WO2024095368A1

WO2024095368A1 - Route information creation device and route information creation method

Info

Publication number: WO2024095368A1
Application number: PCT/JP2022/040904
Authority: WO
Inventors: 健太朗大黒; 達成竹岡; 佳明安達; 光生下谷
Original assignee: 三菱電機株式会社
Priority date: 2022-11-01
Filing date: 2022-11-01
Publication date: 2024-05-10

Abstract

A route information creation device according to the present disclosure comprises: a first route information acquisition unit for acquiring first route information calculated using a first map; a second map acquisition unit for acquiring a second map expressed in a format different from that of the first map; an association determination unit for determining, on the basis of the first route information and association information, whether first node information is associated with a second link; and a second route information creation unit. The association information includes: if, in a second node corresponding to a specific first node, there is no second outflow link channeling an outflow from the second node corresponding to a first outflow link channeling an outflow from the specific first node, information associating another second outflow link channeling an outflow from another second node in the vicinity of said second node with the first outflow link; and if, in a second node corresponding to a specific first node, there is no second inflow link channeling an inflow into the second node corresponding to a first inflow link channeling an inflow into the specific first node, information associating another second inflow link channeling an inflow into another second node in the vicinity of said second node with the first inflow link.

Description

Route information creation device and route information creation method

This disclosure relates to a route information creation device and a route information creation method that create route information that contributes to driving assistance.

Conventionally, a technology has been disclosed for determining a second route equivalent to the first route on a second map expressed in a format different from that of a first map DB, based on information on a first route obtained by performing a route search using a first map DB (database). For example, an IVI (In-Vehicle Information) system performs route search using a normal precision map DB containing road shape information on a road-by-road basis as the first map DB, and an ADAS (Advanced Driver Assistance) system provides driving assistance using a high precision map DB containing road shape information on a lane-by-lane basis as the second map DB, and the ADAS system generates second route information using the high precision map DB based on the first route information obtained from the IVI system (see, for example, Patent Document 1).

JP 2019-184493 A

If the road topology represented by the first map DB and the road topology represented by the second map DB are the same, the technology of Patent Document 1 can be used to create second route information associated with the first route information.

On the other hand, if the policies for collecting road information are different, if the policies for creating the map DB are different, or if the map development times are different, the road topology in the first map DB and the road topology in the second map DB may differ. In this case, it is not possible to establish a correspondence between the nodes or links in the first map DB and the nodes or links in the second map DB, and there is a problem in that it is not possible to create second route information corresponding to the first route information even using the technology of Patent Document 1. Furthermore, if it is not possible to generate second route information corresponding to the first route information, the system that uses the second map DB cannot operate properly.

The present disclosure has been made to solve such problems, and aims to provide a route information creation device and a route information creation method that are capable of creating second route information associated with first route information even when the road topology represented by the first map DB and the road topology represented by the second map DB are different.

In order to solve the above problem, the route information creation device according to the present disclosure includes a first route information acquisition unit that acquires first route information including at least one first node information having information for determining whether an inflow link or an outflow link is in a first route calculated using a first map including road shape information on a road-by-road basis, a second map acquisition unit that acquires a second map including road shape information expressed in a format different from that of the first map, a linking determination unit that determines whether the first node information included in the first route information is linked to a second link based on the first route information acquired by the first route information acquisition unit and linking information indicating the correspondence between the first node information in the first map and the second link in the second map, and at least one second link that the linking determination unit determines to be linked and the second map acquired by the second map acquisition unit. and a second route information creation unit that creates second route information including a second link in a second route on the second map corresponding to the first route based on the second map obtained by the above process, and the linking information includes information linking another second outflow link that flows out from another second node near the second node to the first outflow link when there is no second outflow link that flows out from a second node on the second map corresponding to a specific first node on the first map, and includes information linking another second inflow link that flows into another second node near the second node to the first inflow link when there is no second inflow link that flows into a second node on the second map corresponding to the first inflow link that flows into a specific first node.

According to the present disclosure, even if the road topology represented by the first map DB differs from the road topology represented by the second map DB, it is possible to generate second route information associated with the first route information.

The objects, features, aspects, and advantages of the present disclosure will become more apparent from the following detailed description and accompanying drawings.

