JP7458908B2 - Vehicle driving support method and vehicle driving support system - Google Patents

Description

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

BACKGROUND ART Technologies related to driving support control that support vehicle driving using map data have been proposed. Such driving support control includes, for example, automatic driving control that automatically drives the own vehicle without driver involvement based on the driving environment around the own vehicle and map data, and automatic driving control that automatically drives the own vehicle without the driver's involvement. This is a driving support control that supports
For example, Patent Document 1 below describes map data in which map data is divided in advance into sections on a plurality of tiles, and the sections of map data provided to application software that provides an automatic driving function are updated according to the position of the own vehicle. A provision system is disclosed.

JP2018-081252A

The map data providing system of the above-mentioned Patent Document 1 provides map data in units of pre-divided sections, which means that map data of lanes that are not closely related to the vehicle's driving route may also be provided, which may result in wasteful communication traffic for sending and receiving map data.
An object of the present invention is to reduce the amount of map data provided for vehicle driving assistance.

In the vehicle driving support method according to one aspect of the present invention, map data including information on the position and shape of the lane for each lane is read, the current self-position of the own vehicle on the map data is acquired, and the map data and self-position are acquired. Based on this, the lane in which the vehicle is likely to drive in the future is selected as the target lane from among the lanes within a predetermined distance in the forward direction of the vehicle from the vehicle's own position, and the target lane is selected from among the map data. Only map data is extracted and the vehicle's driving is supported based on the extracted map data.

The present invention can reduce the amount of map data provided for vehicle driving assistance.

1 is a schematic configuration diagram of an example of a vehicle driving support system according to an embodiment. FIG. 2 is a block diagram of an example of a functional configuration of the driving support device in FIG. 1. FIG. It is an explanatory diagram of an example of the distribution method of map data in an embodiment. FIG. 3B is an explanatory diagram of lane L4 shown in FIG. 3A. 1 is a block diagram of an example of a functional configuration of a map distribution device according to a first embodiment; FIG. FIG. 3 is an explanatory diagram of an example of a function of a target lane segment candidate extraction unit. FIG. 13 is an explanatory diagram of a first example of a target lane segment candidate at a branch point. FIG. 6 is an explanatory diagram of a second example of target lane segment candidates at a branch point. FIG. 7 is an explanatory diagram of a third example of target lane segment candidates at a branch point. FIG. 3 is an explanatory diagram of an example of a function of a target lane segment connecting section. FIG. 13 is an explanatory diagram of an example of the function of a target lane segment connector; FIG. 3 is an explanatory diagram of an example of a function of a target lane segment connecting section. 3 is a flowchart of an example of a vehicle driving support method according to an embodiment. 7 is a flowchart of an example of target lane segment connection processing. FIG. 2 is a block diagram of an example of a functional configuration of a map distribution device according to a second embodiment. FIG. 3 is an explanatory diagram of an example of a function of a lane priority determination section. FIG. 3 is an explanatory diagram of an example of a function of a lane priority determination section. FIG. 3 is an explanatory diagram of an example of a function of a lane priority determination section. 13 is a flowchart of an example of a process for selecting a target lane. 13 is an explanatory diagram of an example of a function of a lane priority determination unit according to a modified example. FIG.

Embodiments of the present invention will be described below with reference to the drawings. Note that each drawing is schematic and may differ from the actual drawing. In addition, the embodiments of the present invention shown below illustrate devices and methods for embodying the technical idea of the present invention. is not limited to the following: The technical idea of the present invention can be modified in various ways within the technical scope defined by the claims.

(First embodiment)
(composition)
Please refer to FIG. The vehicle driving support system includes a driving support device 10 mounted on the own vehicle 1 and a map distribution device 20 that distributes map data to the driving support device 10.
The driving support device 10 executes driving support control for supporting the driving of the own vehicle 1 based on map data distributed by, for example, wireless communication from a map distribution device 20 provided outside the own vehicle 1 .
An example of driving support control by the driving support device 10 is automatic driving control in which the own vehicle 1 is automatically driven without the driver's involvement based on the driving environment around the own vehicle 1 and map data. In this specification, an embodiment will be described in which the driving support control by the driving support device 10 is automatic driving control.

However, the present invention is not limited to such an embodiment, and for example, the driving support control by the driving support device 10 may be driving support control that supports the driving of the host vehicle 1 by the driver.
Driving support control may include driving controls such as automatic steering, automatic braking, constant speed driving control, lane keeping control, and merging support control, as well as outputting messages that prompt the driver to perform steering operations and deceleration operations. .

Further, in this specification, an embodiment will be described in which map data is distributed from a map distribution device 20, which is an external device of the own vehicle 1, to the driving support device 10 mounted on the own vehicle 1. It is not limited to the embodiment.
For example, a map database (referred to as map DB in the drawings) 23, which will be described later, may be mounted on the host vehicle 1, and the configuration and functions of the map distribution device 20, which will be described later, may be implemented in the driving support device 10.

The driving support device 10 includes an object sensor 11, a vehicle sensor 12, a positioning device 13, a communication device 14, a navigation device 15, a controller 16, and an actuator 17.
The object sensor 11 is one of a plurality of different types that detect objects around the own vehicle 1, such as a laser radar, a millimeter wave radar, a camera, and a LIDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging) mounted on the own vehicle 1. Equipped with an object detection sensor.

The vehicle sensor 12 is mounted on the own vehicle 1 and detects various information (vehicle signals) obtained from the own vehicle 1. The vehicle sensor 12 includes, for example, a vehicle speed sensor that detects the running speed (vehicle speed) of the own vehicle 1, a wheel speed sensor that detects the rotational speed of each tire included in the own vehicle 1, and an acceleration ( A 3-axis acceleration sensor (G sensor) that detects the steering angle (including deceleration), a steering angle sensor that detects the steering angle (including the turning angle), a gyro sensor that detects the angular velocity generated in the own vehicle 1, and a yaw rate that detects the yaw rate. The sensor includes an accelerator sensor that detects the accelerator opening of the host vehicle, and a brake sensor that detects the amount of brake operation by the driver.

The positioning device 13 includes a global positioning system (GNSS) receiver, and measures the current position of the own vehicle 1 by receiving radio waves from a plurality of navigation satellites. The GNSS receiver may be, for example, a Global Positioning System (GPS) receiver. The positioning device 13 may be, for example, an inertial navigation device.
The communication device 14 communicates with a communication device 24 of a map distribution device 20 external to the host vehicle 1 . The communication method by the communication device 14 may be, for example, mobile communication via the public mobile telephone network NT, vehicle-to-vehicle communication, road-to-vehicle communication, or satellite communication.

