system 1 .
  • an occupant sitting in the driver's seat of the vehicle Ma (that is, an occupant in the driver's seat) is also referred to as a user.
  • the concept of a driver's seat occupant also includes an operator who is an entity that has the authority to remotely operate the vehicle Ma.
  • the directions of front and rear, left and right, and up and down in the following description are defined on the basis of the own vehicle. Specifically, the longitudinal direction corresponds to the longitudinal direction of the vehicle.
  • the left-right direction corresponds to the width direction of the host vehicle.
  • the vertical direction corresponds to the vehicle height direction.
  • the various devices or sensors that make up the vehicle control system 1 are connected as nodes to an in-vehicle network Nw, which is a communication network built in the vehicle. Nodes connected to the in-vehicle network Nw can communicate with each other. Note that specific devices may be configured to be able to communicate directly with each other without going through the in-vehicle network Nw.
  • Various standards such as Controller Area Network (CAN is a registered trademark) and Ethernet (registered trademark) can be adopted as the standard of the in-vehicle network Nw.
  • the front camera 11 is a camera that captures an image of the front of the vehicle with a predetermined angle of view.
  • the front camera 11 is arranged, for example, at the upper end of the windshield on the interior side of the vehicle, the front grille, the roof top, or the like.
  • the front camera 11 includes a camera body 111 and a camera ECU 112, as shown in FIG.
  • the camera body 111 is a module including at least an image sensor and a lens.
  • the camera body 111 generates captured image data at a predetermined frame rate such as 30 fps or 60 fps.
  • the camera ECU 112 is an ECU that detects a predetermined object to be detected by performing recognition processing on an image frame generated by the camera body 111 .
  • the camera ECU 112 is implemented using an image processing chip including a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), and the like.
  • the camera ECU 112 detects a predetermined object based on image information including color, brightness, contrast related to color and brightness, and the like.
  • the camera ECU 112 includes an identifier E1 as a functional block.
  • the discriminator E1 is configured to discriminate the type of an object based on the feature amount vector of the image generated by the camera body section 111 .
  • a CNN Convolutional Neural Network
  • DNN Deep Neural Network
  • the object to be detected by the camera ECU 112 is appropriately designed.
  • the camera ECU 112 detects road edges, predetermined road markings, and traffic signs.
  • Road markings that are set to be detected include lane markings, stop lines, arrow paints that indicate the direction of travel at intersections, and the like.
  • the camera ECU 112 can recognize the curvature, width, etc. of the road based on the regression curve of the detection points indicating the lane markings and the edge of the road.
  • the camera ECU 112 can also detect moving objects such as pedestrians and other vehicles. Other vehicles include bicycles (so-called cyclists), motorized bicycles, and motorcycles.
  • the camera ECU 112 identifies the own vehicle lane, which is the lane in which the own vehicle is traveling, based on the recognition result of the lane markings existing on the left and right sides of the own vehicle, and also identifies the lane that exists in front of the own vehicle on the own vehicle lane. other vehicle is recognized as the preceding vehicle. Then, the distance and relative speed to the preceding vehicle are specified.
  • the front camera 11 is configured to be able to detect the traffic light 9.
  • the front camera 11 recognizes the traffic light 9, it recognizes at least the color of the lighting portion (that is, the lighting color).
  • a lighting unit in the present disclosure refers to a portion that emits light, that is, a lit lighting unit among the plurality of lighting units provided in the traffic light 9 .
  • the lighting unit refers to the device itself capable of emitting light, that is, the lighting device.
  • the recognition result of the traffic signal 9 by the front camera 11 includes relative position information of the traffic signal with respect to the own vehicle and lighting state information indicating the lighting state.
  • the lighting state information mainly indicates a combination of lighting colors.
  • the combination of lighting colors is not limited to the case of including multiple colors such as red and green, but also includes variations in which there is only one lighting color such as only red or only green.
  • the lighting state information indicates the number of each color, such as one red and two green. may contain information.
  • the camera ECU 112 can output the recognized shape information.
  • a circle and an arrow are assumed as the shape of the lighting portion. Note that when the shape of the lighting portion is determined to be an arrow, the direction in which the arrow is pointing is also acquired.
  • the information indicating the lighting state of the traffic signal 9 can include the color and shape of the lighting portion as a set.
  • a predetermined value indicating that it is unknown can be inserted into the data field indicating the shape of the lighting portion.
  • the camera ECU 112 may recognize the center coordinates of the housing of the traffic light, the arrangement type, size information, green arrow information, and the like, and output the recognition result to the driving support ECU 20 .
  • the camera ECU 112 When the camera ECU 112 detects a plurality of traffic lights 9, the camera ECU 112 uses a flag or the like to distinguish between the traffic lights 9 intended for the own vehicle and the other traffic lights 9 and outputs them.
  • the traffic signal 9 for the own vehicle is the traffic signal 9 for the lane of the own vehicle, in other words, the traffic signal 9 that the own vehicle should follow.
  • the traffic signal 9 for the oncoming vehicle and the traffic signal 9 for the crossing vehicle do not correspond to the traffic signal 9 for the own vehicle.
  • the intersecting vehicle refers to a vehicle traveling on another road connected to the road on which the own vehicle is traveling. For example, a vehicle coming from the side at an intersection corresponds to the crossing vehicle.
  • the traffic signal 9 on the own vehicle lane corresponds to the traffic signal 9 for the own vehicle, and the traffic signal 9 for the adjacent lane does not correspond to the traffic signal 9 for the own vehicle.
  • the nearest traffic signal 9 exists on an extension of the vehicle's travel path and has a housing facing the vehicle. The traffic signal can correspond to the traffic signal 9 for the own vehicle.
  • the camera ECU 112 preferentially adopts the traffic light 9 existing in front of the own vehicle or the traffic light 9 existing above the lane of the own vehicle as the traffic light 9 for the own vehicle. do. Further, when the camera ECU 112 detects a plurality of traffic signals 9, the camera ECU 112 preferentially adopts the traffic signal 9 located in front of the own vehicle and whose housing faces the direction of the own vehicle as the traffic signal 9 for the own vehicle. . When a plurality of traffic signals 9 directed to the vehicle are detected, the nearest traffic signal 9 is adopted as the traffic signal 9 directed to the vehicle to be used for control. It should be noted that the determination as to whether or not the traffic light 9 is directed to the own vehicle lane may be performed by the driving support ECU 20 instead of the camera ECU 112 .
  • a landmark is a feature that can be used as a landmark for identifying the position of the vehicle on the map.
  • At least one of signboards corresponding to traffic signs such as regulatory signs and information signs, traffic lights 9, poles, information boards, stop lines, lane markings, and the like can be adopted as landmarks.
  • linear landmarks such as lane markings and road edges that are continuously extended along the road are referred to as continuous landmarks.
  • landmarks such as traffic signs, stop lines, fire hydrants, and manholes that are discretely arranged along the road are called discrete landmarks.
  • Discrete landmarks correspond to scattered features.
  • the camera ECU 112 outputs a signal indicating the relative position, type, moving speed, structure of the detected object, etc. for each detected object.
  • An output signal from the camera ECU 112 is input to the driving support ECU 20 via the in-vehicle network Nw.
  • the detection result of the front camera 11 can also be read as a recognition result or an identification result.
  • the functions of the camera ECU 112, such as object recognition processing based on image data, may be provided by another ECU such as the driving support ECU 20.
  • the front camera 11 may provide image data as observation data to the driving assistance ECU 20 .
  • the functional arrangement of the vehicle control system 1 can be changed as appropriate.
  • the vehicle state sensor 12 is a group of sensors that detect state quantities related to running control of the own vehicle.
  • the vehicle state sensor 12 includes a vehicle speed sensor, steering sensor, acceleration sensor, yaw rate sensor, accelerator sensor, brake sensor, and the like.
  • a vehicle speed sensor detects the vehicle speed of the own vehicle.
  • the steering sensor detects the steering angle of the host vehicle.
  • the acceleration sensor detects acceleration such as longitudinal acceleration and lateral acceleration of the vehicle.
  • a yaw rate sensor detects the angular velocity of the own vehicle.
  • the accelerator sensor is a sensor that detects the amount/force of depression of the accelerator pedal.
  • the brake sensor is a sensor that detects the amount/force of depression of the brake pedal.
  • the type of sensor used by the vehicle control system 1 as the vehicle state sensor 12 may be appropriately designed, and it is not necessary to include all the sensors described above.
  • the vehicle state sensor 12 also includes a sensor that detects the driver's operation. Further, the vehicle state sensor 12 can include, for example, a rain sensor that detects rainfall and an illuminance sensor that detects outside brightness.
  • the locator 13 is a device that generates position information of the own vehicle by composite positioning that combines multiple pieces of information.
  • the locator 13 is configured using, for example, a GNSS receiver.
  • a GNSS receiver is a device that sequentially detects the current position of the GNSS receiver by receiving navigation signals transmitted from positioning satellites that constitute a GNSS (Global Navigation Satellite System). For example, when the GNSS receiver can receive navigation signals from four or more positioning satellites, it outputs positioning results every 100 milliseconds.
  • GNSS Global Navigation Satellite System
  • GPS, Galileo, IRNSS, QZSS, BeiDou, etc. can be adopted.
  • the locator 13 sequentially locates the position of the vehicle by combining the positioning result of the GNSS receiver and the output of the inertial sensor. For example, when the GNSS receiver cannot receive GNSS signals, such as in a tunnel, the locator 13 uses vehicle speed, yaw rate, and acceleration information input from various vehicle state sensors 12 for dead reckoning (i.e., autonomous navigation). )I do.
  • the position information as the positioning result is output to the in-vehicle network Nw and used by the driving support ECU 20 and the like. Some of the functions of the locator 13 may be provided by the driving assistance ECU 20 .
  • the V2X vehicle-mounted device 14 is a device for the own vehicle to carry out wireless communication with other devices.
  • the V2X vehicle-mounted device 14 includes a cellular communication unit and a short-range communication unit as communication modules.
  • the cellular communication unit is a communication module for performing wireless communication conforming to a predetermined wide area wireless communication standard.
  • Various standards such as LTE (Long Term Evolution), 4G, and 5G can be adopted as the wide-area wireless communication standard here.
