JP2018063658A - Travel plan generating apparatus and computer program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a travel plan generating apparatus and a computer program, which are capable of generating a travel plan without sudden acceleration or deceleration that give a load to a user.SOLUTION: A navigation apparatus 1 and a computer program executed by the navigation apparatus 1, according to a present embodiment, are constructed in such a manner that a planned travel route on which a vehicle travels is acquired; a position of a traffic signal and a lighting pattern of a traffic light on the planned travel route are acquired; and a travel plan that sets a recommended vehicle speed between the traffic signals when the vehicle travels on the scheduled travel route is created with priority given to such a fact that a speed change of the recommended vehicle speed set between the traffic signals is small.SELECTED DRAWING: Figure 6

Description

  The present invention relates to a travel plan generation device and a computer program that generate a travel plan for a vehicle.

  2. Description of the Related Art In recent years, a navigation device is often mounted on a vehicle that provides vehicle travel guidance so that a driver can easily arrive at a desired destination. Here, the navigation device detects the current position of the vehicle by a GPS receiver or the like, acquires map data corresponding to the current position through a recording medium such as a DVD-ROM or HDD or a network, and displays it on a liquid crystal monitor. It is a device that can do. Further, the navigation device has a route search function for searching for an optimum route from the vehicle position to the destination when a desired destination is input, and sets the searched optimum route as a guide route, and displays it. A guide route is displayed on the screen, and when the user approaches an intersection, the user is surely guided to a desired destination by voice guidance. In recent years, some mobile phones, smartphones, tablet terminals, personal computers, and the like have functions similar to those of the navigation device.

  In addition, in a conventional navigation device or the like, in addition to guidance for traveling along a route, it has been proposed to provide guidance regarding how to travel along the route. For example, when a vehicle travels in a section in which a plurality of traffic lights are installed along the travel route, repeated stopping and starting with the traffic lights will lead to deterioration in fuel consumption and increase the burden of driving operation by the user. Therefore, for example, in Japanese Patent Application Laid-Open No. 2011-81640, a technique for acquiring a traffic signal installation state and a lighting pattern of a traffic signal on a planned travel route and guiding a vehicle speed for traveling without stopping at the traffic signal as a recommended vehicle speed. Has been proposed.

JP 2011-81640 A (page 8-10)

  However, in the technique described in Patent Document 1, the speed range (for example, 30 km / h to 50 km / h) is defined as a condition, but the speed change is not considered. As a result, there is a possibility that sudden acceleration or deceleration guidance may be performed in order to pass the intersection during a period in which the traffic light can pass.

  The present invention has been made to solve the above-described conventional problems, and when generating a travel plan for traveling in a traffic light installation section, there is no sudden acceleration or deceleration that burdens the user. It is an object of the present invention to provide a travel plan generation device and a computer program that can generate a travel plan.

In order to achieve the above object, a travel plan generation apparatus according to the present invention acquires a planned travel route acquisition means for acquiring a planned travel route on which a vehicle travels, and a position of a traffic light and a lighting pattern of the traffic light on the planned travel route. And a travel plan creation means for creating a travel plan in which a recommended vehicle speed is set between the traffic lights when the vehicle travels along the planned travel route. The travel plan creation means includes the traffic light The travel plan is prioritized so as to give priority to a small change in the recommended vehicle speed set in between.
The “scheduled travel route” includes, in addition to a guide route that is a target of travel guidance set by a navigation device or the like, a route when it is assumed that the vehicle travels along a road without making a right or left turn. .

  The computer program according to the present invention is a program for generating a travel plan for a vehicle. Specifically, the computer includes a planned travel route acquisition unit that acquires a planned travel route on which the vehicle travels, a traffic signal information acquisition unit that acquires a position of a traffic light and a lighting pattern of the traffic signal on the planned travel route, and the vehicle Is a computer program for functioning as travel plan creation means for creating a travel plan that sets a recommended vehicle speed between traffic lights when traveling on the planned travel route, wherein the travel plan creation means The travel plan is prioritized so as to give priority to a small change in the recommended vehicle speed set in between.

