JP7739092B2 - Travel route generation device and travel route generation method - Google Patents

Description

The present invention relates to a driving route generation device and a driving route generation method for generating a vehicle driving route.

A vehicle control system has been known in the past that uses vehicle control map data for a purpose other than the route search map data to control a moving object for part or all of a route searched using route search map data (see Patent Document 1). This vehicle control system includes a table storage means, a route search means, and a determination means. The table storage means stores a presence/absence management table containing position information representing intersection areas, which are polygonal areas including intersections in the vehicle control map data, and presence/absence information representing the presence or absence of vehicle control map data at positions corresponding to the intersections. The route search means uses the route search map data to identify position information for multiple nodes corresponding to intersections on the route and link data connecting the nodes. The determination means searches for specific intersections on the route whose intersection locations are determined to be within the intersection areas based on a comparison between the position information of the nodes on the route and the position information representing the intersection areas, and determines the presence or absence of vehicle control map data at positions corresponding to the specific intersections based on the presence/absence information, thereby determining which sections of the route contain vehicle control map data.

International Publication No. 2018/190025

However, with the above vehicle control system, if the vehicle's current location on the route search map data does not correspond to the vehicle's current location on the vehicle control map data, the vehicle's current location will differ between the multiple maps, making it difficult to generate a vehicle driving route using multiple maps.

The problem that this invention aims to solve is to provide a driving route generation device and a driving route generation method that can generate a vehicle's driving route using multiple maps, regardless of the vehicle's current location on those maps.

The present invention solves the above problem by identifying a first coordinate where the vehicle is located on a first map as a first current location, which is the current location of the vehicle on the first map, based on the vehicle's driving history on a first map; acquiring a second coordinate where the vehicle is located on a second map as a second current location, which is the current location of the vehicle on a second map different from the first map; acquiring a set route for the vehicle that is set on the second map and includes the second current location; performing coordinate conversion between the first map and the second map; and correcting a virtual route, which is the set route placed on the first map, to generate a driving route on the first map; in the coordinate conversion, converting the second coordinate into a third coordinate, which is a coordinate of the first map; and in generating the driving route, identifying nodes on the first map located near each node included in the virtual route as nodes included in the driving route; and if the first current location and the current location included in the virtual route differ on the first map, correcting the virtual route on the first map so that the first current location and the current location included in the virtual route coincide .

According to the present invention, a vehicle's driving route can be generated using multiple maps, regardless of the vehicle's current location on those maps.

FIG. 1 is a block diagram showing an example of a vehicle control system including a driving route generation device according to this embodiment. FIG. 2 is an example of a functional block of the controller according to this embodiment. FIG. 3 is an explanatory diagram for explaining the processing contents of the driving route generation device according to this embodiment. FIG. 4 is an explanatory diagram for explaining the processing contents of the driving route generation device according to this embodiment. FIG. 5 is an explanatory diagram for explaining the processing contents of the driving route generation device according to this embodiment. FIG. 6 is an explanatory diagram for explaining the correspondence between the nodes and links of the car navigation map and the nodes and links of the general-purpose map.

An embodiment of a driving route generation device and a driving route generation method according to the present invention will be described below with reference to the drawings. The driving route generation device according to this embodiment is implemented as part of a vehicle control system 1, as shown in FIG. 1. FIG. 1 is a block diagram showing an example of a vehicle control system 1 according to this embodiment. The vehicle control system 1 is a system for controlling vehicle driving. The vehicle control system 1 performs autonomous driving control, which automatically drives a vehicle without the driver's involvement in driving, or driving assistance control, which assists the driver in driving the vehicle. In addition to the devices and systems shown in FIG. 1, the vehicle control system 1 may also include sensors (including cameras, millimeter-wave radar, and LiDAR) that detect the vehicle's surrounding environment, sensors (including vehicle speed sensors, acceleration sensors, and gyro sensors) that detect the vehicle's driving state, a vehicle position detection device (including GPS, gyro sensors, and vehicle speed sensors) that detect the vehicle's current location, and various actuators that control the vehicle's drive mechanism, braking mechanism, and steering mechanism. Detailed description of devices not shown above will be omitted. The vehicle control system 1 may be configured to use sensors, vehicle position detection devices, and various actuators known at the time of filing of this application.

As shown in FIG. 1, the vehicle control system 1 includes a driving route generation device 10, an on-board communication device 20, an on-board navigation system 30, a storage device 40, and a vehicle control device 50. These devices and systems are mounted on a vehicle and connected via an on-board network 2, such as a Controller Area Network (CAN) or a Local Interconnect Network (LIN). In this embodiment, the vehicle control system 1 also uses a geographic information system 60 installed outside the vehicle. The geographic information system 60 is capable of exchanging information with each device and system connected to the on-board network 2 via the on-board communication device 20. In this embodiment, of the multiple functions realized by the vehicle control system 1, the function of generating a vehicle driving route using the driving route generation device 10 will be described. The vehicle driving route is a route (path) used in vehicle control executed by the vehicle control device 50 and is a route for guiding the vehicle to the destination. However, the driving route generated by the driving route generation device 10 is different from the lane-based route generated by the vehicle control device 50, which is used to guide the vehicle along the center of the lane.

The in-vehicle communication device 20 has a wireless communication function that allows it to wirelessly send and receive data to and from the outside of the vehicle. The in-vehicle communication device 20 connects to the Internet using its wireless communication function and sends and receives various data to and from the geographic information system 60.

