JP7354581B2 - Vehicle driving support method and vehicle driving support device - Google Patents

Description

The present invention relates to a vehicle driving support method and a vehicle driving support device.

An automatic driving permission notification system that includes a navigation device and a high-precision map information management device, and the system detects sections corresponding to high-precision map data from the driving route that the vehicle is scheduled to travel, generated by the navigation device. A system has been proposed that extracts and generates a driving route that is more accurate than the driving route (see Patent Document 1).

Japanese Patent Application Publication No. 2018-189594

According to the technology described in Patent Document 1, the high-precision map data possessed by the high-precision map information management device has higher accuracy than the map data possessed by the navigation device. Therefore, in order to extract from the travel route the section to which the high-precision map data corresponds, it is necessary to project the travel route onto the high-precision map data.

Generally, there are limits to the amount of data that a navigation device and a high-precision map information management device can hold or process, and the amount of data that can be transmitted from a navigation device to a high-precision map information management device per unit time.

Therefore, among the driving routes set by the navigation device, a route that is within a predetermined range from the vehicle position along the direction of travel of the vehicle is set as the conversion target route. The navigation device transmits the attributes of the points where the intersection occurs) to the high-precision map information management device, and based on the transmitted attributes of the branch/merging point, the high-precision map information management device converts the route to be converted on the high-precision map data. to project.

However, immediately after the system is started, or when there is no branching point on the conversion target route among the driving routes newly generated (rerouted) by the navigation device, the high-precision map information management device A problem arises in that it is not possible to project the image onto high-precision map data.

The present invention has been made in view of the above-mentioned problems, and is intended to be used immediately after the system is started, or when branching and merging onto the conversion target route among the newly generated travel routes on map data. An object of the present invention is to provide a vehicle driving support method and a vehicle driving support device that can generate a high-precision driving route on high-precision map data even when a point does not exist.

In order to solve the above-mentioned problems, a vehicle driving support method and a vehicle driving support device according to one aspect of the present invention provide a vehicle driving support method and a vehicle driving support device according to an aspect of the present invention. A route within a predetermined range from the location is set as a route to be converted, a branching and merging point on the route to be converted is extracted, and if there is an extracted branching and merging point, the first map is created based on the attributes of the branching and merging point. A driving route corresponding to the conversion target route is extracted from the second map data, which has higher accuracy than the original data, and if there is no branching and merging point on the conversion target route, or if the conversion target route is reset, the driving route is changed to a new one. If any of the following cases is generated, a driving route corresponding to the conversion target route is extracted from the second map data based on the vehicle position information set on the first map data.

According to the present invention, even if the system has just started, or even if there is no branching/merging point on the route to be converted among the travel routes newly generated on the map data, the route to be converted can be converted with high accuracy. It is possible to generate high-precision driving routes on high-precision map data by projecting it onto map data.

FIG. 1 is a block diagram showing the configuration of a vehicle driving support method and a vehicle driving support device according to an embodiment of the present invention. FIG. 2A is a diagram illustrating an example of a case where there is a branching and merging point on the travel route set on the first map data. FIG. 2B is a diagram showing an example of a driving route extracted from the second map data when there is a branch/merging point. FIG. 3A is a diagram illustrating an example of a case where there is no branching and merging point on the travel route set on the first map data. FIG. 3B is a diagram showing an example of a driving route extracted from the second map data when there is a branch/merging point. FIG. 4A is a diagram showing an example of a case where there is an additional point on the travel route set on the first map data. FIG. 4B is a diagram showing an example of a driving route extracted from the second map data when there is an additional point.

Next, embodiments of the present invention will be described in detail with reference to the drawings. In the description, the same parts are given the same reference numerals and redundant description will be omitted.

[Configuration of vehicle driving support device]
FIG. 1 is a block diagram showing the configuration of a vehicle driving support method and a vehicle driving support device according to this embodiment. As shown in FIG. 1, the vehicle driving support device includes a navigation device 200 (driving route generation section) and a high-precision map information management device 300 (driving route generation section). The information management device 300 is connected through a communication path such as CAN (Controller Area Network) and Ethernet. In addition, the vehicle driving support device may include an automatic driving device 400 that automatically controls driving of the vehicle.

The navigation device 200 includes a controller (an example of a control unit or a processing unit). The controller is a general-purpose microcomputer that includes a CPU (central processing unit), memory, and an input/output section. A computer program (navigation program) for functioning as a navigation device is installed in the controller. By executing the computer program, the controller functions as a plurality of information processing circuits (210, 220, 230, 240, 250).

