JP6068307B2 - Map traveling control system, traveling control method, invalidation device - Google Patents

Description

  The present invention relates to a map traveling control system and a traveling control method for controlling traveling of a moving body using map data, and an invalidation device for invalidating traveling control of a moving body based on map data.

  2. Description of the Related Art Conventionally, a system that performs vehicle travel control by controlling an engine and a brake based on map data is known (Patent Document 1).

JP 2007-248346 A

  When a new road is opened or an existing road is repaired, the position and shape of the road and other roads in the vicinity may have changed from the original state. In the system described in Patent Document 1, if such a change in road state is not reflected in the map data, the vehicle traveling control is performed based on the incorrect map data, which may cause danger. is there.

  In view of the above, a main object of the present invention is to correctly carry out traveling control of a moving body such as a vehicle based on map data even when the road condition changes due to opening or renovation of the road. .

The map traveling control system according to the present invention includes a storage unit that stores map data, a position detection unit that detects a position of a moving body, map data stored in the storage unit, and the position detected by the position detection unit. A travel control unit that performs travel control of the mobile body based on the position of the mobile body, and when the target road exists within a predetermined range from the position of the mobile body, the travel control unit An invalidation unit that invalidates traveling control, and the target road is a road that has been opened at the time of creation of the map data and is a road that is under construction or is scheduled for renovation, among roads represented by the map data. The map data includes construction road information related to a scheduled construction period of the construction road, and the invalidation unit includes the construction road within the predetermined range from the position of the mobile object, and the construction road If the end date of the construction plan period indicated by the construction road information corresponding to the road is the current date earlier and disable cruise control of the moving body by the travel control unit.
A traveling control method according to the present invention is a traveling control method for a moving body using a control device and map data stored in advance in a storage device, and detects the position of the moving body and determines the position of the moving body. Within a predetermined range, if there is no construction road that has been opened at the time of creation of the map data and is under construction or is scheduled for renovation, among roads represented by the map data , or from the position of the mobile object The construction road exists within a predetermined range, and the current date is within the planned construction period of the construction road indicated by the construction road information included in the map data, or the planned construction period of the construction road If the end date is the current date and later, on the basis of the position of the map data with the mobile, a signal for performing driving control of the movable body outputted from the control device, position of the movable body The construction road is present within the predetermined range, and the end date of the construction schedule period of the construction road when a current date earlier, prohibits the output of the signal from the control device.
The invalidation device according to the present invention is connected to a travel control device that performs travel control of the mobile body based on map data stored in advance and the position of the mobile body, and is within a predetermined range from the position of the mobile body. When the target road exists, the travel control of the moving body by the travel control device is invalidated, and the target road has been opened when the map data is created among the roads represented by the map data And the map data includes construction road information relating to a planned construction period of the construction road, and the construction work is within the predetermined range from the position of the moving body. When the road exists and the end date of the scheduled construction period indicated by the construction road information corresponding to the construction road is before the current date, the traveling control of the moving body by the traveling control device It is intended to be invalidated.

  ADVANTAGE OF THE INVENTION According to this invention, even if it is a case where a road state changes by opening and repairing of a road, traveling control of moving bodies, such as a vehicle, can be correctly implemented based on map data.

It is a figure which shows the structure of the map running control system which concerns on one Embodiment of this invention. It is a figure which shows an example of the information currently recorded on road data. It is a figure which shows an example of the road which road data represent. It is a flowchart of the travel control switching process for the planned road. It is a flowchart of the travel control switching process with respect to a construction road.

  FIG. 1 is a diagram showing a configuration of a map traveling control system according to an embodiment of the present invention. A map travel control system 1 shown in FIG. 1 is connected to an information distribution device 2 via a communication network 3. The communication line network 3 is configured by a wireless communication network such as a mobile phone line, a wired communication network such as the Internet, and the like.

  The map travel control system 1 is mounted on a moving body such as a vehicle, and includes a control unit 10, a storage unit 20, a communication unit 30, a date acquisition unit 40, and a position detection unit 50. In the following description, a moving body on which the map traveling control system 1 is mounted is referred to as a host vehicle.