  According to the travel plan generation apparatus and the computer program according to the present invention having the above-described configuration, when generating a travel plan that travels in the traffic light installation section, the travel plan is generated in consideration of the speed change, thereby generating the user. Therefore, it is possible to generate a travel plan that does not cause sudden acceleration or deceleration that imposes a burden on the vehicle.

It is the block diagram which showed the structure of the navigation apparatus which concerns on this embodiment. It is a flowchart of the travel plan production | generation process program which concerns on this embodiment. It is the figure which showed the installation range of a coordinate system and a node. It is the figure which showed the lighting pattern of the traffic light. It is the figure which showed the node installed with respect to a coordinate system. It is the figure which showed the link installed with respect to a coordinate system. It is the figure which showed the setting method of link cost.

  DETAILED DESCRIPTION Hereinafter, a travel plan generation apparatus according to the present invention will be described in detail with reference to the drawings, based on an embodiment in which the navigation apparatus is embodied. First, a schematic configuration of the navigation device 1 according to the present embodiment will be described with reference to FIG. FIG. 1 is a block diagram showing a navigation device 1 according to this embodiment.

  As shown in FIG. 1, the navigation device 1 according to the present embodiment includes a current position detection unit 11 that detects a current position of a vehicle on which the navigation device 1 is mounted, a data recording unit 12 that records various data, A navigation ECU 13 that performs various arithmetic processes based on the input information, an operation unit 14 that receives operations from the user, a liquid crystal display 15 that displays information about a map around the vehicle, a guidance route, and the like to the user, Communicating between a speaker 16 that outputs voice guidance regarding route guidance, a DVD drive 17 that reads a DVD as a storage medium, and an information center such as a probe center or a VICS (registered trademark: Vehicle Information and Communication System) center And a communication module 18 for performing.

Below, each component which the navigation apparatus 1 has is demonstrated in order.
The current position detection unit 11 includes a GPS 21, a vehicle speed sensor 22, a steering sensor 23, a gyro sensor 24, and the like, and can detect the current vehicle position, direction, vehicle traveling speed, current time, and the like. . Here, in particular, the vehicle speed sensor 22 is a sensor for detecting a moving distance and a vehicle speed of the vehicle, generates a pulse according to the rotation of the driving wheel of the vehicle, and outputs a pulse signal to the navigation ECU 13. And navigation ECU13 calculates the rotational speed and moving distance of a driving wheel by counting the generated pulse. Note that the navigation device 1 does not have to include all the four types of sensors, and the navigation device 1 may include only one or more types of sensors.

  The data recording unit 12 is also a hard disk (not shown) as an external storage device and a recording medium, and a driver for reading the map information DB 31 and a predetermined program recorded on the hard disk and writing predetermined data on the hard disk And a recording head (not shown). The data recording unit 12 may include a memory card, an optical disk such as a CD or a DVD, instead of the hard disk. Moreover, map information DB31 may be stored in an external server and the navigation apparatus 1 may acquire by communication.

  Here, the map information DB 31 includes, for example, link data 33 related to roads (links), node data 34 related to node points, intersection data 35 related to each intersection, search data 36 used for processing related to route search, points such as facilities, etc. Storage means for storing location data, map display data for displaying a map, search data for searching for a location, and the like.

  The link data 33 includes, for each link constituting the road, the width of the road to which the link belongs, the gradient (altitude difference), direction, cant, bank, road surface condition, speed limit, road lane The number of lanes, locations where the number of lanes decreases, locations where the width is narrowed, railroad crossings, etc. are the data regarding the corner, curvature radius, intersection, T-junction, corner entrance and exit, etc. Data representing slopes, climbing roads, etc. are data representing roads such as national roads, prefectural roads, narrow streets, and other toll roads such as national highways, urban highways, general toll roads, and toll bridges. To be recorded.