The navigation device 15 recognizes the current position of the own vehicle using the positioning device 13. In addition, the destination of the own vehicle 1 is set according to the operation of the occupant, and a travel route for each lane from the current position to the destination is calculated.
The navigation device 15 outputs information about the calculated travel route to the controller 16. Further, the navigation device 15 provides route guidance to the occupant according to the calculated travel route.

The controller 16 is an electronic control unit (ECU) that performs driving support control of the own vehicle 1. Controller 16 includes a processor 18 and peripheral components such as a storage device 19. The processor 18 may be, for example, a CPU (Central Processing Unit) or an MPU (Micro-Processing Unit).
The storage device 19 may include a semiconductor storage device, a magnetic storage device, an optical storage device, or the like. The storage device 19 may include memories such as registers, cache memory, ROM (Read Only Memory) used as a main storage device, and RAM (Random Access Memory).

The functions of the controller 16 described below are realized, for example, by the processor 18 executing a computer program stored in the storage device 19.
Note that the controller 16 may be formed from dedicated hardware for executing each information process described below.
For example, the controller 16 may include a functional logic circuit set in a general-purpose semiconductor integrated circuit. For example, the controller 16 may include a programmable logic device (PLD) such as a field-programmable gate array (FPGA).

The actuator 17 operates the steering wheel, accelerator opening, and brake device of the host vehicle in response to a control signal from the controller 16 to generate vehicle behavior of the host vehicle. The actuator 17 includes a steering actuator, an accelerator opening actuator, and a brake control actuator. The steering actuator controls the steering direction and amount of steering of the host vehicle.
The accelerator opening actuator controls the accelerator opening of the host vehicle. The brake control actuator controls the braking operation of the brake device of the own vehicle 1.

On the other hand, the map distribution device 20 includes a processor 21, a storage device 22, a map database 23, and a communication device 24. For example, the map distribution device 20 may be an external server device provided outside the own vehicle 1.
The processor 21 may be, for example, a CPU or an MPU. The storage device 19 may include a semiconductor storage device, a magnetic storage device, an optical storage device, or the like. The storage device 19 may include registers, cache memory, and memories such as ROM and RAM used as main storage devices.

The functions of the map distribution device 20 described below are realized, for example, by the processor 21 executing a computer program stored in the storage device 22.
Note that the functions of the map distribution device 20 may be executed by dedicated hardware for executing each information process described below.
For example, the map distribution device 20 may include a functional logic circuit set in a general-purpose semiconductor integrated circuit. For example, the map distribution device may include a programmable logic device such as a field programmable gate array.

The map database 23 may store high-precision map data (hereinafter simply referred to as "high-precision map") suitable as a map for automatic driving. High-precision maps are map data with higher precision than navigation map data (hereinafter simply referred to as "navigation maps"), and are more detailed than road-by-road information, such as lane positions and lane shapes on roads. Contains lane-by-lane information.
The lane map data included in the map database 23 includes information on lane segments obtained by dividing each lane into units of predetermined distances (for example, about several tens of meters). The lane segment information included in the map database 23 includes information on the position and shape of each lane segment, and connection information that defines the connection relationship between lane segments.

The communication device 24 communicates with the communication device 14 of the own vehicle 1. The communication method by the communication device 24 may be, for example, mobile communication via the public mobile telephone network NT, vehicle-to-vehicle communication, road-to-vehicle communication, or satellite communication.

With reference to FIG. 2, the functions of the controller 16 of the driving support device 10 will be described in detail. The controller 16 includes an object detection section 30, a self-position estimation section 31, a map acquisition section 32, a detection integration section 33, an object tracking section 34, an in-map position calculation section 35, a driving behavior determination section 36, It includes a trajectory generation section 37, a vehicle control section 38, and an own vehicle information transmission section 39.
The driving support device 10 and the self-position estimating unit 31 are examples of a “driving support unit” and a “self-position acquiring unit” described in the claims, respectively.

The object detection unit 30 detects the position, posture, size, speed, etc. of objects around the own vehicle 1, such as vehicles, motorcycles, pedestrians, obstacles, etc., based on the detection signal of the object sensor 11. The object detection unit 30 outputs a detection result expressing the two-dimensional position, orientation, size, speed, etc. of an object, for example, in a zenith view (also referred to as a plan view) of the own vehicle 1 viewed from the air.

The self-position estimating unit 31 estimates the current absolute position of the own vehicle 1, that is, the self-position on the map data, based on the measurement result by the positioning device 13 and the odometry using the detection result from the vehicle sensor 12.
The own vehicle information transmitting unit 39 transmits the information on the own position estimated by the own position estimating unit 3 and the driving route for each road calculated by the navigation device 15 to the map distribution device 20 via the communication device 14.

The map acquisition unit 32 acquires map data distributed from the map distribution device 20 and received by the communication device 14 .
The detection integration unit 33 integrates a plurality of detection results obtained by the object detection unit 30 from each of the plurality of object detection sensors, and outputs one detection result for each object.
Specifically, from the behavior of the object obtained from each object detection sensor, the most rational behavior of the object with the least error is calculated, taking into consideration the error characteristics of each object detection sensor.
The detection integration unit 33 uses known sensor fusion technology to comprehensively evaluate detection results obtained by a plurality of types of sensors to obtain more accurate detection results.

The object tracking unit 34 tracks the object detected by the object detection unit 30. Specifically, based on the detection results integrated by the detection integration unit 33, the identity of the object at different times is verified (corresponding) from the behavior of the object output at different times, and the Based on the correspondence, predict the behavior of the object, such as its speed.

The in-map position calculation unit 35 estimates the position and orientation of the own vehicle 1 on the map data from the absolute position of the own vehicle 1 obtained by the own position estimation unit 31 and the map data acquired by the map acquisition unit 32. do.

The driving behavior determination unit 36 uses the detection results obtained by the detection integration unit 33 and the object tracking unit 34, the position of the own vehicle 1 specified by the map position calculation unit 35, and the map acquired by the map acquisition unit 32. Based on the data and the travel route calculated by the navigation device 15, the general driving behavior of the host vehicle 1 to be executed by the travel support device 10 is determined.
The driving actions determined by the driving action determining unit 36 include, for example, stopping, pausing, traveling speed, deceleration, acceleration, changing course, turning right, turning left, going straight, changing lanes in a merging section or in multiple lanes, and maintaining lanes. , overtaking, and responding to obstacles.

The driving behavior determination unit 36 determines the surroundings of the own vehicle 1 based on the position and orientation of the own vehicle 1 estimated by the in-map position calculation unit 35, the positions and orientations of objects around the own vehicle 1, and the map data. The system generates a route space map that expresses the route and the presence or absence of objects, and a risk map that quantifies the degree of danger of the driving area. The driving behavior determining unit 36 generates a driving behavior plan for the host vehicle 1 based on the route space map and the risk map.

