JP2016151931A - Map data structure, map data storage medium, navigation device and navigation method - Google Patents

Abstract

A map data structure, a map data storage medium, a navigation device, and a navigation method are provided. In a map data structure that can be used for navigation of an autonomous driving vehicle, a first switching flag associated with a position at a predetermined distance from the end of an approach path that enters an intersection, On the other hand, the map data structure is provided with a first switching flag for switching the automatic driving mode from the normal mode to the intersection mode. [Selection] Figure 1

Description

  The present invention relates to a map data structure, a map data storage medium, a navigation device, and a navigation method.

In recent years, various control techniques for automating driving of vehicles have been developed.
Examples of the technique include a technique for ensuring safety during automatic driving. As such a technique, Patent Document 1 does not satisfy the conditions for automatic driving when the vehicle running state, the vehicle surroundings, and the like are detected and the detection accuracy does not satisfy a predetermined standard. An automatic driving vehicle control device that determines that is disclosed is disclosed.
On the other hand, in Patent Document 2, as a technology for supporting driving of a vehicle, the width of a road in the traveling direction of the host vehicle and the height of an object that obstructs the prospect in the traveling direction are acquired. Based on this ratio, a driving support device that determines whether or not driving support for the host vehicle is necessary is disclosed.
See also Patent Document 3 or 4 disclosing the prior art related to the present invention.

JP 2014-106854 A JP-A-8-305838 JP-A-8-190619 JP 2001-307121 A

The inventor has intensively studied to provide a map data structure useful for controlling automatic driving of a vehicle. As a result, I noticed the following.
As for normal driving, as with normal manual driving, traveling on roads near intersections requires more care than traveling on other roads. In automatic driving, it is particularly desirable that the frequency of radio waves used for communication between vehicles, between roads, and between vehicles be suitable for the driving environment. For example, in an environment such as an intersection where a structure obstructs communication, it is important to select a frequency that takes into account the wraparound of radio waves.
Therefore, the present inventor has a map data structure including a first switching flag for switching the automatic driving mode of the autonomous driving vehicle from the normal mode to the intersection mode at a position near the intersection of the approach road entering the intersection. I came up with it. By adopting such a map data structure, it is possible to perform control in which automatic driving modes of automatic driving are different between roads near intersections and other roads.

The present invention has been made in view of the above-mentioned problems, and the first aspect is defined as follows. That is,
A first switching flag associated with a position at a predetermined distance from the end of the approach road that enters the intersection, the first switching flag for switching the automatic driving mode from the normal mode to the intersection mode for the autonomous driving vehicle. With a switching flag,
Map data structure.

The map data structure defined in the first aspect defined as described above is a first switching flag associated with a position at a predetermined distance from the end of the approach path entering the intersection, and And a first switching flag for switching the automatic travel mode from the normal mode to the intersection mode. If a map database storing such a map data structure is used, automatic driving mode switching control in the vicinity of an intersection can be performed on an autonomous driving vehicle.
Examples of the automatic travel mode include a communication mode. As an example of the switching control of the communication mode, switching control for selecting an optimum frequency according to the traveling environment of the approach path can be mentioned. Specifically, there are many obstacles such as structures in front of the intersection, or another vehicle or pedestrian as a communication target enters the intersection from the right side of the own vehicle traveling on the approach path. Because it is located on the approaching road or the approaching road that enters from the left side, it is difficult for radio waves to reach between vehicles or between pedestrians. For this reason, before the intersection, it is preferable to select a frequency band (for example, 700 MHz) in which radio waves can easily wrap around so that information can be transmitted more reliably. Therefore, the intersection mode “700 MHz band communication mode” can be used in contrast to the normal mode “5.8 GHz band communication mode”. Further, as another communication mode switching control, switching control may be performed so that the priority order or combination of communication objects (other vehicles, roadsides, pedestrians) varies depending on the traveling environment.

