WO2024095368A1 - Dispositif de création d'informations d'itinéraire et procédé de création d'informations d'itinéraire - Google Patents

Dispositif de création d'informations d'itinéraire et procédé de création d'informations d'itinéraire Download PDF

Info

Publication number
WO2024095368A1
WO2024095368A1 PCT/JP2022/040904 JP2022040904W WO2024095368A1 WO 2024095368 A1 WO2024095368 A1 WO 2024095368A1 JP 2022040904 W JP2022040904 W JP 2022040904W WO 2024095368 A1 WO2024095368 A1 WO 2024095368A1
Authority
WO
WIPO (PCT)
Prior art keywords
link
information
node
map
route
Prior art date
Application number
PCT/JP2022/040904
Other languages
English (en)
Japanese (ja)
Inventor
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 (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 三菱電機株式会社 filed Critical 三菱電機株式会社
Priority to PCT/JP2022/040904 priority Critical patent/WO2024095368A1/fr
Publication of WO2024095368A1 publication Critical patent/WO2024095368A1/fr

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance

Definitions

  • This disclosure relates to a route information creation device and a route information creation method that create route information that contributes to driving assistance.
  • 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
  • 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
  • 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).
  • Patent Document 1 can be used to create second route information associated with the first route information.
  • 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.
  • 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.
  • 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.
  • the route information creation device 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.
  • 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.
  • 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.
  • 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 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.
  • 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.
  • 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.
  • 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.
  • PND Portable Navigation Device
  • 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.
  • 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.
  • 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.
  • GNSS Global Navigation Satellite System
  • 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.
  • 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.
  • 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.
  • 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.
  • the first node information includes, for the first node n, the node coordinates Pn, the incoming direction ⁇ n (incoming i, first incoming link direction), and the outgoing direction ⁇ n (outgoing j, first outgoing link direction).
  • FIG 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.
  • 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.
  • 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.
  • the linking information creation system creates information linking the first inflow link to the second inflow link.
  • 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.
  • 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.
  • HN1, HN2, HN3, HN4, HN5, HN6 indicate the numbers (second node numbers) of the nodes (second nodes) on the second map.
  • 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.
  • "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.
  • 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.
  • 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.
  • 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 second node HN4 corresponding to the first node N2 corresponding to the junction point
  • 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.
  • 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.
  • 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.
  • 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.
  • the linking determination unit 4 compares the linking information with the node coordinates P (N1), the orientation ⁇ N1 (inflow 1) of the first inflow link, and the orientation ⁇ N1 (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 ⁇ N1 (inflow 1) of the first inflow link, and a second link c linked to the node coordinates P (N1) and the orientation ⁇ N1 (outflow 1) of the first outflow link are extracted.
  • both the second link a and the second link c are adopted as the second link linked to the first node information.
  • 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.
  • the linking determination unit 4 compares the node coordinate P(N2), the orientation ⁇ N2 (inflow 1) of the first inflow link, and the orientation ⁇ N2 (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 ⁇ N2 (inflow 1) of the first inflow link, and the second link g linked to the node coordinate P(N2) and the orientation ⁇ N2 (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).
  • the linking determination unit 4 compares the node coordinate P(N3), the orientation ⁇ N3 (inflow 1) of the first inflow link, and the orientation ⁇ N3 (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 ⁇ N3 (inflow 1) of the first inflow link, and the second link i linked to the node coordinate P(N3) and the orientation ⁇ N3 (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).
  • step S14 the fact that there is no second link associated with the first node information is stored in a storage unit (not shown).
  • step S15 the linking determination unit 4 adds "1" to n.
  • 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.
  • 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.
  • 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.
  • 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.
  • the linking information for the redundant second link in the linking information may be set to "null (0).”
  • 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.”
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the road topology in the first map is different from the road topology in the actual road geometry shown in FIG. 20.
  • 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.
  • 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.
  • the route information creation device 8 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.
  • the first inflow link ⁇ N2 (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.
  • the linking information creation system may generate "NULL" information in advance.
  • the first incoming link ⁇ N3 (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 ⁇ N3 (incoming 2) as the second link.
  • FIG. 24 is a diagram showing an example of first route information.
  • a solid arrow indicates a first route on a first map
  • a dashed arrow indicates a second route on a second map that corresponds to the first route.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • a solid arrow indicates a first route on a first map
  • a dashed arrow indicates a second route on a second map that corresponds to the first route.
  • 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.
  • 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>
  • 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.
  • the linking information shown in FIG. 43 there is a first link N2-N4 (the orientation of the first inflow link is ⁇ N2 (inflow 1)) that flows out from the first node N2.
  • the linking information shown in FIG. 43 there is no second link linked to the orientation of the first inflow link is ⁇ N2 (inflow 1) (NULL).
  • 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.
  • a solid arrow indicates a first route on a first map
  • a dashed arrow indicates a second route on a second map that corresponds to the first route.
  • 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.
  • the first node information described in the embodiment includes node coordinates Pn, inflow direction ⁇ n (inflow i), and outflow direction ⁇ n (outflow j) for the first node n, but may include other information as long as it is information that identifies the first node.
  • the first node information may include node coordinates Pn, and the direction difference d ⁇ n (i, j) between the inflow direction ⁇ n (inflow i) and the outflow direction ⁇ n (outflow j) relative to the inflow direction ⁇ n (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.
  • the first route information output by the information processing device 7 may include type information indicating the type of the first map.
  • 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.
  • the existing linking information may be rewritten with new linking information.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the processing circuitry can realize each of the above-mentioned functions through hardware, software, firmware, or a combination of these.