1 is a block diagram showing an example of a configuration of a route information creation device according to an embodiment. 1 is a block diagram showing an example of a configuration of an in-vehicle device including a route information creation device according to an embodiment. 4 is a flowchart showing an example of an operation of the route information generating device according to the embodiment. FIG. 11 is a diagram for explaining first node information according to an embodiment. FIG. 11 is a diagram for explaining first node information according to an embodiment. FIG. 11 is a diagram for explaining first node information according to an embodiment. FIG. 11 is a diagram for explaining first node information according to an embodiment. FIG. 11 is a diagram showing an example of linking information according to an embodiment; FIG. 2 is a diagram showing an example of a real road geometry according to an embodiment; FIG. 10 is a diagram showing an example of a road topology in a case where the road geometry in FIG. 9 is expressed in a second map. FIG. 10 is a diagram showing an example of a road topology in a case where the road geometry in FIG. 9 is represented on a first map. FIG. 10 is a diagram showing an example of linking information in the road geometry of FIG. 9 . FIG. 4 is a diagram illustrating an example of first route information according to an embodiment. FIG. 11 is a diagram illustrating an example of second route information according to an embodiment. FIG. 11 is a diagram showing an example of linking information according to an embodiment; FIG. 11 is a diagram illustrating an example of second route information according to an embodiment. FIG. 4 is a diagram illustrating an example of first route information according to an embodiment. FIG. 11 is a diagram illustrating an example of second route information according to an embodiment. FIG. 11 is a diagram showing an example of linking information according to an embodiment; FIG. 2 is a diagram showing an example of a real road geometry according to an embodiment; FIG. 21 is a diagram showing an example of road topology in a case where the road geometry in FIG. 20 is expressed in a second map. FIG. 21 is a diagram showing an example of a road topology in a case where the road geometry in FIG. 20 is represented on a first map. FIG. 21 is a diagram showing an example of linking information in the road geometry of FIG. 20 . FIG. 4 is a diagram illustrating an example of first route information according to an embodiment. FIG. 11 is a diagram illustrating an example of second route information according to an embodiment. FIG. 11 is a diagram showing an example of linking information according to an embodiment; FIG. 11 is a diagram illustrating an example of second route information according to an embodiment. FIG. 4 is a diagram illustrating an example of first route information according to an embodiment. FIG. 11 is a diagram illustrating an example of second route information according to an embodiment. FIG. 11 is a diagram illustrating an example of second route information according to an embodiment. FIG. 11 is a diagram showing an example of linking information according to an embodiment; FIG. 2 is a diagram showing an example of a real road geometry according to an embodiment; FIG. 33 is a diagram showing an example of a road topology in which the road geometry of FIG. 32 is expressed in a second map. FIG. 33 is a diagram showing an example of a road topology in which the road geometry of FIG. 32 is expressed in a first map. FIG. 33 is a diagram showing an example of linking information in the road geometry of FIG. 32 . FIG. 4 is a diagram illustrating an example of first route information according to an embodiment. FIG. 11 is a diagram illustrating an example of second route information according to an embodiment. FIG. 11 is a diagram showing an example of linking information according to an embodiment; FIG. 11 is a diagram illustrating an example of second route information according to an embodiment. FIG. 2 is a diagram showing an example of a real road geometry according to an embodiment; FIG. 41 is a diagram showing an example of a road topology in which the road geometry of FIG. 40 is expressed in a second map. FIG. 41 is a diagram showing an example of a road topology in which the road geometry of FIG. 40 is represented in a first map. FIG. 41 is a diagram showing an example of linking information in the road geometry of FIG. 40. FIG. 2 is a diagram showing an example of a road topology represented in a first map in the embodiment; FIG. 11 is a diagram showing an example of a road topology represented in a second map in the embodiment; FIG. 11 is a diagram showing an example of linking information according to an embodiment; FIG. 11 is a diagram for explaining first node information according to a modified example of the embodiment. FIG. 11 is a diagram for explaining first node information according to a modified example of the embodiment. FIG. 11 is a diagram for explaining first node information according to a modified example of the embodiment. FIG. 11 is a diagram for explaining first node information according to a modified example of the embodiment. FIG. 13 is a diagram showing an example of association information according to a modified example of the embodiment. FIG. 2 is a diagram illustrating an example of a hardware configuration of a route information creation device according to an embodiment. FIG. 2 is a diagram illustrating an example of a hardware configuration of a route information creation device according to an embodiment.

<Embodiment>
<Configuration>
Fig. 1 is a block diagram showing an example of the configuration of a route information creation device 1 according to an embodiment. Note that Fig. 1 shows the minimum necessary configuration for configuring the route information creation device according to the embodiment.

The route information creation device 1 includes a first route information acquisition unit 2, a second map acquisition unit 3, a linking determination unit 4, and a second route information creation unit 5.

The first route information acquisition unit 2 acquires first route information including at least one first node information having information for determining whether the first route is an incoming link or an outgoing link in a first route calculated using a first map including road shape information on a road-by-road basis.

The second map acquisition unit 3 acquires a second map that includes road shape information expressed in a format different from that of the first map.

The linking determination unit 4 determines whether the first node information included in the first route information is linked to the second link based on the first route information acquired by the first route information acquisition unit 2 and the linking information indicating the correspondence between the first node information in the first map and the second link in the second map.

The linking information includes information linking another second outgoing link flowing out from another second node near the second node to the first outgoing link when there is no second outgoing link flowing out from a second node on the second map corresponding to a first outgoing link flowing out from a first node on the first map. Also, the linking information includes information linking another second ingoing link flowing into another second node near the second node to the first ingoing link when there is no second ingoing link flowing into a second node on the second map corresponding to a first ingoing link flowing into a first node on the first map.

The second route information creation unit 5 creates second route information including the second links in the second route on the second map corresponding to the first route, based on at least one second link determined to be linked by the link determination unit 4 and the second map acquired by the second map acquisition unit 3.

Next, we will explain other configurations of the route information creation device, including the route information creation device 1 shown in Figure 1.

FIG. 2 is a block diagram showing an example of the configuration of an in-vehicle device 6 including a route information creation device 8 according to another configuration.

The in-vehicle device 6 includes an information processing device 7, a route information creation device 8, a driving assistance information formulation device 9, a positioning device 10, and a driving assistance system 11.

The route information creation device 8 can be applied not only to the in-vehicle device 6, but also to a device constructed as a system by appropriately combining a PND (Portable Navigation Device) that can be mounted in a vehicle and a server installed outside the vehicle. In this case, each function or each component of the route information creation device 8 is distributed and arranged in each function that constructs the above-mentioned system.

In addition, while FIG. 2 shows a case in which the information processing device 7, route information creation device 8, driving assistance information formulation device 9, positioning device 10, and driving assistance system 11 are provided separately, each device may be arbitrarily combined to form an integrated device. For example, the route information creation device 8, driving assistance information formulation device 9, and driving assistance system 11 may be integrated.

The information processing device 7 corresponds to the above-mentioned IVI system, and is, for example, a navigation device. The information processing device 7 includes a first map DB 12 and an application execution unit 13. The information processing device 7 may be provided outside the vehicle.