  The storage unit 20 is a recording medium that can store various types of data, information, and the like, and includes a hard disk, a flash memory, and the like. The storage unit 20 stores map data 200 and control data 220. The control data 220 is data used when the control unit 10 executes various processes and controls as will be described later.

  The map data 200 includes travel control data 201, guidance data 202, background data 203, and road data 210. The traveling control data 201 is data for performing traveling control of the host vehicle according to the traveling road, and includes information such as gradient, curvature, temporary stop, speed limit, and the like. The guidance data 202 is data for guiding the host vehicle, and includes information such as names of roads and intersections, destinations, guidance voices, and the like. The background data 203 is data for representing map elements other than roads.

  The road data 210 is data for representing a road, and includes opening road information 211, construction road information 212, and planned road information 213. The opened road information 211 is information relating to a road that has already been opened. The construction road information 212 is information relating to roads that are under construction or planned to be repaired (hereinafter referred to as construction roads) among the opened roads. The planned road information 213 is information relating to a planned road (hereinafter referred to as a planned road) scheduled to be opened.

  FIG. 2 is a diagram illustrating an example of information recorded in the road data 210. In the example of FIG. 2, for each road link to which each of the link IDs 1 to 5 is assigned, the road type, presence / absence of travel control data, planned construction period when there is a construction schedule, and opening when planning is in progress Each scheduled date is recorded.

  In FIG. 2, a road start date and a work end scheduled date indicating the scheduled work period are recorded as information corresponding to the construction road information 212 in FIG. In addition, a scheduled opening date is recorded as information corresponding to the planned road information 213 in FIG. Thereby, it can be seen that the road link with the link ID 2 is a construction road and the road link with the link ID 5 is a planned road. On the other hand, the other road links whose link IDs are 1, 3, and 4 are roads that do not correspond to either the construction road or the planned road.

  FIG. 3 is a diagram illustrating an example of a road represented by the road data 210. In the example of FIG. 3, the information shown in FIG. 2 is set, and the connection relations of the road links to which the link IDs 1 to 5 are assigned are shown. In FIG. 3, roads 31 to 35 represent the roads to which link IDs 1 to 5 are assigned, respectively. That is, the road 32 indicated by a one-dot chain line is a construction road, and the road 35 indicated by a broken line is a planned road. The current location mark 36 indicates the travel position and travel direction of the host vehicle. That is, the host vehicle travels on the road 32 toward the roads 31 and 33.

  For road 32, if the current date is before the planned construction start date, it will be treated as if repair work has not yet started, and if the current date is after the planned construction completion date , It will be treated as if the renovation work has already been completed. Further, regarding the road 35, when the current date is after the scheduled opening date, it is treated as already opened.

  Returning to FIG. 1, the control unit 10 is configured by a microcomputer, peripheral circuits, and the like, and executes various processes and controls using the above-described data stored in the storage unit 20. The control unit 10 functionally includes a travel control unit 101, an invalidation unit 102, and a map matching unit 103.

  The travel control unit 101 performs travel control of the host vehicle based on the travel control data 201 included in the map data 200 stored in the storage unit 20 and the position of the host vehicle detected by the position detection unit 50. A travel control process is performed for this purpose. Specifically, the traveling control unit 101 determines whether or not there is a section or a point where traveling control should be performed in front of a road on which the host vehicle is traveling, such as a steep slope section, a sharp curve section, or a temporary stop point. Based on the travel control data 201, a determination is made every predetermined time. And when the own vehicle approaches the said area or point, the signal for performing the traveling control of the own vehicle is output as needed based on the traveling state of the own vehicle. This signal is a signal for controlling each unit such as an engine, a brake, and a steering of the own vehicle, and is output from the control unit 10 to the vehicle control device of the own vehicle or the control device of each unit.