The in-vehicle navigation system 30 guides the vehicle occupants by displaying a route from the vehicle's current location to the destination on a display based on vehicle position information detected by a vehicle position detection device (not shown). The in-vehicle navigation system 30 has vehicle map information 31. The in-vehicle navigation system 30 may store the vehicle map information 31 as a map database, or may be equipped with a storage device that stores the vehicle map information 31. Note that the in-vehicle navigation system 30 is not limited to having the vehicle map information 31; for example, the vehicle map information 31 may be stored on a server located outside the vehicle. In this case, the in-vehicle navigation system 30 receives the vehicle map information 31 from the server located outside the vehicle via the in-vehicle communication device 20.

Vehicle map information 31 includes a map for car navigation (hereinafter referred to as a car navigation map) that guides the occupant along the planned driving route of the vehicle. The planned driving route of the vehicle is the route from the vehicle's current location to the destination. The car navigation map includes road network information that indicates the road network and feature information that indicates various features around or on the road.

Road network information is information about a road network represented by a combination of nodes and links. Nodes are set at specific points on roads on car navigation maps, such as intersection locations and link junctions. Nodes have location information represented by coordinates (latitude and longitude) on the car navigation map. Links are formed on the car navigation map by connecting adjacent nodes to correspond to actual road shapes. Links also have attribute information such as road type (expressway, toll road, national highway, prefectural road, etc.), link length, and link shape. Nodes and links are each assigned a unique number. The in-vehicle navigation system 30 can identify each road network represented on the car navigation map from the assigned unique number or the location information of the node. This allows the in-vehicle navigation system 30 to search for a route from the vehicle's current location to a destination on the car navigation map.

Feature information is information about features associated with nodes and/or links in road network information. Examples of features in vehicle map information 31 include structures such as bridges, overpasses, tunnels, railroad crossings, pedestrian bridges, and toll booths, as well as traffic lights, road signs, and road markings (including dividing lines and pedestrian crossings).

An example of a navigation function provided by the in-vehicle navigation system 30 is described below. The in-vehicle navigation system 30 has, for example, a map matching function, a search function, and a guide function. When a destination is set by the vehicle occupant via an in-vehicle user interface (in-vehicle input device) such as a touch panel, the in-vehicle navigation system 30 uses its map matching function to estimate the vehicle's current location on the car navigation map based on information about the vehicle's current location detected by the vehicle position detection device. The in-vehicle navigation system 30 also uses its search function to search for one or more routes from the vehicle's current location to the destination. If multiple routes are obtained as search results, the in-vehicle navigation system 30 displays each route on the in-vehicle display. When the vehicle occupant selects one of the multiple routes, the in-vehicle navigation system 30 sets the selected route as the guidance route. The in-vehicle navigation system 30 uses a guide function to display a guide route on an in-vehicle display and output information about the guide route by voice via an in-vehicle output device such as a speaker. Note that in this embodiment, the functions of the in-vehicle navigation system 30 are not particularly limited, and navigation functions known at the time of filing of this application can be applied to the in-vehicle navigation system 30.

The storage device 40 stores a driving history 41 and high-precision map information 42. In response to a command from the driving route generation device 10, the storage device 40 outputs the driving history 41 to the driving route generation device 10. In addition, in response to a command from the vehicle control device 50, the storage device 40 outputs the high-precision map information 42 to the vehicle control device 50.

Driving history 41 is information about the driving history of the vehicle, and is information about the driving history of the vehicle on a car navigation map. Driving history 41 is information based on the vehicle's position information detected by a vehicle position detection device. There are no particular restrictions on the format in which driving history 41 is stored in storage device 40; for example, driving history 41 may be in a data format in which the coordinates of points on the car navigation map where the vehicle has driven are arranged in chronological order, or it may be a driving trajectory on the car navigation map that shows the path the vehicle has taken.

High-precision map information 42 includes high-precision maps used to navigate vehicles using automated driving control or driver assistance control. High-precision maps are maps that combine static information such as guardrails and lane boundaries with dynamic information such as traffic regulation information and congestion information, known as dynamic maps. High-precision maps are generated based on three-dimensional coordinate information and continuous image information acquired, for example, by a mobile mapping system.

The vehicle control device 50 is a computer that executes various processes for performing automatic driving control or driving assistance control based on the driving route input from the driving route generation device 10. An example of the vehicle control device 50 is an ECU (Electronic Control Unit). The driving route generated by the driving route generation device 10 is input to the vehicle control device 50. Note that in this embodiment, the processing content of the vehicle control device 50 using the driving route is not particularly limited. For example, the vehicle control device 50 executes a center route generation process for the vehicle to travel in the center of the lane based on the driving route and high-precision map information 42.

The geographic information system 60 is a system that generates, stores, uses, manages, displays, and searches geographic information and additional information on a computer. The geographic information system 60 can edit data and perform simulations in real time based on data obtained from satellites and other sources. Functions of the geographic information system 60 include, for example, map display functions, search functions, and spatial analysis functions. Examples of geographic information systems 60 include Google (registered trademark) Maps and Yahoo (registered trademark) Maps. The geographic information system 60 is accessed by users via communication devices that can connect to the Internet. The geographic information system 60 has general-purpose map information 61 that is used in the various functions listed above.

The general-purpose map information 61 includes highly versatile maps (hereinafter referred to as general-purpose maps) that are used for map display, search, and spatial analysis by the geographic information system 60. The general-purpose maps include road network information that indicates the road network and feature information that indicates various features around or on the roads. In the geographic information system 60, the road network information and feature information are also referred to as vector data. Note that the information included in the general-purpose maps is not limited to road network information and feature information; the general-purpose maps also include, for example, graphic information such as aerial photographs and satellite images, and meta information such as the geodetic system, projection method, scale, and accuracy.

