WO2023148999A1

WO2023148999A1 - Server, control device, and self-driving support system

Info

Publication number: WO2023148999A1
Application number: PCT/JP2022/030635
Authority: WO
Inventors: バンダラシャフリル; 智定銭; 吉高新
Original assignee: 日立Astemo株式会社
Priority date: 2022-02-04
Filing date: 2022-08-10
Publication date: 2023-08-10

Abstract

The present disclosure provides a server that provides an appropriate information amount of knowledge information that can be used for route planning, target path planning, and control planning for self-driving vehicles. A server 100 comprises a probe information analysis unit 111, a road information acquisition unit 112, a road section extraction unit 113, a knowledge information generation unit 114, a transmission information generation unit 115, and a knowledge information transmission unit 116. The probe information analysis unit 111 analyzes probe information acquired from a plurality of vehicles 10. The road information acquisition unit 112 acquires road information including road identifiers for respective roads. The road section extraction unit 113 divides the plurality of roads into a subdivided plurality of road sections and assigns section identifiers to the road information on respective road sections. The knowledge information generation unit 114 generates knowledge information which influences a driving behavior of each of the vehicles 10 for each road identifier on the basis of a result of the analysis of the probe information. The transmission information generation unit 115 extracts the knowledge information corresponding to the section identifiers of road sections included in a route to a destination of each of the vehicles 10 and generates transmission information corresponding to reception conditions of each of the vehicles 10. The knowledge information transmission unit 116 transmits the transmission information to each of the vehicles 10.

Description

Servers, control devices, and automated driving support systems

The present disclosure relates to servers, control devices, and automatic driving support systems.

Conventionally, there have been known inventions related to servers that are capable of appropriately ascertaining what types of driving assistance can be implemented on which roads. For example, Patent Literature 1 below discloses a server that includes a support mode acquisition section, a road link information generation section, and an information provision section (Patent Literature 1, abstract, paragraph 0008, claim 1, etc.).

The support mode acquisition unit acquires, from each vehicle, the support mode for each road link of the driving support implemented by the driving support device of each vehicle. The road link information generation unit generates road link information in which the support mode is linked to road link data for each road link. The information providing unit provides the road link information generated by the road link information generating unit to the information providing destination.

According to this conventional server, road link information is provided to the information providing destination by linking the driving support mode of driving support implemented by the driving support device of each vehicle to the road link data. Therefore, the information providing destination can appropriately grasp what type of driving assistance can be performed on which road (Patent Document 1, paragraph 0009, etc.).

JP 2017-191516 A

The road link information generated by the above-mentioned conventional server can be used for route planning of an autonomous vehicle, but it cannot be used for target trajectory planning and control planning for an autonomous vehicle that require more detailed information. Inadequate. In addition, if all the road link information corresponding to the scheduled route planned in the route planning of the autonomous vehicle is provided, the amount of information held by the autonomous vehicle may become excessive.

The present disclosure includes a server that provides an appropriate amount of knowledge information that can be used for route planning, target trajectory planning, and control planning of an automatic driving vehicle, a control device that receives the knowledge information and controls the vehicle, We provide an automatic driving support system that includes these servers and control devices.

One aspect of the present disclosure is a probe information analysis unit that analyzes probe information acquired from a plurality of vehicles, a road information acquisition unit that acquires road information including a road identifier of each road that constitutes a road network, and a plurality of A road section extracting unit that divides the road into a plurality of more subdivided road sections and assigns a section identifier to the road information of each of the road sections, and for each section identifier based on the analysis result of the probe information a knowledge information generating unit for generating knowledge information that affects the driving behavior of each of the vehicles; and the knowledge information corresponding to the section identifier of the road section included in the route to the destination of each of the vehicles. The server includes a transmission information generation unit that extracts and generates transmission information corresponding to the reception conditions of each of the vehicles, and a knowledge information transmission unit that transmits the transmission information to each of the vehicles.

According to the above aspect of the present disclosure, it is possible to provide a server that provides an appropriate amount of knowledge information that can be used for route planning, target trajectory planning, and control planning for an autonomous vehicle.

1 is a schematic configuration diagram showing Embodiment 1 of an automatic driving support system according to the present disclosure; FIG. FIG. 2 is a functional block diagram of a server that configures the automatic driving support system in FIG. 1; FIG. 2 is a functional block diagram of a control device that configures the automatic driving support system in FIG. 1; FIG. 3 is a flowchart for explaining the flow of knowledge information generation processing by the server of FIG. 2; An example of a plurality of road sections partitioned by the road section extraction unit of the server of FIG. 2 . FIG. 5 is a detailed flow diagram of the process of setting the information level of FIG. 4 by the server of FIG. 2; FIG. 3 is a flowchart showing the flow of knowledge information delivery processing by the server of FIG. 2; FIG. 4 is a flowchart showing the flow of automatic driving processing by the control device of FIG. 3; FIG. 4 is a plan view showing an example of target trajectory generation by a target trajectory generation unit of the control device of FIG. 3 ; FIG. 11 is a flowchart showing the flow of knowledge information distribution processing by the server of the second embodiment; FIG. 10 is a flow chart showing the flow of automatic driving processing by the control device of the second embodiment; FIG. 11 is a plan view showing an example of target trajectory generation by a target trajectory generation unit according to the second embodiment; FIG. 11 is a flowchart showing the flow of knowledge information distribution processing by the server of the third embodiment; FIG.

Embodiments of a server, a control device, and an automatic driving support system according to the present disclosure will be described below with reference to the drawings.

[Embodiment 1]
FIG. 1 is a schematic configuration diagram showing Embodiment 1 of an automatic driving support system according to the present disclosure. An automatic driving support system 300 of this embodiment includes a server 100 and a plurality of control devices 200 mounted on a plurality of vehicles 10 . The server 100 and each control device 200 are connected so as to be able to communicate information via, for example, a wired communication line and a wireless communication line. More specifically, the server 100 and each control device 200 are connected for information communication via the Internet line INET, the wireless base station WBS, and the communication device 11 mounted on the vehicle 10, for example.

The server 100 includes, for example, a central processing unit (CPU) 101, a memory 102 such as ROM and RAM, a non-volatile storage device 103 such as flash memory and hard disk, and an input/output unit 104. A connected computer. Server 100 can be configured by, for example, one or more computers. Moreover, the server 100 may be configured by, for example, an FPGA (Field Programmable Gate Array) or an ASIC (Application Specific Integrated Circuit), or may be configured by a combination of a CPU, a memory, and an FPGA.

Each vehicle 10 is, for example, a self-driving car that is controlled by the control device 200 and runs autonomously. Each vehicle 10 is, for example, an automobile such as a gasoline engine vehicle, a diesel engine vehicle, a hybrid vehicle, an electric vehicle, or a fuel cell vehicle, and includes a control device 200, a communication device 11, a sensor 12, a storage device 13, and a It has

The control device 200 is composed of, for example, one or more microcontrollers having a CPU, a memory, a timer, and an input/output unit. Further, the control device 200 may be configured by, for example, an FPGA or ASIC, or may be configured by a combination of a CPU, a memory, and an FPGA. The storage device 13 is, for example, a non-volatile storage device such as flash memory or hard disk.

The communication device 11 of the vehicle 10 is, for example, a wireless communication device that is connected to the control device 200 so as to be able to communicate information, and performs wireless communication with the wireless base station WBS and the roadside communication device. The communication device 11 supports communication standards such as 3G, 4G, or 5G, for example. The communication device 11 may, for example, be directly connected to the server 100 equipped with a wireless communication device via a wireless communication line, and may be connected to the server 100 via the wireless communication line, the wireless base station WBS, and the Internet line INET. It may be indirectly connected.

The sensor 12 detects driving behavior of the vehicle 10 . More specifically, the sensor 12 detects various physical quantities of the vehicle 10, various amounts of operation of the vehicle 10, and objects around the vehicle 10, for example. More specifically, the sensor 12 includes a velocity sensor that detects the velocity of the vehicle 10, an acceleration sensor that detects the acceleration of the vehicle 10, an angular velocity sensor that detects the angular velocity of the vehicle 10, and an angular acceleration sensor that detects the angular acceleration of the vehicle 10. Includes vehicle sensors such as sensors.