  The invalidation unit 102 invalidates or validates the traveling control of the host vehicle by the traveling control unit 101. Specifically, whether a planned road represented by the planned road information 213 or a construction road represented by the construction road information 212 exists within a predetermined range from the position of the host vehicle detected by the position detection unit 50. Is determined based on the road data 210 included in the map data 200 stored in the storage unit 20. As a result, when the planned road or the construction road exists within a predetermined range from the position of the host vehicle and further satisfies the predetermined condition, the above-mentioned driving control signal is output from the driving control unit 101. By disabling it, traveling control is invalidated. Alternatively, the travel control may be invalidated by prohibiting the travel control unit 101 from executing the travel control process. Details of the processing executed by the invalidation unit 102 at this time will be described later with reference to the flowcharts of FIGS.

  Based on the road data 210 included in the map data 200 stored in the storage unit 20 and the position of the host vehicle detected by the position detection unit 50, the map matching unit 103 displays the road on which the host vehicle is traveling. The map matching process for specifying as a traveling road is performed. Specifically, the traveling direction of the host vehicle is detected based on the detection history of the position of the host vehicle by the position detection unit 50 and the angular velocity detected by an angular velocity sensor (not shown). Then, by executing a map matching process using a known calculation method, a road that most closely matches the traveling position and traveling direction of the host vehicle is identified from the roads represented by the road data 210, and the road is defined as a traveling road. Set to. Note that, as a result of the map matching processing by the map matching unit 103, when there is no road corresponding to the traveling position and traveling direction of the host vehicle, the traveling road is not specified and is treated as free traveling.

  The communication unit 30 receives information transmitted from the information distribution device 2 via the communication line network 3. This information includes the latest map data and the like. By receiving the latest map data from the information distribution device 2 by the communication unit 30, the map traveling control system 1 is newly planned for road opening information relating to a newly opened road, construction road information relating to a new construction schedule, and so on. It is possible to obtain information such as planned road information about the road from outside. And based on these acquired information, in the map data 200 memorize | stored in the memory | storage part 20, the opening road information 211, the construction road information 212, the planned road information 213, etc. which are contained in the road data 210 can be updated. it can.

  The date acquisition unit 40 acquires the current date and time. For example, the current date and time can be acquired by receiving a GPS signal transmitted from the GPS.

  The position detection unit 50 detects the current position of the host vehicle. For example, the current position of the host vehicle can be detected by receiving a GPS signal transmitted from the GPS and performing a predetermined calculation process.

  Next, details of processing executed by the invalidation unit 102 will be described. The invalidation unit 102 executes the travel control switching process shown in the flowcharts of FIGS. 4 and 5 on the planned road and the construction road existing in the vicinity of the host vehicle at predetermined time intervals, thereby causing the travel control unit 101 to Enable or disable the driving control of the host vehicle.

  FIG. 4 is a flowchart of the travel control switching process for the planned road. In step S110, the invalidation unit 102 determines whether or not there is travel control data on the road link on which the host vehicle is traveling. Specifically, based on the map data 200 stored in the storage unit 20, it is determined whether or not the information corresponding to the travel road specified by the map matching unit 103 is recorded in the travel control data 201. . As a result, when information corresponding to the travel road is recorded in the travel control data 201, it is determined that there is travel control data, and the process proceeds to step S120. On the other hand, if the information corresponding to the travel road is not recorded in the travel control data 201, it is determined that there is no travel control data, and the process proceeds to step S150.

  In step S120, the invalidation unit 102 determines whether or not a planned road exists within a predetermined range from the position of the host vehicle. Specifically, with reference to the position of the host vehicle detected by the position detection unit 50, the storage unit 20 stores whether or not a part or all of the planned road is included within a certain distance range therefrom. Judgment is made based on the map data 200. As a result, when at least a part of the planned road is included within a certain distance range from the position of the host vehicle, the process proceeds to step S130, and when not included at all, the process proceeds to step S140.

  For example, in the example of FIG. 3, it is assumed that at least a part of the road 35 exists within a predetermined distance range from the traveling position of the host vehicle indicated by the current location mark 36. In such a case, since the road 35 is a planned road as described above, an affirmative determination is made in step S120.