The first map DB12 is a storage medium such as a memory or HDD (Hard Disk Drive), and stores a first map (normal accuracy map) that includes road shape information on a road-by-road basis. The first map DB12 may be provided in the in-vehicle device 6 separately from the information processing device 7, or may be provided outside the vehicle.

The application execution unit 13 executes, for example, a navigation function using the first map stored in the first map DB 12. Examples of the navigation function include a driving route search or a driving route prediction. The information processing device 7 outputs, to the route information creation device 8, first route information including first node information along the first route obtained by execution of the application execution unit 13. The application execution unit 13 performs a driving route search or a driving route prediction using the vehicle position measured by a positioning unit (not shown) included in the information processing device 7 or the vehicle position measured by the positioning device 10.

The route information creation device 8 includes a first route information acquisition unit 2, a linking determination unit 4, a second route information creation unit 5, a second map DB 14, and a linking information storage unit 15.

The first route information acquisition unit 2 acquires the first route information from the information processing device 7.

The second map DB 14 is a storage medium such as a memory or HDD, and stores a second map (high-precision map) that includes road shape information for each lane. The route information creation device 8 is equipped with the second map DB 14, but may be equipped with the second map acquisition unit 3 shown in FIG. 1 instead of the second map DB 14. The second map DB 14 may be provided in the in-vehicle device 6 separately from the route information creation device 8, or may be provided outside the vehicle.

The linking information storage unit 15 stores linking information indicating the correspondence between the first node information in the first map and the second link in the second map. The linking information storage unit 15 may be provided in the in-vehicle device 6 separately from the route information creation device 8, or may be provided outside the vehicle.

The linking determination unit 4 determines whether or not the first node information included in the first route information acquired by the first route information acquisition unit 2 is linked to the second link based on the first node information included in the first route information acquired by the first route information acquisition unit 2 and the linking information stored in the linking information storage unit 15.

The second route information creation unit 5 determines a second route on the second map that corresponds to the first route based on the first route information, the linking information, and the second map, and creates second route information that includes a second link on the second route. The second route information creation unit 5 outputs the created second route information to the driving support information formulation device 9.

The positioning device 10 uses the Global Navigation Satellite System (GNSS) to determine the current vehicle position. The positioning device 10 may also determine the current vehicle position by taking into account the detection results of a gyro sensor and a vehicle speed sensor (not shown) installed in the vehicle.

The driving assistance information formulation device 9 formulates driving assistance information for driving along the second route based on the second route information created by the second route information creation unit 5, the second map stored in the second map DB 14, and the vehicle position measured by the positioning device 10. The driving assistance information formulation device 9 outputs the formulated driving assistance information to the driving assistance system 11. Examples of driving assistance information for driving along the second route include lane shape information along the second route.

The driving assistance system 11 provides driving assistance to the driver of the vehicle based on the driving assistance information acquired from the driving assistance information formulation device 9. Examples of driving assistance include automated driving, ADAS, and notification assist.

<Operation>
3 is a flowchart showing an example of the operation of the route information creation device 8. When the vehicle starts traveling, the application execution unit 13 of the information processing device 7 executes a route search or a route prediction using the first map stored in the first map DB 12, and generates first route information including first node information on the first route. Then, the information processing device 7 transmits the first route information generated by the application execution unit 13 to the route information creation device 8.

In step S10, the first route information acquisition unit 2 acquires first route information including N pieces of first node information along the first route from the information processing device 7. The information processing device 7 may transmit all first node information from the start to the end of the first route, or may transmit limited first node information according to a predetermined rule. Examples of the predetermined rule include a rule that transmits first node information within a certain distance (e.g., 10 km) from the vehicle equipped with the on-board device 6, a rule that transmits first node information in map mesh units, or a rule that transmits first node information for a predetermined number of nodes (e.g., within 10), but any other rule may be used. The information processing device 7 may transmit the first route information repeatedly at a certain period or every certain travel distance.

FIGS. 4 to 7 are diagrams for explaining the first node information. As shown in FIG. 4 to 7, the first node information includes, for the first node n, the node coordinates Pn, the incoming direction θn (incoming i, first incoming link direction), and the outgoing direction θn (outgoing j, first outgoing link direction).

Here, we will explain the linking information that indicates the correspondence between the first node information and the second link. Figure 8 is a diagram showing an example of linking information. The linking information shown in Figure 8 corresponds to the linking information for the road range shown in Figures 10 and 11 described later. The linking information is created by a linking information creation system (not shown) executing predetermined linking information creation processes (first creation process and second creation process). Below, the first creation process and the second creation process will be explained in order. Note that the route information creation device 8 according to this embodiment is characterized in that it creates second route information using the linking information created by the second creation process.

In the first creation process, the linking information creation system compares the road topologies in the same section of the first map and the second map. Then, in a case where a second outflow link on the second map corresponding to a first outflow link flowing out from a specific first node on the first map exists at a second node on the second map corresponding to the specific first node on the first map, the linking information creation system creates information linking the first outflow link to the second outflow link. Also, in a case where a second inflow link on the second map corresponding to a first inflow link flowing into the specific first node exists at a second node on the second map corresponding to the specific first node on the first map, the linking information creation system creates information linking the first inflow link to the second inflow link.

In the second creation process, the linking information creation system compares road topologies in the same section of the first map and the second map. Then, in a second node on the second map corresponding to a specific first node on the first map, if there is no second outflow link from the second node on the second map corresponding to the first outflow link from the specific first node, the linking information creation system selects another second outflow link from another second node near the second node, and creates information linking the selected other second outflow link to the first outflow link. Also, in a second node on the second map corresponding to a specific first node on the first map, if there is no second inflow link flowing into the second node on the second map corresponding to the first inflow link flowing into the specific first node, the linking information creation system selects another second inflow link flowing into another second node near the second node, and creates information linking the other second inflow link to the first inflow link.