The trajectory generation unit 37 generates candidates for the travel trajectory and speed profile on which the vehicle 1 is to travel, based on the driving behavior determined by the driving behavior determination unit 36, the motion characteristics of the vehicle 1, and the route space map.
The trajectory generation unit 37 evaluates the future risk of each candidate based on the risk map, selects the optimal traveling trajectory and speed profile, and sets it as the target traveling trajectory and target speed profile for the own vehicle 1 to travel.
The vehicle control unit 38 drives the actuator 17 so that the host vehicle 1 travels on the target travel trajectory at a speed that follows the target speed profile generated by the trajectory generation unit 37.

Next, an overview of the map data distribution method by the map distribution device 20 will be explained.
The map distribution device 20 uses the communication device 24 to receive and acquire the own position and driving route of the own vehicle 1 transmitted from the own vehicle information transmitter 39 of the own vehicle 1 via the communication device 14. In this embodiment, it is assumed that all information is exchanged between the map distribution device 20 and the own vehicle 1 through communication via the communication device 24 and the communication device 14.
The map distribution device 20 reads the map data stored in the map database 23, and based on the map data, the own position of the own vehicle 1, and the traveling route, the map distribution device 20 reads the map data stored in the map database 23, and based on the map data, the own position of the own vehicle 1, and the traveling route, the map distribution device 20 reads the map data stored in the map database 23, and based on the map data, the own position of the own vehicle 1, and the traveling route, the map distribution device 20 is configured to move within a predetermined distance from the own position in the forward direction of the own vehicle 1. The lane in which the host vehicle 1 is likely to travel in the future is selected from among the lanes.

The map distribution device 20 extracts only the map data of the selected lane from the map data and distributes it to the map acquisition unit 32 of the own vehicle 1. Hereinafter, the lane to which map data is distributed from the map distribution device 20 to the host vehicle 1 will be referred to as a "target lane."
Referring to FIG. 3A, an overview of target lane selection processing performed by the map distribution device 20 will be described.

Here, the own vehicle 1 is traveling on a road 5, the road 5 and the road 6 intersect at an intersection C in front of the own vehicle 1 in the traveling direction, and the traveling route 7 of the own vehicle 1 calculated by the navigation device 15 is shown. Assume that the route is a left turn from road 5 to road 6.
The road 5 has lanes 50, 51, and 52, and the host vehicle 1 is currently traveling on the lane 51. For ease of explanation, it is assumed that the traffic directions of lanes 50, 51, and 52 are all the same as the traveling direction of the host vehicle 1. Further, the road 6 has a lane 60 that can be entered from the road 5 and an oncoming lane 61. The lanes in which the own vehicle 1 can travel in the future are lanes 50 to 52 and 60.

The map distribution device 20 distributes lanes L1 to L3 of a predetermined distance in the forward direction of the vehicle 1 through lanes 50 to 52 in which the vehicle 1 can travel in the future, and lanes 60 in which the vehicle 1 can travel in the future. A lane L4 having a predetermined distance in front of the host vehicle 1 in the traveling direction is extracted as a candidate lane of interest.
As shown in FIG. 3B, the lane L4 is formed from a section L4-1 on the lane 50 of the road 5, a section L4-2 on the lane 60 of the road 6, and a section L4-3 inside the intersection C. , sections L4-1 and L4-3 overlap with lane L2.

The map distribution device 20 selects, from among these lanes L1 to L4, a lane that is highly likely to be traveled by the host vehicle 1 in the future as a target lane.
For example, the map distribution device 20 may determine that the lane L1 in which the host vehicle 1 is currently located is a lane in which the host vehicle 1 is likely to travel in the future.
Also, for example, the map distribution device 20 may determine that the lane L4 on which the vehicle 1 is traveling when the vehicle 1 is traveling toward the destination along the travel route 7 is a lane on which the vehicle 1 is likely to travel in the future.

For example, the map distribution device 20 may determine that the lane L3 adjacent to the lane L1 in which the host vehicle 1 currently exists is a lane in which the host vehicle 1 is likely to travel in the future.
The map distribution device 20 extracts only the map data of the selected target lanes L1, L3, and L4, and distributes it to the map acquisition unit 32 of the host vehicle 1. That is, map data for a portion of lane L2 that does not overlap with lane L4 is not distributed.
This eliminates the need to distribute map data for lanes in which the host vehicle 1 is unlikely to drive in the future, making it possible to reduce the amount of map data provided to support the travel of the host vehicle 1. . As a result, it is possible to reduce the storage area for storing map data in the own vehicle 1 and the amount of communication for distributing map data.

Note that in the above configuration, the driving route for each road calculated by the navigation device 15 is transmitted from the driving support device 10 of the own vehicle 1 to the map distribution device 20.
Alternatively, the destination set by the navigation device 15 may be transmitted to the map distribution device 20. In this case, for example, the map distribution device 20 calculates a travel route for each road from the own position of the own vehicle 1 to the destination. The map distribution device 20 transmits the driving route for each road along with the map data of the target lane to the driving support device 10.
The driving behavior determining unit 36 of the driving support device 10 determines the driving behavior of the host vehicle 1 based on the driving route calculated by the map distribution device 20.

Next, the functions of the processor 21 will be described in detail with reference to Fig. 4. The processor 21 includes a vehicle information receiving unit 41, a target lane generating unit 42, a target lane selecting unit 43, and a map data extracting unit 44.
The vehicle information receiving unit 41 acquires the vehicle's own position and the driving route on a road-by-road basis received from the vehicle information transmitting unit 39 of the vehicle 1 via the communication device 14 and the communication device 24 .

FIG. 5 shows an example of a lane from the own position of the own vehicle 1 to the destination. As described above, the map database 23 includes information on the positions and shapes of lane segments into which the lane is divided into predetermined distances. The regions designated with reference symbols L101 to L108, L201 to L208, and L303 to L305 each represent a lane segment.
For simplicity of explanation, lane segments of the oncoming lane of the vehicle's own lane are omitted in FIG.
The lane segment L201 is the "own lane segment" in which the own vehicle 1 exists, and the lane segments L106 and L108 are lane segments that have entrances to the destination. The driving route for each road transmitted from the host vehicle information transmitter 39 is a route from lane segments L101 and L201 to lane segments L108 and L208.

See FIG. 4. The target lane generation unit 42 extracts lanes through which the host vehicle 1 traveling along the road-based travel route is likely to pass.
Specifically, the target lane generation unit 42 extracts, as the target lane segment, a lane segment through which the host vehicle 1 traveling along the road unit travel route may pass.
The target lane generation unit 42 includes a target lane segment candidate extraction unit 45 and a target lane segment connection unit 46.

