WO2023188449A1

WO2023188449A1 - Information processing device

Info

Publication number: WO2023188449A1
Application number: PCT/JP2022/030759
Authority: WO
Inventors: 武之冨永
Original assignee: 日立Astemo株式会社
Priority date: 2022-03-31
Filing date: 2022-08-12
Publication date: 2023-10-05

Abstract

The present invention provides an information processing device that enables increasing the effectiveness of stopping position information. The information processing device comprises: a self-vehicle position information acquisition unit for acquiring self-vehicle position information; a map information acquisition unit for acquiring map information; a surrounding information acquisition unit for acquiring surrounding information of the self-vehicle; an extraction unit for extracting stopping position information about a position at which to stop the self-vehicle from the map information; a stopping position information retaining unit for retaining the extracted stopping position information; a determination unit for determining whether or not use of the stopping position by the self-vehicle is possible, on the basis of the self-vehicle position information, the surrounding information, and the stopping position information; and an updating unit for updating the stopping position information on the basis of information about the determined result.

Description

information processing equipment

The present invention relates to an information processing device.

Automated driving devices that automatically drive a vehicle regardless of the driver are known. Such an automatic driving device may request the driver to take over the driving of the vehicle from control by the device to operation by the driver. If the device issues a takeover request but the driver does not properly take over, the vehicle must be stopped safely.

Patent Document 1 states that if the handover of the driving operation to the driver is not completed within the automatic driving possible area, before entering the automatic driving impossible area from the automatic driving possible area, the vehicle is located on the left side in the vehicle width direction and Techniques have been shown in which the vehicle is stopped along a continuous guardrail or wall, or along a continuous guardrail or wall located on the right side in the vehicle width direction.

Patent Document 2 describes an automatic driving device that performs automatic driving so that the own vehicle stops at a stop position within the cruising range when handover to the driver is impossible. Specifically, the automatic driving device includes a cruising range determination section, a stop position specifying section, and an automatic driving control section. The range determination unit determines the range within which the vehicle can travel beyond the takeover point based on the vehicle position, map information, and remaining amount of driving resources. The stop position specifying unit specifies a stop position at which the vehicle should stop within the cruising range. If it is determined that the takeover is not possible, the automatic driving control unit continues automatic driving until the vehicle stops at the stop position. This discloses a technique for stopping the own vehicle at a stop position that takes into consideration the driving resources of the vehicle and the position of the own vehicle.

JP 2017-157063 Publication International Publication No. 2016/207938

In the technique described in Patent Document 1, it is determined whether or not the stop position can be used. However, if the guardrail or wall cannot be detected within the expected time, the vehicle may continue to travel on the roadway at a reduced speed. In this case, following vehicles will be forced to drive at low speeds, increasing the possibility of causing traffic congestion. Considering this possibility, it is preferable to shorten the distance and time until the vehicle is stopped when the handover of the driving operation to the driver is not completed.

In the technique described in Patent Document 2, it is determined whether or not the stop position can be used. Specifically, if there is an obstacle at the relevant stop position and the relevant stop position is actually unusable, it is determined that the vehicle cannot stop at the relevant stop position, and another stop position is identified. . Then, automatic driving and identification of the stop position are performed until the host vehicle stops at the stop position. In this way, if automatic driving and stopping position identification are repeated, there is a possibility that the vehicle will enter an area where automatic driving is not possible. Considering this possibility, it is preferable to shorten the distance and time until the vehicle is stopped when the handover of the driving operation to the driver is not completed.

In the above-mentioned technique, since the determination result of the usability of the stop position is not updated, the effectiveness of the information cannot be improved. Unless the effectiveness of the information on the usability of the stop position is improved, it is not possible to know in advance whether the stop position can be used, and the distance and time required to stop the vehicle may become longer, which is not preferable.

The present invention has been made in view of the above-mentioned problems, and its purpose is to provide an information processing device that makes it possible to increase the effectiveness of parking position information.

