JP7087293B2 - Driving route generation method and driving route generation device for driving support vehicles - Google Patents

Description

The present disclosure relates to a driving route generation method and a driving route generation device of a driving support vehicle that generates a driving route from the current position of the own vehicle to the destination.

Conventionally, there is known a communication type navigation device that calculates a route by a server, executes a route search in consideration of safety and user's preference, and executes route guidance by an in-vehicle device. This conventional device performs advanced calculations that utilize processing speed more by performing route search on the server side, which was executed on the in-vehicle device, and makes use of real-time (traffic jam, etc.) information that utilizes information on the Internet. The main feature is that the route can be calculated (see, for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 2000-308004

However, in order to achieve the characteristics of route calculation in autonomous driving with conventional equipment, it is important to be able to set a "route that is more appropriate for the vehicle" by the autonomous driving vehicle provider and a "route that the vehicle wants to guide" by the road provider. Become. For this reason, there is a need for a mechanism that can notify the vehicle to take a specific route in a specific area, that is, a mechanism for the provider to edit the route and instruct the vehicle, not just a mechanism for performing calculations. ..

This disclosure focuses on the above problem, and when a recommended route exists on the route of the target travel route, the total travel route including the recommended route is generated by reroute without the need for a complicated mechanism. With the goal.

In order to achieve the above object, the present disclosure is equipped with a controller that generates a traveling route from the current position of the own vehicle to the destination.
In this driving route generation method of the driving support vehicle, when the destination is set, the target driving route connecting the current position of the own vehicle to the destination is generated by cost calculation .
Recommended route information for areas including the target driving route includes route information for avoiding incapable areas, route information for avoiding routes where smooth vehicle driving is not ensured, route information for avoiding routes that in-vehicle sensors are not good at, and in-vehicle sensors. Takes in at least one piece of route information by a route that is good at.
Determine if there is recommended route information recommended by the road provider or vehicle provider on the route according to the target travel route.
When it is determined that the recommended route information exists, it is determined whether or not the starting point of the recommended route information exists on the route of the traveling route to the destination.
If the starting point of the recommended route information does not exist, the travel route is not changed, and the target travel route generated by the cost calculation is used for guidance.
If the starting point of the recommended route information exists, it is decided to adopt the recommended route information.
When rerouting connecting the target driving route and the recommended driving route , if the end point of the recommended route is on the route of the original target driving route, the route is calculated by connecting the ending point of the recommended route and the original target driving route. On the other hand, if the end point of the recommended route does not exist on the route of the original target travel route, the route is calculated by complementing the end point of the recommended route and the route to the original target travel route, and the end of the recommended route is completed. Calculate the reroute route from the point to the destination.
By combining the target travel route to the start point of the recommended route, the recommended route, and the reroute route, one total travel route is generated and guided .

As described above, by generating a total driving route by reroute connecting the target driving route and the recommended route, when the recommended route exists on the route of the target driving route, the recommended route by reroute is unnecessary while eliminating the complicated mechanism. It is possible to generate a total travel route including. In addition, it is possible to deal with changes in road conditions when returning from the recommended route to the original target driving route without requiring special processing for the recommended route when searching for a route. .. In addition, if it is determined that recommended route information exists, the driving route should be changed so that the recommended route can be actively used by avoiding scenes and courses that are not good at autonomous driving by rerouting that reflects the recommended route. Can be done.

It is an overall system diagram which shows the automatic driving control system to which the traveling route generation method and the traveling route generation apparatus of Example 1 are applied. It is a flowchart which shows the flow of the automatic operation control processing executed by the navigation control unit and the automatic operation control unit in Example 1. FIG. It is an action explanatory diagram which shows an example of the generation action of the total traveling route by reroute when the destination is set in Example 1. FIG. It is an overall system diagram which shows the automatic driving control system to which the traveling route generation method and the traveling route generation apparatus of Example 2 are applied. It is a flowchart which shows the flow of the automatic operation control processing executed by the server and the automatic operation control unit in Example 2. FIG.

Hereinafter, the best embodiment for realizing the travel route generation method and the travel route generation device of the driving support vehicle according to the present disclosure will be described with reference to Examples 1 and 2 shown in the drawings.

First, the configuration will be described.
The driving route generation method and the driving route generation device in the first embodiment use the driving route information generated based on the setting of the destination, and the steering / driving / braking is automatically controlled by selecting the automatic driving mode. It is applied to (an example of a driving support vehicle). Hereinafter, the configuration of the first embodiment will be described separately for "overall system configuration", "detailed configuration of navigation control unit", and "automatic operation control processing configuration".

[Overall system configuration]
FIG. 1 shows an automatic driving control system to which the traveling route generation method and the traveling route generation device of the first embodiment are applied. Hereinafter, the overall system configuration for generating travel route information by the in-vehicle terminal will be described with reference to FIG.

As shown in FIG. 1, the automatic driving control system includes an in-vehicle sensor 1, an ADAS control unit 2, a navigation control unit 3, an automatic driving control unit 4, an actuator 5, and a server 6. The ADAS control unit 2, the navigation control unit 3, and the automatic operation control unit 4 are computers that include an arithmetic processing unit such as a CPU and execute arithmetic processing.

The in-vehicle sensor 1 is a sensor mounted on an autonomous driving vehicle and acquiring peripheral information of the own vehicle. It has a front recognition camera 11, a rear recognition camera 12, a right side recognition camera 13, a left side recognition camera 14, a rider 15, and a radar 16. It should be noted that, as a sensor for acquiring information necessary for automatic driving control other than the peripheral information of the own vehicle, a wheel speed sensor, a yaw rate sensor, etc., which are not shown in the figure, are included.