The sensor 12 also includes, for example, a pedal sensor that detects the amount of operation of the accelerator pedal and the brake pedal, and a steering sensor that detects the rotation angle, angular velocity, angular acceleration, and the like of the steering wheel. Also, the sensor 12 includes, for example, an external sensor such as a monocular camera, a stereo camera, a laser radar, a laser range finder, a millimeter wave radar, an infrared sensor, and an ultrasonic sensor. Sensors 12 also include location sensors that detect location information for vehicle 10, such as, for example, Global Navigation Satellite System (GNSS) receivers.

FIG. 2 is a functional block diagram of the server 100 that constitutes the automatic driving support system 300 of FIG. The server 100 has, for example, a probe information analysis unit 111, a road information acquisition unit 112, a road section extraction unit 113, a knowledge information generation unit 114, a transmission information generation unit 115, and a knowledge information transmission unit 116. ing. Server 100 may also have, for example, setting unit 117 and environment information acquisition unit 118 . Each part of these server 100 expresses each function of server 100 realized, for example, by developing a program stored in ROM of memory 102 into RAM of memory 102 by CPU 101 and executing the program.

The server 100 also has, for example, a knowledge information database 121, high-precision map information 122, and probe information 123. Each part of these server 100 represents various information memorize|stored in the memory|storage device 103 of the server 100, for example. The operations and functions of each unit of the server 100 shown in FIG. 2 will be described later in detail with reference to flowcharts.

FIG. 3 is a functional block diagram of the control device 200 that constitutes the automatic driving support system 300 of FIG. Control device 200 is mounted on vehicle 10, for example, and is connected to communication device 11, sensor 12, and storage device 13 of vehicle 10 so as to be able to communicate information therewith. Although not shown, the control device 200 is connected to an electronic control device that drives various actuators of the vehicle 10 so as to be able to communicate information therewith.

The control device 200 has, for example, a route generation unit 201, a recording unit 202, an information transmission/reception unit 203, a target locus generation unit 204, a travel control unit 205, and a drive command unit 206. Each part of these control device 200 expresses each function of control device 200 realized, for example, by developing a program stored in ROM in control device 200 into RAM by CPU and executing the program.

Also, the storage device 13 of the vehicle 10, for example, like the storage device 103 of the server 100, has a knowledge information database 13a, high-precision map information 13b, and probe information 13c. Each part of these storage devices 13 represents, for example, various information stored in the storage device 13 .

The route generation unit 201 of the control device 200 determines the destination from the current location of the vehicle 10 based on, for example, the road information of the high-precision map information 13b, the location information of the current location of the vehicle 10, and the location information of the destination of the vehicle 10. It generates route information, which is information on the driving route to the ground. The road information of the high-precision map information 13b includes, for example, road identifiers, lane information, road shapes, etc. of each road constituting the road network.

The route generation unit 201 acquires, for example, the current position information of the vehicle 10 from the sensor 12, acquires the information of the destination input by the occupant or administrator of the vehicle 10, and based on the high-precision map information 13b. route information from the current location of the vehicle 10 to the destination is generated. Here, the route information generated by the route generation unit 201 is, for example, information having resolution to the extent that it is possible to specify the roads that the vehicle 10 passes through, and each road node included in the high-precision map information 13b. and link identifiers arranged in the order in which the vehicle 10 passes.

For example, the route generation unit 201 generates only one optimal route information and outputs it to the target trajectory generation unit 204 . Further, the route generation unit 201 may generate a plurality of pieces of route information, display them on a portable information terminal or an in-vehicle monitor together with a map, and accept selection of a travel route by the occupant or administrator of the vehicle 10, for example. In this case, route generation unit 201 outputs, for example, route information selected by an occupant or administrator of vehicle 10 to target locus generation unit 204 .

The information transmission/reception unit 203 of the control device 200 receives knowledge information from the server 100 via the communication device 11 mounted on the vehicle 10 . This knowledge information is information that affects the driving behavior of the vehicle 10 on the travel route from the current location of the vehicle 10 to the destination, and is generated by the server 100 . Generation of knowledge information by the server 100 will be described later in detail with reference to flow charts.

The target trajectory generation unit 204 of the control device 200, for example, uses road information in the high-precision map information 13b, route information acquired from the route generation unit 201, and knowledge information acquired from the server 100 via the information transmission/reception unit 203. Based on this, the target trajectory of the vehicle 10 is generated. Here, the target trajectory of the vehicle 10 is, for example, information in which the absolute positions that the vehicle 10 is scheduled to pass from are arranged in the order that the vehicle 10 will pass from now on.

In the present embodiment, the target trajectory generation unit 204 of the control device 200 generates a target trajectory of the vehicle 10 in each of a plurality of road sections obtained by subdividing a plurality of roads in the high-precision map information 13b to which road identifiers are assigned, for example. to generate Generation of road sections by the server 100 will also be described in detail later with reference to flow charts. The target trajectory generation unit 204 outputs the generated target trajectory to the traveling control unit 205, for example.

The travel control unit 205 of the control device 200 starts automatic operation of the vehicle 10, for example, upon receiving an instruction to start automatic operation by the operation of an occupant or administrator of the vehicle 10. Travel control unit 205 , for example, generates a control signal based on a control amount for causing vehicle 10 to travel along the target trajectory input from target trajectory generation unit 204 , and outputs the control signal to drive command unit 206 . The travel control unit 205 suspends automatic driving of the vehicle 10 in any of the following cases.

That is, for example, when the vehicle 10 has arrived at the destination, or when the occupant or manager of the vehicle 10 performs manual driving, the driving control unit 205 can stop the automatic driving based on the detection result of the sensor 12. Automatic driving of the vehicle 10 is interrupted when it is determined to be appropriate. For example, when the travel route generated by the route generation unit 201 cannot be maintained or when the travel route cannot be reached, the travel control unit 205 determines that it is appropriate to stop the automatic operation.

A drive command unit 206 of the control device 200 operates the engine or motor of the vehicle 10, the accelerator pedal, the brake pedal, the steering, the transmission, etc. based on the control signal input from the travel control unit 205 during automatic operation of the vehicle 10. to control the actuator that operates the Thereby, the control device 200 can autonomously drive the vehicle 10 along the target locus on the travel route from the current location of the vehicle 10 to the destination.

In addition, the drive command unit 206 is an actuator that automatically operates the engine or motor of the vehicle 10, the accelerator pedal, the brake pedal, the steering, the transmission, etc., according to the driver's or manager's driving operation when the vehicle 10 is manually operated. to control. Here, the driving operation during manual driving includes, for example, turning the steering wheel, depressing the accelerator pedal, depressing the brake pedal, and operating the shift lever.

The recording unit 202 of the control device 200 records the probe information based on the detection result of the sensor 12 that detects the driving behavior of the vehicle 10 in the storage device 13 at a predetermined cycle. The information transmitting/receiving unit 203 of the control device 200 transmits, for example, the route information generated by the route generating unit 201 and the probe information 13c recorded in the storage device 13 by the recording unit 202 to the communication device 11 mounted on the vehicle 10. to the server 100 at a predetermined cycle. The information transmitter/receiver 203 may transmit the probe information 13c to the server 100 when a predetermined amount of probe information 13c is accumulated in the storage device 13 .

The probe information 13c includes, for example, physical quantities such as the speed and acceleration of the vehicle 10, operation amounts such as the accelerator pedal, brake pedal, and steering of the vehicle 10, external information such as objects and road shapes around the vehicle 10, and vehicle 10 including the location information of Also, the probe information 13c includes, for example, an identifier of each control device 200, a time stamp, a type of detection value, and a detection value. The probe information 13c is time-series data indicating the state of the vehicle 10 during travel. Based on this probe information 13c, it is possible to calculate the trajectory along which the vehicle 10 has traveled.