  The node data 34 includes actual road branch points (including intersections, T-junctions, etc.) and the coordinates (positions) of node points set for each road according to the radius of curvature, etc. Node attribute indicating whether a node is a node corresponding to an intersection, etc., a connection link number list that is a list of link numbers of links connected to the node, and an adjacency that is a list of node numbers of nodes adjacent to the node via the link Data relating to the node number list, the height (altitude) of each node point, and the like are recorded.

  Further, as the intersection data 35, relevant node information for identifying nodes forming the intersection, connection link information for identifying a link connected to the intersection (hereinafter referred to as a connection link), a connection angle of the link at the intersection, The traffic light at the intersection, the installation status of the regulation of suspension (presence / absence of installation, and installation location if installed), etc. are stored. In addition, regarding the traffic light, information on a lighting pattern for specifying how to switch between a lighting state indicating that progress is possible and a lighting state indicating that progress is not possible is also stored. In addition, you may acquire the information regarding a traffic light from an external server, without memorize | storing as the intersection data 35. FIG.

  In addition, as the search data 36, various data used for route search processing for searching for a route from a departure place (for example, the current position of the vehicle) to a set destination is recorded. Specifically, the cost of quantifying the appropriate degree as a route to an intersection (hereinafter referred to as an intersection cost), the cost of quantifying the appropriate degree as a route to a link constituting a road (hereinafter referred to as a link cost), etc. Cost calculation data used for calculating the search cost is stored.

  On the other hand, the navigation ECU (Electronic Control Unit) 13 is an electronic control unit that controls the entire navigation device 1. The CPU 41 as an arithmetic device and a control device, and a working memory when the CPU 41 performs various arithmetic processes. As well as a RAM 42 for storing route data when a route is searched, a control program, a ROM 43 and a ROM 43 in which a travel plan generation processing program (see FIG. 2) described later is recorded An internal storage device such as a flash memory 44 for storing the read program is provided. The navigation ECU 13 has various means as processing algorithms. For example, the planned travel route acquisition unit acquires a planned travel route on which the vehicle travels. The traffic signal information acquisition means acquires the position of the traffic signal on the planned travel route and the lighting pattern of the traffic signal. The travel plan creation means creates a travel plan in which a recommended vehicle speed between traffic lights when the vehicle travels on the planned travel route is set.

  The operation unit 14 is operated when inputting a starting point as a travel start point and a destination as a travel end point, and has a plurality of operation switches (not shown) such as various keys and buttons. Then, the navigation ECU 13 performs control to execute various corresponding operations based on switch signals output by pressing the switches. The operation unit 14 may have a touch panel provided on the front surface of the liquid crystal display 15. Moreover, you may have a microphone and a speech recognition apparatus.

  The liquid crystal display 15 includes a map image including a road, traffic information, operation guidance, operation menu, key guidance, guidance route set in the navigation device 1, guidance information along the guidance route, news, weather forecast. , Time, mail, TV program, etc. are displayed. In place of the liquid crystal display 15, HUD or HMD may be used. In the present embodiment, traveling guidance (for example, guidance of recommended vehicle speed between traffic lights) according to a traveling plan described later is also performed using the liquid crystal display 15.

  Further, the speaker 16 outputs voice guidance for guiding traveling along the planned traveling route and traffic information guidance based on an instruction from the navigation ECU 13. Further, in the present embodiment, travel guidance (for example, guidance on recommended vehicle speed between traffic lights) according to a travel plan described later is also performed using the speaker 16.

  The DVD drive 17 is a drive that can read data recorded on a recording medium such as a DVD or a CD. Based on the read data, music and video are reproduced, the map information DB 31 is updated, and the like. A card slot for reading / writing a memory card may be provided instead of the DVD drive 17.

  The communication module 18 is a communication device for receiving traffic information, probe information, weather information, and the like transmitted from a traffic information center, for example, a VICS center or a probe center. . In particular, in the present embodiment, it is also used to acquire information (for example, a lighting pattern) related to a traffic signal installed on a road.