In order to achieve the above object, an information processing device according to the present invention includes a vehicle position information acquisition unit that acquires vehicle position information, a map information acquisition unit that acquires map information, and a vehicle position information acquisition unit that acquires vehicle position information, and a map information acquisition unit that acquires map information. an external world information acquisition unit that acquires external world information, an extraction unit that extracts parking position information of a position at which the vehicle is to be stopped from the map information, a parking position information holding unit that retains the extracted parking position information, and the vehicle position a determination unit that determines whether or not the vehicle can use the parking position based on information, the external world information, and the parking position information; and an updating unit that updates the parking position information based on the information of the determination result. It is characterized by having.

According to the information processing device of the present invention, the effectiveness of parking position information can be increased. Problems, configurations, and effects other than those described above will be made clear by the description of the embodiments below.

FIG. 1 is a functional block diagram showing a schematic configuration of an information processing device according to a first embodiment of the present invention. 2 is a flowchart showing a process for extracting parking position information in the information processing apparatus of FIG. 1. FIG. 3 is an overhead view showing a roadway and its surroundings, illustrating an example of the degree of influence of a parking position in the extraction process of FIG. 2. FIG. 2 is a flowchart showing a process of updating parking position information in the information processing apparatus of FIG. 1. FIG. FIG. 2 is a diagram showing an example of link information to which parking position information is added, which is held in the information processing device of FIG. 1; FIG. 2 is a functional block diagram showing a schematic configuration of an information processing device according to a second embodiment of the present invention. 7 is a flowchart showing operation processing in the information processing apparatus of FIG. 6.

Hereinafter, embodiments of the present invention will be described using the drawings. In addition, unless otherwise mentioned, the configurations with the same reference numerals in each embodiment have the same functions in each embodiment, and the description thereof will be omitted.

<First embodiment>
The information processing device 10 according to the first embodiment will be described using FIGS. 1 to 5. The information processing device 10 holds parking position information of the own vehicle (also referred to as own vehicle). Further, the information processing device 10 updates the parking position information and increases its effectiveness. Here, the parking position information is information representing the position where the vehicle is stopped, and is information representing the position of a space where it is predicted that the vehicle can be stopped (i.e., a parking space).

FIG. 1 is a functional block diagram showing a schematic configuration of an information processing device 10 according to a first embodiment of the present invention. FIG. 2 is a flowchart showing a process for extracting position information of a parking space (stop position information) in the information processing apparatus 10 of FIG. FIG. 3 is an overhead view showing the roadway T and its surroundings, illustrating an example of the degree of influence of the parking space in the extraction process of FIG. 2. FIG. 4 is a flowchart illustrating a process of updating position information of a parking space in the information processing apparatus 10 of FIG. FIG. 5 is a diagram showing an example of link information to which position information of a parking space is added, which is held in the information processing device 10 of FIG. 1. In each embodiment, the case of a road with left-hand traffic will be described as an example, but the information processing device 10 can also be applied to a road with right-hand traffic.

The information processing device 10 according to the present embodiment is configured as a computer system including, for example, an arithmetic processing device, a storage device, an input/output circuit, a communication circuit (all not shown), and the like. The information processing device 10 functions as a map unit 100, which will be described later, when the arithmetic processing device reads and executes a computer program stored in a storage device.

The map unit 100 extracts map data around the vehicle from the vehicle position information and provides the information to other units (not shown) such as a vehicle control unit via the bus 400 as shown in FIG. do.

As shown in FIG. 1, the map unit 100 includes a position detection section (vehicle position information acquisition section) 101, a data storage section 102, a stop position information update section (update section) 106, and a control section 107. include. The control unit 107 is configured by a calculation device such as a CPU (Central Processing Unit) executing software, and controls at least the position detection unit 101, the data holding unit 102, and the stop position information updating unit 106.