FIG. 9 is a diagram showing an example of actual road geometry (road structure) when the first map and the second map have the same road topology. FIG. 9 shows a case where there are two merging lanes and one branching lane for a main road consisting of two lanes.

FIG. 10 is a diagram showing an example of road topology when the road geometry of FIG. 9 is represented on a second map. In FIG. 10, "HN1, HN2, HN3, HN4, HN5, HN6" indicate the numbers (second node numbers) of the nodes (second nodes) on the second map. Also, "a, b, c, d, e, f, g, h, i, j" indicate the numbers (second link numbers) of the links (second links) on the second map. Note that in FIG. 10, for ease of explanation, a link with multiple lanes is represented by a single road link.

FIG. 11 is a diagram showing an example of road topology when the road geometry of FIG. 9 is represented on a first map. In FIG. 11, "N0, N1, N2, N3, Na, Nf, Ni, Nj" indicate the numbers (first node numbers) of the nodes (first nodes) on the first map. Note that the range of the first map surrounded by the dashed line in FIG. 11 corresponds to the range of the second map shown in FIG. 10.

As shown in Figures 10 and 11, the number of first nodes and second nodes do not necessarily match due to differences in map formats, but the road topology at the first nodes corresponding to the junction and branching points matches the road topology at the second nodes. For example, the link connection topology at the first node N1 corresponding to the junction matches the link connection topology at the second node HN1 corresponding to the first node N1. More specifically, each of the first links Na-N1, N0-N1, and N1-N2 has a one-to-one correspondence with each of the second links a, b, and c. The same is true for the second node HN4 corresponding to the first node N2 corresponding to the junction point, and the second node HN6 corresponding to the first node N3 corresponding to the branching point.

FIG. 12 is a diagram showing an example of linking information in the road geometry of FIG. 9. As shown in FIG. 12, the linking information storage unit 15 stores linking information indicating the correspondence between the first inflow link or the first outflow link included in the first node information in the first map and the second link in the second map. Note that, for ease of explanation, the coordinates included in the first node information are not shown in FIG. 12.

FIG. 13 is a diagram showing an example of first route information. FIG. 13 shows a case where the application execution unit 13 of the information processing device 7 searches for a first route that passes through the first nodes Na → N1 → N2 → N3 → Ni. In this case, the first route information acquisition unit 2 of the route information creation device 8 acquires the first route information including the first node information of the first nodes N1, N2, and N3 (stars in the figure) from the information processing device 7.

Returning to the explanation of FIG. 3, in step S11, the linking determination unit 4 sets n=1.

In step S12, the linking determination unit 4 determines whether or not there is a second link linked to the first node information. Specifically, the linking determination unit 4 compares the nth first node information with the linking information, and determines whether or not there is a second link linked to the node coordinates, the direction of the first inflow link (inflow link direction), and the direction of the first outflow link (outflow link direction) included in the first node information. If there is a second link linked to the first node information, the process proceeds to step S13. On the other hand, if there is no second link linked to the first node information, the process proceeds to step S14.

For example, in the case of n=1 in FIG. 13, the linking determination unit 4 compares the linking information with the node coordinates P (N1), the orientation θN1 (inflow 1) of the first inflow link, and the orientation θN1 (outflow 1) of the first outflow link contained in the first node information. Then, a second link a linked to the node coordinates P (N1) and the orientation θN1 (inflow 1) of the first inflow link, and a second link c linked to the node coordinates P (N1) and the orientation θN1 (outflow 1) of the first outflow link are extracted. Here, both the second link a and the second link c are adopted as the second link linked to the first node information. Then, in step S13, the second link linked to the first node information is stored in a storage unit not shown. The memory unit in which the second link is stored may be a memory unit provided in the route information creation device 8, such as a register in a CPU (Central Processing Unit) or a cache memory in a SoC (System on a Chip), or may be a memory unit provided outside the route information creation device 8.

When n=2 in FIG. 13, the linking determination unit 4 compares the node coordinate P(N2), the orientation θN2 (inflow 1) of the first inflow link, and the orientation θN2 (outflow 1) of the first outflow link contained in the first node information with the linking information. Then, the second link e linked to the node coordinate P(N2) and the orientation θN2 (inflow 1) of the first inflow link, and the second link g linked to the node coordinate P(N2) and the orientation θN2 (outflow 1) of the first outflow link are extracted. After that, in step S13, the second links (second link e and second link g) linked to the first node information are stored in a storage unit (not shown).

When n=3 in FIG. 13, the linking determination unit 4 compares the node coordinate P(N3), the orientation θN3 (inflow 1) of the first inflow link, and the orientation θN3 (outflow 1) of the first outflow link contained in the first node information with the linking information. Then, the second link h linked to the node coordinate P(N3) and the orientation θN3 (inflow 1) of the first inflow link, and the second link i linked to the node coordinate P(N3) and the orientation θN3 (outflow 1) of the first outflow link are extracted. After that, in step S13, the second links (second link h and second link i) linked to the first node information are stored in a storage unit (not shown).

If it is determined in step S12 that there is no second link associated with the first node information, then in step S14, the fact that there is no second link associated with the first node information is stored in a storage unit (not shown).

In step S15, the linking determination unit 4 adds "1" to n.

In step S16, the linking determination unit 4 determines whether the process of comparing all of the first node information (N pieces of first node information) with the linking information has been completed. If the process has been completed, the process proceeds to step S17. On the other hand, if the process has not been completed, the process returns to step S12.

In step S17, the second route information creation unit 5 creates second route information based on the second links linked to the first node information. Specifically, the second route information creation unit 5 uses the multiple second links stored in the storage unit in step S13 to create second route information including a second route on the second map linked to the first route.