  • a communication module as a cellular communication unit can also be called a TCU (Telematics Control Unit) or a DCM (Data Communication Module).
  • the cellular communication unit may be configured to be able to directly communicate wirelessly with another device by a method conforming to the wide area wireless communication standard.
  • the cellular communication unit may be configured to implement cellular V2X (PC5/Uu).
  • V2X PC5/Uu
  • the driving support ECU 20 can cooperate with the V2X vehicle-mounted device 14 to download and use map data corresponding to the current position from the map distribution server 4 .
  • the short-range communication unit provided in the V2X vehicle-mounted device 14 is a communication module that implements short-range communication, which is wireless communication within a communication distance of several hundred meters.
  • the short-range communication may be DSRC (Dedicated Short Range Communications) corresponding to the IEEE802.11p standard, or may be Wi-Fi (registered trademark).
  • the short range communication may be the aforementioned cellular V2X. Either one of the cellular communication unit and the short-range communication unit can be omitted. If the V2X vehicle-mounted device 14 does not have a cellular communication function, the driving support ECU 20 may acquire map data or the like from a roadside device or another vehicle using a short-range communication function.
  • the HMI system 15 is a system that provides an input interface function for accepting user operations and an output interface function for presenting information to the user.
  • the HMI system 15 has a display 151 , a speaker 152 and an HCU (HMI Control Unit) 153 .
  • a vibrator, an illumination device, or the like can be employed.
  • the display 151 is a device that displays an image corresponding to the signal input from the HCU 153.
  • the display 151 is, for example, a so-called center display that is provided at the uppermost portion of the vehicle width direction central portion of the instrument panel.
  • the display 151 is capable of full-color display.
  • the display 151 is implemented using, for example, a liquid crystal display or an OLED (Organic Light Emitting Diode) display.
  • the display 151 may be a meter display provided in front of the driver's seat.
  • the display 151 may be a head-up display that projects a virtual image on a portion of the windshield in front of the driver's seat.
  • the speaker 152 is a device that outputs sound corresponding to the input signal from the HCU 153 .
  • the expression "sound" includes not only notification sound but also voice, music, and the like.
  • the HCU 153 is configured to comprehensively control the presentation of information to the user.
  • the HCU 153 is implemented using, for example, a processor such as a CPU or GPU, RAM (Random Access Memory), flash memory, and the like.
  • the HCU 153 controls the display screen of the display 151 based on information provided from the driving assistance ECU 20 and signals from an input device (not shown).
  • the input device refers to a touch panel, a steering switch, a voice input device, etc. stacked on the display 151 .
  • the HCU 153 displays an icon image indicating the recognition state of the traffic signal 9 on the display 151 based on a request from the driving support ECU 20 .
  • the traveling actuators 16 are actuators for traveling.
  • the travel actuator 16 includes, for example, a brake actuator as a braking device, an electronic throttle, a steering actuator, and the like.
  • Steering actuators also include EPS (Electric Power Steering) motors.
  • the travel actuator 16 is controlled by the driving support ECU 20 .
  • Other ECUs such as a steering ECU for steering control, a power unit control ECU for acceleration/deceleration control, and a brake ECU may be interposed between the driving support ECU 20 and the travel actuator.
  • the driving support ECU 20 is an ECU that supports the driver's driving operation based on the detection result of the front camera 11 .
  • the driving support ECU 20 controls the travel actuator 16 based on the detection result of the front camera 11 to perform part or all of the driving operation instead of the driver's seat occupant.
  • the driving support ECU 20 may be an automatic driving device that causes the host vehicle to autonomously travel based on a user's input of an autonomous travel instruction.
  • the driving support ECU 20 is mainly composed of a computer including a processor 21, a RAM 22, a storage 23, a communication interface 24, and a bus connecting them.
  • Processor 21 is hardware for arithmetic processing coupled with RAM 22 .
  • the processor 21 is configured to include at least one arithmetic core such as a CPU.
  • the processor 21 accesses the RAM 22 to perform various processes.
  • the storage 23 is a memory device using a non-volatile storage medium such as a flash memory or EEPROM (Registered Trademark: Electrically Erasable Programmable Read-Only Memory).
  • a driving support program is stored in the storage 23 as a program executed by the processor 21 .
  • Execution of the program by the processor 21 corresponds to execution of a driving assistance method as a method corresponding to the driving assistance program.
  • the communication interface 24 is a circuit for communicating with other devices via the in-vehicle network Nw.
  • the communication interface 24 may be realized using an analog circuit element, an IC, or the like.
  • the driving assistance ECU 20 provides functions corresponding to various functional blocks shown in FIG. 4 by executing the driving assistance program stored in the storage 23 by the processor 21 . That is, the driving support ECU 20 includes functional blocks such as a provisional position acquisition unit F1, a map acquisition unit F2, a camera output acquisition unit F3, a vehicle state acquisition unit F4, a localization unit F5, an environment recognition unit F6, a control planning unit F7, and a control execution unit. F8 and report processing unit F9.
  • the provisional position acquisition unit F1 acquires vehicle position information, which is the position coordinates of the vehicle, from the locator 13 .
  • vehicle position information which is the position coordinates of the vehicle
  • the provisional position acquisition unit F1 may have the function of the locator 13 .
  • the provisional position acquisition unit F1 can sequentially perform dead reckoning based on the output of a yaw rate sensor or the like, starting from the vehicle position calculated by the localization unit F5, which will be described later.
  • the map acquisition unit F2 acquires map data corresponding to the current position of the vehicle by wirelessly communicating with the map distribution server 4 via the V2X vehicle-mounted device 14. For example, the map acquisition unit F2 requests the map distribution server 4 to acquire partial map data relating to roads that the vehicle is scheduled to pass within a predetermined period of time.
  • the map data acquired from the map distribution server 4 is stored in, for example, the map holding unit M1. Downloading of the map data is carried out in predetermined distribution units such as map tiles, for example.
  • the map holding unit M1 is implemented using part of the storage area of the storage 23 or RAM 22, for example.
  • the map holding unit M1 is implemented using a non-transitional, physical storage medium.
  • the map data includes the installation position of the traffic signal 9 for each intersection and its passable pattern data. Since the passable pattern data corresponds to the traffic signal response policy data, the map acquisition unit F2 corresponds to the response policy data reception unit.
  • the camera output acquisition unit F3 acquires the recognition result of the front camera 11 for features, other moving objects, and the like. Specifically, the camera output acquisition unit F3 acquires the position, movement speed, type, size, and the like of the other moving object. Further, when the camera ECU 112 is configured to be able to identify the preceding vehicle, the camera output acquisition unit F3 acquires the preceding vehicle information from the camera ECU 112 .
  • the preceding vehicle information can include the presence or absence of a preceding vehicle, the inter-vehicle distance to the preceding vehicle, the relative speed, and the like.
  • the camera output acquisition unit F3 acquires information about the traffic signal for the own vehicle. For example, the camera output acquisition unit F3 acquires, from the camera ECU 112, recognition results relating to the position and lighting state of the traffic light 9 for the own vehicle. In addition, the camera output acquisition unit F3 acquires from the front camera 11 relative position coordinates and types of landmarks such as traffic signs, lane markings, and road edges. Both or one of the camera output acquisition unit F3 and the camera ECU 112 corresponds to the lighting state acquisition unit.
  • the vehicle state acquisition unit F4 acquires travel speed, direction of travel, time information, weather, illuminance outside the vehicle, wiper operating speed, shift position, etc. from the vehicle state sensor 12 and the like via the in-vehicle network Nw.
  • the vehicle state acquisition unit F4 acquires operation information, which is information indicating the driving operation state of the driver.
  • the vehicle state acquisition unit F4 acquires the depression state of the brake pedal and the depression state of the accelerator pedal as the operation information.
  • the stepping state includes presence or absence of stepping on and stepping amount/stepping force.
  • the localization unit F5 executes localization processing based on the landmark information and the map information acquired by the camera output acquisition unit F3.
  • the localization process identifies the detailed position of the vehicle by comparing the positions of landmarks and the like identified based on the image captured by the front camera 11 with the position coordinates of features registered in the map data. It refers to the processing to do.
  • the localization unit F5 can convert relative position coordinates of landmarks acquired from the camera ECU 112 into position coordinates (hereinafter also referred to as observation coordinates) in the global coordinate system. Observed coordinates of landmarks are calculated, for example, by combining the current position coordinates of the own vehicle and relative position information of the feature relative to the own vehicle. Note that the camera ECU 112 may calculate the observation coordinates of the landmark using the current position coordinates of the own vehicle.
  • the localization unit F5 associates the landmarks registered on the map with the landmarks observed by the front camera 11 based on the observation coordinates of each landmark. Correlation (collation) between the observed landmarks and the landmarks registered on the map can be performed using position coordinates and type information. In addition, when matching landmarks, it is preferable to employ landmarks with a higher degree of feature matching by using feature amounts such as shape, size, and color.
  • the localization unit F5 uses the distance information between the observed discrete landmarks to estimate the vertical position.
  • Vertical position estimation corresponds to processing for identifying the position of the vehicle in the road extension direction.
  • the localization unit F5 shifts the position coordinates of the landmark on the map corresponding to the observed discrete landmark by the observation distance of the own vehicle to the landmark in the direction opposite to the travel direction. set to the vehicle position in For example, in a situation where the image recognition result specifies that the distance to the direction signboard in front of the vehicle is 40m, the position coordinates of the direction signboard registered in the map data are shifted 40m behind the vehicle. It is determined that the own vehicle exists at the position.
  • feature points on the road such as intersections, curve entrances/exits, tunnel entrances/exits, tail end of traffic jams, etc., in other words, detailed remaining distances to POIs can be specified. be.
  • the localization unit F5 identifies the lateral position of the vehicle with respect to the road based on the distance from the left and right road edges/division lines recognized by the front camera 11 as the lateral position estimation process. For example, if the distance from the left side of the road to the center of the vehicle is specified as 1.75 m as a result of the image analysis, it is assumed that the vehicle is located 1.75 m to the right of the coordinates of the left side of the road. judge.