Note that here, an example is shown in which a plurality of information processing circuits (210, 220, 230, 240, 250) included in the navigation device 200 are realized by software. However, it is also possible to configure the information processing circuits (210, 220, 230, 240, 250) by preparing dedicated hardware for executing each information processing described below. Further, the plurality of information processing circuits (210, 220, 230, 240, 250) may be configured with separate hardware. Further, the information processing circuits (210, 220, 230, 240, 250) may also be used as an electronic control unit (ECU) used for other controls related to the vehicle.

The navigation device 200 includes a map database 210, a vehicle position calculation section 220, a route generation section 230, a state determination section 240, and an output section as a plurality of information processing circuits (210, 220, 230, 240, 250). It is equipped with 250.

The map database 210 is used for a route search operation that calculates an optimal travel route connecting a departure point and a destination, a route guidance operation (guidance operation) that guides a vehicle along the travel route obtained by route search, etc. Necessary first map data is stored.

The first map data is, for example, information on road shape, such as information including attributes regarding curves, slopes, intersections, interchanges, narrow roads, straight roads, and road shoulder structures. In addition, the first map data includes attributes of branching and merging points (points where lanes diverge or merge) (in particular, branching and merging information indicating the connection relationship between lanes at branching and merging points, and positions such as longitude and latitude). information, route information such as turning left, right or going straight for each lane).

Note that the first map data stored in the map database 210 is not required to be as accurate as the high-precision map information required for automatic driving. The map database 210 is realized by a hard disk device, a semiconductor memory, or a DVD and its reading device. Alternatively, the map database 210 may be replaced with a communication device to obtain the first map data from an external map distribution server (not shown).

The own vehicle position calculation unit 220 calculates the position of the vehicle based on detection data output from a GPS receiver (not shown), and if the calculated position of the vehicle is not on the road of the first map data, the vehicle position is Performs map matching processing to correct the position of. Note that, as an example, the position of the vehicle is detected using a GPS receiver, but an independent navigation sensor using a direction sensor, a distance sensor, or the like may be used in combination to improve detection accuracy.

The route generation unit 230 calculates the travel route of the vehicle from the departure point to the destination through route search processing using the specified search conditions, and generates a new travel route on the first map data. Note that the travel route generated by the route generation unit 230 may be one that minimizes the cost (travel distance, travel time, etc.) when the vehicle travels from the departure point to the destination. However, it may be set based on an instruction from a vehicle occupant.

The state determination unit 240 sets a route within a predetermined range from the vehicle position as a conversion target route among the travel routes generated by the route generation unit 230, and extracts branching and merging points on the conversion target route.

Here, the "predetermined range" when setting the conversion target route refers to the amount of data that the navigation device 200 and the high-precision map information management device 300 can hold or process, and the amount of data that can be stored or processed by the navigation device 200 and the high-precision map information management device 300. It may be determined based on the amount of data that can be transmitted per unit time. The length of the "predetermined range" (first distance) is typically set to about 7 km, but is not limited to this.

Further, the state determination unit 240 may update the conversion target route based on the position of the vehicle after traveling, so that the predetermined range is maintained each time the vehicle advances.

Further, the state determination unit 240 determines whether the conversion target route has been reset. It may be determined whether the navigation device 200 has just been started.

In addition, it may be determined whether or not an extracted branch/merging point exists. That is, the state determination unit 240 may determine whether a branch junction exists on the conversion target route.

The output unit 250 outputs information regarding the conversion target route set by the state determination unit 240. In particular, the output unit 250 outputs, as information on the route to be converted, attributes of branching and merging points on the route to be converted (branching and merging information indicating connection relationships between lanes at the branching and merging points, positional information such as longitude and latitude, etc.), Outputs route information (such as turning left, right, going straight, etc.) for each lane.

For example, the output unit 250 outputs information regarding the conversion target route based on ADASIS (Advanced Driver Assistance Systems Interface Specifications).

Here, ADASIS refers to the ADASIS Forum, which is held regularly with members representing the automotive industry, to promote the development and application of predictive map-based driving assistance systems that support access to predictive road data. This is a standard established for the purpose of

Information conforming to ADASIS is output as the road shape (curve, intersection, slope) and the position of the road shape regarding the road on which the vehicle is scheduled to travel, as a distance (offset) from the base point, and latitude and longitude. In addition to the vehicle speed and direction information, road information such as regulatory speed (speed limit) and road type is also output.