Road network information is information about road networks represented by combinations of nodes and links. Nodes are set on general-purpose maps at specific points on roads, such as intersection locations and link junctions. Nodes have location information represented by coordinates (latitude and longitude) on the general-purpose map. Links are formed on the general-purpose map by connecting adjacent nodes to correspond to actual road shapes. Link attribute information includes road type (expressway, toll road, national highway, prefectural road, etc.), link length, link shape, and other information. Nodes and links are each assigned a unique number. The geographic information system 60 can identify each road network represented on the general-purpose map from the assigned unique number or the location information of the node. This allows the geographic information system 60 to search for routes between points specified by the user on the general-purpose map. Points specified by the user include the user's current location.

Feature information is information about features associated with nodes and/or links in the road network information. The number of feature types in the general-purpose map information 61 is greater than the number of feature types in the vehicle map information 31. In addition to the examples of features in the vehicle map information 31 already mentioned, examples of features in the general-purpose map information 61 include road surface direction indicators, vehicle stop lines, guardrails, utility poles, and signs. Furthermore, features in the general-purpose map information 61 are not limited to road-related features, but also include city blocks, buildings, rivers, trees, and mountains.

An example of a navigation function provided by the geographic information system 60 will be described. Similar to the in-vehicle navigation system 30, the geographic information system 60 has map matching, search, and guide functions. When a user specifies a destination via a mobile device such as a smartphone or mobile phone, the geographic information system 60 uses its map matching function to estimate the current location of the mobile device on a general-purpose map based on information about the mobile device's current location detected by a device location detection device such as a GPS. The geographic information system 60 also uses its search function to search for the destination on a general-purpose map. The geographic information system 60 also uses its search function to search for one or more routes from the mobile device's current location to the destination. For example, the geographic information system 60 searches for routes based on the user's mode of transportation, such as a route on a general-purpose map when the user is traveling by car, a route on a general-purpose map when the user is traveling on foot, or a route on a general-purpose map when the user is traveling by train. If multiple routes are obtained as search results, the geographic information system 60 displays each route on the mobile device's display. When a user selects one of the multiple routes according to the mode of transportation, the geographic information system 60 sets the selected route as a guide route. The geographic information system 60 uses a guide function to display the guide route on a mobile display or output information about the guide route via a mobile output device such as a speaker. Note that in this embodiment, the function of the geographic information system 60 is not particularly limited, and navigation functions known at the time of filing of this application can be applied to the geographic information system 60. Also, in this embodiment, a case where a user carrying a mobile terminal travels by vehicle is taken as an example, and the geographic information system 60 searches for a route for the user traveling by vehicle, i.e., a route consisting of roads that the vehicle can travel on. Furthermore, in the above example, a case where a user uses the geographic information system 60 via a mobile terminal is taken as an example, but the method of using the navigation function of the geographic information system 60 is not limited to a method using a mobile terminal. For example, if a vehicle is equipped with a user interface for the geographic information system 60 that has functions equivalent to a mobile device, the vehicle occupants can use the geographic information system 60 via the in-vehicle interface in the same way as they operate a mobile device.

As explained above, although the in-vehicle navigation system 30 and the geographic information system 60 each have navigation functions, they differ from each other in the maps they use, the method for estimating the current location, the algorithms for searching routes, etc. Furthermore, in this embodiment, there is no function for sharing information or algorithms between the in-vehicle navigation system 30 and the geographic information system 60, and the in-vehicle navigation system 30 and the geographic information system 60 perform navigation processing independently.

Here, we will explain the differences between the car navigation map in the vehicle map information 31 and the general-purpose map in the general-purpose map information 61. The car navigation map is a map intended for use in navigation by the in-vehicle navigation system 30 (so-called car navigation), while the general-purpose map is a map intended for use not only in navigation by the geographic information system 60 but also in managing geographic information such as land and urban planning. Therefore, the information accuracy of the car navigation map is generally lower than that of the general-purpose map. Furthermore, the amount of information required for the car navigation map is less than that required for the general-purpose map, so the information volume of the car navigation map is generally less than that of the general-purpose map. Furthermore, the car navigation map and the general-purpose map differ in the map generation method and the node and link definition method, and the information format of the map information (also called the map format or data format) is generally different between the car navigation map and the general-purpose map. Furthermore, car navigation maps are updated at relatively long intervals, such as once every six months, whereas general-purpose maps are updated on an ongoing basis based on probe information transmitted from satellites and vehicles. Therefore, the update frequency of car navigation maps is generally slower than that of general-purpose maps.

As such, car navigation maps, which are specialized for car navigation, and general-purpose maps, which are highly versatile and can be used for purposes other than navigation, differ in information accuracy, amount of information, information format, and update frequency. Furthermore, general-purpose maps are considered superior to car navigation maps in terms of information accuracy, amount of information, and update frequency, and users prefer general-purpose maps over car navigation maps for vehicle route guidance from the perspective of convenience. However, because the information format of general-purpose maps differs from that of car navigation maps, there is an issue that it is difficult to use general-purpose maps as is for vehicle control, including autonomous driving control and driver assistance control. In response to these issues arising from differences in user needs and information format, the driving route generation device 10 according to this embodiment generates a vehicle driving route based on a route on a general-purpose map on a car navigation map, thereby satisfying user needs and resolving issues arising from differences in information format.