The target lane segment candidate extraction unit 45 extracts lane segments that the vehicle needs to drive to reach the destination as target lane segment candidates based on the travel route.
See FIG. 5. Specifically, the target lane segment candidate extracting unit 45 extracts lane segments L106 and L108 having entrances to the destination as target lane segment candidates.
Note that if it is possible to approach a destination on the oncoming lane depending on the lane shape and traffic conditions, the lane segment in your own lane that straddles the oncoming lane can be extracted as a target lane segment candidate. good. Furthermore, the destination is not limited to a facility off the road, but may also be a point set on the road, for example, a stopover point set on the road a predetermined distance in front of the host vehicle, such as a waypoint to reach the final destination. It can be any point that serves as a target.

In addition, the target lane segment candidate extraction unit 45 selects a lane segment that branches to the destination (that is, a lane segment located at the exit leading toward the destination) as the target lane for each branch point on the driving route of each road. Extract as a segment candidate.
In the example of FIG. 5, lane segments L104 and L204 are extracted as target lane segment candidates.
The target lane segment candidate extraction unit 45 extracts one or more target lane segment candidates for each branch point on the travel route for each road. By extracting such target lane segment candidates, it is possible to specify the lane that branches toward the destination.

The branch point includes, for example, a junction on the travel route. FIG. 6A represents a lane segment on a road that includes a junction. The dashed line indicates the driving route. For simplicity of explanation, the lane segments of the oncoming lane of the own lane are omitted as in FIG. 5 . The same applies to FIGS. 6B and 6C.
When making a right turn at a junction along a travel route, it is necessary to travel on hatched lane segments, and these lane segments are extracted as target lane segment candidates.

The branch point includes, for example, an intersection on the driving route. For example, FIG. 6B shows lane segments on a road including a single-lane intersection. To turn left at the intersection along the driving route, the vehicle needs to travel through the hatched lane segments, and these lane segments are extracted as target lane segment candidates.
6C shows lane segments of a road including a multi-lane intersection. To go straight through the intersection along the travel route, the vehicle should travel along the hatched lane segments, but should not travel along the left-turn lane segment located on the left side. Therefore, the hatched lane segments are extracted as target lane segment candidates.

See FIG. 4. The target lane segment connecting unit 46 connects the own lane segment, the target lane segment candidate, the lane segment between the own lane segment and the target lane segment candidate, and the lane segment between the target lane segment candidates, Extract the connected lane segments as target lane segments.
See FIG. 5. Specifically, the target lane segment connecting unit 46 sets the own lane segment L201 as the starting point lane segment.

Furthermore, the target lane segment connecting unit 46 sets one of the target lane segment candidates L104, L204, L106, and L108 closest to the starting point lane segment L201 as the ending point lane segment.
Here, "closest" to the starting point lane segment means that the distance along the road from the starting point lane segment is the shortest.

For example, the target lane segment connecting unit 46 may select, as the destination lane segment, the target lane segment candidate L204 that can be reached from the starting point lane segment L201 with the minimum number of lane changes from among the target lane segment candidates L104 and L204.
See FIG. 7. The target lane segment connecting unit 46 connects the starting point lane segment L201, the ending point lane segment L204, and the lane segments L202 and L203 between the starting point lane segment L201 and the ending point lane segment L204, and extracts them as a target lane segment. Further, the target lane segment candidate L104 adjacent to the end point lane segment L204 in the lane width direction is excluded from the target lane segment candidates.

The target lane segment connection unit 46 determines whether the end lane segment L204 is a lane segment that has an entrance to the destination. Here, since lane segment L204 is not one of the lane segments L106 and L108 that have an entrance to the destination, the target lane segment connector 46 continues extracting the target lane segment.
If the end point lane segment is not a lane segment having an entrance to the destination, the target lane segment connecting unit 46 resets the lane segment L204, which was set as the end point lane segment, to the start point lane segment.

Further, the target lane segment connecting unit 46 sets the target lane segment candidate L106 closest to the starting point lane segment L204 among the target lane segment candidates L106 and L108 as the ending point lane segment.
Refer to FIG. The target lane segment connecting unit 46 connects the starting point lane segment L204, the ending point lane segment L106, and the lane segments L104, L105, and L205 between the starting point lane segment L204 and the ending point lane segment L106, and extracts them as target lane segments. do.

Note that a lane change is required to reach the end lane segment L106 from the start lane segment L204. That is, a lane change is required in the section between the start lane segment L204 and the end lane segment L106.
Therefore, in this section, combinations of lane segments L104 and L204, and L105 and L205, which are adjacent to each other in the lane width direction, are extracted as target lane segments.
This makes it possible to extract a lane segment through which the vehicle 1 may pass as a target lane segment, whether a lane change is being made between lane segments L104 and L204, or between lane segments L105 and L205.

The target lane segment connecting unit 46 determines whether the end lane segment L106 is a lane segment that has an entrance to the destination. Here, since the lane segment L106 is a lane segment having an entrance to the destination, the target lane segment connecting unit 46 finishes extracting the target lane segment.
The target lane segment connecting unit 46 re-extracts and updates the target lane segment every time the own lane segment in which the own vehicle 1 is present changes.

Note that when the own vehicle 1 is located in an overlapping portion of lane segments L202 and L302, lane segments L202 and L302 may be set as starting point lane segments, respectively. Then, a destination lane segment may be selected for these starting point lane segments L202 and L302, and a combination having a shorter distance between the starting point lane segment and the ending point lane segment may be selected.

The target lane generation unit 42 may limit the total length of the target lane segment to be extracted to a predetermined route length.
Further, the target lane segment connecting unit 46 may limit the target lane segments to be connected when there is information on traffic regulations that restrict the travel of the host vehicle 1, such as traffic stop or congestion information.

See FIG. 9. For example, if there is information on a traffic regulation that restricts driving in lane segment Li3 among the lane segments Li1 to Li4 between the starting point lane segment Ls and the ending point lane segment Le, the target lane segment connecting unit 46 Segment Li3 is not extracted as a target lane segment.
In this case, the target lane segment connecting unit 46 may connect the lane segments Lc1 to Lc3 of adjacent lanes that bypass the lane segment Li3 and extract them as the target lane segment.

See FIG. 4. The target lane selection unit 43 selects a target lane based on the target lane segment extracted by the target lane generation unit 42. The map data extraction unit 44 extracts only the map data of the target lane selected by the target lane selection unit 43 and distributes it to the map acquisition unit 32 of the driving support device 10.
For example, the target lane selection unit 43 may select a lane including the target lane segment as the target lane. Thereby, map data of lanes that the host vehicle 1 is likely to pass when traveling along the travel route can be distributed to the map acquisition unit 32.

Further, for example, the target lane selection unit 43 may select a lane including the own lane segment in which the own vehicle 1 is present as the target lane. Thereby, the map data of the lane in which the host vehicle 1 is currently traveling can be distributed to the map acquisition unit 32.
Further, for example, the target lane selection unit 43 may select a lane adjacent to the own lane segment in the lane width direction as the target lane.
In particular, the target lane selection unit 43 may select, as the target lane, a lane that does not overlap with the target lane segment among the lanes adjacent to the own lane segment in the lane width direction. This enables driving support control to distribute map data of the adjacent lane to the map acquisition unit 32 and change lanes to the adjacent lane.