  • the localization unit F5 determines the vehicle lane identifier, which is the vehicle lane identifier, based on the distance from the left and right road edges recognized by the front camera 11, or the number/type of lane markings existing on the side of the vehicle. ID can be specified.
  • the host vehicle lane ID indicates, for example, which lane the host vehicle is traveling from the left end or right end of the road.
  • the own vehicle lane ID can also be called the own vehicle lane number.
  • the host vehicle lane can also be called an ego lane.
  • the localization part F5 corresponds to the own vehicle lane recognition part.
  • another ECU such as the camera ECU 112 may have the function of identifying the own vehicle lane number.
  • the own vehicle lane recognition unit may be configured to acquire the own vehicle lane number determined by another ECU.
  • the configuration of acquiring the own vehicle lane number determined by another ECU also corresponds to the configuration of recognizing which lane the own vehicle lane corresponds to from the road edge.
  • the localization unit F5 sequentially performs localization processing at a predetermined position estimation cycle.
  • the default value of the position estimation period may be 200 milliseconds or 400 milliseconds.
  • the localization unit F5 sequentially performs vertical position estimation processing as long as discrete landmarks can be recognized (in other words, captured). Even if the discrete landmarks cannot be recognized, the localization unit F5 sequentially performs lateral position estimation processing as long as at least one of the lane marking and the road edge can be recognized.
  • the own vehicle position as a result of localization processing is expressed in the same coordinate system as map data, such as latitude, longitude, and altitude.
  • the vehicle position information calculated by the localization unit F5 is provided to the provisional position acquisition unit F1, the environment recognition unit F6, and the like.
  • the environment recognition unit F6 recognizes the surrounding environment, which is the environment around the own vehicle, mainly based on the recognition results obtained by the front camera 11 acquired by the camera output acquisition unit F3.
  • the surrounding environment here includes the current position of the own vehicle, the lane of the own vehicle, the type of road, the speed limit, the relative positions of the traffic light 9, and the like.
  • the lighting state of the traffic signal 9 is also included in the surrounding environment.
  • the surrounding environment can also include the position and movement speed of other moving bodies, the shape and size of surrounding objects, and the like.
  • the environment recognition unit F6 may be integrated with the camera output acquisition unit F3.
  • the environment recognition unit F6 determines whether the lighting state of the forward traffic signal corresponds to the passable pattern using the passable pattern data of the forward traffic signal included in the map data. Specifically, the environment recognition unit F6 recognizes the traffic signal based on the passable pattern data of the traffic signal in front included in the map data, the vehicle lane number, and the lighting state of the traffic signal recognized by the front camera 11. It is determined whether the lighting state corresponds to a passable pattern.
  • the environment recognition unit F6 corresponds to the passability determination unit.
  • the determination function may be provided in the control planning section F7. The functional arrangement can be changed as appropriate.
  • the environment recognition unit F6 may acquire detection results from each of a plurality of surroundings monitoring sensors and combine them to recognize the position and type of an object existing around the vehicle.
  • a peripheral monitoring sensor is a sensor that recognizes objects outside the vehicle, and refers to millimeter wave radar, LiDAR, and the like.
  • the environment recognition unit F6 may recognize the surrounding environment using both the recognition result from the front camera 11 and the detection result from the range sensor. More specifically, the environment recognizing unit F6 may specify the inter-vehicle distance, the relative speed, and the like to the preceding vehicle using the results of the forward range sensor.
  • a ranging sensor corresponds to a peripheral monitoring sensor that detects an object within a detection range by transmitting and receiving search waves such as millimeter wave radar, LiDAR, and sonar.
  • a forward range sensor refers to a range sensor whose detection range includes the front of the vehicle.
  • the environment recognition unit F6 may identify the surrounding environment using other vehicle information received by the V2X vehicle-mounted device 14 from other vehicles, traffic information received from roadside units through road-to-vehicle communication, and the like.
  • the traffic information that can be acquired from the roadside device can include road construction information, traffic regulation information, congestion information, weather information, speed limit, and the like.
  • the environment recognition unit F6 can recognize the driving environment by integrating information indicating the external environment input from a plurality of devices.
  • the control planning unit F7 uses the driving environment recognized by the environment recognition unit F6 and the map data to generate a vehicle control plan for assisting the user's driving operation. For example, when it is confirmed that the traffic signal 9 exists in front of the vehicle, the control planning unit F7 creates a vehicle control plan according to the lighting state of the traffic signal 9 . For example, when the lighting state of the traffic light 9 when the vehicle reaches 100 m before the traffic light 9 corresponds to the stop pattern, a travel plan is created to decelerate the vehicle so as to stop the vehicle at a predetermined distance before the traffic light 9. ⁇ A stop pattern corresponds to a lighting pattern in which entry into an intersection is prohibited.
  • the stop position as a response to the lighting state of the traffic light 9 is the position of the stop line shown in the map data. can do.
  • control planning unit F7 may update the control plan as needed so that the vehicle stops a predetermined distance behind the preceding vehicle when the traffic light 9 corresponds to the stop pattern in the presence of the preceding vehicle.
  • the lighting state of the traffic signal 9 is a passable pattern
  • a control plan for passing through the intersection is formulated.
  • the passable pattern is a lighting state that permits the vehicle to enter and pass through the intersection.
  • the expression “passable” can be rephrased as “enterable”.
  • the expression “impassable” can be rephrased as "not allowed to enter the intersection” or “not allowed to pass”.
  • the lighting state that permits entry into and passage through an intersection includes, in addition to the case where a circular green light is on, the case where a green arrow corresponding to the traveling direction of the own vehicle lane is on.
  • a control plan as a system response to the lighting state of the traffic light 9 is generated based on the lighting state of the traffic light 9 at the time when the vehicle reaches a predetermined distance (for example, 100 m or 50 m) from the traffic light 9. It can be updated from time to time based on changes and the like.
  • the vehicle control that assists the vehicle in passing through the road on which the traffic signal 9 is provided is referred to as traffic signal passage assistance.
  • Traffic light passage assistance includes automatic adjustment of traveling speed, for example, execution of brake control for stopping before the traffic light 9 .
  • the traffic light passage assistance may be a process of notifying the user of the presence of the traffic light 9 and the lighting state of the traffic light 9 in cooperation with the HMI system 15 .
  • the traffic light passage support control plan can be updated as needed based on changes in the lighting state of the traffic light 9 .
  • control planning unit F7 creates a control plan including a steering amount control schedule for traveling in the center of the recognized vehicle lane, and uses the recognized behavior of the preceding vehicle or a route along the traveling trajectory as a traveling plan. may be generated.
  • the driving assistance ECU 20 can perform preceding vehicle follow-up control for controlling the running of the own vehicle so that it follows the preceding vehicle while maintaining a predetermined distance.
  • the travel plan may include acceleration/deceleration schedule information for speed adjustment on the calculated route and steering angle control schedule information.
  • the control execution unit F8 is configured to output a control signal corresponding to the control plan determined by the control planning unit F7 to the travel actuator 16 and/or the HCU 153 to be controlled. For example, when deceleration is scheduled, it outputs a control signal for realizing the planned deceleration to the brake actuator or electronic throttle. In addition, it outputs to the HCU 153 a control signal for outputting an image and sound indicating the execution state of traffic light passage assistance.
  • the control planning unit F7, the control execution unit F8, and the notification processing unit Fa correspond to the response unit.
  • the report processing unit F9 transmits a data set associated with the recognition result related to the lighting state of the traffic signal 9 for the own vehicle and the own vehicle behavior data indicating the behavior of the own vehicle to the map generation server 3 as a traffic signal response report. Configuration. The operation of the report processor F9 will now be described.
  • the notification processing unit Fa executes a process of notifying the driver of the recognition result of the traffic light 9 and the determination result of whether or not the vehicle is passable corresponding to the recognition result.
  • the notification can be realized by displaying an image on the display 151 or outputting a voice message from the speaker 152 .
  • the notification processing unit Fa uses, as images accompanying the recognition result of the lighting state of the traffic light 9, an entry prohibition image Im1 indicating that entry should be stopped, in other words, that entry is prohibited, and an entry prohibition image Im1 indicating that entry is permitted.
  • Image Im2 may be selectively displayed on display 151 .
  • the notification processing unit Fa displays an image based on the recognition result of the traffic signal 9 and the judgment result of whether or not the traffic is permitted on the condition that the remaining distance Drm to the intersection where the traffic signal 9 is provided is less than the control continuation determination distance Dcn, which will be described later. to implement.
  • Various notification processes by the notification processing unit Fa are carried out according to plans of the control planning unit F7.
  • the driving assistance ECU 20 may include the notification processing unit Fa as part of the control execution unit F8.
  • the entry prohibition image Im1 and the passable image Im2 can each include a recognition result image Ims indicating the recognition result of the traffic light lighting state and a judgment result image Imk indicating whether the passage is permitted or not.
  • the entry prohibition image Im1 includes, for example, a stop instruction mark Imk1 and a red traffic light icon Ims1, as shown in FIG.
  • the passable image Im2 includes a passable mark Imk2 and a green traffic light icon Ims2 as shown in FIG.
  • the stop instruction mark Imk1 and the passable mark Imk2 correspond to the determination result image Imk.
  • the red traffic light icon Ims1 and the green traffic light icon Ims2 correspond to the recognition result image Ims.
  • the notification processing unit Fa is configured to select and display an image that matches the shape/arrangement type of the actual traffic light 9 that has been recognized, from a display image database that has been prepared in advance, as the recognition result image Ims.
  • an icon image of the traffic light 9 including the green arrow light may be selectively displayed.
  • the character string included in the passable mark Imk2 is not limited to "PASSABLE", and may be, for example, "GO”.
  • the text contained in these images can be converted to the official language of the area of use.
  • the determination result image Imk may be a diagram (a so-called pictogram) that does not include text and expresses whether passage is allowed or not.
  • the information that the driving support ECU 20 should present to the driver as an image showing the operating state of the system related to the intersection crossing support is (1) that there is a traffic light 9 ahead and (2) the judgment result of whether to proceed or stop. is.
  • a specific recognition result that can be presented by the recognition result image Ims is an arbitrary element.
  • the notification processing unit Fa may display an icon image representing only the shape or arrangement type of the traffic light 9 in parallel with the determination result image instead of the image of the traffic light 9 reflecting the recognized lighting state.