  In the process of step S120 described above, it is determined whether or not the planned road exists within a certain distance range from the position of the own vehicle. However, the traveling direction of the own vehicle and the connection state of the road are considered. Then, the range for determining the presence or absence of the planned road may be determined. For example, the presence or absence of a planned road may be determined for a road that is within a predetermined range along the traveling direction from the position of the own vehicle among the traveling road of the own vehicle and a road that branches from the traveling road. In addition, when a recommended route to the destination is set, the presence or absence of a planned road can be determined for a road along the recommended route.

  In step S130, the invalidation unit 102 determines whether or not the planned opening date of the planned road determined to be within the predetermined range from the position of the host vehicle in step S120 is before the current date. Specifically, the planned opening date of the planned road is acquired by referring to the planned road information 213 included in the road data 210 in the map data 200 stored in the storage unit 20. Then, the acquired scheduled opening date is compared with the current date acquired by the date / time acquiring unit 40. As a result, if the scheduled opening date is before the current date, the process proceeds to step S150, and if it is later than the current date, the process proceeds to step S160.

  For example, in the example of FIGS. 2 and 3, if the current date is December 1, 2013, the scheduled opening date of the road link with the link ID 5 corresponding to the road 35 is June 30, 2013. Yes, before the current date. Accordingly, in such a case, an affirmative determination is made in step S130.

  In step S140, the invalidation unit 102 determines whether or not the host vehicle is traveling on a planned road that is not included in the map data, based on the map matching state by the map matching unit 103. Here, it is determined whether or not the vehicle is traveling on a planned road that is not in the map data by determining whether or not the state in which the road is not specified by the map matching unit 103 satisfies a predetermined condition. Specifically, a predetermined value (for example, 5 times or 30 seconds) is the number of times or time when a free road is not specified in a predetermined time (for example, 1 minute) or a predetermined travel distance (for example, 500 m). It is determined whether it is above. As a result, if such a condition is satisfied, it is determined that the host vehicle is traveling on a planned road not included in the map data, and the process proceeds to step S150. If not satisfied, the process proceeds to step S160.

  In step S150, the disabling unit 102 prohibits the output of the signal for travel control from the travel control unit 101 as described above, regardless of the result of the travel control process performed by the travel control unit 101. Disable the running control of the vehicle. Thus, even when the travel control data 201 is set for the road on which the host vehicle is traveling, the travel control unit 101 does not perform the travel control of the host vehicle based on the map data 200. To do. If step S150 is performed, the invalidation part 102 will complete | finish the traveling control switching process with respect to the planned road shown in the flowchart of FIG.

  In step S <b> 160, the invalidation unit 102 enables travel control of the host vehicle by causing the travel control unit 101 to output a signal for travel control in accordance with the result of the travel control process performed by the travel control unit 101. To do. If step S160 is performed, the invalidation part 102 will complete | finish the travel control switching process with respect to the planned road shown in the flowchart of FIG.

  FIG. 5 is a flowchart of the travel control switching process for the construction road. In step S210, the invalidation unit 102 determines whether or not there is travel control data on the road link on which the host vehicle is traveling, as in step S110 of FIG. As a result, if there is traveling control data, the process proceeds to step S220, and if not, the process proceeds to step S260.

  In step S220, the invalidation unit 102 determines whether or not a construction road exists within a predetermined range from the position of the host vehicle. Specifically, with reference to the position of the host vehicle detected by the position detection unit 50, whether or not a part or all of the construction road is included within a certain distance range therefrom is stored in the storage unit 20. Judgment is made based on the map data 200. As a result, when at least a part of the construction road is included within a certain distance range from the position of the host vehicle, the process proceeds to step S230, and when not included at all, the process proceeds to step S270.

  In the process of step S220 described above, as in step S120 of FIG. 4, the range for determining the presence / absence of a construction road may be determined in consideration of the traveling direction of the host vehicle and the connection state of the road.

  In step S230, the invalidation unit 102 determines whether or not the current date is within the planned construction period for the construction road determined to be within a predetermined range from the position of the host vehicle in step S220. Specifically, by referring to the construction road information 212 included in the road data 210 in the map data 200 stored in the storage unit 20, the construction start date and the construction end date of the construction road are acquired. . Then, the acquired scheduled construction start date and scheduled construction end date are compared with the current date acquired by the date and time acquisition unit 40. As a result, if the current date is after the planned construction start date and before the planned construction end date, it is determined that the current construction date is within the construction period, and the process proceeds to step S240. On the other hand, if the current date is before the scheduled construction start date or after the scheduled construction end date, it is determined that it is not within the construction period, and the process proceeds to step S250.