A peripheral recognition camera is configured by combining a front recognition camera 11, a rear recognition camera 12, a right side recognition camera 13, and a left side recognition camera 14. With this surrounding recognition camera, objects on the own vehicle's road, objects outside the own vehicle's road (road structure, preceding vehicle, following vehicle, oncoming vehicle, surrounding vehicle, pedestrian, bicycle, two-wheeled vehicle), own vehicle's road (white line on the road) , Road boundaries, stop lines, crosswalks), road signs (speed limit), etc. are detected.

The rider 15 and the radar 16 are arranged at the front end position of the own vehicle so that the irradiation axis of the output wave is directed toward the front of the vehicle, and by receiving the reflected wave, the presence of an object in front of the own vehicle is detected and the front of the own vehicle is detected. Detects the distance to an object. A rider / radar is configured by combining two types of distance measuring sensors, a rider 15 and a radar 16, and for example, a laser radar, a millimeter wave radar, an ultrasonic radar, a laser range finder, or the like can be used. In the rider 15 and the radar 16, the positions and objects of the vehicle on the road and the objects outside the vehicle (road structure, preceding vehicle, following vehicle, oncoming vehicle, surrounding vehicle, pedestrian, bicycle, two-wheeled vehicle) are reached. Detects the distance of. If the viewing angle is insufficient, it may be additionally mounted on the vehicle.

The ADAS control unit 2 inputs image data from the recognition cameras 11, 12, 13, and 14 and object data from the riders / radars 15, 16. The ADAS control unit 2 has a calibration processing unit 21 that generates calibration data of image data and object data, and an object recognition processing unit 22 that performs object recognition processing based on the calibration data. In addition, "ADAS" is an abbreviation for "Advanced Driver Assistance System".

The calibration processing unit 21 estimates the parameters of the image data from the recognition cameras 11, 12, 13, and 14 and the parameters of the object data from the riders / radars 15, 16, and uses the parameters to estimate the image data and the object. Data calibration Generates and outputs data. For example, in the case of image data from each recognition camera 11, 12, 13, 14, the optical axis and lens distortion are corrected by using parameters.

The object recognition processing unit 22 inputs the calibration data from the calibration processing unit 21, performs the object recognition process based on the calibration data, and outputs the recognition result data. In the object recognition processing unit 22, for example, the image data and the object data are compared and processed, and when it is confirmed by the object data that the object exists at the position of the object candidate by the image data, the existence of the object is recognized and the object is recognized. Recognize what an object is.

The navigation control unit 3 inputs the vehicle position information from the GNSS antenna 31, combines map data including road information with GPS (Global Positioning System) using satellite communication, and performs route search from the current position to the destination. Generate a driving route for. Then, the generated travel route is displayed on the map and the travel route information is output.

Here, "GNSS" is an abbreviation for "Global Navigation Satellite System", and "GPS" is an abbreviation for "Global Positioning System". The detailed configuration of the navigation control unit 3 will be described later.

The automatic driving control unit 4 inputs the recognition result data from the object recognition processing unit 22 of the ADAS control unit 2 and the travel route information or the total travel route information from the navigation control unit 3. Then, the target vehicle speed, the target acceleration, and the target deceleration are generated based on the input information. Further, the drive control command value is calculated based on the generated target acceleration, and the calculation result is output to the drive actuator 51. The braking control command value is calculated based on the generated target deceleration, and the calculation result is output to the braking actuator 52. The steering angle control command value is calculated based on the input travel route information (target travel route information), and the calculation result is output to the steering angle actuator 53.

The actuator 5 includes a drive actuator 51, a braking actuator 52, and a steering angle actuator 53.

The drive actuator 51 is an actuator that inputs a drive control command value from the automatic operation control unit 4 and controls the drive source driving force. That is, in the case of an engine vehicle, an engine actuator is used. In the case of a hybrid vehicle, an engine actuator and a motor actuator are used. In the case of an electric vehicle, a motor actuator is used.

The braking actuator 52 is an actuator that controls the braking braking force by inputting a braking control command value from the automatic operation control unit 4. As the braking actuator 52, a hydraulic booster, an electric booster, or the like is used.

The steering angle actuator 53 is an actuator that controls the steering angle of the steering wheel by inputting a steering angle control command value from the automatic operation control unit 4. As the steering angle actuator 53, a steering angle control motor or the like is used.

The server 6 is an infrastructure outside the vehicle that holds recommended route information, and creates a cloud environment in which information can be exchanged with the navigation control unit 3 of the in-vehicle terminal. The server 6 has a recommended route information storage unit that stores recommended route information recommended by a road provider (country or prefecture that creates and manages a road) or a vehicle provider (automobile company).

[Detailed configuration of navigation control unit]
First, as the navigation function for automatic driving (referred to as "AD navigation function"), the following AD navigation functions (a), (b), and (c) are provided.

(a) Set the destination Notify the candidate destination. Get the coordinates of the destination. Update the coordinates of the destination. Set waypoints.

(b) Calculate the optimum route Obtain the vehicle position on the map. Search for route candidates. Identify the optimal route plan (cost calculation). Deliver route plans. Receive a reroute / route request from the DM side. Update the route plan. Notify the DM side of the navigation status (when the route is unknown, etc.).

(c) Guide the route Display the automatic driving section and the manual driving section on the screen. Notify the system migration. Select a destination / waypoint. Notify the destination. others.

Hereinafter, FIG. 1 shows a detailed configuration of the navigation control unit 3 that generates a driving route for automatic driving by reroute when the destination setting is set according to the above (a) and the optimum route is calculated according to the above (b). I will explain based on.