  • the flowchart shown in FIG. 7 is executed at predetermined intervals (for example, every 200 milliseconds) while the power source for running the vehicle is turned on, for example.
  • the running power source is, for example, an ignition power source in an engine vehicle.
  • the system main relay corresponds to the power supply for running.
  • the signal response reporting process includes steps S101 to S106. Note that the flowcharts in the present disclosure are all examples, and the number of steps, processing order, execution conditions, and the like can be changed as appropriate.
  • the localization unit F5 independently, in other words, in parallel with the flowchart shown in FIG. Specifically, the localization unit F5 sequentially performs localization processing using landmarks. By executing the localization process, the detailed position of the own vehicle on the map is determined.
  • step S101 is a step in which the environment recognition unit F6 recognizes the driving environment based on signals from the front camera 11 or the like.
  • the environment recognition unit F6 acquires traffic signal information, preceding vehicle information, lane marking recognition results, and the like.
  • the traffic light information includes the presence or absence of the traffic light 9, the remaining distance to the traffic light 9 if the traffic light 9 exists, the lighting state, and the like.
  • the preceding vehicle information includes the presence or absence of a preceding vehicle, and if there is a preceding vehicle, the inter-vehicle distance and relative speed from the preceding vehicle, the lighting state of the lighting device, and the like.
  • the lighting state of the lighting device refers to the lighting state of a winker, a brake lamp, or the like.
  • behavior of the own vehicle such as the vehicle speed and yaw rate of the own vehicle, and operation information of the driver are acquired.
  • step S102 the localization unit F5 identifies the position coordinates of the vehicle and the lane ID of the vehicle based on the input signal from the front camera 11. Note that step S102 may be integrated with step S101.
  • step S103 the environment recognition unit F6 determines whether or not the front camera 11 has detected the traffic signal 9 directed to the vehicle. If the traffic signal 9 directed to the own vehicle is not detected, a negative decision is made in step S103, and this flow ends. On the other hand, when the traffic signal 9 directed to the host vehicle is detected, step S104 is executed.
  • map data may be used to identify whether or not the detected traffic signal 9 is the traffic signal 9 intended for the own vehicle.
  • the environment recognition unit F6 determines whether the traffic signal 9 detected by the front camera 11 is the traffic signal for the own vehicle based on the information on the position, size, arrangement type, presence/absence of auxiliary lights, etc. of the traffic signals 9 shown in the map data. You may judge whether it is 9 or not.
  • the camera output acquisition unit F3 acquires the recognition result of the lighting state of the traffic light 9 for the own vehicle. For example, the color of the lighting part is acquired. If a plurality of lighting units are lit, each lighting color is acquired. Also, the camera output acquisition unit F3 can acquire the shape of the lighting unit, for example, whether it is a circle or an arrow, if possible. In addition, the camera output acquisition unit F3 can acquire the position of the lighting unit with respect to the housing if possible.
  • step S105 the report processing unit F9 determines whether or not the transmission conditions for transmitting the traffic light response report are satisfied. If the transmission conditions are satisfied, the report processing unit F9 transmits a traffic light response report as step S106.
  • the traffic signal response report is a data set indicating whether the own vehicle/another vehicle has stopped or passed, that is, how it responded to the lighting state of the traffic signal 9 for the own vehicle.
  • the traffic signal response report is a data set that indicates the combination of colors of the lighting part of the traffic signal 9 and the behavior of the vehicle in response to it.
  • the traffic signal response report can include target information, reporting source, lighting state information, own vehicle behavior information, and preceding vehicle information.
  • the target information is information for the map generation server 3 to specify which traffic light 9 the report is about.
  • the target information is represented by a traffic light ID, which is a unique identification number assigned to each traffic light 9 .
  • the target information may be represented by a combination of the position coordinates of the traffic light 9 and the traveling direction.
  • the report source information may include information that enables the map generation server 3 to specify which lane the report is from.
  • the reporting source information can be represented by the own vehicle lane ID.
  • the reporting source information preferably includes the road link ID or the direction of travel in addition to the lane ID in which the vehicle as the reporting source was located.
  • the lighting state information is information about the combination of colors of the lighting portion of the traffic signal 9 .
  • the lighting state information may include the number of lighting units.
  • the lighting state information can include shape information of the lighting portion if the shape of the lighting portion is recognized. If the shape of the lighting portion cannot be acquired due to environmental factors such as rainfall, the report processing unit F9 may report that the shape is unknown. If the traffic signal 9 for the own vehicle has a green arrow light and the green arrow light is lit, the traffic light response report indicates the color and direction of the green arrow light that is lit. may contain information.
  • the behavior data of the own vehicle included in the traffic signal response report indicates the behavior of the own vehicle with respect to the intersection, in other words, the lighting state of the traffic signal.
  • the behavior data of the own vehicle included in the traffic light response report indicates, for example, whether the vehicle stopped before the intersection or whether it was able to pass through the intersection without stopping.
  • the report processing unit F9 determines the behavior of the own vehicle with respect to the lighting state of the traffic light, whether it stopped in front of the intersection for more than a predetermined second, whether it passed through the intersection without stopping temporarily, whether it passed through the intersection after stopping temporarily, and so on. May be reported in subdivided form.
  • the temporary stop here is a stop for checking traffic conditions, and can be a stop for less than 5 seconds, for example.
  • the self-vehicle behavior data can include time-series data such as vehicle speed, the amount of depression of the brake pedal, and the amount of depression of the accelerator pedal within a predetermined past time from when the vehicle stopped or passed through the intersection.
  • Time-series data of acceleration may be included in place of/in parallel with the time-series data of the amount of depression of the brake/accelerator pedal.
  • the traffic light response report may include information about the preceding vehicle, such as the distance to the preceding vehicle and the lighting status of the brake lamps of the preceding vehicle. Further, as another aspect, the signal response report may include relative position information of the lighting unit with respect to the housing. In other words, it may contain information about which part is lit in what color. Further, the traffic signal response report may include, as reference information about the traffic signal 9, configuration information such as the arrangement type and the presence/absence of green arrow lights. The array type refers to vertical or horizontal.
  • the remaining distance to the traffic light 9 is equal to or less than a predetermined reporting distance as the transmission condition for the traffic light response report.
  • the reporting distance can be, for example, 10m, 15m, 20m, 50m.
  • the reported distance is set to a value that is expected to increase the recognition accuracy of the lighting state of the traffic signal 9 to a predetermined value or higher.
  • the transmission conditions are set so as to suppress the transmission of information that may become noise when generating traffic light response policy data, which will be described later, in other words, less useful/unnecessary information is transmitted.
  • the report processing unit F9 responds to the traffic signal when the own vehicle stops before the traffic signal 9 or when the driver's brake operation is detected. You can send the report. Further, even if the report processing unit F9 detects a driver operation that conflicts with the content of the automatic control while the automatic speed adjustment control is being executed by the driving support ECU 20, the report processing unit F9 may transmit the traffic signal response report. good.
  • a driver operation during the preceding vehicle follow-up control is also referred to as a so-called override operation.
  • a traffic light response report may be transmitted.
  • the signal response report may be transmitted using detection of the driver's braking operation during the preceding vehicle tracking control as a trigger.
  • the report processing unit F9 may transmit a traffic light response report triggered by detection of a change in the lighting state of the traffic light 9 when the remaining distance to the traffic light/intersection is equal to or less than a predetermined value.
  • the report event which is an event (trigger) for transmitting a signal response report, driver operation, stop/start of the preceding vehicle, change in lighting state, and the like can be employed.
  • the report processing unit F9 may be configured to transmit a traffic light response report on condition that the green arrow light is on or that a plurality of light units are on. Further, the report processing unit F9 may be configured to transmit the traffic light response report only when passing through the traffic light 9A.
  • the report processing unit F9 may transmit a series of behavior data of the own vehicle related to passage of one traffic light 9 in one data set, or may divide the data into a plurality of data sets and transmit them. Further, the report processing unit F9 may transmit a data set indicating the lighting state of the traffic signal 9 when the preceding vehicle or the own vehicle starts moving as the traffic signal response report.
  • the report processing unit F9 may transmit a data set indicating the lighting state of the traffic signal 9 when the preceding vehicle or the own vehicle has stopped as the traffic signal response report.
  • the report processing unit F9 transmits to the map generation server 3 a data set indicating the lighting state of the traffic signal 9 for the adjacent lane, the adjacent lane ID, and the behavior of other vehicles traveling on the adjacent lane. Also good.
  • the map generation server 3 can more efficiently obtain the data indicating the appropriate vehicle behavior according to the lighting state of the traffic light 9. can be collected at
  • the report processing unit F9 In addition to the data indicating the behavior of the own vehicle/other vehicles according to the lighting state of the traffic light 9, the report processing unit F9 periodically sends probe data for updating the road structure and feature information in the map data. Or, upload based on an instruction from the map generation server 3 .
  • the probe data may include vehicle position information, position information of observed features, and the like.
  • the signal response report can also be understood as a kind of probe data.
  • Probe data and traffic light response reports may be integrated.
  • a data set that includes information indicating the lighting state of a traffic light and vehicle behavior corresponding thereto, and information indicating the traveling position of the own vehicle in the road width direction can correspond to the traffic light response report. For example, probe data transmitted when the vehicle is within a predetermined distance from a traffic light may correspond to the traffic light response report.
  • the map generation server 3 includes a communication device 31, a server processor 32, a server memory 33, a server storage 34, a report DB 35, and a map DB 36, as shown in FIG. DB in the member name is an abbreviation for database.
  • the communication device 31 is a communication module for data communication with each vehicle via a wide area communication network such as the Internet.
  • the communication device 31 is configured to be capable of mutual communication with communication equipment forming a wide area communication network using, for example, an optical fiber.
  • the map generation server 3 can perform data communication with vehicles connected to the wide area communication network.
  • the communication device 31 outputs data received from the vehicle to the server processor 32 and transmits data input from the server processor 32 to the vehicle designated by the server processor 32 .
  • the vehicle as the communication partner of the map generation server 3 can be read as the vehicle control system 1, more specifically, the driving support ECU 20.