  Next, a travel plan generation processing program executed by the CPU 41 in the navigation device 1 according to this embodiment having the above-described configuration will be described with reference to FIG. FIG. 2 is a flowchart of the travel plan generation processing program according to the present embodiment. Here, the travel plan generation processing program is executed at predetermined time intervals after the ACC power supply (accessory power supply) of the vehicle is turned on, and a travel plan in which an estimated vehicle speed between traffic lights (between intersections where traffic lights are installed) is set. This is a program to be generated. Note that the program shown in the flowchart of FIG. 2 below is stored in the RAM 42 and the ROM 43 provided in the navigation device 1 and is executed by the CPU 41.

  First, in step (hereinafter abbreviated as S) 1 in the travel plan generation processing program, the CPU 41 obtains a route on which the vehicle is scheduled to travel in the future (hereinafter referred to as a planned travel route). Note that, when the navigation device 1 has set a guide route, the planned travel route of the vehicle travels the route from the current position of the vehicle to the destination among the guide routes currently set in the navigation device 1. Scheduled route. The guide route is a recommended route from the starting point to the destination set by the navigation device 1, and is searched using, for example, a known Dijkstra method. On the other hand, when the guide route is not set in the navigation device 1, the route that travels along the road from the current position of the vehicle is set as the planned travel route. Further, only a route within a predetermined distance (for example, within 1 km) from the current position of the vehicle may be acquired as the planned travel route.

  Next, in S <b> 2, the CPU 41 acquires the current vehicle speed of the vehicle using the vehicle speed sensor 22.

  Subsequently, in S3, the CPU 41 acquires information specifying the speed limit of the planned travel route acquired in S1 from the map information DB 31. The lower limit and upper limit values are acquired for the speed limit, respectively. The lower limit of the speed limit is the speed specified in the section specified by the road sign, and corresponds to the minimum speed (statutory minimum speed) determined by a government ordinance in the section not specified. However, only the upper limit is acquired for roads where the lower limit of the speed limit is not specified. Information for specifying the speed limit may be obtained by communication from an external server.

  Thereafter, in S4, the CPU 41 sets a node installation range. Here, the installation range of the nodes is set as follows.

First, as shown in FIG. 3, the CPU 41 uses the current vehicle position and current time as the origin, the distance along the planned travel route as the first axis (horizontal (x) axis), and the elapsed time as the second axis (vertical). (Y) axis) is defined.
Next, a line P indicating the upper limit of the speed limit acquired in S3 with respect to the defined coordinate system (a line indicating the transition of the position of the vehicle when the vehicle travels at the upper limit speed limit) and the lower limit of the speed limit Lines Q (lines indicating the transition of the position of the vehicle when the vehicle travels at the lower limit of the speed limit) Q are respectively drawn.
A range surrounded by the lines P and Q and within a predetermined time (for example, within 10 minutes) from the current time and within a predetermined distance (for example, 1 km) from the current position of the vehicle is defined as a “node installation range”. If the planned travel route is a road where the lower limit of the speed limit is not specified, the vertical (y) axis may be the line Q, and the lower limit speed limit is temporarily set to a predetermined speed (for example, 10 km / h). ) To draw a line Q.
Note that the upper limit of the speed limit may be corrected in consideration of the road condition of the planned travel route. For example, when the planned travel route is congested, even if the upper limit of the speed limit is 60 km / h, it is actually difficult to travel at 60 km / h. .

  Next, in S5, the CPU 41 obtains the lighting pattern of the traffic lights within the installation range of the node set in S4. Note that the “lighting pattern” is information specifying how the lighting color (for example, blue) indicating that progress is possible and the lighting color (for example, red) indicating that progress is not possible are switched.

  Specifically, the CPU 41 first acquires the installation position of the traffic light on the planned travel route from the map information DB 31 or an external server. When a plurality of traffic lights are installed on the planned travel route, the information is acquired for each of the traffic lights. However, traffic lights are counted at each intersection. That is, when a plurality of traffic lights are installed in the same traveling direction at one intersection, the plurality of traffic lights are regarded as one traffic signal. And the lighting pattern in the period included in the installation range of a node is acquired about each traffic signal installed on the driving planned route. For example, when the traffic lights A to D are installed along the planned travel route as shown in FIG. 4, the lighting patterns of the traffic lights A to D in the period indicated by the solid line in FIG. 4 are acquired.