As shown in FIG. 1, the navigation control unit 3 includes a GNSS antenna 31, a position information processing unit 32, a destination setting unit 33, a map data storage unit 34, a communication module 35, and a recommended route download unit 36. , A route search processing unit 37, and a display unit 38.

The position information processing unit 32 performs latitude / longitude detection processing of the stop position of the own vehicle and the traveling position of the own vehicle based on the satellite communication information input from the GNSS antenna 31. The vehicle position information from the position information processing unit 32 is output to the route search processing unit 37.

The destination setting unit 33 sets the input of the destination of the own vehicle by the driver operating the touch panel on the display screen of the display unit 38. The destination information from the destination setting unit 33 is output to the route search processing unit 37.

The map data storage unit 34 is a so-called electronic map data storage unit in which latitude / longitude and map information are associated with each other. The map data has road information associated with each point, and the road information is defined by a node and a link connecting the nodes. The road information includes information for specifying a road according to the position / area of the road, road type for each road, road width for each road, and road shape information. The road information stores the position of the intersection, the approach direction of the intersection, the type of the intersection, and other information about the intersection in association with each other for each road link identification information. In addition, the road information includes road type, road width, road shape, whether or not to go straight, priority of progress, whether or not to pass (whether or not to enter the adjacent lane), speed limit, etc. for each road link identification information. The information about the road is associated and memorized.

The communication module 35 can exchange information with the server 6 that holds the recommended route information. Then, the recommended route information recommended by the road provider (country or prefecture that creates and manages the road) or the vehicle provider (automobile company) is taken in from the server 6 in the cloud environment by wireless communication.

The recommended route download unit 36 inputs the travel route information (target travel route information, total travel route information by reroute) generated by the route search processing unit 37. Then, the recommended route included in the area including the route of the traveling route is downloaded via the communication module 35, and the downloaded recommended route is output to the route search processing unit 37.

The route search processing unit 37 provides the vehicle position information from the position information processing unit 32, the destination information from the destination setting unit 33, and the road map information (road map data) from the map data storage unit 34. input. Then, when the destination is set, the target traveling route is generated by route cost calculation or the like based on the road map information from the current position of the own vehicle to the destination.

The display unit 38 inputs the map data information from the map data storage unit 34 and the travel route information or the total travel route information from the route search processing unit 37. Then, the map, the road, the traveling route, the position of the own vehicle, and the destination are displayed on the display screen. That is, the display unit 38 provides visual information on the position of the own vehicle such as where the own vehicle is moving on the map while traveling by automatic driving, and when rerouted, the display unit 38 changes and displays the traveling route. ..

[Automated driving control processing configuration]
FIG. 2 shows the flow of the automatic operation control process executed by the navigation control unit 3 and the automatic operation control unit 4 of the first embodiment. Hereinafter, each step of FIG. 2 representing the automatic operation control processing configuration of the first embodiment will be described.

In step S1, when the destination is set, the target travel route is generated by the route cost calculation based on the road map information, and the process proceeds to step S2.

In step S2, following the generation of the target driving route in step S1, the determination that the automatic driving is in progress in step S7, or the start of automatic driving in step S9, the generated driving route (target driving). Based on the route or the total travel route by reroute), the recommended route information of the area including the travel route is downloaded from the server 6, and the process proceeds to step S3.

In step S3, following the download of the recommended route in step S2, whether or not there is a "starting point" of the recommended route information recommended by the road provider or the vehicle provider on the route of the travel route to the destination. To judge. If YES (there is a recommended route start point), the process proceeds to step S4, and if NO (there is no recommended route start point), the process proceeds to step S7.

In step S4, following the determination that there is a starting point of the recommended route in step S3, it is decided to adopt the recommended route information, and the process proceeds to step S5.

In step S5, following the decision to adopt the recommended route information in step S4, the route from the "end point" of the recommended route to the destination is calculated, and the process proceeds to step S6.
Here, when the "end point" of the recommended route exists on the route of the original travel route, the route is calculated by connecting the "end point" of the recommended route and the original travel route. On the other hand, when the "end point" of the recommended route does not exist on the route of the original travel route, the route is calculated by complementing the "end point" of the recommended route and the route to the original travel route.

In step S6, following the route calculation from the end point of the recommended route to the destination in step S5, the original route information to the recommended route, the recommended route information, and all the recommended route "end point" to the destination. By combining the route information, a total travel route is generated, and the process proceeds to step S7.

In step S7, it is determined whether or not the recommended route has no starting point in step S3, or whether or not the vehicle is in automatic driving following the generation of the total traveling route in step S6. If YES (in automatic driving), the process returns to step S2, and in the case of NO (not in automatic driving), the process proceeds to step S8.

In step S8, following the determination that the vehicle is not in automatic driving in step S7, it is determined whether or not the own vehicle has arrived at the destination. If YES (arrival at the destination), proceed to the end, and if NO (automatic operation start position), proceed to step S9.

In step S9, following the determination that the position is the automatic operation start position in step S8, the automatic operation is started and the process returns to step S2.

Next, the action will be described.
The operation of the first embodiment will be described separately by "automatic driving control processing operation", "travel route generation operation by reroute", and "characteristic effect of travel route generation by reroute".

[Automated operation control processing action]
Hereinafter, the automatic operation control processing operation will be described with reference to FIG. First, if the starting point of the recommended route information does not exist on the route to the destination at the start of the automatic driving, in the flowchart of FIG. 2, step S1 → step S2 → step S3 → step S7 → step S8 → step S9. Proceed to. Then, in step S9, automatic driving to travel along the target traveling route calculated based on the road map is started.