  • the server processor 32 is configured to execute various processes based on signals/data input from the communication device 31 .
  • the server processor 32 is connected to each of the communication device 31, the server memory 33, the server storage 34, the report DB 35, and the map DB 36 so as to be able to communicate with each other.
  • the server processor 32 is an arithmetic core that executes various kinds of arithmetic processing, and is implemented using, for example, a CPU or a GPU.
  • the server memory 33 is a volatile memory such as RAM.
  • the server memory 33 temporarily stores data calculated by the server processor 32 .
  • the server storage 34 is a rewritable non-volatile memory.
  • a predetermined map generation program is stored in the server storage 34 . By executing the map generation program by the server processor 32, various functional units, which will be described later, are realized. Execution of the map generation program by the server processor 32 corresponds to execution of the map generation method, which is a method corresponding to the program.
  • the report DB 35 is a database for temporarily storing traffic signal response reports sent from vehicles. Probe data can also be stored in the report DB 35 .
  • the report DB 35 is implemented using a rewritable non-volatile storage medium.
  • the report DB 35 is configured so that the server processor 32 can write, read, and delete data.
  • the map DB 36 is a database that stores the map data mentioned at the beginning. Map DB36 is implement
  • the map generation server 3 includes, as functional blocks, a report reception unit G1, a map update unit G2, and a transmission processing unit G3.
  • the map update unit G2 has a traffic signal response policy generation unit G21 as a sub-function.
  • the traffic light response policy generator G21 may be provided independently of the map updater G2.
  • the map updating unit G2 as a configuration independent from the traffic signal response policy generating unit G21 is an optional element and may be omitted.
  • the map generation server 3 corresponds to the vehicle data generation server.
  • the report receiving unit G1 acquires the signal response report and probe data uploaded from the vehicle via the communication device 31.
  • the report receiving unit G1 saves the traffic signal response report and the like acquired from the communication device 31 in the report DB35.
  • the report receiving unit G1 can store the received traffic signal response reports separately for each corresponding traffic signal 9 or for each lane on which the reporting source was traveling.
  • the data stored in the report DB 35 can be referred to by the map updating unit G2, the traffic signal response policy generating unit G21, and the like.
  • the report receiving section G1 corresponds to the report obtaining section.
  • the map update unit G2 performs a process of updating map data based on probe data transmitted from a plurality of vehicles. For example, by integrating observation coordinates reported from a plurality of vehicles for the same feature, the position of the feature is determined and the map data is updated.
  • the map update unit G2 updates the map data, for example, at a predetermined cycle.
  • the traffic light response policy generation unit G21 is configured to generate passable patterns for each traffic light 9 and for each lane based on traffic light response reports provided by a plurality of vehicles.
  • the process of generating passable patterns for each lane is also referred to as traffic signal response policy generation process.
  • the traffic light response policy generation process can be executed for the traffic light 9 to which the green arrow light is given. The details of the traffic signal response policy generation process will be described separately later.
  • the transmission processing unit G3 is configured to transmit map data including traffic signal data to the map distribution server 4.
  • the transmission of the map data to the map distribution server 4 may be performed based on a request from the map distribution server 4, or may be performed periodically. Further, the transmission processing section G3 may transmit a part or all of the map data to the map distribution server 4 based on occurrence of a predetermined transmission event. For example, the transmission processing unit G3 may transmit to the map distribution server 4 patch data in which recorded contents have been changed (that is, map update) based on the probe data. As another aspect, the transmission processing unit G3 may be configured to distribute map data based on a request from the vehicle.
  • the map distribution server 4 , the driving support ECU 20 and the like correspond to external devices for the map generation server 3 .
  • the map distribution server 4 is a server that distributes the map data provided by the map generation server 3 to the requesting vehicle in units of patches based on requests from the vehicle.
  • the map acquisition unit F2 of the vehicle requests the map distribution server 4 for map data regarding the current position and the area to be traveled within a predetermined time.
  • the map distribution server 4 distributes the corresponding patch map data based on the request from the vehicle.
  • the map distribution server 4 may be configured to distribute only some of the various items included in the map data based on a request from the vehicle. For example, based on a request from a vehicle, the map distribution server 4 may distribute only traffic light data to the vehicle as map data relating to traffic at intersections in association with corresponding link/node data.
  • the traffic signal response policy generation process by the traffic signal response policy generation unit G21 will be described with reference to the flowchart shown in FIG.
  • the flowchart shown in FIG. 10 is executed, for example, at a predetermined generation cycle.
  • the generation cycle is set to an arbitrary period such as one day, one week, or one month.
  • the signal response policy generation process includes steps S201 to S205 as an example. Note that the number of steps and processing procedure included in the traffic light response policy generation process can be changed as appropriate.
  • the traffic light response policy generation process can be performed for each traffic light 9 .
  • the traffic signal 9 to be processed is also referred to as a target traffic signal.
  • the traffic light response policy generation process may be executed only for the traffic light 9 including the green arrow light.
  • Step S201 is a step of reading the traffic light response report for the target traffic light from the report DB 35.
  • Step S201 may be a step of collecting traffic light response reports for the target traffic light from a plurality of vehicles. The process of receiving traffic signal response reports transmitted from each vehicle is performed as needed.
  • Step S202 is a step for determining whether or not a specified number or more of reports have been collected for the target signal.
  • the specified number here can be 10 or 20, for example.
  • step S202 can also be a step of determining whether or not a specified number or more of traffic signal response reports have been collected for each lane.
  • step S203 If more than the prescribed number of reports have been collected for the target signal, the process moves to step S203. For lanes in which the number of received signal response reports is less than the specified value, subsequent processing is omitted. In other words, for lanes for which the number of received reports is less than the predetermined value, determination of passable patterns is postponed.
  • step S203 data indicating passable patterns for each lane, that is, passable pattern data is generated based on the traffic light response reports collected for each lane.
  • FIG. 13 shows an example of passable pattern data when the traffic light 9 shown in FIG. 12 is provided for the road having the lane structure shown in FIG.
  • FIG. 13 shows an example of passable pattern data when the traffic light 9 with the green arrow AG for turning right shown in FIG. 12 is provided on the road having the lane configuration shown in FIG.
  • the road shown in FIG. 11 is a three-lane road in one direction, with the first lane being a dedicated left-turn lane, the second lane being a straight-ahead lane, and the third lane being a right-turn only lane.
  • CG in FIG. 12 indicates a green round lamp that is a round lamp portion that lights up in green
  • CY indicates a yellow round lamp that is a round lamp portion that lights in yellow
  • CR indicates a red round lamp, which is a round lamp portion that lights in red.
  • FIG. 12 shows a rightward green arrow AG as an example.
  • the green arrow light AG pointing to the right is the green arrow light for turning right. When the green arrow AG pointing to the right is lit, it indicates that a right turn is possible.
  • the traffic signal 9 shown in FIG. 12 has a lighting pattern in which only the green circular lamp is lit and in which only the yellow circular lamp is lit, as shown in FIGS. 12A to 12D. , a state in which only the red circle light is lit, and a state in which both the red circle light and the green arrow light are lit.
  • the traffic signal response policy generation unit G21 generates passable pattern data shown in FIG. 13 based on reports from vehicles for each lane.
  • ⁇ G ⁇ of the lighting pattern shown in FIG. 13 indicates a state in which only the green round lamp CG is lit, and ⁇ Y ⁇ indicates a state in which only the yellow round lamp CY is lit.
  • ⁇ R ⁇ as a lighting pattern indicates a state in which only the red circular lamp CR is lit.
  • ⁇ R, G ⁇ indicates a state in which the red round lamp CR and the green arrow lamp AG are lit. G in the figure means green, Y means yellow, and R means red.
  • ⁇ 1, 2, 3 ⁇ of passable lanes shown in FIG. 13 indicate that the first, second, and third lanes are passable. ⁇ 3 ⁇ indicates that only the third lane is passable. ⁇ ⁇ (empty set) shown in FIG. 13 indicates that there is no passable lane, that is, vehicles in any lane cannot pass. Passability according to the lighting state of each lane is determined by the vehicle behavior of each lane linked to the lighting state.
  • passable pattern data is not limited to the structure shown in FIG.
  • it may be configured as data indicating a passable lighting state for each lane.
  • FIG. 13 and FIG. 14 differ only in expression form and are substantially equivalent.
  • Step S203 When the traffic light response policy generation unit G21 completes generating passable pattern data for the target traffic light (step S203), it saves the data set in the map DB 36 as part of the traffic light data in the map data (step S204).
  • map data passable pattern data for each traffic light 9 is associated with the traffic light 9 in the map data using a traffic light ID or the like.
  • the corresponding traffic light 9 itself is associated with network data such as node data and link data.
  • passable pattern data is stored in a form associated with network data.
  • Step S205 is a step in which the transmission processing unit G3 transmits map data including the generated passable pattern data to an external device such as the map distribution server 4, for example. Step S205 can be executed at any timing.
  • the traffic signal response policy generation unit G21 of the present embodiment generates passable pattern data as traffic signal response policy data, which is a data set indicating a response policy for each lane according to the lighting state of the traffic signal 9. Not exclusively.
  • the traffic light response policy generation unit G21 may generate stop pattern data as the traffic light response policy data, as shown in FIGS. 15 and 16 .
  • the stop pattern data is a data set indicating a lighting pattern in which the vehicle should stop for each lane.
  • the map distribution server 4 may distribute stop pattern data instead of passable pattern data as part of the map data.
  • a combination of lighting colors that is not defined as a passable pattern corresponds to a stop pattern.
  • the stop pattern data corresponds to the inside out of the passable pattern data.
  • FIG. 15 shows the structure of the stop pattern data corresponding to FIG. 13, and shows the lane number to stop for each lighting pattern.
  • FIG. 16 shows another expression format of the stop pattern data, showing combinations of lighting colors to be stopped for each lane. Since the stop pattern is a lighting pattern that prohibits entry into the intersection, it can be rephrased as an entry prohibition pattern.
  • the passable pattern data and stop pattern data are also referred to as traffic light response policy data.
  • Traffic light response policy data can also be referred to as lane-specific response policy data.