  Then, the subsequent processing of S6 to S9 is executed in order from the node installation target point that is close to the current position of the vehicle with respect to the node installation target point. After performing the processing of S6 to S9 for the installation target points of all the nodes, the process proceeds to S10. The node installation target point is a section in the vertical (y) axis direction corresponding to a lighting pattern indicating that the traffic signals on the planned travel route can travel in the node installation range (hereinafter, the travel can proceed). It is a point corresponding to the start point and end point of the section). For example, as shown in FIG. 5, when traffic lights A to D are installed along the planned travel route and a travelable section of each traffic signal is acquired, points a to g are the installation target points of the nodes. . And the process of subsequent S6-S9 is performed in order of the points ag.

  First, in S6, the CPU 41 installs a node at an installation target point of the processing target node.

Next, in S7, the CPU 41 determines whether or not a link can be established to the node installed in S6. Specifically, from any node or the current position of the vehicle (the origin of the coordinate system and the travel start point) that is installed on the near side (current vehicle position side) of the node installed in S6. Then, it is determined whether or not a straight line segment whose inclination is within the speed limit range of the planned travel route and does not straddle the untravelable section can be drawn. In addition, a travel impossible section is a section in the vertical (y) axis direction corresponding to a lighting pattern indicating that travel cannot be performed for each traffic signal on the planned travel route.
The speed limit range may be corrected in consideration of the road condition of the planned travel route. For example, when the planned travel route is congested, even if the upper limit of the speed limit is 60 km / h, it is actually difficult to travel at 60 km / h. .

  For example, as shown in FIG. 6, traffic lights A to D are installed along the planned travel route, and when a travelable section of each traffic light is acquired, nodes are installed at points a to g. . For node a, a line segment L1 whose inclination is within the speed limit range from the current position of the vehicle (running start point) and does not cross the untravelable section can be drawn. It is determined that can be pulled. Similarly, with respect to node b, the slope from the current position of the vehicle (travel start point) is within the speed limit range, and the line segment L2 does not straddle the impossible travel zone, and the slope from node a is within the speed limit range. Since it is possible to draw a line segment L3 that does not straddle the untravelable section, it is determined that a link can be drawn to the node b. On the other hand, for the node c, the line segment from the current position of the vehicle (running start point) to the node c straddles the untravelable section of the traffic light A, and the slope of the line segment from the node a to the node c is within the speed limit range. Get out. Therefore, it is determined that the link cannot be established for the node c. Similarly, the determination is made for the other nodes d to g.

  And when it determines with a link being able to be drawn with respect to the node installed by said S6 (S7: YES), it transfers to S8. On the other hand, when it is determined that the link cannot be established with respect to the node installed in S6 (S7: NO), the installation target point of the node to be processed without setting the link is set as the next point. And the process after S6 is executed again.

  In S8, the CPU 41 installs a straight link determined to be drawn in S7 with respect to the node installed in S6. When it is determined that a plurality of links can be drawn, a plurality of links are basically installed. For example, a link L1 is installed for the node a shown in FIG. 6, and a link L2 and a link L3 are installed for the node b.

  Subsequently, in S9, the CPU 41 sets a link cost for the link installed in S8. Basically, it is set based on the distance in the longitudinal (y) axis direction of the link, that is, the time required when traveling according to the link. The longer the distance, the higher the cost. Further, the CPU 41 corrects the link cost in consideration of the speed change. Specifically, for a link having a small angle difference from an adjacent link connected to the travel start point side, the cost is corrected so as to be a smaller link list. For example, as shown in FIG. 7, the link cost is 0.5 times for the link A whose angle difference with the adjacent link B is less than the threshold. On the other hand, for the link C whose angle difference with the adjacent link D is equal to or greater than the threshold, the link cost is 1.5 times. As a result, it is possible to preferentially select a travel plan that reduces the speed change in the search algorithm described later. In addition, about the link connected to a travel start point, let the angle difference with the angle corresponding to the present vehicle speed of the vehicle acquired by said S2 be an angle difference with an adjacent link.