  As another example, it is also possible to perform alert mode switching control so as to change the conditions of the alert function of the autonomous driving vehicle. For example, the alert function condition can be set more strictly before the intersection. Specifically, when alerting when the distance between the host vehicle and another vehicle or a pedestrian is equal to or less than a predetermined threshold, the distance in the intersection mode is a coefficient exceeding 1 in the distance set in the normal mode (for example , 1.5, etc.) can be set. The alert method is not particularly limited, but a message such as “approaching” may be output, or the vehicle may be decelerated or stopped.

The approach road is a road that travels immediately before the vehicle enters the intersection among roads connected to the intersection. When there are a plurality of lanes, the lanes may be composed only of lanes that can proceed toward the intersection.
The end of the approach path refers to one end of the approach path on the side entering the intersection.
The predetermined distance from the end of the approach road is a distance that makes it difficult for the own vehicle traveling on the approach road to communicate with other vehicles located within a predetermined range from the own vehicle, and for the driver of the own vehicle, It is defined based on the distance that affects the line of sight.

  Here, when there is a structure near the end of the approach path, the first switching flag is provided at a first distance from the end of the approach path, and the structure is located near the end of the approach path. When there is not, it is good also as being provided in the 2nd distance from the termination | terminus of this approach path (2nd aspect). Whether there is a structure near the end of the approach path is because it affects the ease of communication with other vehicles and pedestrians located near the intersection and the prospect of the intersection. That is, the first distance when the structure is present near the terminal end of the approach path is set longer than the second distance when the structure is not present.

  The vicinity of the end of the approach road is an area that affects the visibility of the intersection for the driver of the own vehicle and the ease of communication between the own vehicle traveling on the approach road and other vehicles and pedestrians located near the intersection. Say. As an example of the former, for example, at a predetermined point before the intersection, there is a possibility that the driver of the vehicle traveling on the approach road may not be able to visually recognize the vehicle traveling on the intersection crossing the approach road toward the intersection. A certain area. The area can be, for example, an area formed by a center point of an intersection, a predetermined point before the end of the approach road, and a predetermined point before the end of the intersection. As another example, an area defined by a predetermined radius from the center of the intersection can be used. In particular, the area can be an area defined by a predetermined width along the approach path. The vicinity area of the approach path end formed in this way may be defined so that the right vicinity area formed on the right side of the approach path and the left vicinity area formed on the left side are different. For example, in the case of vehicle left-hand traffic, a region near the right side of the approach road with particularly poor visibility can be formed larger. In addition, when the one-way regulation is attached to the crossing road, the side where both sides of the approaching road require attention of the driver, that is, the side where the crossing road vehicle enters the intersection is defined as the neighboring area can do. This neighborhood region may be defined based on the road width of the approach road. That is, when the road width is narrow, the neighborhood region can be defined wider, and when the road width is wide, it can be defined narrower. Further, the range can be determined based on the speed limit of the approach road or the cross road. That is, when the speed limit is fast, the vicinity area can be defined wider, and when the speed limit is slow, the vicinity area can be defined narrower. In the latter example, the vicinity region can be defined based on the ease of communication instead of the ease of visual recognition in the former example. In addition, the vicinity region can be defined experimentally by executing a simulation for ease of visual recognition and ease of communication.

Examples of the structure include a building, a fence, and a signboard.
The first distance is not particularly limited as long as safety is ensured even if the ease of communication and the view of the intersection are not good. For example, the distance from the end of the approach path to the intersection is based on the intersection of the outer edge of the area near the end of the approach path defined as described above and the approach path (that is, a predetermined point before the intersection). Can do. As another example, based on the speed limit of the approach road, it may be a point before a predetermined time to reach the intersection when traveling at the speed limit. Specifically, when the speed limit of the approach path is 60 km / h and the predetermined time is 10 seconds, 167 m that can travel within 10 seconds at a speed of 60 km / h can be set as the first distance. . Alternatively, a predetermined distance (for example, 300 m) can be set in advance.
As described above, the second distance is set shorter than the first distance. The setting method is not particularly limited, but is set by setting a predetermined distance (for example, 100 m) in advance or multiplying the first distance by a coefficient (for example, 0.5) based on the first distance. can do.