In information compliant with ADASIS, static information (road information, road shape information, slope information) and dynamic information (for example, signal information) regarding the road on which the vehicle is scheduled to travel are offset from the base point on the road to 0. Provided as list information sorted by . The travel route of the vehicle is called MPP (Most Probable Path).

Message names indicating the type of information transmitted in compliance with ADASIS include, for example, "POSITION," "SEGMENT," "STUB," "PROFILE LONG," and "PROFILE SHORT."

The output unit 250 scans the conversion target route along the lanes and outputs the above-mentioned messages and the like.

On the other hand, the output unit 250 does not always output the current vehicle position information calculated by the own vehicle position calculation unit 220. Note that the current vehicle position information described here does not refer to the above-mentioned "POSITION" message, but is information that can specify the position in more detail. For example, latitude and longitude information corresponds to this. The reason for this is that if the vehicle position information is constantly output, the bandwidth of the communication channel connecting the navigation device 200 and the high-precision map information management device 300 will be compressed, and the load will increase. Another reason is that there is a limit to the amount of data that the navigation device 200 and the high-precision map information management device 300 can hold or process.

When the state determining section 240 determines that the conversion target route has been reset, or when determining that the navigation device 200 has just been started, the output section 250 explicitly outputs the information stored in the map database 210. The current position information of the vehicle on the first map data is output. "PROFILE LONG" can be used as a message for transmitting current vehicle position information such as latitude and longitude, but is not limited thereto. Note that an example of a case where the conversion target route is reset is when the travel route is changed (rerouted).

In addition, the output unit 250 may output positional information of an additional point, which is a point on the conversion target route and is far from the position of the vehicle. The distance between the vehicle position and the additional point (the second distance shorter than the first distance) is typically set to about 2 km, but is not limited to this.

Next, the high-precision map information management device 300 includes a controller (an example of a control unit or a processing unit). A computer program (high-precision map information management program) for functioning as a high-precision map information management device is installed in the controller. By executing the computer program, the controller functions as a plurality of information processing circuits (310, 320, 330, 340).

Note that here, an example will be shown in which a plurality of information processing circuits (310, 320, 330, 340) included in the high-precision map information management device 300 are realized by software. However, it is also possible to configure the information processing circuits (310, 320, 330, 340) by preparing dedicated hardware for executing each information processing described below. Further, the plurality of information processing circuits (310, 320, 330, 340) may be configured with individual hardware. Further, the information processing circuits (310, 320, 330, 340) may also be used as an electronic control unit (ECU) used for other controls related to the vehicle.

The high-precision map information management device 300 includes a high-precision map database 310, an input section 320, a route conversion section 330, and an output section 340 as a plurality of information processing circuits (310, 320, 330, 340). ing.

The high-precision map database 310 stores second map data that is high-precision map data necessary for automatic driving. The second map data has higher accuracy than the first map data stored in the map database 210. Furthermore, the second map data has more and more detailed map information than the map database 210.

Like the map database 210 provided in the navigation device 200, the high-precision map database 310 is realized by a hard disk device, a semiconductor memory, or a DVD and its reading device. Alternatively, the high-precision map database 310 may be replaced with a communication device, and the second map data may be acquired from an external map distribution server (not shown).

The input unit 320 receives information output by the output unit 250 of the navigation device 200.

The route converting unit 330 converts information regarding the conversion target route (information including at least one of an attribute related to a branch/merging point, vehicle position information, and additional point position information) acquired from the output unit 250 via the input unit 320. Based on this, a driving route corresponding to the conversion target route is extracted from the second map data. Extraction of the driving route will be described later.

The output unit 340 transmits high-precision map data along the driving route extracted by the route conversion unit 330. The output unit 340 may transmit high-precision map data along the extracted driving route to the automatic driving device 400.

[Extraction of driving route based on information about route to be converted]
Next, extraction of a driving route performed by the route conversion unit 330 will be described using FIGS. 2A, 2B, 3A, and 3B.

FIG. 2A is a diagram illustrating an example of a case where there is a branching and merging point on the travel route set on the first map data. FIG. 2B is a diagram showing an example of a driving route extracted from the second map data when there is a branch/merging point. On the other hand, FIG. 3A is a diagram illustrating an example of a case where there is no branching and merging point on the travel route set on the first map data. FIG. 3B is a diagram showing an example of a driving route extracted from the second map data when there is no branching/merging point.