(motion)
Next, an example of the vehicle driving support method according to the embodiment will be described with reference to FIG.
In step S1, the self-position estimation unit 31 of the driving assistance device 10 of the host vehicle 1 acquires the current self-position of the host vehicle 1 on the map data.
In step S2, the navigation device 15 calculates a driving route from the vehicle's own position to the destination on a road-by-road basis. The vehicle information transmission unit 39 transmits information on the vehicle's own position estimated by the vehicle's own position estimation unit 3 and the driving route on a road-by-road basis calculated by the navigation device 15 to the map distribution device 20.

In step S3, the target lane segment candidate extracting unit 45 of the map distribution device 20 extracts a lane segment that the vehicle needs to drive to reach the destination as a target lane segment candidate based on the travel route.
In step S4, the target lane segment connection unit 46 executes target lane segment connection processing.

FIG. 11 is a flowchart of an example of target lane segment connection processing.
In step S10, the target lane segment connecting unit 46 sets the own lane segment as the starting point lane segment.
In step S11, the target lane segment connecting unit 46 sets the target lane segment candidate, which can be reached from the starting point lane segment with the minimum number of lane changes and which is closest to the starting point lane segment, as the ending point lane segment, among the target lane segment candidates. do.

In step S12, the target lane segment connecting unit 46 connects the starting point lane segment, the ending point lane segment, and the lane segment between the starting point lane segment and the ending point lane segment, and extracts the resultant lane segment as a target lane segment.
In step S13, the target lane segment connecting unit 46 determines whether the end point lane segment is a lane segment that has an entrance to the destination.

If the end lane segment has an entrance to the destination (step S13: Y), the target lane segment connection process ends. If the end lane segment does not have an entrance to the destination (step S13: N), the process proceeds to step S14.
In step S14, the target lane segment connecting unit 46 resets the lane segment that was set as the end point lane segment to the start point lane segment.
In step S15, the target lane segment connecting unit 46 excludes the target lane segment candidate adjacent to the lane segment set as the end point lane segment from the target lane segment candidates. After that, the process returns to step S11.

See FIG. 10. In step S5, the target lane selection unit 43 selects a target lane based on the target lane segment extracted by the target lane generation unit 42.
In step S6, the map data extraction unit 44 extracts only the map data of the target lane selected by the target lane selection unit 43, and distributes it to the map acquisition unit 32 of the driving support device 10.
In step S7, the driving support device 10 executes driving support control of the host vehicle 1 based on the map data extracted by the map data extraction unit 44.
The process then ends.

(Effects of the first embodiment)
(1) The map distribution device 20 reads map data that includes information on the position and shape of each lane for each lane. The self-position estimation unit 31 acquires the current self-position of the own vehicle 1 on the map data. The target lane selection unit 43 selects a lane in which the vehicle 1 is likely to travel in the future, among lanes within a predetermined distance from the vehicle's location in the forward direction of the vehicle 1, based on the map data and the vehicle's location. Select as target lane. The map data extraction unit 44 extracts only the map data of the target lane from the map data. The driving support device 10 supports the driving of the host vehicle 1 based on the extracted map data.

This makes it possible to omit providing map data for lanes in which the vehicle 1 is not likely to travel in the future. Therefore, the amount of map data provided for driving support of the host vehicle 1 can be reduced. As a result, the storage area for storing map data in the own vehicle 1 and the amount of communication for distributing map data can be reduced.

(2) The map data may include information on the positions and shapes of lane segments obtained by dividing the lane into predetermined distances. The target lane selection unit 43 may select, as the target lane, a lane adjacent in the lane width direction to the own lane segment in which the own vehicle 1 is present. Thereby, the map data of the adjacent lane can be provided to the driving support device 10. The driving support device 10 can perform driving support control to change lanes to an adjacent lane.

(3) The navigation device 15 sets the destination of the own vehicle 1. The target lane generation unit 42 may extract, as the target lane segment, a lane segment that the vehicle is likely to pass from its own position to the destination. The target lane selection unit 43 may select, as the target lane, a lane that does not overlap with the target lane segment among the lanes adjacent to the own lane segment in the lane width direction.
Thereby, the driving support device 10 can perform driving support control to change lanes to the adjacent lane even if the target lane segment is not included in the adjacent lane.

(4) The navigation device 15 calculates a travel route from its own position to the destination. The target lane segment candidate extraction unit 45 may extract, as target lane segment candidates, a lane segment that branches to the destination at a branch point on the driving route and a lane segment that has an entrance to the destination. The target lane segment connecting unit 46 may set the own lane segment as the starting point lane segment, and may set the target lane segment candidate closest to the starting point lane segment as the ending point lane segment.

The target lane segment connecting unit 46 may extract the starting point lane segment, the ending point lane segment, and the lane segment between the starting point lane segment and the ending point lane segment as target lane segments. The target lane selection unit 43 may select the target lane based on the target lane segment.
Thereby, lane segments in which the own vehicle 1 is likely to travel in the future, starting from the own lane segment, can be connected and extracted as a target lane segment.

(5) The target lane segment connecting unit 46 resets the lane segment set as the end point lane segment to the start point lane segment, and the target lane segment candidate which is the closest to the start point lane segment among the target lane segment candidates that have not yet been extracted as the target lane segment. may be reset to the end lane segment. The target lane segment connection unit 46 may further extract the starting point lane segment, the ending point lane segment, and the lane segment between the starting point lane segment and the ending point lane segment as target lane segments.
As a result, target lane segment candidates that are likely to be driven by the own vehicle 1 in the future can be connected and extracted as target lane segments.

(6) When there are a plurality of end lane segments adjacent to each other in the lane width direction, the end lane segment that can be reached from the start lane segment with the minimum number of lane changes may be selected.
As a result, lane segments along which routes can reach the destination with fewer lane changes can be extracted as target lane segments.

(7) When a lane change is required in a section between a starting point lane segment and an ending point lane segment, a plurality of lane segments adjacent in the lane width direction that exist within the section may be extracted as target lane segments.
Thereby, a lane segment through which the own vehicle 1 is likely to pass when changing lanes can be extracted as a target lane segment.

(8) The target lane generation unit 42 may update the target lane segment every time the lane segment in which the host vehicle 1 is present changes.
Thereby, the target lane for distributing map data can be selected based on an appropriate target lane segment corresponding to the lane segment in which the host vehicle 1 is present.

(Second embodiment)
Next, a second embodiment will be described. Refer to FIG. 12. The target lane selection unit 43 of the second embodiment includes lane options for the vehicle 1 to drive (for example, lanes for overtaking vehicles and avoiding obstacles) in addition to lanes that are highly related to the target lane segment. , and select multiple lanes as target lanes in descending order of priority.