Note that the trajectory of the vehicle 10 is, for example, information in which the absolute positions that the vehicle 10 passed through in the past are arranged in the order in which the vehicle 10 passed. On the other hand, the aforementioned target trajectory is information in which the absolute positions that the vehicle 10 is scheduled to pass from are arranged in the order that the vehicle 10 will pass from now on. The absolute positions forming the trajectory of the vehicle 10 and the target trajectory have, for example, millimeter-class resolution. Here, the absolute position is, for example, a combination of latitude and longitude, and can be rephrased as absolute coordinates.

FIG. 4 is a flowchart explaining the flow of knowledge information generation processing by the server 100. FIG. When starting the processing flow P1 shown in FIG. 4, the server 100 executes processing P11 for recording probe information. In this process P<b>11 , the probe information analysis unit 111 of the server 100 records the probe information acquired from the plurality of vehicles 10 in the storage device 103 .

More specifically, the probe information analysis unit 111, for example, analyzes the probe information transmitted at predetermined intervals from the control device 200 of each vehicle 10 via the communication device 11 to the wireless base station WBS, Internet line INET, , and through the input/output unit 104 and recorded in the storage device 103 . Thereby, the probe information 123 of the plurality of vehicles 10 is accumulated in the storage device 103 of the server 100 .

The probe information 123 includes, for example, an identifier for identifying each control device 200, a time stamp representing the detection date and time of the probe information, the type of detection value of the sensor 12 and the detection value, etc., as described above. The types of detection values of the sensor 12 are, for example, positional information, speed, acceleration, etc. of the vehicle 10 . The detected values are, for example, numerical values of latitude and longitude (degrees, minutes, seconds) in the case of location information.

Next, the server 100 executes a process P12 of acquiring road information included in the route traveled by the vehicle 10 equipped with each control device 200 . More specifically, the road information acquisition unit 112 of the server 100 acquires road information from the high-definition map information 122 stored in the storage device 103 based on the position information of each vehicle 10 included in the probe information 123. do. The road information includes the road identifier of each road that constitutes the road network, as described above. Further, the road information includes, for example, lane information, road shape, road link length, nodes included in the road, etc. for each road identifier.

Next, the server 100 executes a process P13 of dividing the plurality of roads in the road information with road identifiers into finer road sections. In this process P13, the road segment extraction unit 113 partitions the plurality of roads for which the road information was acquired in the previous process P12 into a plurality of further subdivided road segments, and assigns a segment identifier to the road information of each road segment. do. A method of partitioning a plurality of roads into a larger number of road sections is, for example, partitioning road links with a node-to-node distance of 1 km or more into a plurality of road links with a node-to-node distance of less than 1 km, and dividing all road links with a node-to-node distance of less than 1 km A method of setting one road section can be exemplified, but is not particularly limited.

FIG. 5 is a diagram showing an example of a plurality of roads in road information with road identifiers R1 to R4 and a plurality of more subdivided road sections. As shown in FIG. 5, the road assigned the road identifier R1 includes nodes N1 to N4 and is divided into three road sections with section identifiers S11 to S13. Also, the road assigned the road identifier R2 includes nodes N2, N5 and N7 and is divided into two road sections with section identifiers S21 and S22. The road assigned road identifier R3 includes nodes N3, N6 and N8 and is divided into two road sections with section identifiers S31 and S32. Also, the road assigned the road identifier R4 includes nodes N5 and N6 and is partitioned into one road section with the section identifier S41.

Next, the server 100 executes a process P14 that associates each road section with each probe information. In this process P14, the probe information analysis unit 111 of the server 100 associates each probe information with each road section generated in the previous process P13 based on the position information included in the probe information 123, for example. . More specifically, the probe information analysis unit 111, for example, gives each piece of probe information a section identifier of a road section corresponding to the position information of each piece of probe information.

Next, the server 100 executes processing P15 for analyzing the probe information linked to each road section. In this process P15, the probe information analysis unit 111 of the server 100 analyzes the probe information linked to each road section using the analysis model. More specifically, the probe information analysis unit 111 classifies the probe information of each road section according to items of knowledge information such as the day of the week, time period, weather, etc. Extract features of driving behavior.

For example, assume that one of the multiple lanes in a certain road section is under construction on weekends on Saturdays and Sundays. In this case, as a result of analysis of the probe information on Saturday and Sunday of the weekend, the characteristics of the driving behavior that the vehicle 10 decelerates and changes lanes before the construction site are extracted. On the other hand, from the analysis results of probe information from Monday to Friday on weekdays, features of driving behavior such as those on weekends are not extracted.

Next, the server 100 executes a process P16 for setting the information level for the analysis result of the process P15, which is the basis of the knowledge information. In this process P16, the setting unit 117 sets the information level based on the influence of the analysis result of the probe information on the route to the destination of the vehicle 10, the target trajectory, or the behavior or control, and the transmission information based on the information level. Set the transmission timing.

FIG. 6 is a detailed flowchart of the process P16 for setting the information level shown in FIG. When the server 100 starts the process P16, the setting unit 117 executes the process P161 of acquiring analysis results of probe information of each road section serving as the basis of knowledge information from the probe information analysis unit 111 . Next, the setting unit 117 executes a process P162 of determining whether each analysis result affects the route of the vehicle 10 or not.

In this process P162, when the setting unit 117 determines that the analysis result of the probe information affects the route from the current location of the vehicle 10 to the destination (YES), the information level of the analysis result is set to 1 in the process P163. to run. Here, if the analysis result of the probe information indicates, for example, road closures, traffic jams due to lane restrictions, long waiting times due to railroad crossings with long closing times, etc., the setting unit 117 determines the route of the vehicle 10. determine that it affects

On the other hand, when determining in process P162 that the analysis result of the probe information does not affect the route of the vehicle 10 (NO), the setting unit 117 determines whether the analysis result affects the target trajectory of the vehicle 10. Process P164 is executed. In this process P164, when the setting unit 117 determines that the analysis result of the probe information affects the target trajectory of the vehicle 10 (YES), the process P165 of setting the information level of the knowledge information to 2 is executed.

Here, the setting unit 117 determines that the analysis result of the probe information does not require a route change, such as traffic congestion at the exit or merging lane of the expressway, lane change to avoid traffic congestion in the right turn lane when driving on the left side, etc. , determines that the target trajectory is affected when the target trajectory of the vehicle 10 needs to be changed.

On the other hand, when the setting unit 117 determines in process P164 that the analysis result of the probe information does not affect the target trajectory of the vehicle 10 (NO), it executes process P166 to set the information level of the analysis result to 3. Here, if the analysis result of the probe information affects only the behavior or control of the vehicle 10, such as deceleration and suspension parameter changes for safely passing bumps and potholes on the road, the setting unit 117 It is determined that the target trajectory of the vehicle 10 is not affected.

As described above, the setting unit 117, based on the influence of the analysis results of the probe information of each road section on the route, target trajectory, or behavior or control of the vehicle 10, for example, as shown in Table 1 below: set the information level to That is, the setting unit 117 sets the information levels to 1, 2, and 3, respectively, for example, when the influence range of the analysis result of the probe information is the route, target trajectory, and behavior or control of the vehicle 10 .

After setting the information level of the analysis result of the probe information in the above-described process P163, process P165, or process P166, the setting unit 117 executes process P167 for setting the transmission timing of the transmission information. In this process P167, the setting unit 117 sets the transmission timing of the transmission information based on the information level. The transmission information is information generated by the transmission information generation unit 115 in process P18, which will be described later, and includes knowledge information generated in process P17, which will be described later, based on the analysis result of the probe information.

Here, the transmission timing of the transmission information is a time limit at which transmission information including knowledge information should be transmitted in order for each control device 200 to utilize the knowledge information that affects the driving behavior of the vehicle 10 . For example, if knowledge information indicates that a road section is closed to traffic, and the range of influence is the route from the current location of the vehicle 10 to the destination, the transmission information is sent before the vehicle 10 reaches the branch point before the road section where the traffic is closed. must be sent. In this case, the transmission timing of the transmission information is until the vehicle 10 reaches the branch point. Thus, the processing P16 shown in FIG. 6 is completed.

Next, the server 100 executes a process P17 for generating knowledge information, as shown in FIG. In this process P17, the knowledge information generation unit 114 of the server 100 generates knowledge information that affects the driving behavior of each vehicle 10 for each section identifier of the road section based on the analysis result of the probe information described above. . An example of knowledge information generated by the knowledge information generation unit 114 is shown in Table 2 below.