In the scene shown in FIG. 2A, it is assumed that a vehicle exists at point P11. At this time, the state determination unit 240 sets the route within the range sandwiched between the point P11 and a point that has proceeded by a distance L1 from the point P11 in the direction of travel of the vehicle as the conversion target route (lane T11, lane T12, lane T13). Then, a branch junction point P12 and a branch junction point P13 on the conversion target route are extracted. FIG. 2A shows a lane Q11 starting from the branch/merging point P12 and a lane Q12 starting from the branch/merging point P13.

In the scene shown in FIG. 2A, the connection relationship between lane T11, lane T12, and lane Q11 at the branching and merging point P12, the position information of the branching and merging point P12, and whether the lane T12 is turning right or left or going straight when viewed from the lane T11. The output unit 250 outputs certain course information. Similarly, the connection relationship between lane T12, lane T13, and lane Q12 at the branching/merging point P13, the position information of the branching/merging point P13, and the course of whether the lane T13 is turning right or left or going straight when viewed from the lane T12. The output unit 250 outputs the information.

Based on the information output from the output unit 250, the route conversion unit 330 converts a route having the same topology as the conversion target route consisting of lane T11, lane T12, lane T13, lane Q11, and lane Q12 into the second map data. Extract from above. In the extraction, the range in which the route is searched on the second map data is limited using the positional information of the branching and merging point P12 and the branching and merging point P13.

Since the first map data and the second map data have different accuracy, the positions of the branch junction point P12 and the branch junction point P13 on the first map data are the same as the positions of the branch junction point P12 and the branch junction point P13 on the second map data. It may be out of position. However, by focusing on the topology composed of the conversion target route and the lanes that connect the conversion target route at branching and merging points, it is possible to extract the driving route corresponding to the conversion target route from the second map data. The topology made up of lanes shown in FIG. 2B is the same as the topology made up of lanes shown in FIG. 2A.

Next, consider a case where there is no branching/merging point on the conversion target route. In the scene shown in FIG. 3A, it is assumed that a vehicle exists at point P21. Further, it is assumed that the branching and merging point P22 exists on the vehicle travel route, but the branching and merging point P22 does not exist on the conversion target route.

In the scene shown in FIG. 3A, the state determination unit 240 is unable to extract the branching and merging point on the conversion target route. If the route conversion unit 330 searches for a route having the same topology as lane T21 on the second map data, as shown in FIG. There may be candidates and it may not be possible to uniquely determine. Therefore, if there is no branching/merging point on the conversion target route, the conversion target route cannot be projected onto the second map data.

In such a case, even if it is not possible to extract the branching and merging point ahead of the current vehicle position, by using the previously sent information on the branching and merging point behind the current vehicle position, the conversion target route can be extracted. It becomes possible to project the above conversion target route onto the second map data.

However, if the route to be converted is reset, or if the navigation device 200 has just been started, the previously sent information of the branch junction point behind the current vehicle position cannot be used, so the route to be converted cannot be used. It is not possible to project onto the second map data. Therefore, when the state determination unit 240 determines that the conversion target route has been reset or when the navigation device 200 has just been started, the output unit 250 outputs the point P21 as the vehicle position information on the first map data. Outputs location information.

Furthermore, even if the state determination unit 240 determines that there is no branching/merging point on the route to be converted, the output unit 250 outputs the position information of point P21 as the vehicle position information on the first map data. You may.

The route conversion unit 330 determines which of the points P21A, P21B, P21C, and P21D on the second map data is closer to the point P21 based on the position information of the point P21 on the first map data. decide. If it is determined that point P21A has the positional information closest to point P21, lane T21A is extracted as the driving route corresponding to the conversion target route. In this way, by using the vehicle position information on the first map data together, it is possible to solve the problem of not being able to uniquely identify the driving route on the second map data.

[Extraction of driving route based on additional points]
Next, extraction of a driving route based on additional points, which is performed by the route conversion unit 330, will be described using FIGS. 4A and 4B.

In the scene shown in FIG. 4A, it is assumed that a vehicle exists at point P31. At this time, the state determination unit 240 sets a route between the point P31 and a point that has proceeded a predetermined distance in the direction of vehicle movement from point P31 as a route to be converted (lane T31, lane T32), and converts the route. A branch junction point P32 on the target route is extracted. In FIG. 4A, a lane Q3 whose starting point is a branching and merging point P32 is shown.

In the scene shown in FIG. 4A, the connection relationship between lane T31, lane T32, and lane Q3 at branching and merging point P32, the position information of branching and merging point P32, and whether lane T32 is turning right or left or going straight when viewed from lane T31. The output unit 250 outputs certain course information.