The position detection unit 101 acquires own vehicle position information. The own vehicle position information is information representing the current position of the own vehicle. The position detection portion 101 identifies the current coordinates of the vehicle by GNSS (Global Navigation Satellite System), and also identifies the orthodox (IMU (INERTIAL MEASUREMENT UNIT). Depending on the current coordinates and directions , determine the current position of the vehicle. Note that the position detection unit 101 may determine the current position of the own vehicle by itself, or may receive data representing the current position of the own vehicle from outside the map unit 100.

The data holding unit 102 is composed of a non-volatile memory, an HDD (Hard Disc Drive), etc., and internally holds data such as high-precision map information 103, route information 104, first stop position information (stop position information) 105, etc. . Note that the data holding unit 102 may not only hold data in a medium itself, but also hold data in a file server connected via wireless communication.

As shown in FIG. 3, the high-precision map information 103 includes detailed map information about the road T around the host vehicle and the surroundings of the road T. For example, on the roadway T, information on the roadside strip E1 of the driving lane L1, information on the side diversion zone X adjacent to the roadside strip E1, and information on the central diversion zone Y adjacent to the center C of the road T. Has information.

It also has map information on the oncoming lane L2 side of the road T. In the example shown in FIG. 3, the map information on the side of the oncoming lane L2 is the map information on the right side of the center C of the roadway T, and includes, for example, the oncoming lane L2, the oncoming road side strip E2 of the oncoming lane L2, and the driving after a right turn. Contains map information of lane L3, etc. The high-precision map information 103 may include, for example, map information regarding the presence or absence of roads with intersection links.

In addition, the high-precision map information 103 includes information on a lane center line R1 generated by connecting a series of points passing through the center of the driving lane (lane) L1, road markings such as the driving road side strip E1 and diversion zones X and Y, It may also include lane information including road width, etc., and road information such as positions of traffic lights, stop lines, signs, etc. Further, the high-precision map information 103 may include, as road information, information regarding the presence or absence of uphill lanes on expressways and the like.

The route information 104 is information indicating a route to a destination, and is input by a driver from an input device (not shown), for example. Note that the route information 104 may be acquired in advance through communication.

The first parking position information 105, that is, the position information of the parking space, is information extracted from the high-precision map information 103 based on the size information of the own vehicle. The control unit 107 functions as an extraction unit that extracts the first stop position information 105 from the high-precision map information 103. The extracted first stop position information 105 is held in a data holding unit 102 that functions as a stop position information holding unit. The extracted first stop position information 105 is held in the data holding unit 102 in association with the link information and road information of the high-precision map information 103. Further, the data holding unit 102 may hold the size information of the own vehicle acquired by the own vehicle size information acquisition unit (not shown) of the information processing device 10. The size information of the own vehicle may be the total length and width of the own vehicle that is inputted and held in the data holding unit 102 in advance, or may be information based on the type of vehicle such as a light car, a small car, or a regular car (bus, truck, passenger car), etc. It may be an average value.