Next, the driving route generation device 10 will be described. As shown in Figure 1, the driving route generation device 10 includes a controller 11. The controller 11 is configured as a computer equipped with hardware and software, and includes a memory that stores programs and a CPU that executes the programs stored in this memory. Note that, instead of or in addition to the CPU, an MPU, DSP, ASIC, FPGA, etc. can be used as the operating circuit.

Figure 2 shows an example of the functional blocks of the controller 11. As shown in Figure 2, the controller 11 has the following functional blocks: a map information acquisition unit 12, a driving history acquisition unit 13, a current location determination unit 14, a set route acquisition unit 15, a format conversion unit 16, a route generation unit 17, and a route output unit 18. The controller 11 realizes the functions of each functional block using software stored in memory.

The map information acquisition unit 12 acquires a car navigation map included in the vehicle map information 31 from the in-vehicle navigation system 30, and also acquires a general-purpose map included in the general-purpose map information 61 from the geographic information system 60. For example, when the vehicle's ignition switch is turned on by the occupant and a signal indicating that the ignition is on is detected, the map information acquisition unit 12 acquires a car navigation map from the in-vehicle navigation system 30. The map information acquisition unit 12 also acquires a general-purpose map from the geographic information system 60 via the in-vehicle communication device 20. Note that the acquisition timing of each map is an example and is not intended to be limiting. The map information acquisition unit 12 may acquire two maps at the same time, or may acquire each map at different times. The map information acquisition unit 12 outputs the acquired car navigation map and general-purpose map to the current location determination unit 14, format conversion unit 16, and route generation unit 17.

Next, the driving history acquisition unit 13, current location determination unit 14, set route acquisition unit 15, format conversion unit 16, and route generation unit 17 will be described with reference to Figures 3 to 5 as appropriate. Figures 3 to 5 are explanatory diagrams for explaining the processing details of the driving history acquisition unit 13, current location determination unit 14, set route acquisition unit 15, format conversion unit 16, and route generation unit 17.

The driving history acquisition unit 13 acquires the driving history 41 from the storage device 40. For example, similar to the map information acquisition unit 12, the driving history acquisition unit 13 acquires the driving history 41 from the storage device 40 when it detects a signal indicating that the ignition is turned on. The driving history acquisition unit 13 also acquires the driving history 41 from the storage device 40 at a predetermined interval. For example, while the vehicle is traveling, the driving history acquisition unit 13 sequentially acquires the driving history 41 from the storage device 40. Note that the acquisition timing of the driving history 41 is an example and is not intended to be limiting. The driving history acquisition unit 13 outputs the acquired driving history 41 to the current location identification unit 14.

As shown in the example of Figure 3, the vehicle's driving history acquired by the driving history acquisition unit 13 is represented by a driving trajectory TP on the car navigation map M1, with the axis located on the left side of the front view of Figure 3 being the time axis. The driving trajectory TP is composed of nodes and links connecting each node on the car navigation map M1, and is represented by the nodes and links on the car navigation map M1. Note that in Figures 3 to 5, on the car navigation map M1 or the general-purpose map M2, circular shapes represent nodes, and line segments connecting nodes represent links.

Returning to Figure 2, the current location identification unit 14 identifies the current location of the vehicle on the car navigation map based on the vehicle's driving history on the car navigation map. For example, the current location identification unit 14 estimates the vehicle's current location on the car navigation map based on vehicle position information detected by a vehicle position detection device. Of multiple nodes existing around the estimated location, the current location identification unit 14 identifies the node with the shortest distance from the estimated location as the vehicle's current location on the car navigation map. The vehicle's current location on the car navigation map is represented by a node on the car navigation map.

As shown in the example of Figure 3, the vehicle's current location P1 identified by the current location identification unit 14 is represented by node N10 on the car navigation map M1. Node N10 is the node whose distance to the estimated point on the car navigation map M1 estimated by the current location identification unit 14 is the smallest compared to other nodes. The coordinates of node N10 are represented by latitude and longitude on the car navigation map M1.

Returning to FIG. 2 , the planned route acquisition unit 15 acquires, from the geographic information system 60, a planned route for the vehicle that is set on the general-purpose map and that includes the current location of the vehicle on the general-purpose map. For example, when a vehicle occupant operates a mobile terminal inside the vehicle and the geographic information system 60 searches for a route to the vehicle's destination, the planned route acquisition unit 15 acquires the planned route set on the general-purpose map by the geographic information system 60 via the in-vehicle communication device 20. The planned route is a route from the current location of the vehicle (current location of the mobile terminal) on the general-purpose map to the destination. The current location of the vehicle included in the planned route is represented by a node on the general-purpose map identified by the geographic information system 60. For example, the geographic information system 60 estimates the current location of the mobile terminal on the general-purpose map based on location information of the mobile terminal. The geographic information system 60 identifies, among multiple nodes present around the estimated location, the node that is the shortest distance from the estimated location as the current location of the vehicle on the general-purpose map.

The set route acquisition unit 15 also acquires the set route from the geographic information system 60 at a predetermined interval to accommodate updates (rerouting) of the set route by the geographic information system 60. Situations in which the geographic information system 60 updates the set route can be caused by the geographic information system 60, such as when the vehicle deviates from the set route and the geographic information system 60 searches for and sets a new set route to the destination, or when the geographic information system 60 searches for and sets a new set route to the destination based on road traffic information such as congestion or an accident. Other possible causes of the update can be caused by the vehicle occupant, such as when the vehicle occupant inputs intermediate points on the mobile device to the destination, or when the occupant inputs a destination on the mobile device that is different from the original destination.