If the route conversion unit 330 correctly extracts the driving route based on the information regarding the conversion target route as described above, a route having the same topology as the conversion target route consisting of lane T31, lane T32, and lane Q3 is selected as the first route. The driving route corresponding to the conversion target route can be extracted from the second map data.

However, if information is missing in the communication path between the navigation device 200 and the high-precision map information management device 300, the attribute of the branch/merging point P32 may not be transmitted correctly. For example, if a CAN exists in the communication path between the navigation device 200 and the high-precision map information management device 300, countermeasures against missing information may be required.

For example, if the attributes of the branch/merging point P32 are insufficient, the route conversion unit 330 selects a route consisting of lane T31 and lane Q3 and a route consisting of lane T31 and lane T32 on the second map data. It is not possible to specify which route corresponds to the conversion target route.

Therefore, the output unit 250 of the navigation device 200 selects a point P33, which is a point on the conversion target route and which is a distance L2 from the point P32 where the vehicle is located in the direction of travel of the vehicle, as an additional point, and outputs the position information of the point P33. Output.

Based on the position information of the point P33, the route conversion unit 330 can specify that the route composed of the lane T31 and the lane T32 corresponds to the conversion target route.

[Effects of embodiment]
As described above in detail, the vehicle driving support method and the vehicle driving support device according to the present embodiment are capable of selecting a predetermined route from the vehicle's position among the travel routes that are set on the first map data and on which the vehicle is scheduled to travel. The route within the range is set as the route to be converted, the branching and merging points on the route to be converted are extracted, and if there is an extracted branching and merging point, the route is compared to the first map data based on the attributes of the branching and merging point. A driving route corresponding to the route to be converted is extracted from the highly accurate second map data, and if there is no branching point on the route to be converted or if the route to be converted is reset, a new driving route is generated. If any of the above applies, a driving route corresponding to the conversion target route is extracted from the second map data based on the vehicle position information set on the first map data.

As a result, even if there is no branching and merging point on the conversion target route among the newly generated travel routes on the first map data, the conversion target route can be changed to the first map data with higher accuracy than the first map data. 2. Driving routes can be obtained by projecting onto map data. In addition, when there is no junction point on the route to be converted, immediately after a reroute occurs on the navigation device, or immediately after the system is started, the system uses the vehicle position information set on the first map data. - It is possible to obtain a driving route by projecting the route to be converted onto the second map data while suppressing the amount of data to be retained.

In addition, since the driving route can be generated on the second map data regardless of the presence or absence of branching and merging points on the route to be converted among the driving routes, it is possible to generate the driving route on the second map data immediately after a reroute occurs on the navigation device or immediately after the system is started. Even in this case, it is possible to start controlling the vehicle based on the highly accurate driving route on the second map data.

Further, the vehicle driving support method and the vehicle driving support device according to the present embodiment update the conversion target route based on the position of the vehicle after traveling each time the vehicle advances on the travel route, and A driving route corresponding to the route may be extracted. As a result, even while the vehicle is running, a driving route on the second map data is created every time along the vehicle's travel route, and the vehicle can continue to be controlled based on the highly accurate driving route on the second map data. can do.

Further, the vehicle driving support method and the vehicle driving support device according to the present embodiment are based on position information of a point that has traveled along the travel route by a second distance shorter than the first distance from the vehicle position in the traveling direction of the vehicle. Alternatively, a driving route corresponding to the conversion target route may be extracted from the second map data. Thereby, even if an attribute related to a branch/merging point on the conversion target route is missing, it is possible to reliably generate a driving route on the second map data corresponding to the conversion target route.

Further, in the vehicle driving support method and vehicle driving support device according to the present embodiment, the driving route is set by the driving route generating unit, and the driving route is set by the driving route generating unit connected to the driving route generating unit by the communication path. It may be generated. As a result, a travel route can be generated based on the first map data with low accuracy, and the load on route selection and rerouting can be reduced. In addition, it is possible to efficiently generate a driving route on the second map data having higher accuracy than the first map data while reducing the load during route selection and rerouting.

Furthermore, in the vehicle driving support method and vehicle driving support device according to the present embodiment, the driving route generation unit is a target for conversion into a driving route generation unit through communication based on a protocol defined in the Advanced Driving Support System Interface Specification (ADASIS). The attribute of a branch/junction point on a route or the position information of a vehicle may be transmitted. By using standardized specifications, it is possible to reduce the design cost and procurement cost of the parts that make up the system.