The control unit 107 extracts the above-mentioned first stop position information 105 in consideration of the degree of influence on other cars when the own car stops in a stop space. Note that the control unit 107 may add the above-described degree of influence on other vehicles to the extracted first stop position information 105.
With reference to FIG. 3, extraction of the first stop position information 105 by the control unit 107 in consideration of the degree of influence on other vehicles will be described.
In FIG. 3, L1 indicates the driving lane of the own vehicle, L2 indicates the oncoming lane, and L3 indicates the driving lane when the own vehicle turns right. Further, A(1) to A(5) are parking spaces extracted by the control unit 107.
A(1) indicates the parking space on the opposite lane L2 side. A(2) indicates a parking space in the driving lane L1 in which the host vehicle does not obstruct the driving lane L1 in the center diversion zone Y near the center C of the road T and in the vicinity of an obstacle. A(3) indicates a roadside strip within which the entire width or length of the own vehicle does not fit. A(4) indicates the side flow guide zone X within which the entire width and length of the host vehicle is accommodated. A(4) may be a roadside strip or an on-street parking lot within which the entire width and length of the own vehicle can be accommodated. A(5) indicates a parking lot adjacent to the driving lane L1 or a facility having a parking lot.
The numbers A(1) to A(5) above indicate the degree of influence of the extracted parking space on other vehicles, and as the number increases, the impact the own vehicle has on parking in that parking space increases. This indicates that the impact on other vehicles is low, making it a desirable parking space for one's own vehicle from the perspective of traffic safety.
When the self-driving vehicle stops, it is preferable to select a stopping space that has less impact on surrounding vehicles (other vehicles). However, there are cases where it is necessary to stop the host vehicle quickly, for example, if the driver is not feeling well, the reason why the driver is not able to take over the vehicle. Therefore, the information processing device 10 holds the stopping position on the driving lane L1 and the oncoming lane L2 as stopping position information that does not take into account the degree of influence on other vehicles at all (the degree of influence is "0" in FIG. 3).

The control unit 107 calculates the distance from the center C of the roadway T to the parking space based on the high-precision map information 103, and sets it so that as the distance increases, the degree of influence on other vehicles decreases. For example, the control unit 107 sets the driving lane L1 as a stopping space that has a higher degree of influence on other vehicles than the driving road side strip E1, and extracts the stopping position information of this position.
The control unit 107 sets, for example, the parking lot A(5) as a parking space that has a lower influence on other vehicles than the road side strip E1, and extracts the parking position information of this position. The control unit 107 also controls the road side strip E1, the side guide zone The parking space is set to have a lower influence on other vehicles than the side guide zone X and the center guide zone Y, and the stop position information of such a position is extracted. If the distances from the center C of the roadway T to the parking spaces are the same or approximately the same (see A(3) and A(4) in FIG. 3, for example), the control unit 107 controls the control unit 107 to determine whether the entire own vehicle fits inside the vehicle if the distances from the center C of the roadway T to the parking spaces are the same or approximately the same (for example, see A(3) and A(4) in FIG. 3). An area (for example, the side guide zone Extract parking location information.

The control unit 107 sets the parking position A(1) on the side of the oncoming lane L2 to a parking space that has a higher degree of influence on other vehicles than the side strip E1, the side diversion zone X, and the center diversion zone Y. Then, the parking position information of this position is extracted. For example, when the distances from the center C of the roadway T to the parking spaces are the same or approximately the same (for example, see A(1) and A(4) in FIG. 3), the control unit 107 controls the side The guiding zone X is set as a stopping position that has a lower influence on other vehicles than the guiding zone A(1), which is a parking space on the opposite lane L2 side, and the stopping position information of this position is extracted.

The parking position information extracted by the control unit 107 includes the positional coordinates of the parking space, the expected direction (direction) at the time of stopping, the road surface slope, and the degree of influence of the parking space on other vehicles as described above, and the data is retained. It is held in section 102.

The control unit 107 uses the vehicle position information acquired by the position detection unit 101 , the external world information of the own vehicle acquired by the external world information acquisition unit (not shown) of the information processing device 10 , and the information detected by the position detection unit 101 . It functions as a determination unit that determines whether or not a parking space can be used by the own vehicle based on the parking position information around the own vehicle position. Specifically, the control unit 107 determines whether or not an obstacle exists at the stop position or on the approach road to the stop position based on the current position of the own vehicle, external world information about the own car, and stop position information. do.
The parking position information updating unit 106 updates the first parking position held in the data holding unit 102 according to the determination result in the control unit 107 (i.e., if an obstacle exists in the parking space or the like, or if there is no obstacle). Information 105 is updated. Note that the outside world information acquisition unit may acquire outside world information of the vehicle from, for example, an on-vehicle optical camera, a LiDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging), a microwave sensor, or the like. Further, the external world information acquisition unit may acquire external world information about the own vehicle from a camera installed on the roadside of the road T.