As shown in the example of Figure 3, the planned route R2 acquired by the planned route acquisition unit 15 is composed of nodes N20-N22 on the general-purpose map M2 and links L21 and L22 connecting each node, and is represented by the nodes and links of the general-purpose map M2. Links L21 and L22 contain attribute information about the type of road on the general-purpose map (e.g., expressway, national highway, etc.). The planned route R2 also includes node N20 as the vehicle's current location P2. The coordinates of node N20 are expressed as latitude and longitude on the general-purpose map M2. The planned route R2 shown in Figure 3 is an example of a route set by the geographic information system 60.

Returning to Figure 2, the format conversion unit 16 converts the coordinates of the general-purpose map into the coordinates of the car navigation map. The format conversion unit 16 performs a coordinate conversion process for the set route on the general-purpose map acquired by the set route acquisition unit 15, from the coordinates of the general-purpose map to the coordinates of the car navigation map. As described above, the information formats of the car navigation map and the general-purpose map are different, so the set route on the general-purpose map cannot be placed directly on the car navigation map. To represent the set route expressed in the coordinates of the general-purpose map in the coordinates of the car navigation map, the format conversion unit 16 performs a coordinate conversion process for the set route. For example, the format conversion unit 16 converts the coordinates of the general-purpose map for the vehicle's current location on the general-purpose map into the coordinates of the car navigation map. Similarly, the format conversion unit 16 converts the coordinates of the general-purpose map for each node that constitutes the set route on the general-purpose map into the coordinates of the car navigation map. As a result, the set route set on the general-purpose map can be represented in the coordinates of the car navigation map, and the format conversion unit 16 can place the set route on the car navigation map. The set route placed on the car navigation map is not necessarily a route that actually exists, so in the following explanation, the set route placed on the car navigation map will be referred to as a virtual route.

As shown in the example of Figure 4, the set route R2 shown in Figure 3 is coordinate-converted by the format conversion unit 16 to create a virtual route R2-1 on the car navigation map M1. The virtual route R2-1 is composed of nodes N13 to N15 on the car navigation map M1 and links L13 and L14 connecting the nodes, and is represented by the nodes and links on the car navigation map M1. The virtual route R2-1 includes a current location P2-1 on the car navigation map M1, which is different from the current location P1 identified by the current location identification unit 14. The nodes and links that make up the virtual route R2-1 correspond to the nodes and links that make up the set route R2 shown in Figure 3. For example, node N13 of the current location P2-1 corresponds to node N20 of the current location P2 on the general-purpose map shown in Figure 3. Furthermore, for example, the links L13 and L14 that make up the virtual route R2-1 inherit the attribute information of links L21 and L22 shown in Figure 3, and the attribute information includes information on the road type on the general-purpose map. Note that the shape of the virtual route R2-1 shown in Figure 4 is the same as the shape of the set route R2 shown in Figure 3.

Returning to Figure 2, the route generation unit 17 generates a driving route for the vehicle on the car navigation map by correcting the virtual route so that the current location of the vehicle on the general-purpose map corresponds to the current location of the vehicle on the car navigation map. For example, if the current location of the vehicle based on the driving history 41 and the current location of the vehicle included in the virtual route are at different coordinates (different nodes) on the car navigation map, the route generation unit 17 corrects the virtual route to generate a driving route so that the coordinates of the two current locations match on the car navigation map. The current location of the vehicle based on the driving history 41 is the coordinate on the car navigation map identified by the current location identification unit 14. The current location of the vehicle included in the virtual route is the coordinate on the car navigation map obtained by coordinate conversion of the current location on the general-purpose map by the format conversion unit 16. The route generation unit 17 corrects the virtual route on the car navigation map so that the current location included in the virtual route matches the current location identified by the current location identification unit 14. In other words, the route generation unit 17 corrects the virtual route so as to maintain continuity with the vehicle's travel trajectory.

Furthermore, when a new set route is acquired by the set route acquisition unit 15, the route generation unit 17 generates a driving route on the car navigation map. For an example of the set route acquisition unit 15 acquiring a new set route, the explanation for the set route acquisition unit 15 is cited. That is, for example, when a vehicle occupant operates a mobile terminal inside the vehicle and the geographic information system 60 searches for a route to the vehicle's destination, the set route acquisition unit 15 acquires a new set route, and the route generation unit 17 generates a driving route. Furthermore, for example, when the geographic information system 60 updates the set route, the set route acquisition unit 15 acquires a new set route, and the route generation unit 17 generates a driving route.

Next, we will explain an example of correcting the virtual route R2-1 when the current location P1 identified by the current location identification unit 14 and the current location P2 included in the virtual route R2-1 differ on the car navigation map M1, as in the example of Figure 4.

For example, the route generation unit 17 identifies nodes located near nodes N13 to N15 included in the virtual route R2-1 as nodes included in the driving route. "Nearby" means located within a predetermined range from the coordinates of the node. In the example of Figure 4, if node N11 is located near node N13, node N12 is located near node N14, and node N13 is located near node N15, the route generation unit 17 identifies nodes N11 to N13 as nodes included in the driving route. As a result, even if the current location P2-1 and the current location P1 included in the virtual route R2-1 indicate different coordinates on the car navigation map M1, as in the example of Figure 4, due to differences in the information format and node definition method between the car navigation map M1 and the general-purpose map M2, it is possible to identify nodes N11 to N13 that maintain continuity from the driving trajectory TP.