Furthermore, in the vehicle driving support method and vehicle driving support device according to the present embodiment, the extracted driving route may be transmitted to a control unit that automatically controls travel of the vehicle. Thereby, it is possible to start controlling the vehicle based on the highly accurate driving route on the second map data even immediately after a reroute occurs in the navigation device or immediately after the system is started.

Each of the functions illustrated in the embodiments described above may be implemented by one or more processing circuits. Processing circuits include programmed processors, electrical circuits, and other devices such as application specific integrated circuits (ASICs) and circuit components arranged to perform the described functions. Also included.

Although the present invention has been described above in accordance with the embodiments, it is obvious to those skilled in the art that the present invention is not limited to these descriptions and that various modifications and improvements can be made. The discussion and drawings that form part of this disclosure should not be construed as limiting the invention. Various alternative embodiments, implementations, and operational techniques will be apparent to those skilled in the art from this disclosure.

It goes without saying that the present invention includes various embodiments not described here. Therefore, the technical scope of the present invention is determined only by the matters specifying the invention in the claims that are reasonable from the above description.

200 Navigation device 210 Map database 220 Vehicle position calculation unit 230 Route generation unit 240 State determination unit 250 Output unit 300 High-precision map information management device 310 High-precision map database 320 Input unit 330 Route conversion unit 340 Output unit 400 Automatic driving device

Claims (7)

Vehicle driving support that generates a driving route for the vehicle on second map data that has higher accuracy than the first map data, based on a travel route that the vehicle is scheduled to travel, which is set on the first map data. A method,
Of the driving route, a route sandwiched between the position of the vehicle and a point that has traveled on the driving route by a first distance from the position of the vehicle in the traveling direction of the vehicle is set as a conversion target route, and the conversion is performed. Extract the branching and merging points on the target route,
If there is an extracted branch/merging point, the extracted branch/merging point corresponding to the conversion target route is extracted from the second map data based on an attribute including at least branch/merging information indicating a connection relationship between lanes at the branch/merging point. Extract the driving route,
If there is no extracted branch/merging point, if the route to be converted is reset, or if the travel route is newly generated, the route is set on the first map data. A vehicle driving support method, comprising: extracting the driving route corresponding to the conversion target route from the second map data based on position information of the vehicle. The vehicle driving support method according to claim 1, comprising:
Each time the vehicle advances on the travel route, the conversion target route is updated based on the position of the vehicle after traveling;
A vehicle driving support method, comprising: extracting the driving route corresponding to the updated conversion target route. The vehicle driving support method according to claim 1 or 2,
Corresponding to the conversion target route from the second map data based on position information of a point that has traveled along the traveling route by a second distance shorter than the first distance from the position of the vehicle in the traveling direction of the vehicle. A vehicle driving support method characterized by extracting the driving route. The vehicle driving support method according to any one of claims 1 to 3, comprising:
The travel route is set by a travel route generation unit,
A vehicle driving support method, wherein the driving route is generated in a driving route generating unit connected to the driving route generating unit by a communication path. The vehicle driving support method according to claim 4,
The driving route generating unit is characterized in that the driving route generating unit transmits the attribute or the position information of the vehicle to the driving route generating unit through communication based on a protocol defined in the Advanced Driving Support System Interface Specification (ADASIS). Vehicle driving support method. The vehicle driving support method according to any one of claims 1 to 5,
A vehicle driving support method, comprising transmitting the extracted driving route to a control unit that automatically controls travel of the vehicle. a travel route generation unit that sets a travel route on which the vehicle is scheduled to travel on the first map data;
a driving route generation unit connected to the driving route generation unit, which generates a driving route for the vehicle on second map data having higher accuracy than the first map data;
A vehicle driving support device comprising:
The travel route generation unit includes:
Of the driving route, a route sandwiched between the position of the vehicle and a point that has traveled on the driving route by a first distance from the position of the vehicle in the traveling direction of the vehicle is set as a conversion target route, and the conversion is performed. Extract the branching and merging points on the target route,
If there is the extracted branch/merging point, transmitting an attribute including at least branch/merging information indicating a connection relationship between lanes at the extracted branch/merging point to the driving route generation unit;
If there is no extracted branch/merging point, if the conversion target route has been reset, or if the travel route generation unit has just been started, the route generator is set on the first map data. transmitting position information of the vehicle to the driving route generation unit;
The driving route generation unit includes:
Vehicle driving characterized in that the driving route corresponding to the conversion target route is extracted from the second map data based on the attribute received from the driving route generation unit or the received position information of the vehicle. Support equipment.

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