For this reason, the target lane selection unit 43 of the second embodiment includes a target lane candidate generation unit 47 and a lane priority determination unit 48.
The target lane candidate generation unit 47 sets the own lane segment in which the own vehicle 1 is present as the starting point lane segment. The target lane candidate generation unit 47 generates target lane candidates by connecting lane segments that have traveled a predetermined distance (or a predetermined number of lane segments) along the traveling direction of the own vehicle 1 from the starting point lane segment.

The target lane candidate generation unit 47 further sets a lane segment that exists to the side of the own lane segment (i.e., a lane segment that is located in the same direction of travel as the own lane segment but has a different lane width direction) as a start lane segment. The target lane candidate generation unit 47 generates a target lane candidate by connecting from the start lane segment to a lane segment that is a predetermined distance (or a predetermined number of lane segments) along the road travel direction.

See FIG. 13. In this example, lanes L1 to L4 are generated as target lane candidates. Lane L1 is generated by connecting lane segments L11, L12, and L13. Lane L2 is generated by connecting lane segments L21, L22, and L23. Lane L3 is generated by connecting lane segments L31, L32, and L33. Lane L4 is generated by connecting lane segments L41, L42, L43, and L44.

Note that lane segments L21 and L41 are the same lane segment, and lane segments L22 and L42 are also the same lane segment. The hatched lane segments L11, L12, L21 (L41), L22 (L42), L43, and L44 are target lane segments.

Please refer to Fig. 12. The lane priority determination unit 48 selects, as target lanes, a plurality of lanes from the lanes generated as candidates for the target lane in descending order of priority.
For example, the lane priority determination unit 48 determines the priority of a lane based on a plurality of determination conditions. The plurality of determination conditions used by the lane priority determination unit 48 to determine the priority are referred to as "priority determination conditions."
An example of the priority determination conditions is shown in Table 1 below.

As shown in Table 1, a determination order is determined for each priority determination condition, and the lane priority determination unit 48 determines each condition according to the determination order and filters (excludes) lanes that do not satisfy the conditions. I will do it. When only one lane remains without being filtered, the lane priority determining unit 48 selects the remaining lane as the target lane.
In addition, in the condition of judgment order 3 "Includes more target lane segments not included in the selected target lane" and the condition of judgment order 4 "Includes more lane segments not included in the selected target lane", Instead of the number of lane segments, a lane with a longer total length of lane segments or a lane with a wider total area may be selected.

The determination processing of the lane priority determination unit 48 will be explained using the example of lanes L1 to L4 in FIG. 13. Here, it is assumed that three lanes are selected as target lanes in order of priority.
When selecting the first priority lane, since there is no selected target lane yet, under the condition of judgment order 1, all lane segments L11 to L41, which are the starting points of each lane L1 to L4, are selected. , not included in the selected target lane. Therefore, all lanes L1 to L4 satisfy the condition.
Under the condition of determination order 2, since the own lane segment in which the own vehicle 1 exists is the starting point L11 of the lane L1, the starting point L11 is closest to the own lane segment. Therefore, lane L1 is applicable and other lanes L2 to L4 are excluded. As a result, lane L1 is given first priority and selected as the target lane.

Next, when selecting the second priority lane, under the conditions of determination order 1, the starting point L11 of the lane L1 is included in the selected target lane L1. Therefore, lane L1 is excluded and other lanes L2 to L4 remain.
In the condition of determination order 2, all of the starting points L21 to L41 of the lanes L2 to L4 are lane segments immediately adjacent to the own lane segment, so all of the lanes L2 to L4 satisfy the condition.
Under the condition of determination order 3, the number of target lane segments included in lane L4 is 4, which is the largest number. Therefore, lane L4 is applicable and other lanes L2 to L3 are excluded. As a result, lane L4 is given second priority and selected as the target lane.

Next, when selecting the lane with the third highest priority, the start point L21 (L41) of the lane L2 is included in the already selected target lane L4 under the condition of the determination order 1. Therefore, the lane L2 is excluded and the other lane L3 remains. As a result, the lane L3 is selected as the target lane with the third highest priority.
Through the above determination process, the lane priority determination unit 48 selects the lanes L1, L4, and L3 as target lanes in descending order of priority.

The priority determination method in the lane priority determination unit 48 will be further described with reference to examples of other lanes. Refer to FIG. 14.
Areas surrounded by solid rectangles, parallelograms, or fan shapes each indicate a lane segment. Lanes L1 to L7 are generated by connecting six lane segments lined up along broken lines L1 to L7, respectively.
In addition, hatching indicates target lane segments.

When determining the first priority lane, all lanes L1 to L7 satisfy the condition of determination order 1 because there is no selected target lane yet.
Under the condition of judgment order 2, the own lane segment in which the own vehicle 1 exists is the lane segment that is the starting point of the lanes L1 and L4, so the lanes L1 and L4 correspond and the other lanes L2 to L3 and L5 to L7 are Excluded.

In the condition of determination order 3, since the number of target lane segments included in lanes L1 and L4 is equal, both lanes L1 and L4 satisfy the condition.
In the condition of determination order 4, since no target lane has been selected yet, both lanes L1 and L4 satisfy the condition.
In the condition of the determination order 5, lane L1 satisfies the condition because lane L1 is closer to a straight line and has a smaller curvature.
As a result, the lane with the highest priority is lane L1.

When determining the second priority lane, lane L4 is excluded according to the condition of determination order 1.
Under the condition of determination order 2, the remaining lanes L2, L3, and L5 to L7 are all lane segments immediately adjacent to the own lane segment, so all lanes satisfy the condition.
Under the condition of determination order 3, the target lane segment included in lane L2 is the largest, so lane L2 satisfies the condition.
As a result, the second priority lane becomes lane L2.

When determining the third prioritized lane, under the conditions of the determination order 1, lane L3 is the only lane that has a lane segment at its starting point that is not included in the selected target lanes.
As a result, the lane with the third highest priority is lane L3.
When determining the fourth prioritized lane, under the condition of determination order 1, the lane segments that are the starting points of the remaining lanes L4 to L7 are already included in the selected target lanes.

Therefore, all lanes L4 to L7 do not satisfy the condition. In this case, the conditions for the next determination order are determined without filtering lanes L4 to L7.
In the condition of determination order 2, the segment that is the starting point of lane L4 is the own lane segment and is closest to the own lane segment, so lane L4 satisfies the condition.
As a result, the fourth priority lane is lane L4.