  • the traffic signal response policy data corresponds to vehicle data that supports execution of vehicle control, that is, data for vehicle control. The explanation regarding passable pattern data can also be appropriately applied to stop pattern data.
  • data on a single-color lighting pattern in which only one of green, yellow, and red is lit may be omitted.
  • the passable pattern data shown in FIG. 13 can be omitted into a data set comprising only data for patterns in which red and green are lit simultaneously, as shown in FIG.
  • a single-color lighting pattern corresponds to a state in which there is only one lighting portion.
  • a pattern in which a red round lamp or a yellow round lamp and at least one green arrow are lit is referred to as a mixed-color lighting pattern.
  • the traffic signal response policy data may be configured to include only mixed-color lighting patterns, in other words, lighting patterns for green arrow lights. This is because the driving assistance ECU 20 may follow the lighting color for the single-color lighting pattern, and there is little need to distribute it as map data.
  • the mixed color lighting pattern for example, when the vehicle is far from the traffic light and the direction of the green arrow is unknown, it cannot be determined whether or not the own vehicle should stop. In light of such circumstances, a data set indicating passability for each lane in a mixed-color lighting pattern can be relatively useful information for planning/executing vehicle control. According to the configuration in which the traffic signal response policy generation unit G21 generates a data set that includes only data indicating passability for each lane with respect to the mixed-color lighting pattern as the traffic signal response policy data, it is possible to reduce the size of the distribution data.
  • the traffic light response policy generation unit G21 may be configured to generate traffic light response policy data only for the traffic light 9A with an arrow light device. It is also possible to suppress the distribution data size by adopting a configuration in which no signal response policy data is generated for the standard signal, which is the signal 9 not equipped with an arrow light device. According to the above system configuration, the driving support ECU 20 can acquire the traffic light response policy data for the traffic light 9A. Become.
  • the traffic signal response policy generation unit G21 generates a data set indicating passable/impassable lane numbers for each lighting pattern as traffic signal response policy data for intersections to which exception rules are applied by means of arrow lights or signs. is preferred. According to the configuration that generates/delivers the traffic light response policy data only for the traffic lights to which the exception rule is applied, it is possible to suppress the size of the distributed map data.
  • the number and lighting patterns of the green arrow lights included in the traffic light 9 are diverse. For example, as shown in FIG. 18, there may be a traffic signal 9 provided with a green arrow AG1 for left turn, a green arrow AG2 for straight ahead, and a green arrow AG3 for right turn as green arrow AG. If such a traffic light 9 can take the first pattern shown in FIG. 18A and the second pattern shown in FIG. Based on the report from , the passable pattern data shown in FIG. 19 can be generated.
  • the first pattern is a pattern in which the red circular light CR, the left-turn green arrow light AG1, and the straight-ahead green arrow light AG2 are lit at the same time.
  • the second pattern is a pattern in which the red circular light CR and the green arrow light for right turn AG3 are turned on.
  • the traffic signal 9 having a plurality of green arrow lights there may be a pattern in which a plurality of green arrow lights AG are lighted one by one together with the red circular light. That is, a pattern in which the red circular light CR and the green arrow light AG1 for left turn are lit, a pattern in which the red circular light CR and the green arrow light AG2 for straight movement are lit, and a pattern in which the red circular light CR and the green arrow light AG3 for right turn are lit.
  • a pattern in which the red circular light CR and the green arrow light AG1 for left turn are lit a pattern in which the red circular light CR and the green arrow light AG2 for straight movement are lit
  • a pattern in which the red circular light CR and the green arrow light AG3 for right turn are lit There can be patterns and In such a case, it is not possible to determine whether or not each lane is passable based only on the information that the red and green lights are on.
  • a special value (“X” in the figure) may be inserted.
  • a special value is a value (code) that indicates that a passable lane is unknown.
  • a special value suggests that the ego lane may be passable.
  • the traffic light passage support process includes steps S301 to S314 as an example.
  • the traffic light passage assistance process is executed at predetermined intervals such as 200 milliseconds while the power source for running is on.
  • the traffic light passage support process is executed on the condition that the driving support function of the driving support ECU 20 is activated by the driver.
  • the driving assistance by the driving assistance ECU 20 includes control for automatically adjusting the traveling speed according to the inter-vehicle distance from the preceding vehicle, but the present invention is not limited to this.
  • the driving assistance may be limited to proposing a driving operation according to the driving environment without performing the driving control.
  • the traffic light passage support process shown in FIG. 22 can be implemented in parallel with or in combination with the various processes described above, such as the traffic light response report process and the map download process.
  • the case where passable pattern data is distributed to vehicles will be described, but the case where stop pattern data is distributed can also be implemented in the same manner.
  • step S301 the environment recognition unit F6 acquires information indicating the driving environment based on signals from various devices, similar to step S101.
  • the localization unit F ⁇ b>5 specifies the vehicle position coordinates and the vehicle lane ID based on the input signal from the front camera 11 .
  • Step S302 may be integrated with step S301.
  • step S303 the environment recognition unit F6 determines whether or not the traffic light 9 directed to the vehicle is detected by the front camera 11, as in step S103. If the traffic signal 9 directed to the host vehicle is not detected, a negative determination is made in step S303, and this flow ends. On the other hand, when the traffic signal 9 directed to the host vehicle is detected, step S304 is executed.
  • step S304 the environment recognition unit F6 acquires the remaining distance (Drm) to the intersection corresponding to the traffic light 9 detected in step S303.
  • the remaining distance to the intersection may be acquired as an image recognition result from the front camera 11, or may be specified by comparing the position information of the intersection shown in the map data with the vehicle position information.
  • the remaining distance to the intersection can be, for example, the remaining distance to the stop line provided before the intersection.
  • step S305 the camera output acquisition unit F3 acquires the combination of colors of the lighting units as the recognition result for the lighting state of the traffic light 9 for the own vehicle. For example, if there is only one lighting location, that color is acquired. Also, if there are a plurality of lighting locations, the combination of the colors and the number of each color are obtained. If the red circle light, the green arrow light for turning left, and the green arrow light for going straight are on as shown in FIG. Get 2 green lights.
  • recognition of the shape of the lighting portion is an optional element. It is preferable that even the shape of the lighting portion, such as the direction of the arrow, can be identified. However, if the shape of the lighting portion is unknown, subsequent processing can be executed assuming that the shape is unknown.
  • step S306 the environment recognition unit F6 determines whether the remaining distance (Drm) to the intersection is less than a predetermined control continuation determination distance (Dcn).
  • the control continuation determination distance is, for example, 50 m or 75 m.
  • the control continuation determination distance may be changed according to the scale of the road, the speed limit, the current vehicle speed, and the like.
  • the control continuation determination distance can be set longer as the vehicle speed increases.
  • the control continuation determination distance is set to a value that allows the vehicle to stop at a predetermined deceleration before reaching the intersection. More specifically, if Vo is the current speed and a is the deceleration, Drm can be a value obtained by adding a predetermined tolerance ⁇ to Vô2/(2a).
  • the tolerance ⁇ can be set to, for example, 10m, 15m, 20m.
  • the margin is set so as to ensure the time required for the driver to take over the driving operation related to acceleration and deceleration.
  • step S307 When the remaining distance to the intersection is less than the control continuation determination distance, that is, when the relationship Drm ⁇ Dcn is established, the processing from step S307 onwards is executed. On the other hand, if the remaining distance to the intersection is equal to or greater than the control continuation determination distance, that is, if the relationship Drm ⁇ Dcn is established, this flow ends. In this case, this flow is re-executed from step S301 after a predetermined period of time.
  • step S307 it is determined whether or not the lighting state of the traffic light 9 corresponds to the single-color lighting pattern.
  • Step S307 can be roughly understood as a process of determining whether or not there is only one lighting portion of the traffic signal 9 that is recognized.
  • a single-color lighting pattern can also include a pattern in which a plurality of green arrow lights are lit without lighting a red or yellow round lamp, that is, a pattern in which only a plurality of green arrow lights are lit at the same time.
  • step S308 the control planning unit F7 plans control according to the lighting color, and the control execution unit F8 executes control according to the plan. For example, when the lighting color is red, the driving assistance ECU 20 starts deceleration control toward a stop. Further, when the lighting color is green, the preceding vehicle follow-up control is continued. When the preceding vehicle follow-up control is turned off by the driver's operation, only information presentation such as the display of the passable image Im2 can be performed. However, if a right or left turn is planned, deceleration control is started to stop the vehicle at the stop line.
  • the notification processing unit Fa displays the judgment result image Imk and the like on the display 151 in conjunction with the above judgment result. It should be noted that, when the system is operating normally, notification using sound may annoy the driver. Therefore, it is preferable not to issue a notification using sound, such as a notification sound, unless a specific error condition applies.
  • the conditions for outputting notification sounds and voice messages may be configured so that the driver can change the settings via a predetermined setting screen.
  • the environment recognition unit F6 compares the combination of lighting colors recognized in step S309 with the passable pattern of the own vehicle lane. As a result of the collation, if the combination of the recognized lighting colors matches the passable pattern of the own vehicle lane, the environment recognition unit F6 determines that the intersection is passable as it is, and the passable signal, which is a signal to that effect, is detected. A signal is output to the control planner F7.
  • the passable signal may be a message signal indicating that the intersection is passable (approachable).
  • the control planning unit F7 creates a plan for traffic at the intersection based on the input of the passable signal from the environment recognition unit F6. Then, the control execution unit F8 continues the control support according to the planned route based on the plan created by the control planning unit F7 (step S313).
  • the control execution unit F8 continues the preceding vehicle follow-up control.
  • the notification processing unit Fa displays the passable image Im2 on the display 151 in conjunction with the vehicle control in step S313. to display. At that time, no special voice message or notification sound is output.
  • the control planning unit F7 Temporarily suspends preceding vehicle follow-up control and starts deceleration control to stop the vehicle at the stop line.
  • the notification processing unit Fa performs voice notification prompting confirmation of the traffic conditions of the right turn destination/left turn destination.
  • the driving assistance ECU 20 performs driving assistance for turning right or left.
  • the environment recognition unit F6 determines that the vehicle cannot enter the intersection, and controls a predetermined passable signal. Output to planning department F7.
  • the no-passage signal may be a message indicating that the intersection is prohibited.