For example, the route generation unit 17 identifies links whose attribute information corresponds to that of links L13 and L14 included in virtual route R2-1 as links included in the driving route. In the example of Figure 4, if the attribute information of links L13 and L14 is "expressway" and the attribute information of links L11 and L12 is "expressway," the route generation unit 17 identifies L11 and L12, whose attribute information is "expressway," as links included in the driving route. This makes it possible to prevent a route on a road with different attribute information (for example, a national highway) from being generated as the driving route even when the vehicle is driving on an expressway.

Figure 5 shows an example of a vehicle driving route R1 generated by the route generation unit 17. The driving route R1 is composed of nodes N11 and N12 and links L11 and L12 connecting the nodes on the car navigation map M1, and is represented by the nodes and links on the car navigation map M1. The shape of the driving route R1 is the same as the shape of the set route R2 shown in Figure 3 and the shape of the virtual route R2-1 shown in Figure 4. Furthermore, the attribute information of links L11 and L12 corresponds to the attribute information of links L21 and L22 shown in Figure 3, and also corresponds to the attribute information of the links included in the driving trajectory TP.

Returning to Figure 2, the route output unit 18 outputs the driving route on the car navigation map generated by the route generation unit 17 to the vehicle control device 50. Note that the output destination of the route output unit 18 is not limited to the vehicle control device 50, and the route output unit 18 may output to other devices or systems that perform processing using the driving route on the car navigation map.

As described above, the driving route generation device 10 according to this embodiment generates a driving route for a vehicle using a car navigation map and a general-purpose map. The driving route generation device 10 includes a current location determination unit 14 that determines the coordinates of the vehicle's location on the car navigation map as the vehicle's current location on the car navigation map based on the vehicle's driving history 41 on the car navigation map; a set route acquisition unit 15 that acquires the coordinates of the vehicle's location on the general-purpose map as the vehicle's current location on the general-purpose map and acquires a set route for the vehicle that is set on the general-purpose map and includes the vehicle's current location on the general-purpose map; a format conversion unit 16 that converts coordinates between the car navigation map and the general-purpose map; and a route generation unit 17 that generates a driving route on the car navigation map by correcting a virtual route, which is a set route placed on the car navigation map. The car navigation map and the general-purpose map each include multiple nodes and multiple links connecting the nodes. The format conversion unit 16 converts the coordinates of the vehicle's location on the general-purpose map into coordinates on the car navigation map. The route generation unit 17 identifies nodes on the car navigation map located near each node included in the virtual route as nodes included in the driving route, and corrects the virtual route so that the coordinates of the current location on the car navigation map identified by the current location identification unit 14 match the coordinates of the current location on the car navigation map converted by the format conversion unit 16.

As in the example of Figure 4, even if the current location P1 based on the driving history 41 on the car navigation map does not correspond to the current location P2-1 reflected on the general-purpose map, it is possible to generate a driving route R1 as in the example of Figure 5. In other words, a vehicle's driving route can be generated using multiple maps regardless of the vehicle's current location on the multiple maps. Furthermore, because a driving route can be generated using the geographic information system 60, high compatibility with the geographic information system 60 can be achieved, satisfying the needs of users who wish to use the geographic information system 60 while resolving issues regarding the information format between the car navigation map and the general-purpose map. Furthermore, as in the example of Figure 5, it is possible to generate a driving route R1 that maintains continuity from the vehicle's current location P1. Furthermore, even if the current location of the vehicle on the car navigation map does not correspond to the current location of the vehicle on the general-purpose map, and the information formats of the car navigation map and the general-purpose map are different, it is possible to generate a driving route on the car navigation map that maintains continuity from the vehicle's current location.

In addition, in this embodiment, the car navigation map and the general-purpose map each include road attribute information in their links, and the route generation unit 17 identifies, as links included in the driving route, links on the car navigation map whose road attribute information corresponds to each link included in the virtual route. This makes it possible to prevent the generation of a driving route that includes links with attribute information that differs from the attribute information of the road on which the vehicle has traveled. For example, it is possible to prevent the generation of a driving route that includes roads other than expressways, even when the vehicle is traveling on an expressway.

In addition, in this embodiment, the route generation unit 17 generates a driving route when a new set route is acquired by the set route acquisition unit 15. This allows the driving route to be generated in response to, for example, changes in traffic conditions on the road on which the vehicle is traveling or updates to the set route by the geographic information system 60, making it possible to update the driving route in accordance with changes in conditions.

In addition, in this embodiment, when the set route is updated by the geographic information system 60, the set route acquisition unit 15 acquires a new set route. This allows the set route processed by the driving route generation device 10 to be updated in accordance with updates to the set route by the geographic information system 60, making it possible to update the driving route in accordance with changes in the situation.

Furthermore, in this embodiment, the current vehicle location on the car navigation map and the current vehicle location on the general-purpose map are set independently of each other. This makes it possible to generate a vehicle driving route using the navigation function of the geographic information system 60.

In addition, in this embodiment, the vehicle driving route generated by the route generation unit 17 matches the shape of the set route set on the general-purpose map. This allows the vehicle to be driven by automatic driving control or driving assistance control along the shape of the set route, for example, thereby achieving high compatibility with the navigation of the geographic information system 60.

In addition, in this embodiment, the car navigation map differs from the general-purpose map in terms of information accuracy, amount of information, information format, and update frequency. This allows the vehicle's driving route to be generated using multiple maps, regardless of the vehicle's current location across multiple maps with different purposes or uses.