As shown in Table 2, the knowledge information includes items such as identifiers (ID), road IDs, section IDs, lanes, levels (Lv.), days of the week, time zones, conditions, locations, and details, for example. Knowledge information IDs are given to individual pieces of knowledge information in order to identify the pieces of knowledge information. A road ID is, for example, a road identifier given to each road link included in the high-definition map information 122 . The section ID is a section identifier assigned when a plurality of roads to which road IDs are assigned are subdivided into a plurality of road sections by the road section extraction unit 113, as described above.

The lanes in Table 2 indicate lanes of road sections in which each piece of knowledge information affects the driving behavior of the vehicle 10 . The level indicates the information level of each piece of knowledge information set by the setting unit 117, as described above. The day of the week and time zone indicate the day of the week and time zone to which each piece of knowledge information is applied. The condition, position, and content are respectively the execution condition, execution position, and execution content of the driving behavior that the vehicle 10 should execute based on each piece of knowledge information. Note that Table 2 is an example of knowledge information, and the items of knowledge information are not limited to the examples shown in Table 2.

The knowledge information with an ID of 2 in Table 2 is, for example, knowledge information of a road section with a road ID of R1 and a road section with a section ID of S12. It is knowledge information with an information level of 2 that affects it. This knowledge information is generated, for example, based on the analysis result of probe information that road construction is being carried out on lane L1 between 8:00 and 10:00 and between 16:00 and 18:00 on weekdays. This knowledge information indicates, for example, that the vehicle 10 traveling in the lane L1 on the relevant date and time is to be changed to the lane L2 within 10 meters of the road construction sites X1 and Y1.

Next, the server 100 executes a process P18 of recording the generated knowledge information, as shown in FIG. In this process P18, the knowledge information generating unit 114 of the server 100 records the knowledge information generated in the above process P17 in the knowledge information database 121 of the storage device 103. FIG. Thus, the processing flow P1 of the knowledge information generation processing by the server 100 shown in FIG. 4 ends. The server 100 then distributes the knowledge information to each vehicle 10 .

FIG. 7 is a flowchart showing the flow of knowledge information distribution processing by the server 100. FIG. When the server 100 starts the processing flow P2 shown in FIG. 7, the server 100 executes a processing P21 for determining whether or not a request for knowledge information transmitted from the control device 200 of each vehicle 10 has been received. The request for knowledge information transmitted from the control device 200 mounted on each vehicle 10 via the communication device 11 of each vehicle 10 includes, for example, position information of the current location of each vehicle 10, distance from the current location to the destination and the free space of the storage device 13 of each vehicle 10 .

In this process P21, when the transmission information generation unit 115 of the server 100 determines that the request for knowledge information has not been received from each vehicle 10 (NO), it terminates the process flow P2 shown in FIG. After that, the server 100 restarts the processing flow P2 at predetermined intervals. On the other hand, in process P21, when the transmission information generation unit 115 determines that the request for knowledge information has been received from the control device 200 of at least one vehicle 10 (YES), it extracts the knowledge information to be transmitted to the vehicle 10. Process P22 is executed.

In this process P22, the transmission information generation unit 115, for example, refers to the route information included in the received request for knowledge information. Then, the transmission information generator 115 extracts from the knowledge information database 121 of the storage device 103 the knowledge information corresponding to the section identifier of the road section included in the route to the destination of each vehicle 10 . For example, as shown in Table 2 above, it is assumed that the route information of vehicle 10 referred to by transmission information generation unit 115 includes roads with road IDs R1 and R2. In this case, the transmission information generator 115 extracts the knowledge information of the IDs (1, 2 and 3) including the section IDs (S11, S12 or S21) corresponding to the road IDs (R1 and R2) from the knowledge information database 121. Extract.

Next, the server 100 executes the process P23 of determining the presence or absence of the extracted knowledge information. In this process P23, for example, when the transmission information generation unit 115 determines that the identification information was not extracted in the previous process P22 (NO), the server 100 terminates the process flow P2 shown in FIG. , the processing flow P2 is resumed at a predetermined cycle. On the other hand, in process P23, for example, when transmission information generation unit 115 determines that knowledge information has been extracted in previous process P22 (YES), server 100 transmits knowledge information to control device 200 of vehicle 10. The process P24 to select is executed.

In this process P24, the knowledge information transmission unit 116 of the server 100 transmits each piece of knowledge information to the control device 200 of the vehicle 10 concerned, based on the execution condition of each piece of knowledge information extracted in the process P22. Decide whether or not For example, knowledge information transmission unit 116 determines the day of the week and the time zone in which vehicle 10 requesting knowledge information travels in the road section of each section ID, and the day of the week and time period included in the knowledge information extracted from knowledge information database 121. Compare with band (see Table 2). Knowledge information transmission unit 116 selects, for example, knowledge information with matching results as knowledge information to be transmitted to control device 200 of vehicle 10 .

Next, the server 100 executes the process P25 of determining the presence or absence of the selected knowledge information. In this process P23, for example, if the knowledge information transmitting unit 116 determines that knowledge information was not selected in the previous process P24 (NO), the server 100 terminates the process flow P2 shown in FIG. Processing flow P2 is restarted at a predetermined cycle. On the other hand, in process P25, for example, when knowledge information transmission unit 116 determines that knowledge information has been selected in previous process P24 (YES), server 100 transmits the knowledge information to control device 200 of vehicle 10. A process P26 for generating a transmission packet is executed.

In this process P26, the transmission information generating unit 115 of the server 100, for example, collects the knowledge information of one or more IDs selected in the process P24 to generate one transmission packet. For example, the route of the vehicle 10 equipped with the control device 200 that requested the knowledge information includes the road with the road ID R1 shown in FIG. Suppose you run a section. In this case, the transmission information generation unit 115 generates the knowledge information with the ID of 2 shown in Table 2, extracted in process P22 and selected in process P24, as one transmission packet. Note that when a plurality of pieces of knowledge information are selected in process P24, the transmission information generating unit 115 generates one transmission packet in which the selected pieces of knowledge information are put together.

Next, the server 100, for example, executes a process P27 of determining whether or not the amount of information in the transmitted packet is equal to or less than a threshold. In this process P27, the transmission information generator 115 sets, for example, the free space of the storage device 13 of each vehicle 10 included in the knowledge information request received from the control device 200 as a threshold. In this process P27, when the transmission information generation unit 115 determines that the information amount of the transmission packet generated in the previous process P26 is equal to or less than the threshold (YES), the server 100 executes the process P28 of transmitting knowledge information. .

In this process P28, the knowledge information transmission unit 116 of the server 100 transmits the transmission packet generated by the transmission information generation unit 115 in process P26 to the control device 200 that requested the knowledge information as transmission information. The control device 200 of the vehicle 10 that has received the transmission packet as the transmission information records, for example, the knowledge information included in the transmission information in the knowledge information database 13a of the storage device 13, and utilizes it for controlling the vehicle 10. FIG. After that, the server 100 terminates the processing flow P2 shown in FIG. 7 and repeatedly executes it at a predetermined cycle.

On the other hand, when the transmission information generation unit 115 determines in the above-described process P27 that the amount of information in the transmission packet generated in the previous process P26 exceeds the threshold (NO), the server 100 corrects the transmission packet. Execute P29. If the amount of information in the transmission packet exceeds the threshold, the control device 200 of the vehicle 10 that received the transmission packet cannot record the knowledge information in the knowledge information database 13a of the storage device 13, and the knowledge information may not be utilized. There is

Therefore, in process P29, the transmission information generation unit 115 of the server 100 divides the transmission packet generated in process P26 for each section ID of the road section included in the knowledge information. Thereby, the transmission information generator 115 generates a transmission packet as transmission information corresponding to the reception conditions of each vehicle 10 .

For example, as shown in Table 3 below, suppose a transmission packet contains three interval IDs S11, S12, and S13. In this case, transmission information generation section 115, for example, divides the transmission packets shown in Table 3 into first divided packets with section ID S11 and IDs 1 to 5 and section ID S12 with IDs 6 and 7. and third segmented packets with section ID S13 and IDs 8 and 9.