FIG. 14 is a diagram showing an example of second route information after primary processing. The thick lines in FIG. 14 indicate a link string consisting of second links a, c, e, g, h, and i stored in the memory unit in step S13. FIG. 15 is a diagram showing linking information. In FIG. 15, hatched areas indicate that second links for first node information have been extracted.

The second route information creation unit 5 performs a complementation process so that the link string consisting of the second links is continuous. FIG. 16 is a diagram showing an example of second route information after complementation process. As shown in FIG. 16, the second route information creation unit 5 complements the second link d to create second route information including the second route, which is a single link string consisting of the second links a, c, d, e, g, h, and i.

In step S18, the route information creation device 8 determines whether the vehicle has finished traveling. If the vehicle has finished traveling, the operation in FIG. 3 ends. On the other hand, if the vehicle has not finished traveling, the process returns to step S10.

When the operation of FIG. 3 is completed, the second route information creation unit 5 outputs the created second route information to the driving assistance information formulation device 9. The driving assistance information formulation device 9 formulates driving assistance information regarding traveling on the second route based on the second route information created by the second route information creation unit 5, the second map (road shape information and lane shape information related to the second route) stored in the second map DB 14, and the vehicle position measured by the positioning device 10, and outputs the information to the driving assistance system 11. The driving assistance system 11 performs driving assistance for the driver of the vehicle based on the driving assistance information acquired from the driving assistance information formulation device 9.

Note that if the second route is correctly created by performing the complementation process as shown in FIG. 16, the linking information for the redundant second link in the linking information may be set to "null (0)." For example, the linking information for either the second inflow link or the second outflow link linked to the first node information, for example, the linking information for the second links c, g, and h, may be set to "null."

In addition, when the second link linked to a specific piece of first node information includes two links, a second inflow link and a second outflow link, the linking determination unit 4 may select one or both of the second inflow link and the second outflow link according to a predetermined second link selection rule. The second link selection rule is, for example, a rule that selects each of the first outflow links as the second link instead of the first inflow link when there are multiple first outflow links and one first inflow link for one first node, selects each of the first inflow links as the second link instead of the first outflow link when there are multiple first inflow links and one first outflow link for one first node, and selects one first inflow link and one first outflow link as the second link when there are one first inflow link and one first outflow link for one first node.

FIG. 17 is a diagram showing an example of first route information. FIG. 17 shows a case where the application execution unit 13 of the information processing device 7 searches for a first route that passes through the first nodes Nf → N2 → N3 → Nj. In this case, the first route information acquisition unit 2 of the route information creation device 8 acquires the first route information including the first node information of the first nodes N2 and N3 (indicated by stars in the figure) from the information processing device 7.

FIG. 18 is a diagram showing an example of second route information created by the second route information creation unit 5. The thick line in FIG. 18 indicates the second route corresponding to the first route shown in FIG. 17. FIG. 19 is a diagram showing linking information. In FIG. 19, the hatched areas indicate that second links have been extracted for the first node information.

As shown in FIG. 18, the second route information creation unit 5 creates a second route in which the link string of second links is continuous. Therefore, in this case, the second route information creation unit 5 does not need to perform complementation processing.

　Above, we have explained the case where the road topology of the first map and the second map are the same. Below, we will explain the cases where the road topologies of the first map and the second map are different (examples 1 to 4).

<Example 1: When the road topologies of the first map and the second map are different>
Fig. 20 is a diagram showing an example of a real road geometry. Fig. 20 shows a case where two merging lanes and one branching lane exist for a main road consisting of two lanes. When entering the main road from the merging lane shown in the center of Fig. 20 (hereinafter also referred to as the "middle merging lane"), the section from the position where the merging lane enters the main road to the position of the branching lane is a lane change prohibited section (thick line part in the figure), and it is determined by rules and the like so that a vehicle entering from the middle merging lane cannot exit from the branching lane.

FIG. 21 is a diagram showing an example of road topology when the road geometry of FIG. 20 is represented on a second map. As shown in FIG. 21, the road topology in the second map is the same as the road topology in the real road geometry shown in FIG. 20.

FIG. 22 is a diagram showing an example of road topology when the road geometry in FIG. 20 is represented on a first map. Note that the range of the first map surrounded by the dashed line in FIG. 22 corresponds to the range of the second map shown in FIG. 21.

As shown in FIG. 22, the road topology in the first map is different from the road topology in the actual road geometry shown in FIG. 20. Specifically, the first link corresponding to the second link f (see FIG. 21) connected to the second node HN4 is connected to the first node N3, not the first node N2. Also, the first link corresponding to the second link i connected to the second node HN6 is connected to the first node N2, not the first node N3. That is, the road topology of the first link N2-Ni and the first link Nf-N3 in the first map is swapped with the second link f and the second link i in the second map in the forward and backward directions of travel. This is because the application execution unit 13 intentionally changed the road topology in the first map so as not to search for a first route in which a vehicle that entered from the second link f exits from the second link i.

In this way, the route information creation device 8 according to this embodiment is characterized by using linking information that allows the second route to be created appropriately based on the first route information, even if the road topologies of the first map and the second map are different.

The linking information shown in FIG. 23 includes linking information when the road topologies of the first map and the second map are different. For example, the first inflow link θN2 (inflow 1) flowing into the first node N2 is linked to the second link e, which has the same road topology in the second map. In addition, since the first outflow link θN2 (outflow 2) is restored by a complementation process by the second route information creation unit 5, the second link linked to the first outflow link θN2 (outflow 2) is "none = 0 (NULL)". Here, it does not necessarily have to be "NULL", but when the differences in the road topologies of the first map and the second map are complicated, it may not be possible to create a unique route, and in such cases the linking information creation system may generate "NULL" information in advance. Similarly, for the first incoming link θN3 (incoming 2) that flows into the first node N3, there is no second link with the same road topology in the second map, but the second link f is associated with the first incoming link θN3 (incoming 2) as the second link.