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Navigation (AREA)
  • Traffic Control Systems (AREA)

Abstract

Un dispositif de création d'informations d'itinéraire selon la présente divulgation comprend : une première unité d'acquisition d'informations d'itinéraire pour acquérir de premières informations d'itinéraire calculées à l'aide d'une première carte ; une seconde unité d'acquisition de carte pour acquérir une seconde carte exprimée dans un format différent de celui de la première carte ; une unité de détermination d'association pour déterminer, sur la base des premières informations d'itinéraire et des informations d'association, si de premières informations de nœud sont associées à une seconde liaison ; et une seconde unité de création d'informations d'itinéraire. Les informations d'association comprennent : si, dans un second nœud correspondant à un premier nœud spécifique, il n'y a pas de seconde liaison de sortie canalisant un flux sortant du second nœud correspondant à une première liaison de sortie canalisant un flux sortant du premier nœud spécifique, des informations associant une autre seconde liaison de sortie canalisant un flux sortant d'un autre second nœud au voisinage dudit second nœud avec la première liaison de sortie ; et si, dans un second nœud correspondant à un premier nœud spécifique, il n'y a pas de seconde liaison d'entrée canalisant un flux entrant dans le second nœud correspondant à une première liaison d'entrée canalisant un flux entrant dans le premier nœud spécifique, des informations associant une autre seconde liaison d'entrée canalisant un flux entrant dans un autre second nœud à proximité dudit second nœud avec la première liaison d'entrée.
PCT/JP2022/040904 2022-11-01 2022-11-01 Dispositif de création d'informations d'itinéraire et procédé de création d'informations d'itinéraire WO2024095368A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/JP2022/040904 WO2024095368A1 (fr) 2022-11-01 2022-11-01 Dispositif de création d'informations d'itinéraire et procédé de création d'informations d'itinéraire

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2022/040904 WO2024095368A1 (fr) 2022-11-01 2022-11-01 Dispositif de création d'informations d'itinéraire et procédé de création d'informations d'itinéraire

Publications (1)

Publication Number Publication Date
WO2024095368A1 true WO2024095368A1 (fr) 2024-05-10

Family

ID=90930061

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2022/040904 WO2024095368A1 (fr) 2022-11-01 2022-11-01 Dispositif de création d'informations d'itinéraire et procédé de création d'informations d'itinéraire

Country Status (1)

Country Link
WO (1) WO2024095368A1 (fr)

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2020187041A (ja) * 2019-05-15 2020-11-19 日産自動車株式会社 車両運転支援方法及び車両運転支援装置
WO2021192054A1 (fr) * 2020-03-24 2021-09-30 三菱電機株式会社 Dispositif de mise en correspondance de cartes et procédé de mise en correspondance de cartes

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2020187041A (ja) * 2019-05-15 2020-11-19 日産自動車株式会社 車両運転支援方法及び車両運転支援装置
WO2021192054A1 (fr) * 2020-03-24 2021-09-30 三菱電機株式会社 Dispositif de mise en correspondance de cartes et procédé de mise en correspondance de cartes

Similar Documents

Publication Publication Date Title
US8825364B2 (en) Vehicle position recognition device and vehicle position recognition program
CN109564099B (zh) 用于地图匹配的方法及系统
EP0689034B1 (fr) Méthode d'identification des bretelles d'accès d'autoroute servant au calcul de route dans un système de navigation véhiculaire
JP5305598B2 (ja) ナビゲーション装置
US20080021638A1 (en) Navigation system
JP2009008590A (ja) 自車位置認識装置及び自車位置認識プログラム
EP2458331B1 (fr) Dispositif d'estimation de route et procédé pour l'estimation d'une route
WO2020166296A1 (fr) Dispositif d'évaluation d'informations de carte pour commande, procédé d'évaluation d'informations de carte pour commande, et programme de commande
JP7173750B2 (ja) 地図情報生成装置、自動運転システム、および自動運転制御情報生成装置
JP2010014661A (ja) ナビゲーション装置
JP4651511B2 (ja) ナビゲーション装置および車両位置確定方法
US20060047424A1 (en) Navigation device, data structure, and route search and display method
JP2009002884A (ja) ナビゲーション装置
WO2024095368A1 (fr) Dispositif de création d'informations d'itinéraire et procédé de création d'informations d'itinéraire
JP2010169580A (ja) 逆走警告装置及び逆走警告方法
JP2020038090A (ja) 推奨レーン判定装置
CN116147652A (zh) 导航路线计算方法、系统、设备及存储介质
JP7209912B2 (ja) 運転支援制御装置および運転支援制御方法
JP7504131B2 (ja) 運転支援装置及び運転支援方法
JP7076665B2 (ja) マップマッチング装置およびマップマッチング方法
CN114964293A (zh) 车辆的路径规划方法、装置及电子设备、存储介质
JP2018081420A (ja) 逆走判定方法およびそれを利用した逆走判定装置、プログラム
JP7163013B2 (ja) 逆走警報システム、逆走警報方法、及び、プログラム
WO2023127003A1 (fr) Dispositif de formulation d'aide à la conduite et procédé de formulation d'aide à la conduite
JP2006029812A (ja) 経路探索装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 22964390

Country of ref document: EP

Kind code of ref document: A1