After that, the server 100 executes the aforementioned process P27 again. In this process P27, the transmission information generator 115 determines whether or not the information amount of each fragmented packet is equal to or less than a threshold. When the transmission information generation unit 115 determines that the information amount of all the fragmented packets is equal to or less than the threshold (YES), the server 100 executes the aforementioned process P28. In this process P28, the knowledge information transmitting unit 116 transmits each divided packet in the order in which the vehicle 10 travels the road section of the section ID included in each divided packet.

On the other hand, when transmission information generating section 115 determines, for example, that the information amount of the first fragmented packet exceeds the threshold (NO) in process P27, server 100 performs process P29 of correcting the transmission packet again. Execute. In this process P29, the transmission information generation unit 115 further divides the first divided packet into a plurality of sub-divided packets, for example, as shown in Table 4 below.

In the example shown in Table 4, the transmission information generation unit 115 re-divides the first divided packet containing a plurality of knowledge information IDs into three sub-divided packets each containing two or less knowledge information IDs. there is Furthermore, the transmission information generator 115, for example, assigns new section IDs (S111, S112, and S113) to the road sections of each subdivided packet. As a result, each sub-divided packet can be rearranged in the order in which the vehicle 10 travels on each road section.

After that, the server 100 executes the aforementioned process P27 again. In this process P27, when the transmission information generator 115 determines that the information amount of each sub-divided packet is equal to or less than the threshold (YES), the server 100 executes the above-described process P28. In this process P28, the knowledge information transmitting unit 116 transmits each sub-divided packet and each divided packet to the control device 200 of the vehicle 10 in the order in which the vehicle 10 travels through each road section.

Here, the knowledge information transmitting unit 116 transmits, for example, subdivided packets or divided packets one by one. Knowledge information transmitting section 116, for example, transmits the next sub-divided packet or sub-packet after control by control device 200 based on the knowledge information contained in the transmitted sub-divided packet or sub-packet ends. After that, the server 100 terminates the processing flow P2 shown in FIG. 7 and repeatedly executes the processing flow P2 at a predetermined cycle.

FIG. 8 is a flow chart showing the flow of automatic driving processing by the control device 200 mounted on each vehicle 10 shown in FIG. Control device 200 mounted on each vehicle 10 starts processing flow P3 shown in FIG. 8, for example, when a new destination for each vehicle 10 is set. An occupant or administrator of each vehicle 10 sets the destination of the vehicle 10 to the control device 200 via, for example, an input device mounted on the vehicle 10 or an information terminal carried by the occupant or administrator.

Upon starting the processing flow P3 shown in FIG. 8, the control device 200 executes processing P31 for planning a route from the current location of the vehicle 10 to the destination. In this process P31, the route generating unit 201 of the control device 200 generates a route based on the road information including the road identifier of each road constituting the road network and the position information of the current location and the destination of the vehicle 10, as described above. to generate route information from the current location to the destination.

Next, the control device 200 executes the process P32 of requesting knowledge information. In this process P<b>32 , the information transmission/reception unit 203 of the control device 200 transmits a request for knowledge information to the server 100 via the communication device 11 . As described above, the request for knowledge information includes, for example, the position information of the current location of each vehicle 10, the route information from the current location to the destination, and the free space of the storage device 13 of each vehicle 10. FIG.

Next, the control device 200 executes the process P33 of determining whether knowledge information has been received. In process P33, for example, when information transmitter/receiver 203 determines that knowledge information has not been received (NO), control device 200 executes process P37 for generating a target trajectory. In this process P37, the target trajectory generator 204 generates the target trajectory of the vehicle 10 on each road based on the route information generated in the process P31.

On the other hand, if it is determined in the process P33 that the information transmitting/receiving unit 203 has received the knowledge information (YES), the control device 200 executes the process P34 of storing the knowledge information. In this process P34, the recording unit 202 records the received knowledge information in the knowledge information database 13a of the storage device 13. FIG. Thereafter, the control device 200 executes a process P35 of acquiring knowledge information and a process P36 of determining whether or not the range of influence of the acquired knowledge information is a route.

In process P35, for example, the target trajectory generation unit 204 acquires knowledge information of each road section along which the vehicle 10 is scheduled to travel from the knowledge information database 13a of the storage device 13 based on the route information of the vehicle 10. . Furthermore, in process P36, for example, the target trajectory generation unit 204 determines whether or not the range of influence of the knowledge information is a route based on the information level of the acquired knowledge information.

In this process P36, if the information level of the knowledge information for any road section on the route is 1, the target trajectory generation unit 204 determines that the range of influence of the knowledge information is in the route planning stage (YES). do. In this case, the control device 200 executes the route planning process P31 again, and the route generation unit 201 generates a route that does not include the road section corresponding to the knowledge information with the information level of 1. FIG. On the other hand, in process P36, if the information level of the knowledge information for all road sections on the route is not 1, the target trajectory generation unit 204 determines that the range of influence of each knowledge information is not the route (NO). do.

In this case, the control device 200 executes a process P37 for generating the target trajectory of the vehicle 10. In this process P37, the target trajectory generation unit 204 determines that the road section in which the information level of the knowledge information is 3, that is, the road section in which the range of influence of the knowledge information is the behavior or control of the vehicle 10, is generated in the above-described process P31. A target trajectory is generated based on the obtained route information. On the other hand, in this process P37, the target trajectory generation unit 204 generates the target trajectory based on the content of the knowledge information in the road section where the information level of the knowledge information is 2, that is, in the road section where the range of influence of the knowledge information is the target trajectory. to generate

FIG. 9 is a plan view showing an example of generation of the target trajectory T1 by the target trajectory generation unit 204 based on the content of the knowledge information. In FIG. 9, the dashed line represents the target trajectory T0 of the vehicle 10 when the knowledge information is not used, and the solid line represents the target trajectory T1 based on the contents of the knowledge information. For example, assume that the knowledge information with an ID of 2 shown in Table 2 above is the knowledge information of a two-lane road section with a section ID of S12 shown in FIG. In this road section, from 8:00 to 10:00 and from 16:00 to 18:00 on weekdays, road construction CS is being carried out in a predetermined range from positions X1 and Y1 of lane L1. Suppose that the vehicle travels in the lane L1 of this road section.

In this case, the target trajectory generation unit 204 determines the vehicle 10 traveling in the lane L1 to be the point where the road construction CS is being performed, based on the knowledge information of the road section whose section ID is S12 in Table 2. 10 m before X1 and Y1, a target trajectory T1 for changing lanes to the adjacent lane L2 is generated. As a result, compared to the case where the vehicle 10 changes lanes after the road construction CS is detected by the sensor 12 of the vehicle 10, the vehicle 10 can be smoothly run while avoiding sudden deceleration and sudden course changes. be possible.

After that, the control device 200 executes a process P38 for controlling the traveling of the vehicle 10. In this process P38, travel control unit 205 generates, for example, an operation command for causing vehicle 10 to travel along target trajectory T1, and outputs it to drive command unit 206. FIG. Drive command unit 206 operates the actuators of each part of vehicle 10 based on the operation command input from travel control unit 205 .

As a result, the drive command unit 206 can control the accelerator, brake, steering, transmission, etc. of the vehicle 10 to autonomously drive the vehicle 10 along the target trajectory T1. For example, when the vehicle 10 is caused to travel along the target trajectory T1 based on the knowledge information, the travel control unit 205 instructs the occupant of the vehicle 10 via the user interface to change lanes to avoid road construction. ” may be notified regarding knowledge information.

Next, the control device 200 executes a process P39 of determining whether or not the vehicle 10 has arrived at the destination. In this process P39, the travel control unit 205 determines whether or not the vehicle 10 has arrived at the destination based on the position information of the vehicle 10 acquired from the sensor 12 . The control device 200 repeats the processing P38 and the processing P39 until the vehicle 10 reaches the destination, and terminates the processing flow P3 shown in FIG. 8 when the vehicle 10 reaches the destination.

The actions of the server 100, the control device 200, and the automatic driving support system 300 of this embodiment will be described below.