FIG. 24 is a diagram showing an example of first route information. In FIG. 24, a solid arrow indicates a first route on a first map, and a dashed arrow indicates a second route on a second map that corresponds to the first route.

In the example of FIG. 24, the first route information acquisition unit 2 acquires first route information including first node information of the first nodes N1 and N2. The linking determination unit 4 extracts second links a and c as second links linked to the first node N1, and extracts second links e and i as second links linked to the first node N2. Note that the first node information including the first node N3 is not output from the information processing device 7, since it is information outside the first route searched by the application execution unit 13.

FIG. 25 is a diagram showing an example of second route information after primary processing. The thick lines in FIG. 25 indicate a link string consisting of second links a, c, e, and i stored in the storage unit in step S13 of FIG. 3. FIG. 26 is a diagram showing linking information. In FIG. 26, hatched areas indicate that second links for first node information have been extracted.

FIG. 27 is a diagram showing an example of second route information that has been subjected to the complementation process. As shown in FIG. 27, the second route information creation unit 5 complements the second link d to create second route information that includes the second route, which is a single link string consisting of the second links a, c, d, e, g, h, and i.

<Example 2: When the road topologies of the first map and the second map are different>
Fig. 28 is a diagram showing an example of first route information, in which a solid arrow indicates a first route on a first map, and a dashed arrow indicates a second route on a second map that corresponds to the first route.

In the example of FIG. 28, the first route information acquisition unit 2 acquires first route information including the first node information of the first node N3. The linking determination unit 4 extracts the second links f and j as second links linked to the first node N3. Note that the first node information including the first node N2 is not output from the information processing device 7 because it is information outside the first route searched by the application execution unit 13.

FIG. 29 is a diagram showing an example of second route information after primary processing. The thick lines in FIG. 29 indicate a link string consisting of second links f and j stored in the storage unit in step S13 of FIG. 3. FIG. 30 is a diagram showing linking information. In FIG. 30, hatched areas indicate that second links for first node information have been extracted.

FIG. 31 is a diagram showing an example of second route information that has been subjected to a complementation process. As shown in FIG. 31, the second route information creation unit 5 complements the second links g and h to create second route information that includes a second route that is a single link string consisting of the second links f, g, h, and j.

<Example 3: When the road topologies of the first map and the second map are different>
Fig. 32 is a diagram showing an example of a real road geometry. Fig. 32 shows a case where one merging lane exists for a main road consisting of two lanes. When entering the main road from the merging lane, a section from the position where the merging lane enters the main road to a predetermined position is a lane change prohibited section (a thick line portion in the figure), and a vehicle entering from the merging lane cannot change lanes for a certain distance after merging.

FIG. 33 is a diagram showing an example of a road topology when the road geometry of FIG. 32 is represented on a second map. As shown in FIG. 33, second links e and f are connected to a second node HN4.

FIG. 34 is a diagram showing an example of road topology when the road geometry of FIG. 32 is represented on the first map. Note that the range of the first map surrounded by the dashed line in FIG. 34 corresponds to the range of the second map shown in FIG. 33.

As shown in FIG. 34, the first link corresponding to the second link f is expressed as the first incoming link Nf-N3 that flows into the second node HN6 rather than the second node HN4, and the road topologies of the first and second maps are different. This is because, for the application execution unit 13, the junction point for guidance on the first route is the first node N3, not the point corresponding to the second node HN4, and this is to ensure that the timing of the route guidance announcement for the junction is appropriate. The linking information shown in FIG. 35 includes linking information for when the road topologies of the first and second maps are different.

FIG. 36 is a diagram showing an example of first route information. In FIG. 36, a solid arrow indicates a first route on a first map, and a dashed arrow indicates a second route on a second map that corresponds to the first route.

In the example of FIG. 36, the first route information acquisition unit 2 acquires first route information including first node information of the first node N3. The linking determination unit 4 extracts the second links f and j as second links linked to the first node N3.

FIG. 37 is a diagram showing an example of second route information after primary processing. The thick lines in FIG. 37 indicate a link string consisting of second links f and j stored in the storage unit in step S13 of FIG. 3. FIG. 38 is a diagram showing linking information. In FIG. 38, hatched areas indicate that second links for first node information have been extracted.

FIG. 39 is a diagram showing an example of second route information that has been subjected to the complementation process. As shown in FIG. 39, the second route information creation unit 5 complements the second links g and h to create second route information that includes the second route, which is a single link string consisting of the second links f, g, h, and j.

<Example 4: When the road topologies of the first map and the second map are different>
In this example 4, a case will be described in which a second link corresponding to a first link present in the first map does not exist in the second map. Examples of occurrences of such a situation include a case in which the policies for adopting road links are different between the first map and the second map, and a second link corresponding to the first link is not created in the second map, or a case in which a first link corresponding to a second link that did not exist at the time the second map DB was developed existed at the time the first map DB was developed due to differences in the development times of the first map DB 12 and the second map DB 14.

Figure 40 shows an example of a real road geometry. Figure 40 shows a case where a main road consists of two lanes, and there is one merging lane and one branching lane.

FIG. 41 is a diagram showing an example of road topology when the road geometry in FIG. 40 is represented on the second map. As shown in FIG. 41, in the second map, due to the map creation policy, there is no branch lane corresponding to the first link N2-N4 (see FIG. 42) on the first map.

FIG. 42 is a diagram showing an example of road topology when the road geometry of FIG. 40 is represented on the first map. Note that the range of the first map surrounded by the dashed line in FIG. 42 corresponds to the range of the second map shown in FIG. 41.