The bus 400 is IEBUS (Inter Equipment Bus), LIN (Local Interconnect Network), CAN (Controller Area Network), FlexRay, or E It can be configured using communication based on the IEEE802.3 standard called ethernet. A bus 400 connects a vehicle control unit (not shown) and the map unit 100.

The vehicle control unit acquires high-precision map information 103, route information 104, own vehicle position information, etc. from the map unit 100, and performs automatic driving control to drive the own vehicle along a predetermined route. The vehicle control unit controls the vehicle to travel along the lane center line R1 of the driving lane L1. The vehicle control unit includes, for example, steering, driving, braking, and other devices.

The steering device is a device that controls the direction of movement of the own vehicle, and is composed of a power steering or the like that is controlled by an external drive command. There are two types of power steering: electric power steering that uses an electric actuator to control the steering angle, and hydraulic power steering that uses a hydraulic actuator to control the steering angle. A drive device is a device that drives the own vehicle, such as an engine system that can control engine torque using an electric throttle or the like based on an external drive command, or an electric motor that can control driving force based on an external drive command. It consists of an electric powertrain system, etc. The braking device includes a brake that can be controlled by an external braking command, and examples of the brake include an electric brake whose braking force can be controlled by an electric actuator, a hydraulic brake whose braking force can be controlled by a hydraulic actuator, and the like.

Next, with reference to FIG. 2, the process of extracting a parking space by the control unit 107 will be described.

In S201, the control unit 107 reads the high-precision map information 103 in units of map mesh (for example, 2 km x 2 km) from the data holding unit 102, and determines whether the location information of the parking space (i.e., the parking location information) has been extracted. Determine whether it has not been implemented. If the extraction of the parking position information has not been performed yet (S201 is present), the main extraction process proceeds to S202. On the other hand, if the extraction of the parking position information has been completed (no step S201), the extraction process ends.

In S202, the control unit 107 extracts positional information on the roadway T and parking spaces around the roadway T (stopping position information) from the map information for the map mesh unit selected in S201. The parking position information extracted by the control unit 107 is held in the data holding unit 102.

Next, in S203, the control unit 107 determines a stopping space based on the extracted parking space position information (stopping position information), taking into consideration the degree of influence on other cars when the own vehicle stops in the parking space. Determine the degree of influence. In this embodiment, a case has been described in which S203 is performed after S202, but S202 and S203 may be performed simultaneously in one step.

Next, in S204, the control unit 107 links the position information of the parking space (stop position information) to the link information in the high-precision map information 103 (see FIG. 5). Here, the association between the link information in the high-precision map information 103 and the position information of the parking space will be explained using FIG. 5. Link information, in map information, is information regarding, for example, a road connecting one intersection to another intersection.
In FIG. 5, 501 indicates the link number, 502 indicates the road type of the link, and 503 indicates the speed limit of the road. Examples of road types include expressways, general roads, intersections, bridges, tunnels, and the like. In addition, in FIG. 5, 504 indicates whether or not a parking space near the host vehicle can be used. Here, if it is available, it is "possible", if it is not available, it is "impossible", and if there is no parking space, it is indicated as "possible". is expressed as "none". Moreover, 505 is the position coordinate of the parking space near the vehicle, and here represents the coordinate acquired from GNSS.
Reference numeral 506 indicates the direction (orientation) of the vehicle in the parking space near the vehicle; for example, northward is defined as 0 degrees, and directions around east, south, and west are expressed as 360 degrees. Reference numeral 507 indicates the degree of influence of the parking space near the vehicle on other vehicles, and represents the degree of influence from "0" to "5" as explained in the bird's-eye view of FIG. 3, or "none" for not applicable. Here, "none" means the above-mentioned degree of influence "0". This information is held in the data holding unit 102. Note that, depending on the link spacing in the link information, position information of a plurality of parking spaces may be held for one link.