  • the control planning unit F7 prepares a plan for deceleration control for stopping the vehicle based on the input of the impassable signal from the environment recognition unit F6. Then, the control execution part F8 starts the deceleration control for stopping the vehicle (step S312).
  • the control planning section F7 can temporarily suspend the preceding vehicle follow-up control at a predetermined timing.
  • the preceding vehicle follow-up control may be stopped at the timing when automatic deceleration toward stopping is started, or a time lag may be provided.
  • the preceding vehicle follow-up control may be continued until the own vehicle comes to a complete stop, the distance from the traffic signal becomes equal to or less than a predetermined value, or the stop line is reached.
  • Notification processing unit Fa displays an entry prohibition image Im1 on display 151 in conjunction with vehicle control in step S312. Since the system itself is operating normally in this case as well, no special voice message or notification sound is output.
  • the control execution unit F8 may execute a notification process for prompting the driver to execute a deceleration operation instead of starting the automatic deceleration control.
  • the environment recognition unit F6 Judgment is judged to be impossible.
  • the environment recognizing unit F6 outputs an undeterminable signal to the control planning unit F7.
  • the determination-impossible signal may be a message indicating that it is impossible to determine whether or not the vehicle can enter the current intersection.
  • the control planning unit F7 suspends driving assistance related to passage through the intersection ahead based on the input of the determination-impossible signal from the environment recognition unit F6 (step S311). For example, control that automatically adjusts the running speed, such as preceding vehicle tracking control and deceleration toward a stop, is terminated.
  • the notification processing unit Fa outputs from the speaker 152 a voice message indicating that the assistance related to speed control will be terminated, and displays a text message with similar content on the display 151 .
  • the message indicating the end of speed control support is, for example, "Control will be interrupted because the lighting state of the traffic light could not be recognized normally.” A warning sound may be output in place of/in parallel with the voice message. This notification corresponds to control stop notification processing.
  • the present disclosure can also be applied when the vehicle is stopped before an intersection.
  • the traffic light 9 changes from a red light to a green light, it is possible to display a passable mark Imk2 or the like along with a notification sound.
  • the environment recognition unit F6 outputs a passable signal or a passable signal according to the lighting color.
  • the operation of the driving assistance ECU 20 has been described above on the assumption that the lane of the vehicle has been identified, but errors that may occur in the driving assistance ECU 20 include failure to identify the lane ID of the vehicle.
  • the environment recognizing unit F6 can also output the undeterminable signal when the lane ID of the vehicle continues to be unknown for a predetermined period of time.
  • the undecidable signal may contain information indicating the cause.
  • the operation request process is a process of outputting a message requesting a driving operation according to the lighting state of the traffic light 9 by voice and image.
  • the notification processing unit Fa outputs a voice message such as "Control is interrupted because the driving lane is unclear" from the speaker 152 as operation request processing. do.
  • a similar text message may be displayed on display 151 .
  • the notification processing unit Fa uses sound to notify the driver only when an error occurs in the system, so that necessary information can be transmitted to the driver while reducing the risk of annoying the driver.
  • errors that can occur in the driving support ECU 20 include failure to acquire map data.
  • the environment recognizing unit F6 can also output the determination-impossible signal when the map data in front of the host vehicle cannot be obtained.
  • the control planning unit F7 also transfers the authority to the driver and terminates the automatic control related to speed adjustment and lane keeping, even when a decision-impossible signal is input due to non-acquisition of map data.
  • the environment recognition unit F6 also recognizes a pattern in which it is impossible to distinguish whether or not each lane is passable based only on the combination of lighting colors. , it is possible to determine whether it is possible to determine whether passage is possible, and output a determination-impossible signal. Also in this case, the notification processing unit Fa executes the operation request process, and the control planning unit F7 stops the automatic control for speed adjustment (in other words, acceleration/deceleration). It should be noted that canceling the automatic control for acceleration/deceleration corresponds to canceling the automatic adjustment of the speed, in other words, canceling the preceding vehicle follow-up control.
  • the operation request process is executed based on the output of the undeterminable signal when the remaining distance Drm to the intersection is less than the control continuation determination distance Dcn.
  • the control continuation determination distance Dcn is set longer than the non-urgent braking distance Dstp.
  • the non-urgent braking distance Dstp in the present disclosure is the distance required to stop when the vehicle is decelerated at the basic deceleration ⁇ , which is a predetermined acceleration within a range that does not cause discomfort to the driver.
  • the basic deceleration ⁇ can be set to 1.0 m/s ⁇ 2, 1.25 m/s ⁇ 2, 1.5 m/s ⁇ 2, and the like.
  • the deceleration start point which is a point corresponding to the timing at which deceleration must be started, is a point before the intersection by the non-urgent braking distance Dstp or more.
  • the above configuration corresponds to a configuration in which a control end and a handover of driving operation are requested in response to a recognition error of the traffic light 9 a predetermined time before the timing at which deceleration should be started. According to this configuration, the driver can recognize, judge, and operate the lighting state of the traffic light with time to spare.
  • the camera ECU 112 detects the lighted green light only after the vehicle has approached the traffic light 9 to some extent as shown in FIG. I can't judge the direction of the arrow arrow. Especially in a bad environment such as when it is raining, it becomes difficult to recognize the direction of the arrow because the shape is blurred by raindrops or the like. Assuming that the distance at which the orientation/shape of the green arrow is recognizable is Da, the recognizable shape distance Da may be greater than the non-urgent braking distance Dstp depending on the environment. In other words, the direction of the green arrow light may not be determined until after passing the point where braking should begin.
  • a configuration that starts applying the brakes after recognizing the direction of the green arrow light can be considered.
  • the start of deceleration may be delayed, so a relatively large deceleration may be applied to stop before the intersection.
  • the above action may cause the driver to feel uncomfortable.
  • a configuration can be considered in which the lighting of the green arrow light is ignored, and braking is started toward a stop when the red light is recognized.
  • deceleration can be performed even when deceleration is not necessary due to the green arrow light. Even when the own vehicle is scheduled to go straight at the intersection and the green arrow for going straight is on along with the red light of the traffic light, deceleration control for stopping in front of the intersection is performed in the second comparative configuration. can be broken
  • the lighting recognizable distance Db is larger than the shape recognizable distance Da.
  • Pb in FIG. 23 indicates a point where it becomes possible to image-recognize that the green light provided by the green arrow light is on.
  • Pa in FIG. 23 indicates a point where the direction of the green arrow can be image-recognized.
  • the present disclosure is created by paying attention to the fact that even if it is not possible to identify whether it is a green arrow light and the direction of the arrow, it can be recognized from a relatively long distance that the green lamp part is lit. It is a thing.
  • the server that constitutes the map cooperation system Sys distributes to the vehicle, as traffic light response policy data, a data set that indicates a combination of lighting colors that are passable/stopped for each lane.
  • the driving support ECU 20 can determine whether or not the traffic can be passed even if the shape of the lighting portion cannot be identified for the traffic light 9 that can be determined whether or not the vehicle can be passed only by the combination of the lighting colors.
  • the driving support ECU 20 determines whether the vehicle should stop before the direction of the arrow becomes recognizable (i.e., early). It becomes possible to determine whether Therefore, it is possible to reduce the risk of unnecessary deceleration while making it possible to decelerate gently.
  • the present disclosure is suitable for traffic lights 9/intersections where passability for each lane is uniquely determined according to the number of lit green arrows.
  • the map generation server 3 generates the traffic signal response policy data from combinations of lighting colors observed in each of the plurality of vehicles.
  • the shape of the lighting part is an optional element and not essential.
  • traffic light response policy data can be generated based on reports from commercially available general vehicles without using a (that is, special) probe car equipped with a high-performance sensor. becomes.
  • the configuration of the present disclosure it is possible to determine whether or not the vehicle can pass even in such a bad environment. Therefore, unnecessarily decelerating or interrupting assistance due to misrecognition/failure in recognition of the lighting state. Fear can be reduced. In other words, it is possible to improve the ability to continue driving support.
  • the database of the shape of the lighting portion is an optional element, so the processing load can be reduced. Also, according to the present disclosure, an effect of reducing the size of distribution data can be expected.
  • the driving support ECU 20 notifies the driver of the recognition/judgment result of the system in the form of an image even when the system is operating normally.
  • the driver can understand the operation state (recognition state) of the system, so that the sense of security can be enhanced.
  • the timing of this notification is given when the remaining distance Drm to the intersection is still longer than the non-urgent braking distance Dstp, so the driver can determine the lighting state and perform driving operation with plenty of time to spare.
  • each lane is passable according to the lighting state may differ depending on the sign attached to the side of the traffic light 9.
  • the configuration disclosed in Patent Document 1 cannot deal with such an exception pattern.
  • the traffic signal response policy data generated in the configuration of the present disclosure is obtained by statistically processing the actual behavior of the vehicle according to the lighting state of the traffic signal 9. Become. Therefore, it is possible to accurately determine whether or not to allow passage according to the lighting state even for intersections to which exception rules are applied by auxiliary signs or the like.
  • the control using the passable pattern data/stopped pattern data by the driving support ECU 20 may be applied only while the direction of the green arrow is not identified.
  • the passability/prohibition judgment based on passable pattern data/stopped pattern data may be discarded, and a control plan may be created and executed according to the actual direction of the green arrow light.
  • the control using passable pattern data/stop pattern data may be adopted as a provisional control policy until the direction of the green arrow can be identified.
  • the driving support ECU 20 has disclosed a configuration for transmitting a data set including the own vehicle lane ID as information indicating the traveling position in the road width direction as a traffic signal response report, but the configuration of the traffic signal response report is not limited to this.
  • Data uploaded as a traffic light response report does not necessarily include lane numbers.
  • the traffic signal response report may contain information indicating the traveling position of the reporting vehicle in the width direction of the road.
  • Information indicating the lane in which the own vehicle (reporting source) is traveling corresponds to information indicating the traveling position in the road width direction.
  • Information indicating the traveling position in the width direction of the road for example, information indicating the relative position with respect to the surrounding features, more specifically, direction signboards, regulation arrows attached to the road surface as road markings, and guide belts It is possible to adopt relative position information with a predetermined feature such as the paint of the road, the edge of the road, and the like.