The third aspect of the present invention is defined as follows. That is,
In the map data structure defined in the first or second aspect, a second switching flag associated with a position near the end of the approach path, the second switching flag for switching from the intersection mode to the normal mode A switching flag is provided.
The map data structure of the third aspect defined as described above includes a second switching flag for switching the automatic travel mode switched by the first switching flag from the intersection mode to the normal mode.
The position near the end of the approach path associated with the second switching flag can be set to the end of the approach path or a position a certain distance (for example, 10 m) before the end of the approach path.

  A map data storage medium storing map data having the map data structure defined in any one of the first to third aspects is defined as a fourth aspect.

The fifth aspect of the present invention is defined as follows. That is,
A first switching flag associated with a position at a predetermined distance from the end of the approach road that enters the intersection, the first switching flag for switching the automatic driving mode from the normal mode to the intersection mode for the autonomous driving vehicle. A map database with a switch flag,
A mode switching unit that switches the automatic driving mode from the normal mode to the intersection mode when the current position of the autonomous driving vehicle reaches the position associated with the first switching flag;
A navigation device comprising:
According to the fifth aspect of the invention thus defined, the same effects as those of the first aspect can be achieved.

The sixth aspect of the present invention is defined as follows. That is,
In the navigation device defined in the fifth aspect, the first switching flag is provided at a first distance from the end of the approach path when there is a structure in the vicinity of the end of the approach path. If there is no structure near the end of the road, it is provided at a second distance from the end of the approach path.
According to the sixth aspect of the invention thus defined, the same effects as those of the second aspect can be achieved.

The seventh aspect of the present invention is defined as follows. That is,
In the navigation device defined in the fifth or sixth aspect, the map database includes a second switching flag associated with a position near the end of the approach path, and switches from the intersection mode to the normal mode. A second switching flag for further storing,
The mode switching unit switches the automatic driving mode from the intersection mode to the normal mode when the current position of the autonomous driving vehicle reaches a position associated with the second switching flag.
According to the seventh aspect of the invention thus defined, the same effect as the third aspect can be obtained.

Furthermore, the eighth aspect of the present invention is defined as follows. That is,
A first switching flag associated with a position at a predetermined distance from the end of the approach road that enters the intersection, the first switching flag for switching the automatic driving mode from the normal mode to the intersection mode for the autonomous driving vehicle. A storage step of storing the switching flag in the map database;
A mode switching step in which the mode switching unit switches the automatic driving mode from the normal mode to the intersection mode when the current position of the autonomous driving vehicle reaches the position associated with the first switching flag;
A navigation method comprising:
According to the invention of the eighth aspect defined as described above, the same effect as that of the first aspect can be obtained.

The ninth aspect of the present invention is defined as follows. That is,
In the navigation method defined in the eighth aspect, the first switching flag is provided at a first distance from the end of the approach path when there is a structure in the vicinity of the end of the approach path. If there is no structure near the end of the road, it is provided at a second distance from the end of the approach path.
According to the ninth aspect of the invention thus defined, the same effects as those of the second aspect can be achieved.

The tenth aspect of the present invention is defined as follows. That is,
In the navigation method defined in the eighth or ninth aspect, in the storing step, a second switching flag associated with a position near the terminal end of the approach path, for switching from the intersection mode to the normal mode. A second switching flag is further stored,
In the mode switching step, when the current position of the autonomous driving vehicle reaches a position associated with the second switching flag, the automatic traveling mode is switched from the intersection mode to the normal mode.
According to the tenth aspect of the invention thus defined, the same effect as the third aspect can be obtained.

FIG. 1 is a block diagram showing a configuration of a navigation apparatus 1 including a map database in which map data having a map data structure of the present invention is stored. 2A and 2B are schematic diagrams for explaining map data stored in the map database 3, and FIG. 2B is a diagram schematically showing an example of a map data structure stored in the map database 3. FIG. . FIG. 3 is a flowchart showing an example of the operation of the navigation device 1 of the present invention. FIG. 4 is a block diagram showing a configuration of the navigation device 100 according to the embodiment of the present invention.