In recent years, self-driving cars equipped with sensors that detect surrounding objects and can autonomously drive to their destination have been put to practical use. However, sensors mounted on automobiles may not be able to detect objects and events that affect the driving behavior of the automobile, depending on the shape of the road on which they are traveling and obstacles in the surroundings.

The conventional server described in the above-mentioned Patent Document 1 provides road link information in which the driving support mode implemented by the driving support device of each vehicle is linked to the road link data. However, road link information linked to road link data is insufficient for use in target trajectory planning and control planning for self-driving vehicles, which require more detailed information. In addition, if all the road link information corresponding to the scheduled route planned in the route planning of the autonomous vehicle is provided, the amount of information held by the autonomous vehicle may become excessive.

On the other hand, the server 100 of this embodiment includes the probe information analysis unit 111, the road information acquisition unit 112, the road section extraction unit 113, the knowledge information generation unit 114, and the transmission information generation unit 115 as described above. and a knowledge information transmission unit 116 . The probe information analysis unit 111 analyzes probe information acquired from multiple vehicles 10 . The road information acquisition unit 112 acquires road information including the road identifiers of the roads that make up the road network. The road section extracting unit 113 divides a plurality of roads into a plurality of road sections, and assigns a section identifier to the road information of each road section. The knowledge information generation unit 114 generates knowledge information that affects the driving behavior of each vehicle 10 for each section identifier based on the analysis result of the probe information. The transmission information generation unit 115 extracts knowledge information corresponding to the section identifier of the road section included in the route to the destination of each vehicle 10 and generates transmission information corresponding to the reception conditions of each vehicle 10 . The knowledge information transmission unit 116 transmits transmission information to each vehicle 10 .

Further, the control device 200 of the present embodiment is mounted on the vehicle 10 as described above, and includes a route generation unit 201, a recording unit 202, an information transmission/reception unit 203, a target locus generation unit 204, and a travel control unit 205. and The route generation unit 201 generates route information from the current location to the destination based on road information including the road identifiers of the roads that make up the road network and position information on the current location of the vehicle 10 and the destination. The recording unit 202 records probe information based on the detection result of the sensor 12 that detects driving behavior of the vehicle 10 . The information transmitter/receiver 203 transmits route information and probe information to the server 100 via the communication device 11 mounted on the vehicle 10 and receives knowledge information that affects driving behavior from the server 100 . The target trajectory generator 204 generates a target trajectory for the vehicle 10 in each of a plurality of road sections obtained by subdividing a plurality of roads based on road information, route information, and knowledge information. The traveling control unit 205 causes the vehicle 10 to travel along the target locus. Further, the automatic driving support system 300 of this embodiment includes the aforementioned server 100 and a plurality of control devices 200 mounted on a plurality of vehicles 10 .

With such a configuration, the server 100 of the present embodiment can collect and analyze probe information based on the detection results of the sensors 12 mounted on the multiple vehicles 10 from the multiple control devices 200 . Furthermore, the server 100 generates knowledge information that affects the driving behavior of the vehicle 10 based on the analysis results of the probe information, and for each of a plurality of road sections obtained by subdividing the plurality of roads that make up the road network, Each piece of knowledge information can be associated with it. Further, the server 100 generates transmission information including knowledge information for each road section included in the route of the vehicle 10 in correspondence with the reception conditions of the vehicle 10 such as the free space of the storage device 103, and transmits the transmission information to the vehicle 10. . Therefore, according to the server 100 and the automatic driving support system 300 of the present embodiment, each control device 200 can be provided with detailed and appropriate amount of knowledge information that can be used for target trajectory planning and control planning of the vehicle 10. can be done.

Therefore, according to the control device 200 of the present embodiment, the automatic driving of the vehicle 10 can be performed more efficiently, safely, and comfortably based on knowledge information for each of a plurality of road sections obtained by subdividing a plurality of roads that constitute the road network. can run to That is, according to the server 100, the control device 200, and the automatic driving support system 300 of the present embodiment, by using the knowledge information for each road section, the sensor 12 mounted on the vehicle 10 cannot detect, and the vehicle 10 able to respond appropriately to objects and events that affect their driving behavior. Therefore, according to the server 100, the control device 200, and the automatic driving support system 300 of the present embodiment, the route and target trajectory of the vehicle 10 can be planned more efficiently, safely, and comfortably than the conventional server. More efficient, safer, and more comfortable automatic driving of the vehicle 10 can be realized.

In addition, the server 100 of the present embodiment further includes the setting unit 117 as described above. and the transmission timing of the transmission information based on the information level.

With such a configuration, according to the server 100 of the present embodiment, knowledge information that affects the driving behavior of a vehicle can be given an information level based on its range of influence. Thereby, the server 100 can transmit the transmission information including the knowledge information to the vehicle 10 at appropriate transmission timing according to the route of the vehicle 10, the target trajectory, or the influence on the behavior or control.

As described above, according to the present embodiment, the server 100 that provides an appropriate amount of knowledge information that can be used for route planning, target trajectory planning, and control planning for an autonomous vehicle, and receives the knowledge information. It is possible to provide a control device 200 that controls the vehicle 10 by doing so, and an automatic driving support system 300 that includes the server 100 and the control device 200 .

[Embodiment 2]
Next, Embodiment 2 of the server, control device, and automatic driving support system according to the present disclosure will be described with reference to FIGS. 1 to 6 and FIGS. The configurations of the server 100, the control device 200, and the automatic driving support system 300 of this embodiment are the same as the configurations of the server 100, the control device 200, and the automatic driving support system 300 of the first embodiment. The same reference numerals are assigned to the parts, and the description thereof is omitted.

In the server 100, the control device 200, and the automatic driving support system 300 of the present embodiment, the processing by the knowledge information transmission unit 116 of the server 100 is mainly performed by the server 100, the control device 200, and the automatic driving support system of the first embodiment. It differs from system 300 . In this embodiment, the knowledge information transmitting unit 116 sequentially transmits transmission information corresponding to road sections included in a predetermined range in front of the vehicle 10 based on the position information of each vehicle 10 included in the probe information.

FIG. 10 is a flow diagram showing the flow of knowledge information distribution processing by the server 100 of this embodiment. When the processing flow P4 shown in FIG. 10 is started, the server 100 executes processing P41 of acquiring probe information based on the detection result of the sensor 12 from the control device 200 mounted on each vehicle 10 . In this process P41, the probe information analysis unit 111 of the server 100 receives the probe information transmitted from the control device 200 and stores it in the storage device 103. FIG.

Next, the server 100 executes a process P42 for extracting road sections and a process P43 for extracting knowledge information. In process P42, the road section extracting unit 113 of the server 100 determines whether the vehicle 10 is about to travel based on the route to the destination of the vehicle 10 acquired from the control device 200 and the position information of the vehicle 10 included in the probe information. Extract the road section that Also, in process P43, the knowledge information generation unit 114 extracts from the knowledge information database 121 of the storage device 103 the knowledge information corresponding to the road section extracted in the previous process P42.

Next, the server 100 executes the process P44 of determining the presence or absence of the extracted knowledge information. In this process P44, for example, when the transmission information generation unit 115 determines that the identification information was not extracted in the previous process P43 (NO), the server 100 terminates the process flow P4 shown in FIG. , the processing flow P4 is restarted at a predetermined cycle. On the other hand, in process P44, for example, when transmission information generation unit 115 determines that knowledge information has been extracted in previous process P43 (YES), server 100 transmits knowledge information to control device 200 of vehicle 10. The process P45 to select is performed.

In this process P45, the knowledge information transmitting unit 116 of the server 100, for example, similar to the process P24 of the first embodiment, based on the execution condition of each knowledge information extracted in the process 43, the control device 200 of the vehicle 10 Select the knowledge information to send to.

Next, the server 100 executes the process P46 of determining the presence or absence of the selected knowledge information. In this process P46, for example, if the knowledge information transmitting unit 116 determines that knowledge information was not selected in the previous process P45 (NO), the server 100 terminates the process flow P4 shown in FIG. Processing flow P4 is resumed at a predetermined cycle. On the other hand, in process P46, for example, when knowledge information transmitting unit 116 determines that knowledge information has been selected in previous process P45 (YES), server 100 transmits the knowledge information to control device 200 of vehicle 10. Process P47 for formulating a transmission plan is executed.