Next, in step S205, if the position information of the parking space held in the link information of the high-precision map information 103 corresponds to a location on a bridge or in a tunnel, the control unit 107 determines that the parking space at that location is unusable. Furthermore, if the location is a parking prohibited area or a safety zone, the control unit 107 also determines that the parking space is unusable. The position information of the parking space determined to be unusable by the control unit 107 is held in the data holding unit 102 (see 504 in FIG. 5).

Next, with reference to FIGS. 3 to 5, the process of updating the position information of the parking space will be described.

In S401, the control unit 107 acquires the own vehicle position information of the own vehicle from the position detection unit 101 while the own vehicle is running or parked. Further, the control unit 107 acquires information corresponding to the position of the own vehicle from the route information 104, high-precision map information 103, and first stop position information 105 held in the data holding unit 102. At this time, the control unit 107 acquires the position information of the parking space together with the link information of the high-precision map information 103, and checks from the route information 104 whether there is a parking space within 200 meters in front of the own vehicle. By holding the route information 104 in the data holding unit 102 while the own vehicle is traveling, the control unit 107 can determine in advance the road on which the own vehicle will travel. Thereby, the control unit 107 can confirm whether there is a parking space within 200 m in front of the own vehicle, as described above. Note that 200 meters ahead is just an example, and the range in which the presence or absence of a parking space is checked can be changed as appropriate.

If there is no parking space (no S401), the control unit 107 performs S401 again. On the other hand, if a parking space exists (S401 exists), the process proceeds to S402.

In S402, the control unit 107 checks the parking space within 200 meters in front of the own vehicle using information obtained from sensors such as an on-vehicle camera. If the parking space cannot be confirmed (S402 is not performed), this process executes S402 again. On the other hand, if a parking space has been confirmed (S402 exists), the process proceeds to S403.

In S403, the control unit 107 determines whether the parking space can be used by the vehicle based on the vehicle location information, external world information acquired from an on-vehicle camera, and the location information of the parking space. Specifically, the control unit 107 determines whether or not there is an obstacle on the confirmed parking space or on the approach path to the parking space.
The parking position information updating unit 106 updates the position information of the parking space based on the determination result. Specifically, when the control unit 107 determines that an obstacle exists (S403 is present), the parking position information updating unit 106 makes the corresponding parking space unusable and adds it to the first parking position information 105. , updates the information (S404). After that, the process advances to S406.
Further, when the control unit 107 determines that there is no obstacle (no obstacle in S403), the parking position information updating unit 106 marks the corresponding parking space as usable, adds it to the first parking position information 105, and adds the corresponding parking space to the first parking position information 105. The information is updated (S405). After that, the process advances to S406.
Note that the above-mentioned obstacles include, for example, guardrails, entry prevention blocks, construction fences, line-of-sight guide signs, lane separation signs, and the like. In S406, the control unit 107 determines whether or not the own vehicle is continuously traveling, and if it is determined that the own vehicle is stopped (stopped in S406), this process ends. On the other hand, if it is determined that the host vehicle is running (running in S406), this process is executed again from S401.

In this way, the information processing device 10 of the present embodiment extracts a parking space in advance from the high-precision map information 103, and when the host vehicle travels near the parking space (or when the vehicle is stopped near the parking space) Then, using on-vehicle sensors and the like, it is determined whether or not it is possible to stop in the parking space. Also, based on the determination result, the position information of the parking space is updated as needed. Therefore, the effectiveness of the positional information of the parking space of the own vehicle can be increased, and this information can be held in the data holding unit 102. When the self-driving device uses the information held by the information processing device 10 to stop the vehicle, it becomes possible to stop the vehicle in a short time and over a short distance.