Next, when the start point of the recommended route information exists on the route to the destination at the start of the automatic driving, in the flowchart of FIG. 2, step S1 → step S2 → step S3 → step S4 → step S5 → step S6. → Step S7 → Step S8 → Step S9. Then, in step S6, the total travel route is calculated by combining the target travel route calculated based on the road map and the recommended route, and in step S9, automatic driving to travel along the total travel route by reroute starts. Will be done.

If the starting point of the recommended route information does not exist on the route from the vehicle position to the destination during the automatic driving, the flow of step S2 → step S3 → step S7 is repeated in the flowchart of FIG. Is done. That is, the automatic driving along the running route calculated at the start is maintained without changing the running route (target running route, total running route by reroute) calculated at the start of the automatic driving running.

On the other hand, if new recommended route information is added during autonomous driving and the start point of the recommended route information exists on the route from the own vehicle position to the destination at that time, steps S3 to S4 → step S5. → Proceed to step S6. Then, in step S6, the total travel route is calculated again by combining the travel route up to that point and the recommended route, and in step S9, it is switched to automatic driving that travels along the total travel route by the newly updated reroute. ..

Then, when it is determined in step S7 that the vehicle is not in automatic driving and it is determined in step S8 that the vehicle has arrived at the destination, the process proceeds to step S7 → step S8 → end, and the automatic driving is terminated.

[Traveling route generation action by reroute]
FIG. 3 shows an example of the action of generating a total travel route by reroute when a destination is set in the first embodiment. Hereinafter, the traveling route generation action by reroute will be described with reference to FIG.

When the destination is set at the start of automatic driving, a target driving route connecting the current position of the own vehicle to the destination is generated. For example, in the case shown in FIG. 3, this target traveling route is a route connecting from the bottom to the top of the main road with a straight line.

However, for example, if there is a construction site X in the middle of the main road where vehicle traffic is restricted, the recommended route information recommended by the road provider (route that bypasses the construction site X) is on the route according to the target driving route. Is determined to exist. Then, when it is determined that the recommended route information exists, the total travel route is generated by the reroute connecting the target travel route Rt and the recommended route Rs.

That is, when performing a reroute connecting the target travel route Rt and the recommended route Rs, the reroute route Rr from the end point Pe of the recommended route Rs to the destination is calculated. Then, by combining the target travel route Rt to the start point Ps of the recommended route Rs, the recommended route Rs, and the reroute route Rr, one total travel route is generated as shown in FIG.

[Characteristic effect of traveling route generation by reroute]
In the first embodiment, when the destination is set, the target travel route Rt connecting the current position of the own vehicle to the destination is generated. It is determined whether or not the recommended route information recommended by the road provider or the vehicle provider exists on the route according to the target travel route Rt. When it is determined that the recommended route information exists, the total travel route is generated by the reroute connecting the target travel route Rt and the recommended route Rs.

That is, on condition that the recommended route information recommended by the road provider or the vehicle provider exists, the total travel route is generated by the reroute connecting the target travel route Rt and the recommended route Rs.
Therefore, when the recommended route Rs exists on the route of the target travel route Rt, the total travel route including the recommended route Rs can be generated by rerouting without the need for a complicated mechanism. As a result, in the past, rerouting by "traffic jam" was the basic rerouting factor, but in this method, "recommended route information by the road provider" and "recommended route information by the vehicle provider" are added. The probability of optimization occurring due to reroute is improved.

In the first embodiment, when the reroute connecting the target travel route Rt and the recommended route Rs is performed, the reroute route Rr from the end point Pe of the recommended route Rs to the destination is calculated. By combining the target travel route Rt to the start point Ps of the recommended route Rs, the recommended route Rs, and the reroute route Rr, one total travel route is generated.

That is, the entire course by one total traveling route can be restored by exchanging only the "start point Ps" and "end point Pe" of the recommended route Rs, which is the minimum information. That is, even if the route is interrupted, all the routes including the recommended route Rs are combined and the traveling guidance is performed as one navigation route.
Therefore, even if the road conditions change when returning from the recommended route to the original route, it can be dealt with. In addition, by combining the recommended course and the original course into one data, the processing of the navigation device does not require a special processing unit for the recommended course.

In the first embodiment, the recommended route information recommended by the road provider is route information for avoiding a place where the vehicle cannot travel and route information for avoiding a route where smooth vehicle traveling is not ensured. The recommended route information recommended by the vehicle provider is route information that avoids a route that the vehicle-mounted sensor 1 is not good at, or route information that is based on a route that the vehicle-mounted sensor 1 is good at.

Here, the "route information for avoiding a non-travelable place" is the avoidance route information when there is a construction place, a signal failure place, or the like. The "route information for avoiding a route where smooth vehicle traveling is not ensured" is the avoidance route information when a traffic jam or the like occurs. "Route information based on a route that the in-vehicle sensor 1 is not good at" is route information that avoids a right turn route, a left turn route, or a U-turn route that is not good at setting the mounting angle of the right side recognition camera 13 or the left side recognition camera 14. Is. "Route information based on the route that the in-vehicle sensor 1 is good at" is a left turn route or a right turn route that is good at setting the mounting angle of the right side recognition camera 13 and the left side recognition camera 14, and we want to actively use it. Route information.
Therefore, if it is determined that recommended route information exists, the driving route should be changed so as to avoid scenes and courses that are not good at autonomous driving and actively use the course that is good at by reroute that reflects the recommended route Rs. Can be done.

In the first embodiment, it is determined that the reroute connecting the target driving route Rt and the recommended route Rs has recommended route information when the target driving route Rt connecting the current position of the own vehicle to the destination is generated at the start of vehicle driving. Do it when it is done.