In this process P47, the knowledge information transmission unit 116 of the server 100 formulates a transmission plan of transmission information so that the amount of knowledge information held by the control device 200 of the vehicle 10 is as small as possible. Specifically, for example, the knowledge information transmitting unit 116 sequentially transmits transmission information corresponding to road sections included in a predetermined range in front of the vehicle 10 based on the position information of each vehicle 10 included in the probe information. do.

Further, similarly to the process P16 shown in FIG. 6 of the first embodiment described above, the setting unit 117 may set the transmission timing of the transmission information based on the information level. In this case, the knowledge information transmitting section 116 sequentially transmits the transmission information according to the set transmission timing. That is, the knowledge information transmitting unit 116 specifies, for example, that the stage of the automatic driving process in each vehicle 10 is any stage of route planning, target trajectory planning, or behavior or control planning of the vehicle 10. , the transmission information including the knowledge information used in the identified automated driving process stages may be transmitted to each vehicle 10 in turn.

In this embodiment, the knowledge information generation unit 114 adds a transmission deadline to the items of knowledge information shown in Table 2 described in the first embodiment, for example. The deadline for sending knowledge information with an ID of 1 shown in Table 2 is, for example, a road connected to the road with the road ID of R1 so that the route can be smoothly changed to a route that does not include the road with the road ID of R1 that is closed to traffic. It is set 100 m before the last branch point of the road with ID R0.

Next, the server 100 executes the process P48 of transmitting knowledge information. In this process P48, the knowledge information transmission unit 116 refers to the position information based on the probe information acquired from the vehicle 10, and if the position information matches the transmission plan formulated in the previous process P47, The transmission information including the knowledge information based thereon is transmitted to the control device 200 of the vehicle 10 . As described above, the server 100 terminates the processing flow P4 shown in FIG. 10 and repeatedly executes the processing flow P4 at a predetermined cycle.

FIG. 11 is a flow chart showing the flow of automatic driving processing of the vehicle 10 by the control device 200 of this embodiment. For example, when a new destination for each vehicle 10 is set, the control device 200 mounted on each vehicle 10 starts the processing flow P5 shown in FIG. , a process P51 for planning a route is executed. In this process P31, the route generation unit 201 of the control device 200 generates route information from the current location to the destination, as in the first embodiment described above.

Next, the control device 200 executes a process P52 for generating the target trajectory of the vehicle 10 and a process P53 for controlling the running of the vehicle 10 . In process P52, the target trajectory generator 204 generates a target trajectory of the vehicle 10 for the route of the vehicle 10 planned in the previous process P51. Further, in process P53, travel control unit 205 generates, for example, an operation command for causing vehicle 10 to travel along target trajectory T1, and outputs it to drive command unit 206. FIG.

The drive command unit 206 operates the actuators of each part of the vehicle 10 based on the operation commands input from the travel control unit 205 . Accordingly, drive command unit 206 can control the accelerator, brake, steering, transmission, and the like of vehicle 10 to autonomously drive vehicle 10 along the target trajectory.

Next, the control device 200 executes a process P54 of transmitting probe information and a process P55 of acquiring knowledge information. In process P<b>54 , the information transmitting/receiving unit 203 transmits the probe information 13 c detected by the sensor 12 and recorded in the storage device 13 by the recording unit 202 to the server 100 via the communication device 11 . Further, in process P55, the information transmitting/receiving unit 203 receives transmission information sequentially transmitted from the server 100 at appropriate transmission timing via the communication device 11, acquires knowledge information included in the transmission information, and stores it. It is recorded in the knowledge information database 13a of the device 13. FIG.

Next, the control device 200 determines whether or not the knowledge information acquired in the previous process P55 affects the route of the vehicle 10, i.e., whether or not the information level of the knowledge information is 1 (process P56). to run. In this process P56, when the travel control unit 205 determines that the information level of the knowledge information is 1 (YES), the control device 200 executes the process P51 of planning the route again.

In this case, the route generation unit 201 of the control device 200 generates new route information for the vehicle 10 based on the road information in the high-precision map information 13b, the current location and destination of the vehicle 10, and knowledge information. On the other hand, when the driving control unit 205 determines in the process P56 that the information level of the knowledge information is not 1 (NO), the control device 200 performs the process P57 of determining whether or not the vehicle 10 has arrived at the destination. Execute.

In this process P57, the travel control unit 205 determines whether or not the vehicle 10 has arrived at the destination based on the position information of the vehicle 10 acquired from the sensor 12. Control device 200 repeats processing P52 to processing P57 until vehicle 10 arrives at the destination, and terminates processing flow P5 shown in FIG. 11 when vehicle 10 arrives at the destination.

FIG. 12 is a plan view showing an example of generation of the target trajectory T1 by the target trajectory generation unit 204 of this embodiment. In FIG. 12, in the target trajectory T0 of the vehicle 10 when the knowledge information is not used and the target trajectory T1 based on the content of the knowledge information, normal running is indicated by a solid line and slowing is indicated by a broken line. By generating the target trajectory after receiving the transmission information transmitted from the server 100, the control device 200 of the present embodiment can generate the target trajectory T1 reflecting the knowledge information included in the transmission information.

For example, assume that the knowledge information with an ID of 3 shown in Table 2 above is the knowledge information of a one-lane road section with a section ID of S21 shown in FIG. In this road section, bumps B for reducing the speed of the vehicle 10 are provided at positions X2 and Y2 of the lane L1 all day every day, and the vehicle 10 runs on the lane L1 of this road section.

In this case, the target trajectory generation unit 204 determines the vehicle 10 traveling in the lane L1 at a speed of 9 km/h or more in this road section based on the knowledge information of the road section with the section ID of S21 in Table 2. A target trajectory T1 is generated 5 m before the points X2 and Y2 where the vehicle is moving slowly. As a result, compared with the target locus T0 in which the vehicle 10 is decelerated after the bump B is detected by the sensor 12 of the vehicle 10, it is possible to avoid sudden deceleration and drive the vehicle 10 safely and comfortably. .

As described above, in the server 100 of the present embodiment, the knowledge information transmission unit 116, based on the position information of each vehicle 10 included in the probe information, moves to a road section included in a predetermined range in front of the vehicle 10. The corresponding transmission information is transmitted sequentially. With such a configuration, it is possible to provide detailed knowledge information necessary for safe and comfortable automatic driving of the vehicle 10 with the minimum necessary amount of information when the vehicle 10 needs it.

In the server 100 of the present embodiment, the knowledge information transmission unit 116 determines whether the stage of the automatic driving process in each vehicle 10 is route planning, target trajectory planning, or behavior or control planning of the vehicle 10. to be specified. Further, the knowledge information transmission unit 116 transmits transmission information including knowledge information used in the specified stage of the automated driving process to each vehicle 10 . With such a configuration as well, it is possible to provide detailed knowledge information required for safe and comfortable automatic driving of the vehicle 10 with the minimum required amount of information when the vehicle 10 needs it.

[Embodiment 3]
Next, a third embodiment of the server, the control device, and the automatic driving support system according to the present disclosure will be described with reference to FIG. 13 with reference to FIGS.

In the server 100, the control device 200, and the automatic driving support system 300 of the present embodiment, the processing of the road section extraction unit 113 of the server 100 is mainly performed by the server 100, the control device 200, and the automatic driving support system of the first embodiment. It differs from system 300 . Other configurations of the server 100, the control device 200, and the automatic driving support system 300 of this embodiment are the same as the configurations of the server 100, the control device 200, and the automatic driving support system 300 of the first embodiment. The same reference numerals are assigned to the same parts, and the description thereof is omitted.

The server 100 includes, for example, the environment information acquisition unit 118 shown in FIG. The environment information acquisition unit 118 acquires environment information about the external environment of each road included in the planned route of each vehicle 10 . Here, environmental information includes, for example, information on weather, temperature, and humidity. The environment information may also include, for example, information about the network connection environment. The environment information acquisition unit 118 acquires environment information from outside the server 100 via, for example, the Internet line INET.