  In step S240, the invalidating unit 102 excludes the construction road determined to exist within the predetermined range from the position of the host vehicle in step S220 from the route search target. That is, when searching for a recommended route from the current location to the destination based on the map data 200, a recommended route that does not pass through the construction road under construction is searched. At this time, whether or not to exclude the construction road from the route search target may be determined according to the time zone and the traffic congestion situation. If step S240 is performed, it will progress to step S270.

  In step S250, the invalidating unit 102 determines whether or not the planned construction end date of the construction road determined to be within the predetermined range from the position of the host vehicle in step S220 is before the current date. Specifically, the planned construction completion date of the construction road acquired in step S230 is compared with the current date acquired by the date / time acquisition unit 40. As a result, if the scheduled construction end date is before the current date, the process proceeds to step S260, and if it is later than the current date, the process proceeds to step S270.

  In step S260, the invalidation unit 102 outputs a signal for travel control from the travel control unit 101, regardless of the result of the travel control process performed by the travel control unit 101, as in step S150 of FIG. By prohibiting, the traveling control of the host vehicle is invalidated. Thus, even when the travel control data 201 is set for the road on which the host vehicle is traveling, the travel control unit 101 does not perform the travel control of the host vehicle based on the map data 200. To do. If step S260 is performed, the invalidation part 102 will complete | finish the traveling control switching process with respect to a construction road shown in the flowchart of FIG.

  In step S270, the invalidation unit 102 outputs a signal for travel control from the travel control unit 101 in accordance with the result of the travel control process performed by the travel control unit 101, as in step S160 of FIG. The travel control of the own vehicle is validated. If step S270 is performed, the invalidation part 102 will complete | finish the traveling control switching process with respect to the construction road shown in the flowchart of FIG.

  According to one embodiment of the present invention described above, the following operational effects are obtained.

(1) The map travel control system 1 includes a storage unit 20 that stores map data 200, a position detection unit 50 that detects the position of the vehicle that is a moving body, a travel control unit 101, and an invalidation unit 102. . The travel control unit 101 performs travel control of the host vehicle based on the map data 200 stored in the storage unit 20 and the position of the host vehicle detected by the position detection unit 50. The invalidation unit 102 determines whether a planned road or a construction road exists within a predetermined range from the position of the host vehicle (steps S120 and S220). The travel control is invalidated (steps S150 and S260). Since it did in this way, even if it is a case where a road state changes by opening and repairing of a road, traveling control of moving bodies, such as a vehicle, can be correctly implemented based on map data.

(2) Based on the map data 200 stored in the storage unit 20 and the position of the host vehicle detected by the position detection unit 50, the map traveling control system 1 sets the road on which the host vehicle is traveling as a traveling road. A map matching unit 103 for specifying is further provided. The invalidation unit 102 determines whether or not the state in which the traveling road is not specified by the map matching unit 103 satisfies a predetermined condition (step S140), and when the condition is satisfied, invalidates the traveling control of the host vehicle by the traveling control unit 101. (Step S150). Since it did in this way, when the own vehicle is drive | working the planned road which is not in map data, it can invalidate the drive control of the own vehicle and can prevent that incorrect drive control is performed.

(3) The map data 200 includes planned road information 213 relating to the planned opening date of the planned road and construction road information 212 relating to the planned construction period of the construction road. The invalidation unit 102 has a planned road or a construction road within a predetermined range from the position of the host vehicle (steps S120 and S220), and the planned opening date or the construction indicated by the planned road information corresponding to the planned road When the end date of the scheduled construction period indicated by the construction road information corresponding to the road is before the current date (steps S130 and S250), the traveling control of the host vehicle by the traveling control unit 101 is invalidated (steps S150 and S260). ). As a result, the planned road that has been opened and the construction road that has been renovated exist within a predetermined range from the position of the host vehicle, so that the road on which the host vehicle is traveling is When changed, it is possible to invalidate the traveling control of the host vehicle and prevent erroneous traveling control from being performed.