  • the traffic light response report may include information on surrounding features that can identify the driving lane instead of/in parallel with the own vehicle lane ID. Along with this, the driving assistance ECU 20 does not necessarily have to identify the own vehicle lane ID when transmitting the traffic light response report.
  • Step S102 is an optional element.
  • the map generation server 3 calculates the lane number that the reporting source was traveling from based on the relative position information of the surrounding features included in the traffic signal response report. You can specify. That is, the map generation server 3 may have the function of identifying the driving lane number.
  • the map generation server 3 may perform, as a preparatory process of step S201, a process of identifying the driving lane number of the reporting source based on the relative position information of surrounding features that may be included in the traffic signal response direction.
  • the map server 3 identifies the driving lane of the reporting source based on the relative position information of the surrounding features, it is possible to cope with situations in which it is difficult for the driving support ECU 20 to identify the lane ID of the vehicle.
  • a situation in which it is difficult for the driving support ECU 20 to identify the vehicle's lane ID is, for example, a situation in which the field of view of the front camera 11 is blocked by surrounding vehicles, and recognition results for the road edge and the outer lane marking of the adjacent lane are insufficient. such as the situation where
  • the lane ID of the vehicle is specified by analyzing the image generated by the front camera 11, but the means for specifying the lane ID of the vehicle is not limited to this.
  • the vehicle lane ID is obtained by analyzing the image of a rear camera, which is an in-vehicle camera mounted to photograph the rear of the vehicle, and the image of a side camera, which is an in-vehicle camera mounted to photograph the side of the vehicle. may be specified.
  • the own vehicle lane ID may be specified based on the detection result of LiDAR, millimeter wave radar, or the like.
  • the own vehicle lane ID may be specified based on the GNSS positioning results. If the condition that the GNSS positioning error can be expected to be less than 10 cm is satisfied, the processor 21 may specify the own vehicle lane ID based on the GNSS positioning result output from the locator 13 . The case where the condition that the GNSS positioning error can be expected to be less than 10 cm is satisfied is, for example, the case where the vehicle-mounted GNSS receiver can receive the signal from the quasi-zenith satellite. Further, when the driving lane ID is received from the vehicle set as the preceding vehicle through inter-vehicle communication, the driving lane ID may be used as the own vehicle lane ID.
  • the own vehicle lane ID may be specified based on information from radio/optical beacons arranged to form a communication area for each lane.
  • the radio/optical beacon corresponds to a roadside unit placed above the road.
  • the own vehicle lane ID may be specified based on a signal from a magnetic marker embedded in the road surface.
  • a magnetic marker is a communication device (wireless tag) embedded in the road surface.
  • the magnetic markers either spontaneously or upon interrogation from the vehicle, transmit absolute position coordinates or lane numbers.
  • a non-powered type wireless ID tag can be employed as the magnetic marker.
  • the information indicating the traveling position of the own vehicle in the road width direction can be specified based on the information input from various in-vehicle devices such as perimeter monitoring sensors and communication devices.
  • the driving support ECU 20 compares the recognized lighting state with the passable pattern data when the remaining distance to the intersection is less than the predetermined value as the signal passage support processing. is not limited to Regardless of the remaining distance to the intersection, when the forward camera 11 recognizes a traffic signal directed to the vehicle, the driving support ECU 20 periodically checks the recognized lighting state against the passable pattern data. may be implemented. However, if the remaining distance or remaining time until reaching the intersection ahead is equal to or greater than a predetermined threshold value, even if the environment recognizing unit F6 outputs the undeterminable signal, the control is not stopped.
  • the lighting state of the traffic signal 9 will switch to a pattern in which it is possible to determine whether or not the vehicle can pass as the vehicle approaches the intersection. For example, before the remaining distance Drm to the intersection becomes less than the control continuation determination distance Dcn, the lighting state of the traffic light may change from an undeterminable mixed-color lighting pattern to a single-color lighting pattern.
  • the control planning unit F7 stops the control related to the speed adjustment only when the environment recognition unit F6 outputs the undeterminable signal in a situation where the remaining distance or remaining time until reaching the intersection ahead is less than the threshold. In addition, it is preferable to notify the control stop.
  • the driving assistance ECU 20 may implement the same system response as when the green light is on when only the yellow light is on. Specifically, when the driving support ECU 20 recognizes that only the yellow light is on, deceleration toward a stop is suspended, and the preceding vehicle follow-up control and running at the set target speed are suspended. may continue to maintain control.
  • the response policy when only the yellow light is on may be dynamically changed according to the area where the vehicle is used.
  • the driving support ECU 20 may be configured to apply a traffic signal response policy according to the driving area based on a country code preset at a dealer shop or the like, position coordinates specified by GNSS, or the like.
  • the driving support ECU 20 may upload a data set including the position information of the lighting location in the housing as the traffic signal response report.
  • the traffic signal response policy generation unit G21 can define a passable pattern for each lane that includes not only a combination of lighting colors but also position information of lighting locations. As a result, it is possible to set a passable/stopping pattern for each lane even for a traffic light that could not be determined whether it is passable or not for each lane only by the combination of the number of lighting colors.
  • the position of the lighting location in the traffic light may be represented by XY coordinates with a predetermined position on the housing as the origin, such as the upper left or upper right corner of the housing.
  • the housing may be divided into a plurality of areas so as to correspond to the areas where the lighting units may be arranged, and the positions of the lighting locations may be represented by numbers for each area.
  • FIG. 24 illustrates a case where the housing is divided into six areas of 2 rows and 3 columns to represent the lighting locations.
  • Areas L11 to L13 are a group of areas corresponding to a relatively upper row (first row).
  • Areas L21 to L23 are a group of areas corresponding to the relatively lower side (second row).
  • Area numbers can be assigned sequentially, for example, from top left to bottom right. Area number assignment rules may be appropriately designed. Similarly, when the traffic light 9 is of the vertical two-column type as shown in FIG. 25, the position of the lighting position can be represented by the row number and the column number.
  • the driving support ECU 20 in the above configuration transmits a traffic signal response report including positional information of the lighting portion in the housing in addition to the color of the lighting portion.
  • a traffic signal response report including positional information of the lighting portion in the housing in addition to the color of the lighting portion.
  • the traffic signal response report for example, as shown in FIG. Generate a dataset that shows the pattern.
  • a data set indicating stop patterns for each lane can also be generated in the same manner. According to the configuration for generating and distributing the data set, even for a traffic signal 9/intersection having a lighting pattern such as that shown in FIG. It becomes possible to judge whether it is possible or not.
  • the manner in which the lighting location is expressed using the area number/position coordinates determined based on the corner of the housing, etc., is described, but the lighting location is not limited to this.
  • the green arrow light is often lit in parallel with the red light.
  • the position information of the lit green arrow light may be expressed with reference to the red light.
  • the passable pattern for each lane can be expressed as shown in FIG.
  • a configuration in which a lighting point is defined with reference to a housing when the housing is unclear such as at night, it is impossible to specify the lighting position, and it may be impossible to determine whether passage is possible or not.
  • a configuration that expresses the position of the green arrow light with reference to the red light is suitable in an environment where the housing itself is difficult to detect, such as at night. This is because there is a high possibility that the red light can be recognized even in a scene where the housing is assimilated with the background and the housing cannot be recognized.
  • FIG. 28 shows passable patterns for the road having the lane configuration shown in FIG. 11 and the traffic signal 9 having the lighting pattern shown in FIG. 20 is provided.
  • a traffic light response policy generation unit that generates passable pattern data indicating a combination of passable lighting colors for each lane for each traffic light based on traffic light response reports provided from a plurality of vehicles;
  • a vehicle data generation server comprising: a transmission processing unit that transmits traffic light response policy data generated by the traffic light response policy generation unit to an external device.
  • a traffic light response policy generation unit generates passable pattern data for each traffic light as part of map data indicating the connection relationship of roads using a plurality of nodes and links
  • a data generation server for vehicles wherein the transmission processing unit is configured to associate passable pattern data for each traffic light with data of a node or link where the corresponding traffic light is installed, and transmit the data to an external device.
  • the vehicle data generation server according to the above technical idea (1) or (2),
  • the transmission processing unit is a vehicle data generation server configured to transmit passable pattern data for each traffic light existing in a range corresponding to the position of the vehicle to the vehicle based on a request from the vehicle.
  • the vehicle data generation server according to any one of the above technical ideas (1) to (3),
  • the transmission processing unit As data related to the traffic signal, data indicating whether or not the traffic signal is equipped with an arrow lamp, which is a lighting device for displaying an arrow, is transmitted to an external device,
  • a vehicle data generation server configured to transmit a data set to which passable pattern data is added only for traffic lights with arrow lights.
  • the apparatus, systems, and techniques described in the present disclosure may be implemented by a special purpose computer comprising a processor programmed to perform one or more functions embodied by the computer program. .
  • the apparatus and techniques described in this disclosure may also be implemented using dedicated hardware logic.
  • the apparatus and techniques described in this disclosure may be implemented by one or more special purpose computers configured in combination with a processor executing a computer program and one or more hardware logic circuits.
  • part or all of the functions provided by the driving support ECU 20/map generation server 3 may be implemented as hardware. Implementation of a function as hardware includes implementation using one or more ICs.
  • a CPU, an MPU, a GPU, a DFP (Data Flow Processor), or the like can be used as a processor (arithmetic core). Also, some or all of the functions provided by the driving support ECU 20/map generation server 3 may be implemented by combining multiple types of arithmetic processing units. Some or all of the functions provided by the driving support ECU 20/map generation server 3 may be implemented using a system-on-chip (SoC), FPGA, ASIC, or the like. FPGA stands for Field-Programmable Gate Array. ASIC is an abbreviation for Application Specific Integrated Circuit.
  • the computer program may be stored in a computer-readable non-transitory tangible storage medium as instructions executed by a computer.
  • a HDD Hard-disk Drive
  • an SSD Solid State Drive
  • a flash memory or the like can be used as a program storage medium.
  • a program for causing a computer to function as the driving support ECU 20/map generation server 3, and a non-transitional substantive recording medium such as a semiconductor memory recording the program are also included in the scope of the present disclosure.

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