For example, when the target travel route to the destination is calculated at the start of vehicle travel, an avoidance route due to road construction or traffic congestion may be provided as recommended route information. Furthermore, when there are routes that autonomous vehicles are not good at (many U-turns, many right turn routes, past sunshine hours, directions toward the sun, etc.), the routes that autonomous vehicles are good at (left turn routes, etc.) Etc.) may be provided as recommended route information.
On the other hand, when the "starting point Ps" of the recommended route Rs exists on the target traveling route Rt at the start of vehicle traveling, the reroute connecting the target traveling route Rt and the recommended route Rs is performed.
Therefore, at the start of vehicle travel, the recommended route Rs known before departure can be reflected by prior reroute.

In the first embodiment, the reroute connecting the target travel route Rt and the recommended route Rs is performed when it is determined that the recommended route information exists while the vehicle is traveling along the generated route.

For example, while the vehicle is traveling, the "starting point Ps" of the recommended route Rs may suddenly appear on the traveling route, such as road construction or provision of an avoidance route due to traffic congestion.
On the other hand, when the "starting point Ps" of the recommended route Rs exists on the target traveling route Rt at the start of vehicle traveling, the reroute connecting the target traveling route Rt and the recommended route Rs is performed.
Therefore, the recommended route Rs that suddenly occurs during construction or the like while the vehicle is running can be reflected by real-time reroute.

In addition, as the timing when the recommended route Rs is applied, the recommended route Rs generated in advance and the recommended route suddenly generated are generated by using two types of triggers, one at the start of vehicle running and the other during vehicle running. It can handle both Rs and.

In the first embodiment, the generation of the total traveling route by the reroute is performed by the navigation control unit 3 that downloads the recommended route information.

That is, there are a method of processing the recommended route Rs at the terminal and a method of processing at the cloud. On the other hand, in the first embodiment, the recommended route information is downloaded from the server 6 to the navigation control unit 3 which is a terminal, and the traveling route is guided.
Therefore, in an environment where communication is difficult, when there is no need for advanced calculations using the cloud, when there is no need to use real-time information, etc., a general route search technology using the navigation control unit 3 can be used. Can be applied.

Next, the effect will be described.
In the traveling route generation method and the traveling route generation device of the autonomous driving vehicle in the first embodiment, the effects listed below can be obtained.

(1) It is equipped with a controller (navigation control unit 3) that generates a travel route from the current position of the vehicle to the destination.
In this driving route generation method of a driving support vehicle (automated driving vehicle), when a destination is set, a target driving route Rt connecting the current position of the own vehicle to the destination is generated.
It is determined whether or not the recommended route information recommended by the road provider or the vehicle provider exists on the route according to the target travel route Rt.
When it is determined that the recommended route information exists, a total travel route is generated by a reroute connecting the target travel route Rt and the recommended route Rs (FIG. 1).
Therefore, when the recommended route Rs exists on the route of the target driving route Rt, the driving of a driving support vehicle (autonomous driving vehicle) that generates a total driving route including the recommended route Rs by rerouting while eliminating the need for a complicated mechanism. A route generation method can be provided.

(2) When performing a reroute connecting the target travel route Rt and the recommended route Rs, the reroute route Rr from the end point Pe of the recommended route Rs to the destination is calculated.
By combining the target travel route Rt to the start point Ps of the recommended route Rs, the recommended route Rs, and the reroute route Rr, one total travel route is generated (FIG. 3).
Therefore, in addition to the effect of (1), the road condition when returning from the recommended route Rs to the original target driving route Rt without requiring special processing for the recommended route Rs when searching for a route. Can be dealt with even if has changed.

(3) The recommended route information recommended by the road provider is route information for avoiding places where driving is not possible and route information for avoiding routes where smooth vehicle running is not ensured.
The recommended route information recommended by the vehicle provider is route information that avoids a route that the vehicle-mounted sensor 1 is not good at and route information that is based on a route that the vehicle-mounted sensor 1 is good at (FIG. 2).
Therefore, in addition to the effects of (1) or (2), if it is determined that recommended route information exists, the reroute that reflects the recommended route Rs avoids scenes and courses that are not good at automatic driving, and chooses a course that is good at. You can change the driving route so that you can use it positively.

(4) It was determined that the reroute connecting the target driving route Rt and the recommended route Rs has recommended route information when the target driving route Rt connecting the current position of the own vehicle to the destination is generated at the start of vehicle driving. Occasionally (Fig. 2).
Therefore, in addition to the effects of (1) to (3), the recommended route Rs known before departure can be reflected by prior reroute at the start of vehicle traveling.

(5) The reroute connecting the target travel route Rt and the recommended route Rs is performed when it is determined that the recommended route information exists while the vehicle is traveling along the generated route (Fig. 2).
Therefore, in addition to the effects of (1) to (4), the recommended route Rs that suddenly occurs while the vehicle is running can be reflected by real-time rerouting.

(6) The generation of the total travel route by reroute is performed by the in-vehicle terminal (navigation control unit 3) that downloads the recommended route information (Fig. 1).
Therefore, in addition to the effects of (1) to (5), in an environment where communication is difficult, apply the route search technique in the general navigation control unit 3 and generate a total travel route by reroute. Can be done.

(7) It is equipped with a controller (navigation control unit 3) that generates a travel route from the current position of the vehicle to the destination.
In the driving route generation device of the driving support vehicle (automated driving vehicle), the controller (navigation control unit 3) includes a destination setting unit 33 and a route search processing unit.
The destination setting unit 33 sets the destination.
When the destination is set, the route search processing unit 37 generates a target travel route Rt connecting the current position of the own vehicle to the destination, and the road provider or the vehicle provider is on the route according to the target travel route Rt. When it is determined that the recommended route information recommended by the vehicle exists, a total travel route is generated by a reroute connecting the target travel route Rt and the recommended route Rs (FIG. 1).
Therefore, when the recommended route Rs exists on the route of the target driving route Rt, the driving of a driving support vehicle (autonomous driving vehicle) that generates a total driving route including the recommended route Rs by rerouting while eliminating the need for a complicated mechanism. A route generator can be provided.