When determining the fifth priority lane, in the condition of determination order 2, the remaining lanes L5 to L7 are all lane segments immediately adjacent to the own lane segment, so all lanes are satisfy.
In the condition of determination order 3, all target lane segments are included in the selected target lanes L1 and L2, so there is no lane that satisfies the condition. In this case, the conditions for the next determination order are determined without filtering lanes L5 to L7.
In the condition of determination order 4, the lane L5 that includes the largest number of lane segments that are not included in the selected target lanes L1 to L4 satisfies the condition.
As a result, the fifth priority lane is lane L5.

When determining the sixth priority lane, the conditions of determination order 1 to 3 are not filtered, as in the case of determining the fifth priority lane.
Under the condition of determination order 4, the number of lane segments that are not included in the selected target lanes L1 to L5 but included in lane L6 is the same as the number of lane segments that are not included in target lanes L1 to L5 but included in lane L7. .
As a result, lane L6 that satisfies the condition of determination order 5 becomes the lane with the sixth priority.
As described above, the lane priority determination unit 48 determines that the priority is highest in the order of lanes L1, L2, L3, L4, L5, L6, and L7.

As in the case of the target lane segment, the target lane selection unit 43 may reselect and update the target lane each time the own lane segment in which the own vehicle 1 is located changes.
In addition, when there is information on traffic regulations that restrict the travel of the vehicle 1, such as traffic stop or congestion information, the target lanes may be limited.

See FIG. 15. For example, if lane L1 having lane segments L11 to L16 is selected as the target lane, and there is information on traffic regulations that restricts driving in lane segment L14, the target lane selection unit 43 selects lane segment L14 as the target lane. Do not select as
In this case, the target lane selection unit 43 may select lane segments L23 to L25 of the adjacent lane L2 that bypass the lane segment L14 as target lanes.

Next, referring to FIG. 16, the target lane selection process by the target lane selection unit 43 of the second embodiment will be described.
In step S20, the target lane candidate generation unit 47 generates all candidates for the target lane.
In step S21, a variable i is initialized to 1.
In step S22, the lane priority determination unit 48 determines the conditions for the i-th determination order.

In step S23, the lane priority determination unit 48 determines whether or not a lane that satisfies the conditions determined in step S22 exists. If a lane that satisfies the conditions exists (step S23: Y), the process proceeds to step S24.
In step S24, the lane priority determination unit 48 filters out (excludes) lanes that do not satisfy the conditions. Then, the process proceeds to step S25.
In step S25, the lane priority determination unit 48 determines whether or not there is one remaining candidate that has not been filtered.

If there is one candidate remaining (step S25: Y), the process proceeds to step S26. If there are a plurality of remaining candidates (step S25: N), the process proceeds to step S27.
On the other hand, if there is no lane that satisfies the condition in step S23 (step S23: N), the process proceeds to step S27 without filtering the lane that does not satisfy the condition.
In step S26, the lane priority determination unit 48 selects the remaining candidate lanes as target lanes. The process then proceeds to step S30.

In step S27, the lane priority determination unit 48 determines whether all priority determination conditions have been determined. If all the priority determination conditions have been determined (step S27: Y), the process proceeds to step S29. If there is a priority determination condition that has not yet been determined (step S27: N), the process proceeds to step S28.
In step S28, the variable i is incremented by one, and the process returns to step S22.
In step S29, the lane priority determination unit 48 selects one of the plurality of lanes remaining without being filtered as the target lane. The process then proceeds to step S30.

In step S30, the lane priority determining unit 48 determines whether the number of selected target lanes has reached a predetermined number. If the number of selected target lanes has not reached the predetermined number (step S30: N), the process returns to step S21, the lanes that have not been selected as target lanes are reset as candidates, and the process is repeated.
When the number of selected target lanes reaches a predetermined number (step S30: Y), the process ends.

(Modified example)
In the priority determination conditions, a condition for preferentially selecting the own lane or an adjacent lane may be added as a condition to be determined first (ie, a condition in determination order 1). An example of such priority determination conditions is shown in Table 2 below. The conditions for judgment orders 2 to 6 are the same as the conditions for judgment orders 1 to 5 in Table 1 above.

Using the example of lanes L1 to L4 in FIG. 17, the difference between the determination results based on the priority determination conditions in Table 1 and the determination results based on the priority determination conditions in Table 2 will be explained. Note that lanes L1 to L4 in FIG. 17 are the same as lanes L1 to L4 in Table 13, but the own lane segment has been changed from lane segment L11 to lane segment L21 (L41).
As in the example of FIG. 13, assume that three lanes are selected as target lanes in order of priority.

First, the case where the selection is made according to the priority determination conditions in Table 1 will be described.
When selecting the lane with the first priority, all of the lanes L1 to L4 satisfy the conditions of the determination order 1.
In the condition of the determination order 2, the start point L21 of the lane L2 and the start point L41 of the lane L4 are the current lane segment and are closest to the current lane segment, so the lanes L2 and L4 satisfy the condition and the lanes L1 and L3 are excluded.
The condition for the determination order 3 is met because lane L4 contains the largest number of target lane segments, and as a result, lane L4 is given the first priority and selected as the target lane.

When selecting the second priority lane, under the conditions of determination order 1, the starting point L21 (L41) of lane L2 is included in the selected target lane L4. Therefore, lane L2 is excluded and other lanes L1 and L3 remain.
Under the condition of determination order 2, the starting point L11 of the lane L1 is closer to the own lane segment than the starting point L31 of the lane L3. Therefore, lane L1 satisfies the condition. As a result, lane L1 is given second priority and selected as the target lane.

When selecting the second priority lane, lane L3 satisfies the condition of determination order 1. As a result, lane L3 is given second priority and selected as the target lane.
Through the above determination process, the lane priority determination unit 48 selects lanes L4, L1, and L3 as target lanes in descending order of priority.

Next, a case will be described in which selection is made according to the priority determination conditions shown in Table 2.
When selecting the first priority lane, under the conditions of determination order 1, lanes L2 and L4 are the own lane, and lane L1 is the adjacent lane. Therefore, lanes L1, L2, and L4 satisfy the condition, and lane L3 is excluded.
Lanes L1, L2, and L4 satisfy the condition of determination order 2.
Under the condition of determination order 3, the starting point L21 of lane L2 and the starting point L41 of lane L4 are the own lane segment and are closest to the own lane segment. Therefore, lanes L2 and L4 satisfy the condition, and lane L1 is excluded.
The condition of determination order 4 is satisfied because the number of target lane segments included in lane L4 is the largest. As a result, lane L4 is given first priority and selected as the target lane.

When selecting the second priority lane, lanes L1 and L2 satisfy the condition of determination order 1, and lane L3 is excluded.
Under the condition of determination order 2, the starting point L21 (L41) of lane L2 is included in the selected target lane L4. Therefore, lane L2 is excluded and the other lane L1 remains. As a result, lane L1 is given second priority and selected as the target lane.