As shown in FIG. 42, in the first map, there is a first link N2-N4 (the orientation of the first inflow link is θN2 (inflow 1)) that flows out from the first node N2. In this case, in the linking information shown in FIG. 43, there is no second link linked to the orientation of the first inflow link is θN2 (inflow 1) (NULL). Alternatively, it may be linked to the second link that exists closest to the N2 coordinate in the second map. Also, as shown in FIG. 43, the linking information may additionally include a "topology difference" presence/absence flag that indicates the presence/absence of a difference in the road topology between the first map and the second map.

FIG. 44 is a diagram showing an example of first route information. In FIG. 44, a solid arrow indicates a first route on a first map, and a dashed arrow indicates a second route on a second map that corresponds to the first route.

In the example of FIG. 44, the first route information acquisition unit 2 acquires first route information including first node information of the first nodes N1 and N2. The link determination unit 4 extracts second links a, c, and d as second links linked to the first nodes N1 and N2.

FIG. 45 is a diagram showing an example of second route information. The thick lines in FIG. 45 indicate a link string consisting of the second links a, c, and d stored in the storage unit in step S13 in FIG. 3. FIG. 46 is a diagram showing linking information. In FIG. 46, hatched areas indicate that the second links have been extracted for the first node information. As shown in FIGS. 45 and 46, there is no second link corresponding to the first link N2-N4 that flows out from the first node N2. Therefore, the second route information creation unit 5 ends the creation process of the second route with the second link d as the end. After that, when the first route information acquisition unit 2 acquires the first route information again, the second route information creation unit 5 resumes the creation process of the second route. On the other hand, when entering a second link that exists in the second map from a first link that exists only in the first map, the second route information creation unit 5 will start or resume the creation process of the second route.

<Modification 1>
The first node information described in the embodiment includes node coordinates Pn, inflow direction θn (inflow i), and outflow direction θn (outflow j) for the first node n, but may include other information as long as it is information that identifies the first node. For example, the first node information may include node coordinates Pn, and the direction difference dθn (i, j) between the inflow direction θn (inflow i) and the outflow direction θn (outflow j) relative to the inflow direction θn (inflow i) for the first node n. Figures 47 to 50 are diagrams for explaining first node information according to the first modification.

FIG. 51 is a diagram showing an example of linking information relating to Modification Example 1. As shown in FIG. 51, two second links are linked to one piece of first node information. Note that, as explained in the embodiment, it is also possible to adopt either one of these two second links.

<Modification 2>
The first route information output by the information processing device 7 may include type information indicating the type of the first map. In this case, the route information creation device 8 downloads linking information corresponding to the type of the first map from an external server based on the type information acquired from the information processing device 7, and stores the linking information in the linking information storage unit 15. In the linking information storage unit 15, the existing linking information may be rewritten with new linking information.

By configuring in this way, the route information creation device 8 can properly create second route information even when using another information processing device (IVI system) with a different road creation policy.

<Modification 3>
In the embodiment, the second map has been described as a high-precision map having road shape information on a lane-by-lane basis, but the second map is not limited to being a high-precision map and may be any map having a map format different from that of the first map.

<Hardware Configuration>
The functions of the first route information acquisition unit 2, the linking determination unit 4, and the second route information creation unit 5 in the route information creation device 8 described in the embodiment are realized by a processing circuit. That is, the route information creation device 8 includes a processing circuit for acquiring the first route information, determining whether the first node information is linked to the second link, and creating the second route information. The processing circuit may be dedicated hardware, or may be a processor (also called a CPU, central processing unit, processing unit, arithmetic unit, microprocessor, microcomputer, or DSP (Digital Signal Processor)) that executes a program stored in a memory.

When the processing circuit is dedicated hardware, as shown in FIG. 52, the processing circuit 20 corresponds to, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or a combination of these. Each function of the first route information acquisition unit 2, the linking determination unit 4, and the second route information creation unit 5 may be realized by a processing circuit 20, or each function may be realized together by a single processing circuit 20.

When the processing circuit 20 is the processor 21 shown in FIG. 53, the functions of the first route information acquisition unit 2, the linking determination unit 4, and the second route information creation unit 5 are realized by software, firmware, or a combination of software and firmware. The software or firmware is written as a program and stored in the memory 22. The processor 21 realizes each function by reading and executing the program recorded in the memory 22. That is, the route information creation device 8 has a memory 22 for storing a program that results in the execution of a step of acquiring the first route information, a step of determining whether the first node information is linked to the second link, and a step of creating the second route information. It can also be said that these programs cause a computer to execute the procedures or methods of the first route information acquisition unit 2, the linking determination unit 4, and the second route information creation unit 5. Here, memory may be, for example, non-volatile or volatile semiconductor memory such as RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable Read Only Memory), EEPROM (Electrically Erasable Programmable Read Only Memory), magnetic disk, flexible disk, optical disk, compact disk, DVD (Digital Versatile Disc), etc., or any storage medium that will be used in the future.

It should be noted that some of the functions of the first route information acquisition unit 2, the linking determination unit 4, and the second route information creation unit 5 may be realized by dedicated hardware, and other functions may be realized by software or firmware.

In this way, the processing circuitry can realize each of the above-mentioned functions through hardware, software, firmware, or a combination of these.

In addition, within the scope of this disclosure, the embodiments may be modified or omitted as appropriate.

Although the present disclosure has been described in detail, the above description is illustrative in all respects and is not limiting. It is understood that countless variations not illustrated can be envisioned.

1 Route information creation device, 2 First route information acquisition unit, 3 Second map acquisition unit, 4 Linking determination unit, 5 Second route information creation unit, 6 In-vehicle device, 7 Information processing device, 8 Route information creation device, 9 Driving assistance information formulation device, 10 Positioning device, 11 Driving assistance system, 12 First map DB, 13 Application execution unit, 14 Second map DB, 15 Linking information storage unit, 20 Processing circuit, 21 Processor, 22 Memory.