  Further, the link cost may be set in consideration of the lighting pattern of the traffic light. For example, a link that crosses a travelable section, particularly a link that passes near a travel impossible section when crossing a travelable section, may stop due to a traffic light if the traffic situation changes even slightly. Therefore, a link that passes near a non-travelable section when straddling a travelable section may be corrected so as to increase the link cost.

  Thereafter, in S10, the CPU 41 sets the travel start point as the start node and the target destination point as the goal node, and starts from the travel start point using each node, link, link cost and search algorithm set in S6 to S9. Search for a route connecting to the target destination. The travel start point is the current position of the vehicle. On the other hand, the target arrival point is a node set in the traffic light located farthest from the current position of the vehicle among the nodes installed in S6. For example, in the example shown in FIG. 6, the node f and the node g are the target arrival points. As a search algorithm, for example, a known Dijkstra method is used, and a route having a minimum cost value is set as a recommended route. If there are multiple target destinations, after specifying the recommended route for each target destination, the final recommended one of the specified recommended routes with the lowest total cost value A route. Note that the recommended route with the earlier arrival time at the target arrival point (in the example shown in FIG. 6, the recommended route with the link f as the target arrival point) may be used as the final recommended route. Further, a plurality of recommended routes may be specified. In that case, if the recommended route with the earlier arrival time at the target arrival point is adopted as the travel plan first, then it is determined that it is difficult to travel according to the travel plan due to delays due to traffic jams, etc. It is possible to adopt the recommended route with the later arrival time to the target arrival point as the travel plan. A search algorithm other than the Dijkstra method may be used. For example, a breadth-first search or the like may be used.

  The recommended route finally searched in S10 indicates that the angle difference between the links becomes small at any point in the travelable section of each traffic light on the planned travel route along the traveling direction of the vehicle. The route is preferentially connected by a straight link. The recommended route is a travel plan in which a recommended vehicle speed between traffic signals is set when the vehicle travels without stopping the planned travel route with a traffic light. That is, the inclination of the route (link) between the traffic lights in the recommended route indicates the recommended vehicle speed between the traffic lights.

  Thereafter, in S11, the CPU 41 guides the recommended vehicle speed based on the travel plan generated in S10. The recommended vehicle speed may be guided by a specific vehicle speed value, or when the current vehicle speed of the vehicle is different from the recommended vehicle speed by a predetermined speed or more (for example, “ "Please increase (decrease) the speed").

  In particular, when the vehicle is an autonomous driving vehicle, it is possible to control the vehicle so as to travel at the recommended vehicle speed based on the travel plan generated in S10. For example, it is possible to control engine output and control the accelerator and brake amount. As a result, it becomes possible to travel between the traffic lights at the recommended vehicle speed set in the travel plan. The “automatic driving vehicle” refers to a vehicle having a function of performing or assisting at least a part of the vehicle operation of the driver on behalf of the driver.

  As described above in detail, in the navigation device 1 and the computer program executed by the navigation device 1 according to the present embodiment, the planned travel route on which the vehicle travels is acquired (S1), and the position of the traffic light on the planned travel route The traffic light lighting pattern is acquired (S5), and the travel plan in which the recommended vehicle speed between the traffic lights is set when the vehicle travels on the planned travel route is prioritized so that the speed change of the recommended vehicle speed set between the traffic lights is small. (S10), it is possible to generate a travel plan that does not cause sudden acceleration or deceleration that burdens the user when generating a travel plan that travels in the traffic light installation section. .

Note that the present invention is not limited to the above-described embodiment, and various improvements and modifications can be made without departing from the scope of the present invention.
For example, in the present embodiment, a travel plan is generated with the current position of the vehicle as the travel start point, but the travel plan with a point other than the current position of the vehicle (eg, home, specific facility) as the travel start point. Can also be generated.