When selecting the second priority lane, lane L2 satisfies the condition of determination order 1, and lane L3 is excluded. As a result, lane L1 is given second priority and selected as the target lane.
Through the above determination process, the lane priority determination unit 48 selects lanes L4, L1, and L2 as target lanes in descending order of priority.
In this way, the priority judgment conditions in Table 1 give priority to lanes whose starting lane segment is different and select them as target lanes, whereas the priority judgment conditions in Table 2 give priority to lanes adjacent to the own lane segment. and select.

Therefore, by using the priority determination conditions in Table 1, it is possible to select the target lane so that it includes more lane segments.
On the other hand, by using the priority determination conditions in Table 2, the lane adjacent to the own lane segment can be selected as the target lane with priority.

(Effects of the second embodiment)
(1) The lane priority determination unit 48 selects multiple lanes as target lanes in order of priority.
Thereby, map data can be provided with priority given to lanes with higher priority according to a desired viewpoint.

(2) The map data may include information on the positions and shapes of lane segments obtained by dividing the lane into predetermined distances. The navigation device 15 sets the destination of the own vehicle 1. The target lane generation unit 42 may extract, as the target lane segment, a lane segment that the vehicle is likely to pass from its own position to the destination. The lane priority determining unit 48 gives priority to a lane that includes more target lane segments and selects it as a target lane.
Thereby, map data can be provided with priority given to lanes in which the vehicle 1 is likely to travel.

(3) The lane priority determination unit 48 may preferentially select a lane closer to the lane segment where the host vehicle 1 is present as the target lane.
As a result, map data can be provided with priority given to lanes in which the vehicle can travel with fewer lane changes.

(4) The lane priority determination unit 48 may preferentially select a lane with a smaller curvature as the target lane.
As a result, map data can be provided with priority given to lanes in which driving is easy.

(5) The lane priority determination unit 48 may preferentially select a lane that includes more unselected lane segments, which are lane segments that are not included in the lanes selected as the target lane, as the target lane.
Thereby, map data can be provided to increase the number of lane options that can be supported by the driving support device 10.

(6) The target lane selection unit 43 may update the target lane every time the lane segment in which the host vehicle 1 is present changes.
Thereby, it is possible to provide map data of an appropriate target lane according to the lane segment in which the host vehicle 1 is present.

DESCRIPTION OF SYMBOLS 1... Own vehicle, 10... Driving support device, 11... Object sensor, 12... Vehicle sensor, 13... Positioning device, 14... Communication device, 15... Navigation device, 16... Controller, 17... Actuator, 18... Processor, 19... Storage device, 20... Map distribution device, 21... Processor, 22... Storage device, 23... Map database, 24... Communication device, 30... Object detection section, 31... Self-position estimation section, 32... Map acquisition section, 33... Detection Integration unit, 34...Object tracking unit, 35...Map position calculation unit, 36...Driving behavior determination unit, 37...Trajectory generation unit, 38...Vehicle control unit, 39...Vehicle information transmission unit, 41...Vehicle information reception unit , 42...Target lane generation unit, 43...Target lane selection unit, 44...Map data extraction unit, 45...Target lane segment candidate extraction unit, 46...Target lane segment connection unit, 47...Target lane candidate generation unit, 48...Lane Priority judgment part

Claims (5)

Loading map data that includes information on the position and shape of a lane for each lane, and includes information on the position and shape of lane segments obtained by dividing the lane into each predetermined distance ;
Obtaining the current self-position of the own vehicle on the map data,
Based on the map data and the self-position, a lane in which the self-vehicle is likely to travel in the future is selected as a target lane among lanes within a predetermined distance from the self-position in the forward direction of the self-vehicle. death,
extracting only the map data of the target lane from the map data;
A vehicle driving support method that supports driving of the host vehicle based on the extracted map data, the method comprising:
setting the destination of the own vehicle;
calculating a travel route from the self-position to the destination;
Extracting a lane segment that branches to the destination at a branch point on the travel route and a lane segment that has an entrance to the destination as target lane segment candidates,
setting the lane segment in which the own vehicle exists as a starting point lane segment;
setting the one closest to the starting point lane segment among the target lane segment candidates as the ending point lane segment;
Extracting the starting point lane segment, the ending point lane segment, and the lane segment between the starting point lane segment and the ending point lane segment as target lane segments,
resetting the lane segment set as the end point lane segment to the start point lane segment;
resetting the target lane segment candidate closest to the starting point lane segment as the ending point lane segment among the target lane segment candidates that have not yet been extracted as the target lane segment;
Further extracting the starting point lane segment, the ending point lane segment, and the lane segment between the starting point lane segment and the ending point lane segment as target lane segments,
selecting the target lane based on the target lane segment;
A vehicle driving support method characterized by: 2. The method according to claim 1 , wherein when there are a plurality of the end lane segments adjacent to each other in the lane width direction, the end lane segment that can be reached from the start lane segment with a minimum number of lane changes is selected. Vehicle driving support method. When a lane change is required in a section between the starting point lane segment and the ending point lane segment, a plurality of lane segments adjacent in the lane width direction existing in the section are extracted as the target lane segment. The vehicle driving support method according to claim 1 or 2 . 4. The vehicle driving support method according to claim 1, wherein the target lane segment is updated every time the lane segment in which the host vehicle is present changes. a map database that stores map data that includes information on the position and shape of a lane for each lane, and includes information on the position and shape of lane segments obtained by dividing the lane into each predetermined distance ;
a self-position acquisition unit that acquires the current self-position of the own vehicle on the map data;
a navigation device that sets a destination for the vehicle and calculates a travel route from the vehicle's location to the destination;
Based on the map data and the self-position, a lane in which the self-vehicle is likely to travel in the future is selected as a target lane from among lanes within a predetermined distance in the forward direction of the self-vehicle from the self-position. A target lane selection section,
a map data extraction unit that extracts only map data of the target lane from the map data;
a driving support unit that supports driving of the host vehicle based on the extracted map data;
A lane segment that branches to the destination at a branch point on the travel route and a lane segment that has an entrance to the destination are extracted as target lane segment candidates, and the lane segment where the host vehicle is present is the starting point. the target lane segment candidate closest to the starting point lane segment is set as the ending lane segment; the starting point lane segment, the ending point lane segment, the starting point lane segment and the ending point lane segment; A target lane generation unit that extracts a lane segment between and a target lane segment as a target lane segment;
Equipped with
The target lane generation unit resets the lane segment set as the end point lane segment to the start point lane segment, and selects a lane segment that is the most suitable for the start point lane segment among the target lane segment candidates that have not yet been extracted as the target lane segment. The closest lane segment is reset to the end point lane segment, and the start point lane segment, the end point lane segment, and the lane segment between the start point lane segment and the end point lane segment are further extracted as target lane segments. ,
The target lane selection unit selects the target lane based on the target lane segment.
A vehicle driving support system characterized by:

Images