A navigation device according to an embodiment of the present invention will be described.
FIG. 1 shows a schematic configuration of the navigation apparatus 1.
FIG. 1 shows a navigation apparatus 1 having a map database in which map data having the map data structure of the present invention is stored. That is, the device 1 includes a map database 3, a current position specifying unit 5, and a mode switching control unit 7.

The map database 3 stores map data having the characteristic map data structure of the present invention. The map data of this invention is comprised including the 1st switching flag linked | related with the position which exists in the predetermined distance from the terminal end of the approach path which approachs an intersection. The first switching flag is a flag for switching the automatic driving mode from the normal mode to the intersection mode for the autonomous driving vehicle. The first switching flag is provided for a first distance from the end of the approach path when there is a structure near the end of the approach path, and when there is no structure near the end of the approach path, It is good also as preparing for a 2nd distance from the terminal end of an approach path. In addition, the map database 3 stores various data used for display, guidance, search, and the like.
The map data of this invention is demonstrated using FIG. 2A and 2B are schematic diagrams for explaining the map data stored in the map database 3, and FIG. 2C schematically shows an example of the map data structure stored in the map database 3. FIG.
2A and 2B, links L1 to L4 indicate entry links entering the node N, respectively. A first switching flag F1 is given to the link L1. A method of providing the first switching flag F1 will be described below. X to Z each represent a structure, X is a signboard, Y is a fence, and Z is a building.

First, as shown in FIG. 2A, when there is a structure near the end of the approach path, the first switching as the first switching flag F1 provided at the first distance from the end of the approach path. The flag F11 will be described. The first switching flag F11 is set based on a structure located in the vicinity of the end of the link L1 as the approach path. In this example, the end of the link L1 is the node N with respect to the link L1. The vicinity of the end of the link L1 connects, for example, the node N, a point P a predetermined distance on the link L1 from the node N, and a point Q1 a predetermined distance on the link L2 as an intersection from the node N. It is defined as a region A1 to be formed. Similarly, a region A2 near the end of the link L1 is defined. The distance from the node N to the point Q1 or Q2 is not limited to the same distance, and the areas A1 and A2 can be appropriately set by setting different distances. When a structure exists in these areas A1 and A2, the first switching flag F11 can be given in association with the point O1 on the link L1 before a certain distance (for example, 300 m) from the node N. As another example, the point O1 may be the same position as the point P.
As shown in FIG. 2B, when there is no structure in the areas A1 and A2, the first switch flag F12 as the first switch flag F1 is Provided for distance. The first switching flag F12 is given to a point O2 that is closer to the node N than the point O1 to which the first switching flag F11 is given. For example, the point on the link L1 that is a certain distance (for example, 100 m) from the node N. It can be given in association with O2.

The first switching flag is not limited to the presence / absence of a structure, but based on the number or area density of the structures X to Z in the regions A1 and A2, the structure is displayed when the number or area density is a predetermined value or more. It may be present. In addition, regarding the existence of a structure, attributes such as a signboard, a fence, and a building, and the height and width of the structure may be considered. Alternatively, information on a structure obtained based on a three-dimensional measurement realized by, for example, acquiring a high-density laser point group by a traveling image taken by an imaging device provided in a probe car or a laser scanner or the like. You may consider it. For example, it is good also as calculating based on the road surface length which is identified from the said image etc., and a visual field is interrupted by the structure located in area | region A1. Specifically, the structure may exist when the ratio of the road surface length of the road surface that is not visible from the point P on the approach link L1 to the road surface length from the node N to the point Q1 is equal to or greater than a predetermined value. The first switching flag F11 may be given as one flag for the approach link L1, or may be given when the node N turns right, goes straight, or turns left.
For the links L3 to L4, the first switching flag is set in the same manner as the link L1.

  The map data stored in the map database 3 includes a second switching flag associated with a position near the end of the approach road that enters the intersection. The second switching flag is a flag for switching the automatic travel mode switched by the first switching flag from the intersection mode to the normal mode for the autonomous driving vehicle. The second switching flag F2 can be provided in association with the position of the stop line before the node N on the link L1, for example.