FIG. 13 is a flow diagram showing the flow of knowledge information distribution processing by the server 100 of this embodiment. When the processing flow P6 shown in FIG. 13 is started, the server 100 executes a processing P61 of acquiring route information to the destination of each vehicle 10 from the control device 200 mounted on each vehicle 10 . In this process P61, for example, the road segment extraction unit 113 of the server 100 acquires route information including road identifiers, segment identifiers, and nodes from the control device 200 mounted on each vehicle 10 .

Next, the server 100 executes the process P62 of acquiring probe information. In this process P<b>62 , for example, the probe information analysis unit 111 of the server 100 acquires probe information based on the detection result of the sensor 12 from the control device 200 mounted on each vehicle 10 . The probe information includes, for example, travel information of the vehicle 10 such as position, speed, acceleration, angular velocity, and angular acceleration.

Next, the server 100 executes a process P63 for acquiring environmental information and a process P64 for acquiring road geometry. In process P63, for example, the environment information acquisition unit 118 of the server 100 acquires environment information related to the external environment of the road included in the route information acquired by the road segment extraction unit 113 in process P61. In process P64, for example, the road information acquisition unit 112 of the server 100 acquires from the high definition map information 122 the road shape of the road included in the route information acquired by the road segment extraction unit 113 in process P61. The road shape includes road-related attributes such as road gradient, curve, presence/absence of tunnels, and the like.

Next, the server 100 executes processing P65 for correcting the road section. In this process P65, for example, the road section extraction unit 113 of the server 100 extracts travel information of each vehicle 10 based on the probe information, environment information of each road on which each vehicle 10 travels, The length of the road section is set based on the road shape included in the road information of each road on which the vehicle travels.

More specifically, for example, by changing the length of the road section according to the speed of the vehicle 10, knowledge information can be transmitted to the vehicle 10 at appropriate timing. In addition, when the detection accuracy of the sensor 12 of the vehicle 10 deteriorates due to the weather, the length of the road section is lengthened so that more knowledge information can be transmitted to the vehicle 10 . In addition, a plurality of road sections in which there are many tunnels and it is difficult for the control device 200 of the vehicle 10 to connect to the network may be treated as one road section and the knowledge information may be transmitted in advance.

Next, the server 100 executes the process P66 of determining whether or not the information amount of the transmission information is equal to or less than the threshold. In this process P66, the transmission information generation unit 115 of the server 100 generates the knowledge information for each road section corrected in the previous process P65 as one transmission packet. Also, the knowledge information transmission unit 116 of the server 100 determines whether or not the information amount of each transmission packet is equal to or less than the threshold.

In this process P66, if the knowledge information transmitting unit 116 determines that the amount of information in the transmitted packet is larger than the threshold (NO), the server 100 repeats the process P66 to reduce the amount of information in the transmitted packet. On the other hand, when the knowledge information transmission unit 116 determines that the amount of information in the transmission packet is equal to or less than the threshold (YES), the server 100 formulates a transmission plan in the same manner as the processes P47 and P48 of the second embodiment described above. Processing P67 and processing P68 for transmitting knowledge information are executed, and the processing flow P6 shown in FIG. 13 is terminated.

As described above, the server 100 of the present embodiment further includes the environment information acquisition unit 118 that acquires environment information about the external environment of each road included in the planned route of each vehicle 10 . Further, the road segment extraction unit 113 extracts travel information of each vehicle 10 based on the probe information, environment information of each road on which each vehicle 10 travels, and road information of each road on which each vehicle 10 travels. Set the length of the road section based on the road geometry included in .

With such a configuration, according to the server 100 of the present embodiment, not only can the same effects as the server 100 of the first embodiment described above be obtained, but also the travel information of the vehicle 10, the environment information of the road, and the shape of the road can be obtained. A decrease in reliability due to influence can be suppressed. Therefore, according to this embodiment, the server 100 that provides an appropriate amount of knowledge information that can be used for route planning, target trajectory planning, and control planning for an autonomous vehicle, and the vehicle 10 that receives the knowledge information and an automatic driving support system 300 including the server 100 and the control device 200 can be provided.

The embodiments of the server, the control device, and the automatic driving support system according to the present disclosure have been described above in detail with reference to the drawings, but the specific configuration is not limited to this embodiment, and the gist of the present disclosure Even if there are design changes etc. within the range not departing from the above, they are included in the present disclosure.

10 vehicle 11 communication device 12 sensor 100 server 111 probe information analysis unit 112 road information acquisition unit 113 road section extraction unit 114 knowledge information generation unit 115 transmission information generation unit 116 knowledge information transmission unit 117 setting unit 118 environment information acquisition unit 200 control device 201 Route generation unit 202 Recording unit 203 Information transmission/reception unit 204 Target locus generation unit 205 Travel control unit 300 Automatic driving support system R1 to R4 Road identifiers S11 to S41 Section identifier T1 Target locus

Claims

A probe information analysis unit that analyzes probe information acquired from a plurality of vehicles;
a road information acquisition unit that acquires road information including a road identifier of each road that constitutes a road network;
a road section extracting unit that partitions the plurality of roads into a plurality of road sections that are more subdivided and assigns a section identifier to the road information of each of the road sections;
a knowledge information generating unit that generates knowledge information that affects the driving behavior of each vehicle for each of the section identifiers based on the analysis result of the probe information;
a transmission information generating unit for extracting the knowledge information corresponding to the section identifier of the road section included in the route to the destination of each vehicle and generating transmission information corresponding to the reception conditions of each vehicle; ,
a knowledge information transmission unit that transmits the transmission information to each of the vehicles;
A server with
a setting unit configured to set an information level based on the influence of the analysis result of the probe information on the route, target trajectory, behavior or control of the vehicle, and a transmission timing of the transmission information based on the information level; 2. The server of claim 1, comprising:
further comprising an environment information acquisition unit that acquires environment information regarding the external environment of each of the roads included in the planned route of each of the vehicles;
The road segment extraction unit is configured to extract travel information of each vehicle based on the probe information, environment information of each road on which each vehicle travels, and information on each road on which each vehicle travels. 2. The server according to claim 1, which sets the length of said road section based on the road shape included in said road information.
3. The knowledge information transmitting unit sequentially transmits the transmission information corresponding to the road section included in a predetermined range in front of the vehicle based on the position information of each vehicle included in the probe information. 1. The server according to 1.
The knowledge information transmitting unit specifies that the stage of the automated driving process in each of the vehicles is any stage of path planning, target trajectory planning, or behavior or control planning of the vehicle, and 2. The server of claim 1, wherein said transmission information including said knowledge information used in stages of said automated driving process is transmitted to each of said vehicles.
A control device mounted on a vehicle,
a route generation unit that generates route information from the current location to the destination based on road information including road identifiers of roads that make up a road network and location information of the current location and destination of the vehicle;
a recording unit that records probe information based on detection results of a sensor that detects driving behavior of the vehicle;
an information transmitting/receiving unit that transmits the route information and the probe information to a server via a communication device mounted on the vehicle and receives knowledge information that affects the driving behavior from the server;
a target trajectory generation unit that generates a target trajectory of the vehicle in each of a plurality of road sections obtained by subdividing the plurality of roads based on the road information, the route information, and the knowledge information;
a travel control unit that causes the vehicle to travel along the target trajectory;
A control device comprising:
An automatic driving support system comprising the server according to any one of claims 1 to 5 and a plurality of control devices mounted on a plurality of the vehicles,
The control device is
a route generation unit that generates route information from the current location to the destination based on the road information of each of the roads and position information of the vehicle's current location and destination;
a recording unit that records the probe information based on the detection result of the sensor that detects the driving behavior of the vehicle;
an information transmission/reception unit that transmits the route information and the probe information to the server via a communication device mounted on the vehicle and receives the knowledge information from the server;
a target trajectory generation unit that generates a target trajectory of the vehicle in each of the road sections based on the road information, the route information, and the knowledge information;
a travel control unit that causes the vehicle to travel along the target trajectory;
An automated driving support system.