Furthermore, in the information processing device 10 of the present embodiment, the degree of influence on other vehicles when the own vehicle stops in the parking space is added to the position information of the parking space, and this information is held in the data storage unit 102. I can do it. Therefore, when the self-driving device uses the information held by the information processing device 10 to stop the own vehicle, there is less impact on other vehicles driving in the vicinity, and there is a greater possibility of inducing traffic congestion and traffic accidents. It becomes possible to select a parking space that is lower.

<Second embodiment>
Next, an information processing device 10a according to a second embodiment of the present invention will be described based on FIGS. 6 and 7. FIG. 6 is a functional block diagram showing a schematic configuration of an information processing device 10a according to the second embodiment of the present invention. FIG. 7 is a flowchart showing operational processing in the information processing apparatus 10a of FIG. In the information processing device 10a of the second embodiment, the same configurations and operations as those of the information processing device 10 of the first embodiment are given the same reference numerals, and the description thereof will be omitted. The information processing apparatus 10a according to the second embodiment differs from the information processing apparatus 10 according to the first embodiment in that it includes a communication unit 200 that transmits and receives information to and from a server 500.

The information processing device 10a has a communication section 200. The communication unit 200 transmits first stop position information (stop position information) 105 to the server 500, and transmits second stop position information (aggregated position information) 501 in which the first stop position information received from a plurality of vehicles is aggregated. Receive from server 500. The communication unit 200 is a communication device that transmits and receives information to and from the outside of the vehicle via a wireless communication line such as a mobile phone network (5G, 4G, etc.) or WiFi. Communication section 200 is connected to map unit 100 via bus 400.

Communication 300 illustrates communication between the communication unit 200 and the server 500. The server 500 holds second stop position information 501, and is connected to a large number of vehicles including the own vehicle through communication 300. The server 500 aggregates the location information of parking spaces transmitted from a plurality of vehicles, and transmits the aggregated information to each vehicle as second parking location information 501.

With reference to FIG. 7, the operation processing of the information processing device 10a will be described. The information processing device 10a may perform the following operation processing when the vehicle is running, or when the vehicle power is turned on or off.

In S701, the control unit 107 stores the second stop position information 501 in map mesh units acquired through communication with the server 500 via the communication unit 200, and the first stop position information 105 read from the data holding unit 102. compare. If the control unit 107 determines that the second stop position information 501 includes new information different from the first stop position information 105 (S701 is present), the process proceeds to S702. On the other hand, if the control unit 107 determines that the second stop position information 501 does not include new information different from the first stop position information 105 (no step S701), the process ends.

In S702, the parking position information updating unit 106 updates the position information of the parking space held in the data holding unit 102 based on the second parking position information 501 received from the server. Specifically, the stop position information updating unit 106 updates the first stop position information 105 in the data holding unit 102 to new information included in the second stop position information 501. This new information includes the addition of a new parking space, a change in the location information of an existing parking space as to whether or not the vehicle can stop.

In S703, the control unit 107 compares the second stop position information 501 in map mesh units with the first stop position information 105 read from the data holding unit 102. If the control unit 107 determines that the first stop position information 105 includes new information different from the second stop position information 501 (S703 is present), the process advances to S704. On the other hand, if the control unit 107 determines that the first stop position information 105 does not include new information different from the second stop position information 501 (no S703), the process returns to S701.

In S704, the control unit 107 transmits new information included in the first parking position information 105 to the server 500 via the communication unit 200. When the transmission of the information is completed, the process returns to S701.

The information processing device 10a according to the second embodiment aggregates position information of parking spaces held by a plurality of vehicles to a server via the communication unit 200, and transmits the aggregated information (second parking position information 501). It can be shared by each vehicle. Therefore, it is possible to always maintain highly effective information regarding the positional information of parking spaces outside the area where the host vehicle normally travels. Therefore, even if the self-driving vehicle accidentally stops in a region outside of the area where the vehicle normally travels, it is possible to stop in a more suitable parking space.