The above-described embodiments have been described to facilitate understanding of the present invention, and are not intended to limit the scope of the present invention. Therefore, each element disclosed in the above embodiments is intended to include all design modifications and equivalents that fall within the technical scope of the present invention.

For example, in the above embodiment, as explained using FIG. 4, an example configuration was given in which the route generation unit 17 identifies nodes N11 and N12 as nodes included in the travel route R1, identifies links L11 and L12 as links included in the travel route R1, and generates the travel route R1, but the route generation unit 17 may also generate the travel route R1 using other methods.

For example, the route generation unit 17 may generate a driving route by translating the virtual route so that the current location of the vehicle on the general-purpose map corresponds to the current location of the vehicle on the car navigation map. In the example of Figure 4, the route generation unit 17 may translate the virtual route R2-1 so that the current location P2-1 corresponds to the current location P1, thereby generating the driving route R1 shown in Figure 5. The route generation unit 17 can generate a driving route without undergoing node and link identification processing, thereby reducing the computational load.

For example, the route generation unit 17 may identify the shape of the virtual route based on the nodes and links of the car navigation map, and generate a driving route based on the identified shape of the virtual route. For example, the route generation unit 17 identifies the shape of the set route from the nodes and links that make up the set route set on the general-purpose map. In the coordinate conversion by the format conversion unit 16, if the shape of the set route is maintained on the car navigation map, the route generation unit 17 identifies the shape of the virtual route on the car navigation map from the shape of the set route. The route generation unit 17 determines whether a route corresponding to the shape of the virtual route exists based on the nodes and links of the car navigation map. If a route corresponding to the shape of the virtual route exists, the route generation unit 17 generates a route corresponding to the shape of the virtual route as a driving route. Note that, with regard to determining the correspondence between the current location of the vehicle based on the driving history 41 and the current location of the vehicle included in the virtual route, the route generation unit 17 may determine the correspondence of the current location before determining whether a route corresponding to the shape of the virtual route exists, or may determine the correspondence of the current location when determining whether a route corresponding to the shape of the virtual route exists.

Figure 6 is an explanatory diagram illustrating the correspondence between nodes and links on a car navigation map and nodes and links on a general-purpose map. Figure 6(A) is an example of a case where nodes and links correspond between a car navigation map and a general-purpose map, Figure 6(B) is an example of a case where nodes and links partially correspond between a car navigation map and a general-purpose map, and Figure 6(C) is an example of a case where nodes and links do not correspond between a car navigation map and a general-purpose map. In Figure 6, M1 indicates a car navigation map, M2 indicates a general-purpose map, circular shapes in each map indicate nodes, and lines connecting nodes indicate links.

In the example of Figure 6 (A), the route generation unit 17 identifies the shape of the set route from the nodes and links that make up the set route set on the general-purpose map M2. The route generation unit 17 determines that a route corresponding to the shape of the set route (shape of the virtual route) exists on the car navigation map M1, and generates a driving route on the car navigation map M1 that has the same shape as the set route on the general-purpose map M2.

6(B), the route generation unit 17 determines the shape of the set route from the nodes and links that make up the route set on the general-purpose map M2. The route generation unit 17 determines that a node corresponding to node DN2 on the general-purpose map M2 does not exist on the car navigation map M1, and determines that a route exists on the car navigation map M1 that partially corresponds to the shape of the set route (shape of the virtual route). The route generation unit 17 generates a driving route on the car navigation map M1 that partially has the same shape as the set route on the general-purpose map M2. Note that because the car navigation map M1 does not have a node corresponding to node DN2 on the general-purpose map M2, the route generation unit 17 does not generate a corresponding driving route for node DN2 and the links connected to node DN2. In this case, the route generation unit 17 may notify the vehicle occupants via an in-vehicle output device that some nodes corresponding to the general-purpose map M2 do not exist on the car navigation map M1, or that part of the driving route is missing.

In the example of FIG. 6(C), the route generation unit 17 identifies the shape of the set route from the nodes and links that make up the route set on the general-purpose map M2. The route generation unit 17 determines that a node corresponding to node DN2 on the general-purpose map M2 does not exist on the car navigation map M1, and determines that no route corresponding to the shape of the set route (shape of the virtual route) exists on the car navigation map M1. The route generation unit 17 does not generate a driving route on the car navigation map M1 based on the set route on the general-purpose map M2. In this case, the route generation unit 17 may notify the vehicle occupants via an in-vehicle output device that the car navigation map M1 does not contain a node corresponding to the general-purpose map M2 or that a driving route cannot be generated.

In this way, by identifying the shape of the virtual route and generating a driving route based on the identified shape of the virtual route, a driving route that matches or is similar to the set route can be generated on the car navigation map, making it possible to generate a highly accurate driving route that corresponds to the set route. Furthermore, even if a route that corresponds to the shape of the virtual route does not exist on the car navigation map due to differences in update frequency or information format, it is possible to generate a driving route that includes nodes and links that partially correspond to the set route and has a shape that is partially the same as the set route.