The second embodiment is an example in which the generation of the total traveling route by the reroute is performed by the server of the out-of-vehicle infrastructure having the recommended route information.

First, the configuration will be described.
The travel route generation method and the travel route generation device in the second embodiment are applied to the autonomous driving vehicle (an example of the driving support vehicle) as in the first embodiment. Hereinafter, the configuration of the second embodiment will be described separately for "overall system configuration and detailed server configuration" and "automated operation control processing configuration".

[Detailed configuration of the entire system and server]
FIG. 4 shows an automatic driving control system to which the traveling route generation method and the traveling route generation device of the second embodiment are applied. Hereinafter, the overall system configuration for generating travel route information by the cloud environment (server) and the detailed configuration of the server will be described with reference to FIG.

As shown in FIG. 4, the automatic driving control system includes an in-vehicle sensor 1, an ADAS control unit 2, a navigation control unit 3', an automatic driving control unit 4, an actuator 5, a server 6', and a browser 7. , Is equipped. Since the in-vehicle sensor 1, the ADAS control unit 2, the automatic driving control unit 4, and the actuator 5 have the same configuration as that of the first embodiment, the description thereof will be omitted.

As shown in FIG. 4, the navigation control unit 3'has a GNSS antenna 31, a position information processing unit 32, a destination setting unit 33, a map data storage unit 34, a communication module 35, a display unit 38, and the like. It is equipped with. Since the map data storage unit 34 has the same configuration as that of the first embodiment, the description thereof will be omitted.

The position information processing unit 32 performs latitude / longitude detection processing of the stop position of the own vehicle and the traveling position of the own vehicle based on the satellite communication information input from the GNSS antenna 31. The vehicle position information from the position information processing unit 32 is output to the route search processing unit 63 via the communication module 35.

The destination setting unit 33 sets the input of the destination of the own vehicle by the driver operating the touch panel on the display screen of the display unit 38. The destination information from the destination setting unit 33 is output to the route search processing unit 63 via the communication module 35.

The communication module 35 wirelessly communicates the current location / destination information to the route search processing unit 63. Then, the target travel route information or the total travel route information from the route search / combination processing unit 64 is received and output to the display unit 38 and the automatic operation control unit 4.

The display unit 38 inputs the map data information from the map data storage unit 34 and the target travel route information or the total travel route information from the route search / combination processing unit 64. Then, the map, the road, the traveling route, the position of the own vehicle, and the destination are displayed on the display screen. That is, the display unit 38 provides visual information on the position of the own vehicle such as where the own vehicle is moving on the map while traveling by automatic driving, and when rerouted, the display unit 38 changes and displays the traveling route. ..

The server 6'is an infrastructure outside the vehicle that holds recommended route information, and creates a cloud environment in which information can be exchanged with the navigation control unit 3 of the in-vehicle terminal. The server 6'includes an API 61 for course editing, a recommended route information storage unit 62, a route search processing unit 63, and a route search / combination processing unit 64.

The course editing API 61 inputs information from a browser 7 having a program for displaying computer data and programs as characters and images on the screen, and edits the information to create recommended route information (= course information). .. Then, the recommended route information is output to the recommended route information storage unit 62.
Here, the recommended route information recommended by the road provider (country or prefecture that creates and manages the road) or the vehicle provider (automobile company or the like) is input to the browser 7 at any time. API is an abbreviation for (Application Programming Interface).

The recommended route information storage unit 62 can exchange information with the route search / join processing unit 64, and can perform route search / join processing for recommended route information required in response to a request from the route search / join processing unit 64. Provided to section 64.

The route search processing unit 63 obtains the vehicle position information from the position information processing unit 32, the destination information from the destination setting unit 33, and the road map information (road map data) from the map data storage unit 34. input. Then, when the destination is set, the target traveling route is generated by route cost calculation or the like based on the road map information from the current position of the own vehicle to the destination.

The route search / combination processing unit 64 inputs the target travel route generated by the route search processing unit 63, and whether there is recommended route information recommended by the road provider or the vehicle provider on the route based on the target travel route. Judge whether or not. Then, when it is determined that the recommended route information exists, the total travel route is generated by the reroute connecting the target travel route and the recommended route.

[Automated driving control processing configuration]
FIG. 5 shows the flow of the automatic operation control process executed by the server 6', the navigation control unit 3', and the automatic operation control unit 4 of the second embodiment. Hereinafter, each step of FIG. 5 representing the automatic operation control processing configuration of the second embodiment will be described.

In step S21, it is determined whether or not the destination has been set, if YES (the destination has been set), the process proceeds to step S22, and if NO (the destination has not been set), the determination in step S1 is made. repeat.

In step S22, following the determination that the destination has been set in step S21, the server 6'uploads the current location and destination information from the navigation control unit 3'and proceeds to step S23.

In step S23, following the upload of the current location / destination information in step S22, the target travel route is calculated by the route cost calculation based on the road map information from the current location to the destination, and the process proceeds to step S24.

In step S24, the calculation of the target driving route in step S23, the determination that the automatic driving is in progress in step S29, or the start of the automatic driving in step S31 is followed by the generated target driving route. Then, the recommended route information of the area including the travel route is read from the recommended route information storage unit 62, and the process proceeds to step S25.