Note that the present invention is not limited to the above embodiments, and includes various modifications. For example, the above embodiments have been described in detail to explain the present invention in an easy-to-understand manner, and the present invention is not necessarily limited to having all the configurations described. Furthermore, it is possible to replace a part of the configuration of one embodiment with the configuration of another embodiment, and it is also possible to add the configuration of another embodiment to the configuration of one embodiment. Furthermore, it is possible to add, delete, or replace some of the configurations of each embodiment with other configurations.

Further, each of the above-mentioned configurations, functions, processing units, processing means, etc. may be partially or entirely realized by hardware, for example, by designing an integrated circuit. Further, each of the above-mentioned configurations, functions, etc. may be realized by software by a processor interpreting and executing a program for realizing each function. Information such as programs, tapes, and files that implement each function can be stored in a memory, a recording device such as a hard disk, an SSD (solid state drive), or a recording medium such as an IC card, SD card, or DVD.

In addition, control lines and information lines are shown that are considered necessary for explanation, and not all control lines and information lines are necessarily shown in the product. In reality, almost all components may be considered to be interconnected.

10, 10a information processing device, 101 position detection unit (vehicle position information acquisition unit), 102 data holding unit (stop position information holding unit), 103 high-precision map information (map information), 105 first stop position information (stop position information) position information), 106 Stop position information update unit (update unit), 107 Control unit (extraction unit, determination unit), 200 Communication unit, 500 Server, 501 Second stop position information (aggregate position information), T roadway, C roadway central part, L1 driving lane, E1 driving road side strip, L2 opposing lane, X side diversion zone, Y central diversion zone, A(1), A(2), A(3), A(4), A(5) Parking space

Claims

a vehicle location information acquisition unit that acquires vehicle location information;
a map information acquisition unit that acquires map information;
an external world information acquisition unit that acquires external world information of the own vehicle;
an extraction unit that extracts stopping position information of a position where the own vehicle is stopped from the map information;
a parking position information holding unit that holds the extracted parking position information;
a determination unit that determines whether or not the parking position can be used by the vehicle based on the vehicle location information, the external world information, and the parking location information;
An information processing device comprising: an updating unit that updates the parking position information based on information of the determination result.
The information processing device according to claim 1, wherein the extraction unit extracts the stopping position information in consideration of the degree of influence on other cars when the own car stops at the stopping position. .
The map information acquisition unit acquires map information of a road and the surroundings of the road,
The extraction unit calculates a distance from the center of the roadway to the stopping position based on the map information, and calculates the stopping position information based on the assumption that as the distance increases, the degree of influence on other vehicles decreases. 3. The information processing apparatus according to claim 2, wherein the information processing apparatus extracts the information.
comprising a vehicle size information acquisition unit that acquires size information of the vehicle;
The map information acquisition unit acquires information on a side strip of the travel lane of the roadway, information on a side diversion zone adjacent to the side strip of the travel lane, and information on a center diversion zone adjacent to the center portion. Acquired,
The extraction section is
The road side strip, the side diversion zone, and the center diversion zone in which the entire vehicle can be accommodated are replaced with the road side strip, the side diversion zone, and the side diversion zone in which the vehicle cannot be entirely accommodated, respectively. 4. The information processing apparatus according to claim 3, wherein the information processing apparatus extracts the stopping position information as a stopping position that has a lower influence on other vehicles than the central guide band.
The map information acquisition unit acquires map information on the oncoming lane side of the roadway,
The extracting unit selects a parking position on the opposite lane side as a parking position that has a higher degree of influence on other vehicles than the road side strip, the side diversion zone, and the center diversion zone. The information processing device according to claim 4, wherein the information processing device extracts position information.
comprising a communication unit that transmits the stop position information to a server and receives from the server aggregate position information of a stop position in which stop position information received from a plurality of vehicles is aggregated;
The information processing device according to claim 1, wherein the updating unit updates the parking position information held in the parking position information holding unit based on the aggregated position information received from the server.