In the above embodiment, the timing when the set route acquisition unit 15 acquires a new set route has been described as being when the set route is updated by the geographic information system 60, but this is not limiting. The set route acquisition unit 15 may acquire a set route from the geographic information system 60 when at least one of the following conditions is met: when a signal indicating vehicle startup is detected, when the vehicle's current location is detected by the vehicle position detection device, or when the set route is updated by the geographic information system 60. For example, the set route acquisition unit 15 acquires a new set route from the geographic information system 60 when it detects a signal indicating the vehicle's ignition is turned on. This allows a driving route to be generated from the start of driving. Furthermore, for example, the set route acquisition unit 15 acquires a new set route from the geographic information system 60 when the vehicle's current location is detected by the vehicle position detection device. For example, a driving route can be generated when the vehicle enters a road registered on the car navigation map from a point where the vehicle position detection device cannot detect the vehicle's current location (in a multi-story parking garage) or a point not registered on the car navigation map.

In addition, in the above-described embodiment, a car navigation map and a general-purpose map, which differ in information accuracy, amount of information, information format, and update frequency, were used as examples. However, the driving route generation device according to the present invention can also be applied to maps that differ in at least one of information accuracy, amount of information, information format, and update frequency.

In addition, in the above-described embodiment, an example has been described in which the driving route generated by the driving route generation device 10 is used by the vehicle control device 50, but this is not limited to this. For example, the driving route on a car navigation map generated by the driving route generation device 10 may be displayed on a display to guide the vehicle occupants.
To guide.

DESCRIPTION OF SYMBOLS 1... Vehicle control system 2... In-vehicle network 10... Travel route generation device 11... Controller 12... Map information acquisition unit 13... Travel history acquisition unit 14... Current location determination unit 15... Set route acquisition unit 16... Format conversion unit 17... Route generation unit 18... Route output unit 20... In-vehicle communication device 30... In-vehicle navigation system 31... Vehicle map information 40... Storage device 41... Travel history 42... High-precision map information 50... Vehicle control device 60... Geographic information system 61... General-purpose map information

Claims (11)

1. A driving route generation device that generates a driving route for a vehicle using a first map and a second map different from the first map,
a current location identification unit that identifies first coordinates at which the vehicle is located on the first map as a first current location that is the current location of the vehicle on the first map based on a travel history of the vehicle on the first map;
a set route acquisition unit that acquires second coordinates at which the vehicle is located on the second map as a second current position that is the current position of the vehicle on the second map, and acquires a set route for the vehicle that includes the second current position and is set on the second map;
a format conversion unit that performs coordinate conversion between the first map and the second map;
a route generation unit that generates the travel route on the first map by correcting a virtual route that is the set route arranged on the first map;
the first map and the second map each include a plurality of nodes and a plurality of links connecting the nodes;
the format conversion unit converts the second coordinates into third coordinates that are coordinates of the first map;
The route generation unit
Identifying the nodes of the first map located near each node included in the virtual route as the nodes included in the travel route;
If the first current location and the current location included in the virtual route differ on the first map, correcting the virtual route so that the first current location and the current location included in the virtual route coincide on the first map;
A driving route generation device wherein the current location included in the virtual route is the third coordinates obtained by coordinate conversion of the second current location on the second map by the format conversion unit . The driving route generation device according to claim 1,
the first map and the second map each include information on road attributes in the link;
The route generation unit identifies the links of the first map whose attributes correspond to those of the links included in the virtual route as the links included in the traveling route. 3. The driving route generation device according to claim 1,
The route generation unit generates the travel route when the set route acquisition unit acquires a new set route. The driving route generation device according to claim 3,
the set route acquisition unit acquires the new set route when an acquisition condition is satisfied;
The acquisition condition includes at least one of the following: when a signal indicating the start of the vehicle is detected; when the current location of the vehicle is detected by a device for detecting the current location of the vehicle; and when the set route is updated by a geographic information system. The driving route generation device according to any one of claims 1 to 4,
The route generation unit generates the driving route by translating the virtual route. The driving route generation device according to any one of claims 1 to 5,
A driving route generation device, wherein the first current location and the second current location are current locations of the vehicle that are set independently of each other. The driving route generation device according to any one of claims 1 to 6,
The route generation unit
Identifying the shape of the virtual route;
A driving route generation device that generates the driving route based on the specified shape of the virtual route. The driving route generation device according to any one of claims 1 to 7,
A driving route generation device in which the shape of at least a part of the driving route coincides with the shape of the set route. The driving route generation device according to any one of claims 1 to 8,
The first map is different from the second map in at least one of information accuracy, information amount, information format, and update frequency. The driving route generation device according to any one of claims 1 to 9,
the first map is a vehicle map used in an in-vehicle navigation system,
The second map is a general-purpose map used in a geographic information system. 1. A driving route generation method in which a controller generates a driving route for a vehicle using a first map including a plurality of nodes and a plurality of links connecting the nodes, and a second map different from the first map,
Identifying first coordinates at which the vehicle is located on the first map as a first current location that is the current location of the vehicle on the first map based on a travel history of the vehicle on the first map;
acquiring second coordinates at which the vehicle is located on the second map as a second current location that is the current location of the vehicle on the second map;
acquiring a planned route for the vehicle that includes the second current location and is set on the second map;
performing coordinate conversion between the first map and the second map;
generating the driving route on the first map by correcting a virtual route that is the set route arranged on the first map;
In the coordinate transformation, the second coordinates are transformed into third coordinates which are coordinates of the first map;
In generating the travel route, the nodes of the first map located near each node included in the virtual route are identified as the nodes included in the travel route;
If the first current location and the current location included in the virtual route differ on the first map, correcting the virtual route so that the first current location and the current location included in the virtual route coincide on the first map;
A driving route generation method , wherein the current location included in the virtual route is the third coordinates obtained by coordinate transformation of the second current location on the second map .