(4) The map travel control system 1 further includes a communication unit 30 for acquiring the planned road information 213 and the construction road information 212 from the outside. Since it did in this way, the planned road information 213 and the construction road information 212 can always be memorize | stored in the memory | storage part 20 with the newest content, respectively.

  In the embodiment described above, the map travel control system 1 is mounted on a vehicle, and the travel control of the vehicle (own vehicle) is performed by the map travel control system 1. However, the object of the present invention is the vehicle. It is not limited to what performs traveling control. The present invention can be applied to those that perform traveling control of various mobile objects.

  In the embodiment described above, the present invention has been described by taking the map traveling control system 1 having the configuration as shown in FIG. 1 as an example. However, the present invention is realized as a part of the function of another device, for example, a navigation device. Also good.

  The control unit 10, the storage unit 20, the communication unit 30, the date acquisition unit 40, and the position detection unit 50 in FIG. 1 may be configured as separate devices. That is, a control device corresponding to the control unit 10, a storage device corresponding to the storage unit 20, a communication device corresponding to the communication unit 30, a device corresponding to the date and time acquisition unit 40, and a device corresponding to the position detection unit 50 May be combined with each other to implement the present invention.

  Furthermore, the travel control unit 101, the invalidation unit 102, and the map matching unit 103 realized by the control unit 10 may be configured as separate devices. In this case, the travel control device corresponding to the travel control unit 101 is a device that performs travel control of the host vehicle based on the map data stored in advance in the storage unit 20 and the position of the host vehicle. The disabling device corresponding to the disabling unit 102 executes a process as described with reference to FIGS. 4 and 5, so that a planned road and a construction road exist within a predetermined range from the position of the host vehicle. When the predetermined condition is satisfied, this is a device that invalidates the traveling control of the host vehicle by the traveling control device. The map matching device corresponding to the map matching unit 103 is a device that executes map matching processing for identifying a road on which the host vehicle is traveling as a traveling road based on the map data and the position of the host vehicle.

  The embodiments and modifications described above are merely examples, and the present invention is not limited to these contents as long as the features of the invention are not impaired.

DESCRIPTION OF SYMBOLS 1 Map travel control system 2 Information distribution apparatus 3 Communication network 10 Control part 20 Storage part 30 Communication part 40 Date acquisition part 50 Position detection part 101 Travel control part 102 Invalidation part 103 Map matching part 200 Map data 201 Travel control data 202 Guide Data 203 Background Data 210 Road Data 211 Opening Road Information 212 Construction Road Information 213 Planned Road Information 220 Control Data

Claims (13)