In step S25, following the reading of the recommended route in step S24, whether or not there is a "starting point" of the recommended route information recommended by the road provider or the vehicle provider on the route of the traveling route to the destination. To judge. If YES (there is a recommended route start point), the process proceeds to step S25, and if NO (there is no recommended route start point), the process proceeds to step S29.

In step S26, following the determination that there is a starting point of the recommended route in step S25, it is decided to adopt the recommended route information, and the process proceeds to step S26.

In step S26, following the decision to adopt the recommended route information in step S25, the route from the "end point" of the recommended route to the destination is calculated, and the process proceeds to step S27.
Here, when the "end point" of the recommended route exists on the route of the original travel route, the route is calculated by connecting the "end point" of the recommended route and the original travel route. On the other hand, when the "end point" of the recommended route does not exist on the route of the original travel route, the route is calculated by complementing the "end point" of the recommended route and the route to the original travel route.

In step S27, following the route calculation from the end point of the recommended route to the destination in step S26, the original route information to the recommended route, the recommended route information, and all the recommended route "end point" to the destination. By combining the route information, a total travel route is generated, and the process proceeds to step S29.

In step S29, it is determined that there is no starting point of the recommended route in step S25, or it is determined whether or not the vehicle is in automatic driving following the generation of the total traveling route in step S27. If YES (in automatic driving), the process returns to step S24, and in the case of NO (not in automatic driving), the process proceeds to step S30.

In step S30, following the determination that the vehicle is not in automatic driving in step S29, it is determined whether or not the own vehicle has arrived at the destination. If YES (arrival at the destination), the process proceeds to the end, and if NO (automatic operation start position), the process proceeds to step S31.

In step S31, following the determination that the position is the automatic operation start position in step S30, the automatic operation is started, and the process returns to step S24.

Next, the action will be described.
The operation of the second embodiment will be described separately by "automatic driving control processing operation" and "traveling route generation operation by reroute".

[Automated operation control processing action]
Hereinafter, the automatic operation control processing operation will be described with reference to FIG. First, if the starting point of the recommended route information does not exist on the route to the destination at the start of the automatic driving, in the flowchart of FIG. 5, step S21 → step S22 → step S23 → step S24 → step S25 → step S29. → Step S30 → Step S31. Then, in step S31, automatic driving to travel along the target traveling route calculated based on the road map is started.

Next, when the start point of the recommended route information exists on the route to the destination at the start of the automatic driving, in the flowchart of FIG. 5, step S21 → step S22 → step S23 → step S24 → step S25 → step S26. → Step S27 → Step S28 → Step S29 → Step S30 → Step S31. Then, in step S28, the total travel route is calculated by combining the target travel route calculated based on the road map and the recommended route, and in step S31, automatic driving to travel along the total travel route by reroute starts. Will be done.

If the starting point of the recommended route information does not exist on the route from the own vehicle position to the destination during the automatic driving, the flow of step S24 → step S25 → step S29 is repeated in the flowchart of FIG. Is done. That is, the automatic driving along the running route calculated at the start is maintained without changing the running route (target running route, total running route by reroute) calculated at the start of the automatic driving running.

On the other hand, if new recommended route information is added during autonomous driving and the start point of the recommended route information exists on the route from the own vehicle position to the destination at that time, steps S25 to S26 → step S27. → Proceed to step S28. Then, in step S28, the total travel route is calculated again by combining the travel route up to that point and the recommended route, and in step S29, it is switched to automatic driving that travels along the total travel route by the newly updated reroute. ..

Then, when it is determined in step S29 that the vehicle is not in automatic driving and it is determined in step S30 that the vehicle has arrived at the destination, the process proceeds to step S29 → step S30 → end, and the automatic driving is terminated.

[Traveling route generation action by reroute]
As described above, in the second embodiment, the generation of the total traveling route by the reroute is performed by the server 6'of the infrastructure outside the vehicle that holds the recommended route information.

That is, there are a method of processing the recommended route Rs at the terminal and a method of processing at the cloud. On the other hand, in the second embodiment, the recommended route information is possessed and the traveling route is guided by the server 6'which is a cloud environment.
Therefore, when it is necessary to perform advanced calculation using the cloud or when it is necessary to use real-time information, it is possible to perform a route search using real-time information in response to the request.
Since the other operations are the same as those in the first embodiment, the description thereof will be omitted.

Next, the effect will be described.
In the method of generating the traveling route of the autonomous driving vehicle in the second embodiment, the following effects can be obtained in addition to the effects of (1) to (5) and (7) of the first embodiment.

(8) The generation of the total travel route by reroute is performed by the server 6'of the infrastructure outside the vehicle that holds the recommended route information (Fig. 4).
Therefore, when route calculation on the cloud is required, it is possible to generate a total travel route from a reroute that reflects recommended route information in real time.

The driving route generation method and the traveling route generation device of the driving support vehicle of the present disclosure have been described above based on the first and second embodiments. However, the specific configuration is not limited to these examples, and design changes and additions are permitted as long as they do not deviate from the gist of the invention according to each claim.

In the first embodiment, an example in which the navigation control unit 3 is used as a controller for generating a traveling route from the current position of the own vehicle to the destination is shown. In the second embodiment, an example in which the server 6'is used as a controller for generating a traveling route from the current position of the own vehicle to the destination is shown. However, as a controller that generates a traveling route from the current position of the own vehicle to the destination, an example of adding an automatic driving control unit to a navigation control unit or a server may be used. Further, it may be an example in which the traveling route generation function is divided into two, a part thereof is shared by the navigation control unit, and the rest is shared by the server.