The current position specifying unit 5 specifies current position information of the navigation device 1 using a GPS device or a gyro device. In addition, the current time can be specified.
The mode switching control unit 7 refers to the map database 3 and the current position specifying unit 5 and sets the automatic driving mode to the normal mode when the current position of the autonomous driving vehicle reaches the position associated with the first switching flag. Control to switch from to the intersection mode. When the second switching flag is stored in the map database 3, the mode switching control unit 7 automatically detects when the current position of the autonomous driving vehicle reaches the position associated with the second switching flag. Control which switches driving mode from intersection mode to normal mode is performed. As another control for switching the intersection mode to the normal mode, it is possible to perform control to switch to the normal mode after a predetermined time (for example, 20 seconds) has elapsed after switching to the intersection mode.

An example of the operation of the navigation device 1 shown in FIG. 1 will be described with reference to FIG.
First, in step 1, the guide route searched by a route search unit (not shown) is stored in the guide route storage unit.
In step 3, the first determination unit (not shown) refers to the map database 3 to determine whether the first switching flag and the second switching flag exist on the guide route stored in step 1. When it is determined that the flag exists (step 3: Yes), the process proceeds to step 5.
In step 5, the current position specifying unit 5 specifies the current position of the vehicle.
In step 7, the second determination unit (not shown) refers to the map database 3 and the current position specifying unit 5, and the current position of the vehicle specified in step 5 is associated with the first switching flag in step 3. If it is determined that the position has been reached (step 7: Yes), the process proceeds to step 9. When No in step 7, step 5 is executed again.

In step 9, the mode switching control unit 7 controls to switch the automatic traveling mode of the vehicle to the intersection mode. For example, the radio wave frequency as the communication mode is switched from 5.8 GHz as the normal mode to 700 MHz as the intersection mode.
In step 11, the current position specifying unit 5 specifies the current position of the vehicle.
In step 13, the third determination unit (not shown) refers to the map database 3 and the current position specifying unit 5 and associates the current position of the vehicle specified in step 11 with the second switching flag in step 3. If it is determined that the position has been reached (step 13: Yes), the process proceeds to step 13. When No in step 13, step 11 is executed again.
In step 15, the mode switching control unit 7 switches and controls the automatic traveling mode of the vehicle to the normal mode. For example, the radio wave frequency as the communication mode is switched from 700 MHz as the intersection mode to 5.8 GHz as the normal mode.

FIG. 4 shows a navigation device 100 according to an embodiment of the present invention. 4, the same elements as those in FIG. 1 are denoted by the same reference numerals, and the description thereof is partially omitted.
The navigation device 100 includes a control unit 110, a memory unit 111, an input unit 112, an output unit 113, an interface unit 114, a current position specifying unit 5, a map database 3, a route search unit 117, and a guide route storage unit 118. .

The control unit 110 is a computer device including a CPU, a buffer memory, and other devices, and controls other elements constituting the navigation device 100. The control unit 110 includes a mode switching control unit 7. The function of the mode switching control unit 7 is as described above.
A computer program is stored in the memory unit 111, and the computer program is read into the control unit 110, which is a computer device, and causes it to function. This computer program includes a built-in hard disk or built-in memory as a storage device of the navigation device, an SD (registered trademark) memory card, a memory stick, smart media, a compact flash (registered trademark), a DVD as a storage medium replaceable with the navigation device. Can be stored in a general-purpose medium such as
The input unit 112 is used, for example, for inputting a user command. Specifically, it is used for inputting a destination or the like in a route search described later. As the input unit 112, a mouse, a light pen, or a pointing device such as a touch panel that cooperates with display contents of a display, or a voice input device such as a keyboard or a microphone can be used.