Claims

a first route information acquisition unit that acquires first route information including at least one piece of first node information having information for determining whether an incoming link or an outgoing link is in a first route calculated using a first map including road shape information for each road;
a second map acquisition unit that acquires a second map including road shape information expressed in a format different from that of the first map;
a link determination unit that determines whether or not the first node information included in the first route information is linked to the second link, based on the first route information acquired by the first route information acquisition unit and link information indicating a correspondence relationship between the first node information in the first map and a second link in the second map;
a second route information creation unit that creates second route information including the second link on a second route on the second map corresponding to the first route, based on at least one of the second links determined to be linked by the link determination unit and the second map acquired by the second map acquisition unit;
Equipped with
A route information creation device, wherein the linking information includes, in a second node on a second map corresponding to a specific first node on the first map, information linking another second outgoing link flowing out from another second node near the second node to the first outgoing link when there is no second outgoing link flowing out from a second node on the second map corresponding to a first outgoing link flowing out from the specific first node, and includes information linking another second outgoing link flowing out from another second node near the second node to the first ingoing link when there is no second ingoing link flowing into a second node on the second map corresponding to a first ingoing link flowing into the specific first node.
The route information creation device according to claim 1, wherein the linking information includes information linking a first outgoing link to a second outgoing link when a second outgoing link on the second map corresponding to a first outgoing link flowing out from a specific first node on the first map exists in a second node on the second map, and includes information linking the first ingoing link to the second ingoing link when a second ingoing link on the second map corresponding to a first ingoing link flowing into the specific first node exists.
the first node information includes first node coordinates that are coordinates of the first node, a first incoming link direction that is a direction of a first incoming link that enters the first node on the first path, and a first outgoing link direction that is a direction of a first outgoing link that exits from the first node on the first path;
2. The route information creation device according to claim 1, wherein the linking information includes information linking the pair of the first node and the first incoming link direction with a second link, and information linking the pair of the first node and the first outgoing link direction with a second link.
The route information creation device according to claim 1, wherein the second map includes road shape information for each lane.
The route information creation device according to claim 1, wherein the linking information includes information linking a first link with a first incoming link or a first outgoing link that has a corresponding relationship with a second node group consisting of a plurality of consecutive second nodes on the second map, when the topology of a first link branching off or merging from a first node group and a second link branching off or merging from the second node group corresponding to the first link are switched before and after the traveling direction in a second node group consisting of a first node group consisting of a plurality of consecutive first nodes on the first map.
The route information creation device according to claim 4, in a case where a road structure is such that after entering a main lane from a specific merging lane, it is not possible to exit the main lane from a next specific branching lane due to the influence of a lane change prohibition section defined in the main lane, the linking information indicates the correspondence based on the first map in which the first link indicating the merging lane and the first link indicating the branching lane are switched before and after the direction of travel, and the second map in which the second link indicating the merging lane and the second link indicating the branching lane are not switched before and after the direction of travel.
The route information creation device according to claim 4, wherein, in a road structure in which after entering a main lane from a specific merging lane, it is not possible to exit the main lane from a next specific branching lane due to the influence of a lane change prohibition section defined in the main lane, the linking information indicates the correspondence based on the first map and the second map in which the coordinates of a first node connected to a first link indicating the merging lane are different from the coordinates of a second node connected to a second link corresponding to the first link.
The route information creation device according to claim 1, wherein the linking information includes, when there is no second link in the second map corresponding to a first outgoing link outgoing from a first node included in the first node information or a first incoming link into a first node, information indicating that the second link does not exist, or information indicating that the topologies of the first map and the second map are different.
The route information creation device according to claim 8, wherein, if a second link corresponding to a first link on the first map does not exist on the second map, the second route information creation unit creates the second route information for the second route to the second link corresponding to the first link on the first map.
The route information creation device according to claim 1, wherein, when the second links determined by the linking determination unit to be linked are not consecutive, the second route information creation unit uses the second map to complement the second links that are not consecutive and creates the second route information for the second route.
The first route information includes type information indicating a type of the first map,
The route information generating device according to claim 1 , wherein the association information is information corresponding to the type information.
The route information creation device according to claim 1, wherein the link determination unit, when determining that the first node information is linked to the second link including a second inflow link and a second outflow link, selects at least one of the second inflow link and the second outflow link according to a predetermined second link selection rule.
The route information creation device according to claim 12, wherein the linking determination unit determines that, when a plurality of first outgoing links and one first inflow link exist for one first node, each of the first outgoing links is linked to the second link, when a plurality of first inflow links and one first outflow link exist for one first node, each of the first inflow links is linked to the second link, and when a single first inflow link and one first outflow link exist for one first node, the unit determines that the single first inflow link and the single first outflow link are linked to the second link.
acquiring first route information including at least one piece of first node information having information for determining whether an incoming link or an outgoing link is in a first route calculated using a first map including road shape information for each road;
obtaining a second map including road shape information expressed in a format different from that of the first map;
determining whether or not the first node information included in the first route information is linked to the second link based on the first route information and linking information indicating a correspondence relationship between the first node information in the first map and the second link in the second map;
creating second route information including the second link in a second route on the second map corresponding to the first route based on at least one of the second links determined to be associated with the first route and the second map;
A route information creation method, wherein the linking information includes, when there is no second outgoing link outgoing from a second node on the second map corresponding to a first outgoing link outgoing from a first node on the first map, information linking another second outgoing link outgoing from another second node near the second node to the first outgoing link, and when there is no second ingoing link flowing into a second node on the second map corresponding to a first ingoing link flowing into the first node on the first map, information linking another second ingoing link flowing into another second node near the second node to the first ingoing link.