In Examples 1 and 2, an example is shown in which the traveling route generation method and the traveling route generation device of the present disclosure are applied to an autonomous driving vehicle in which steering / driving / braking is automatically controlled by selecting an automatic driving mode. However, the travel route generation method and the travel route generation device of the present disclosure are driving support vehicles that support a part of the steering operation / drive operation / braking operation by the driver by generating the total travel route. Is also good. In short, it can be applied to any vehicle that assists the driver in driving by generating a total travel route.

1 In-vehicle sensor 2 ADAS control unit 3 Navigation control unit (controller)
31 GNSS antenna 32 Location information processing unit 33 Destination setting unit 34 Map data storage unit 35 Communication module 36 Recommended route download unit 37 Route search processing unit 38 Display unit 4 Automatic operation control unit 5 Actuator 6, 6'Server 61 For course editing API
62 Recommended route information storage unit 63 Route search processing unit 64 Route search / join processing unit 7 Browser

Claims (7)

In the driving route generation method of a driving support vehicle equipped with a controller that generates a driving route from the current position of the own vehicle to the destination.
When the destination is set, a target driving route connecting the current position of the own vehicle to the destination is generated by cost calculation .
As recommended route information in the area including the target driving route, route information for avoiding a non-travelable part, route information for avoiding a route where smooth vehicle traveling is not ensured, route information for avoiding a route which the in-vehicle sensor is not good at, the above-mentioned By capturing at least one piece of route information based on the route that the in-vehicle sensor is good at,
It is determined whether or not the recommended route information recommended by the road provider or the vehicle provider exists on the route based on the target driving route.
When it is determined that the recommended route information exists, it is determined whether or not the starting point of the recommended route information exists on the route of the traveling route to the destination.
If the starting point of the recommended route information does not exist, the travel route is not changed, and the target travel route generated by the cost calculation is used for guidance.
If the starting point of the recommended route information exists, it is decided to adopt the recommended route information, and the recommended route information is adopted.
When performing a reroute connecting the target travel route and the recommended route, if the end point of the recommended route is on the route of the original target travel route, the end point of the recommended route and the original target travel route are connected. On the other hand, when the end point of the recommended route does not exist on the route of the original target travel route, the route is complemented by the end point of the recommended route and the route to the original target travel route. Is calculated , and the reroute route from the end point of the recommended route to the destination is calculated.
A driving route generation of a driving support vehicle, which is characterized in that one total traveling route is generated and guided by combining the target traveling route to the start point of the recommended route, the recommended route, and the reroute route. Method. In the driving route generation method of the driving support vehicle according to claim 1,
The recommended route information recommended by the road provider is route information for avoiding a place where the vehicle cannot travel and route information for avoiding a route where smooth vehicle traveling is not ensured.
The recommended route information recommended by the vehicle provider is route information for avoiding a route that the vehicle-mounted sensor is not good at or route information based on a route that the vehicle-mounted sensor is good at. Method. In the driving route generation method of the driving support vehicle according to claim 1 or 2.
The reroute connecting the target travel route and the recommended route is when it is determined that the recommended route information exists when the target travel route connecting the current position of the own vehicle to the destination is generated at the start of vehicle travel. A method of generating a driving route for a driving support vehicle, which is characterized by doing so. In the driving route generation method for a driving support vehicle according to any one of claims 1 to 3.
A method of generating a travel route for a driving support vehicle, wherein the reroute connecting the target travel route and the recommended route is performed when it is determined that the recommended route information exists while the vehicle is traveling along the generated route. In the driving route generation method for a driving support vehicle according to any one of claims 1 to 4.
A method for generating a travel route for a driving support vehicle, characterized in that the generation of a total travel route by the reroute is performed by an in-vehicle terminal that downloads the recommended route information. In the driving route generation method for a driving support vehicle according to any one of claims 1 to 4.
A driving route generation method for a driving support vehicle, characterized in that the generation of a total traveling route by the reroute is performed by a server of an infrastructure outside the vehicle that holds the recommended route information. In the driving route generation device of a driving support vehicle equipped with a controller that generates a driving route from the current position of the own vehicle to the destination.
The controller
The destination setting unit that sets the destination and
A recommended route download section that has a recommended route information that is included in the area including the route of the driving route and that captures recommended route information recommended by road providers and vehicle providers.
When the destination is set, a target travel route connecting the current position of the own vehicle to the destination is generated, and when it is determined that the recommended route information exists on the route by the target travel route, the target is determined. It is equipped with a route search processing unit that generates a total driving route by reroute connecting the driving route and the recommended route.
The recommended route download unit, as recommended route information in the area including the target travel route, includes route information for avoiding a non-travelable part, route information for avoiding a route where smooth vehicle travel is not ensured, and a route that the in-vehicle sensor is not good at. At least one piece of information, that is, the route information that avoids the above-mentioned route information and the route information that is based on the route that the in-vehicle sensor is good at,
The route search processing unit
The target driving route is generated by cost calculation,
When it is determined that the recommended route information exists on the route according to the target travel route, it is determined whether or not the start point of the recommended route information exists on the route of the travel route to the destination.
If the starting point of the recommended route information does not exist, the travel route is not changed, and the target travel route generated by the cost calculation is used for guidance.
When it is decided to adopt the recommended route information when the start point of the recommended route information exists and the reroute connecting the target travel route and the recommended route is performed, the end point of the recommended route is the original target travel route. When it exists on the route, the route is calculated by connecting the end point of the recommended route and the original target travel route, while the end point of the recommended route does not exist on the route of the original target travel route. Computes the end point of the recommended route and the route to the original target travel route to calculate the route, and calculates the reroute route from the end point of the recommended route to the destination.
A driving support vehicle characterized in that a process of generating and guiding one total travel route by combining the target travel route to the start point of the recommended route, the recommended route, and the reroute route is performed. Travel route generator.

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