The output unit 113 includes a display, a search screen for a destination search output in a general navigation device, a map, the position of the vehicle specified by the current position specifying unit 5, and a search by a route search unit 117 described later. The displayed guide route and other information are displayed. The output unit 113 can also include a voice transmission unit. For example, when the output unit 113 performs communication mode switching control, “communication mode has been switched to the intersection mode”, “communication mode has been returned to the normal mode”, “currently XX mode”, etc. Message can be displayed or output by voice. In the alert mode, a message such as “A vehicle is approaching from the right side of the intersection!” Can be used.
The interface unit 114 connects the navigation device 100 to a wireless network or the like.
The route search unit 117 refers to the map database 3 and searches for a route from the departure point or current position specified by the driver to the destination. A general method can be used as the route search method. For example, a route with the minimum link cost can be searched as a recommended route based on the Dijkstra method. As another example, it is good also as searching for a guidance route so that the link to which the 1st change flag attached to the 1st distance was given is not chosen as an approach link. The searched guide route is stored in the guide route storage unit 118.
In the above example, the case where the autonomous driving vehicle travels along the guidance route searched by the route search unit has been described, but the case where the vehicle does not travel along the vehicle other than the autonomous driving vehicle or the guidance route. Also, the map database of the present invention can be used. In this case, the alert and control can be performed based on the current position of the vehicle and the positions of the first switch flag and the second switch flag.

  Although the embodiments and examples of the present invention have been described above, two or more of the embodiments (examples) may be combined and implemented. Alternatively, one of these embodiments (examples) may be partially implemented. Furthermore, among these, two or more embodiments (examples) may be partially combined.

  The present invention is not limited to the description of the embodiments and examples of the invention described above. Various modifications may be included in the present invention as long as those skilled in the art can easily conceive without departing from the description of the scope of claims.

1 100 Navigation device 3 Map database 5 Current position specifying unit 7 Mode switching control unit

Claims (10)

A first switching flag associated with a position at a predetermined distance from the end of the approach road that enters the intersection, the first switching flag for switching the automatic driving mode from the normal mode to the intersection mode for the autonomous driving vehicle. With a switching flag,
Map data structure. The first switching flag is provided at a first distance from the end of the approach path when there is a structure near the end of the approach path, and there is no structure near the end of the approach path. A second distance from the end of the approach.
The map data structure according to claim 1. A second switching flag associated with a position near the terminal end of the approach path, the second switching flag for switching from the intersection mode to the normal mode,
The map data structure according to claim 1 or 2.   The map data storage medium which stored the map data which has the map data structure as described in any one of Claims 1-3. A first switching flag associated with a position at a predetermined distance from the end of the approach road that enters the intersection, the first switching flag for switching the automatic driving mode from the normal mode to the intersection mode for the autonomous driving vehicle. A map database with a switch flag,
A mode switching unit that switches the automatic driving mode from the normal mode to the intersection mode when the current position of the autonomous driving vehicle reaches the position associated with the first switching flag;
A navigation device comprising: The first switching flag is provided at a first distance from the end of the approach path when there is a structure near the end of the approach path, and there is no structure near the end of the approach path. A second distance from the end of the approach.
The navigation device according to claim 5. The map database further stores a second switching flag associated with a position near the end of the approach road, and a second switching flag for switching from the intersection mode to the normal mode,
The mode switching unit switches the automatic driving mode from the intersection mode to the normal mode when the current position of the autonomous driving vehicle reaches a position associated with the second switching flag.
The navigation device according to claim 5 or 6. A first switching flag associated with a position at a predetermined distance from the end of the approach road that enters the intersection, the first switching flag for switching the automatic driving mode from the normal mode to the intersection mode for the autonomous driving vehicle. A storage step of storing the switching flag in the map database;
A mode switching step in which the mode switching unit switches the automatic driving mode from the normal mode to the intersection mode when the current position of the autonomous driving vehicle reaches the position associated with the first switching flag;
A navigation method comprising: The first switching flag is provided at a first distance from the end of the approach path when there is a structure near the end of the approach path, and there is no structure near the end of the approach path. A second distance from the end of the approach.
The navigation method according to claim 8. In the storing step, a second switching flag associated with a position near the end of the approach path, which is a second switching flag for switching from the intersection mode to the normal mode, is further stored.
In the mode switching step, when the current position of the autonomous driving vehicle reaches a position associated with the second switching flag, the automatic driving mode is switched from the intersection mode to the normal mode.
The navigation method according to claim 8 or 9.

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