A storage unit for storing map data;
A position detector for detecting the position of the moving object;
A travel control unit that performs travel control of the mobile body based on the map data stored in the storage unit and the position of the mobile body detected by the position detection unit;
A disabling unit for disabling travel control of the mobile body by the travel control unit when a target road exists within a predetermined range from the position of the mobile body ,
The target road includes a construction road that is a road that has been opened at the time of creation of the map data and is being renovated or is scheduled for renovation, among the roads represented by the map data,
The map data includes construction road information related to a planned construction period of the construction road,
The invalidation unit is configured such that the construction road exists within the predetermined range from the position of the moving body, and the end date of the scheduled construction period indicated by the construction road information corresponding to the construction road is before the current date. In some cases, a map travel control system that disables travel control of the moving body by the travel control unit . The map travel control system according to claim 1,
A route search unit that searches for a recommended route from the position of the moving body to the destination based on the map data;
The route search unit, when the construction road exists within the predetermined range from the position of the mobile body, and the current date is within the planned construction period indicated by the construction road information corresponding to the construction road A map travel control system, wherein the recommended route is searched so as not to pass through the construction road. The map travel control system according to claim 1 or 2,
The target road includes a planned road that is an unopened and planned road when the map data is created among roads represented by the map data,
The map data includes the planned road information about the opening date of the planned road,
The invalidation unit, the said planned road is present from the position of the movable body within the predetermined range, and the planned opening date indicated by the planned road information corresponding to the road when a current date earlier A map travel control system, wherein travel control of the moving body by the travel control unit is invalidated. In the map traveling control system according to claim 3 ,
Based on the map data stored in the storage unit and the position of the moving body detected by the position detecting unit, the map further includes a map matching unit that identifies a road on which the moving body is traveling as a traveling road,
The invalidation unit is configured when the map matching unit does not specify the traveling road and satisfies a predetermined condition even when the planned road does not exist within the predetermined range from the position of the moving body. Is a map travel control system that invalidates travel control of the moving body by the travel control unit. In the map running control system according to any one of claims 1 to 4 ,
A map travel control system, further comprising a communication unit for acquiring the construction road information from the outside. A traveling control method for a moving body using a control device and map data stored in advance in a storage device,
Detecting the position of the moving body;
Within a predetermined range from the position of the moving body, when there is no construction road that is opened at the time of creation of the map data and is a road that is being repaired or planned to be repaired, among roads represented by the map data , or The construction road exists within the predetermined range from the position of the moving body, and the current date is within the planned construction period of the construction road indicated by the construction road information included in the map data, or the construction When the end date of the scheduled construction period of the road is after the current date, a signal for controlling the traveling of the moving body is output from the control device based on the map data and the position of the moving body. ,
The construction road is present from the position of the movable body within the predetermined range, and when the end date of the construction schedule period of the construction road is the current date earlier, the output of the signal from the control device A travel control method characterized by prohibiting the vehicle. The travel control method according to claim 6, wherein
When the construction road exists within the predetermined range from the position of the moving body and the current date is within the scheduled construction period of the construction road, the map data is not passed through the construction road. The travel control method is characterized in that a recommended route from the position of the moving body to the destination is searched based on the above. In the traveling control method according to claim 6 or 7 ,
The map data includes the planned road information about the opening date of the road and is planning road in the plan in a non-opened during the creation of the map data of the road that the map data represents,
Wherein said plan road is present from the position of the movable body within the predetermined range, and the planned opening date indicated by the planned road information corresponding to the road when a current date earlier, from the control device A traveling control method, wherein output of the signal is prohibited. The travel control method according to claim 8 , wherein
Based on the map data and the position of the moving body, the control device executes a map matching process for identifying the road on which the moving body is traveling as a traveling road,
Wherein from the position of the moving body in a case where not the planned road is present within the predetermined range, if the map matching process by not identified the traveling road condition satisfies a predetermined condition, from the control device A travel control method for prohibiting the output of the signal. In the traveling control method according to any one of claims 6 to 9 ,
The construction road information is acquired from outside the storage device. It is connected to a travel control device that performs travel control of the mobile body based on map data stored in advance and the position of the mobile body,
When the target road exists within a predetermined range from the position of the moving body, the invalidating device for invalidating the traveling control of the moving body by the traveling control device ,
The target road includes a construction road that is a road that has been opened at the time of creation of the map data and is being renovated or is scheduled for renovation, among the roads represented by the map data,
The map data includes construction road information related to a planned construction period of the construction road,
When the construction road exists within the predetermined range from the position of the moving body, and the end date of the scheduled construction period indicated by the construction road information corresponding to the construction road is before the current date, the traveling A disabling device that disables traveling control of the moving body by a control device. The disabling device according to claim 11 ,
The target road includes a planned road that is an unopened and planned road when the map data is created among roads represented by the map data,
The map data includes the planned road information about the opening date of the planned road,
Wherein said plan road is present from the position of the movable body within the predetermined range, and the planned opening date indicated by the planned road information corresponding to the road if the current date earlier, by the travel control device A disabling device for disabling travel control of the moving body. The disabling device according to claim 12 ,
Based on the map data and the position of the mobile body, the mobile body is further connected to a map matching device that identifies the road on which the mobile body is traveling as a traveling road,
Wherein from the position of the moving body in a case where not the planned road is present within the predetermined range, when the state where the traveling road is not specified by the map matching device satisfies a predetermined condition, the travel control device The invalidation device characterized by invalidating the traveling control of the moving body according to the above.

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