  In this embodiment, nodes are set at the start point and end point of the travelable section, but nodes may be set at points other than the start point and end point. For example, a node may be set for the midpoint of the advanceable section.

  In addition to the navigation device, the present invention can be applied to a device having a route search function and a travel guidance function. For example, the present invention can be applied to a mobile phone, a smartphone, a tablet terminal, a personal computer, and the like (hereinafter referred to as a mobile terminal). Further, the present invention can be applied to a system including a server and a mobile terminal. In that case, each step of the above-described travel plan generation processing program (FIG. 2) may be configured to be implemented by either a server or a mobile terminal. Further, when the present invention is applied to a portable terminal or the like, the present invention can be applied to generation of a movement plan for a moving body other than a vehicle.

  Moreover, although the embodiment which actualized the travel plan production | generation apparatus which concerns on this invention was demonstrated above, a travel plan production | generation apparatus can also have the following structures, and there exists the following effect in that case.

For example, the first configuration is as follows.
A planned travel route acquisition means (41) for acquiring a planned travel route on which the vehicle travels, a traffic light information acquisition means (41) for acquiring a position of a traffic light on the planned travel route and a lighting pattern of the traffic light, and the vehicle Travel plan creation means (41) for creating a travel plan in which a recommended vehicle speed between traffic signals is set when traveling on the planned travel route, and the travel plan creation means includes a recommended vehicle speed set between the traffic lights. According to the travel plan generation device having the above-described configuration, when generating a travel plan that travels in the traffic light installation section, the travel plan is also taken into consideration. By generating the plan, it is possible to generate a travel plan that does not cause sudden acceleration or deceleration that burdens the user.

The second configuration is as follows.
The travel plan creation means (41) is configured to travel on a route connecting a travel start point to a target arrival point in a coordinate system having a distance along the planned travel route as a first axis and an elapsed time as a second axis. Created as a plan, in the coordinate system, identify a travelable section that is a section in the second axis direction corresponding to a lighting pattern indicating that travel is possible for each traffic light on the planned travel route, and follow the traveling direction of the vehicle Any point in the travelable section of each traffic light on the planned travel route is connected by a straight link in preference to a small angle difference between the links, and the connected series of links is connected to the route. And
According to the travel plan generation device having the above-described configuration, a travel set with a recommended vehicle speed for traveling without stopping at a traffic light by connecting a link arranged on the coordinate system from a travel start point to a target arrival point. It is possible to create a plan.

The third configuration is as follows.
The vehicle speed limit obtaining means (41) for obtaining the speed limit vehicle speed of the planned travel route, wherein the travel plan creation means (41) is for the angle of the link connecting the travelable sections of the respective traffic lights on the planned travel route, Within a range not exceeding the limit vehicle speed.
According to the travel plan generation apparatus having the above configuration, the recommended vehicle speed set in the travel plan can be set within the speed limit range, and an appropriate travel plan can be generated.

The fourth configuration is as follows.
The travel plan creation means (41) sets nodes at the start point and end point of the travelable section in the coordinate system, sets the travel start point as a start node, and sets the target arrival point as a goal node. The route connecting the travel start point to the target destination point is searched using each node and a search algorithm.
According to the travel plan generation device having the above-described configuration, it is possible to create a travel plan that prioritizes that the speed change of the recommended vehicle speed set between the traffic lights is small using a conventionally used search algorithm. Therefore, an algorithm used for searching for a recommended route to the destination can be used without requiring a new complex algorithm, and the processing load and storage area can be reduced.

The fifth configuration is as follows.
The travel plan creation means (41) sets a cost for the link and searches for the route by a search algorithm, and the cost for the link is determined for a link having a small angle difference with the adjacent link to be connected. Set a smaller cost.
According to the travel plan generation device having the above configuration, priority is given to a small change in the recommended vehicle speed set between the traffic lights by setting the link cost used in the search algorithm in consideration of the change in the recommended vehicle speed. It is possible to create a travel plan.

The sixth configuration is as follows.
According to the travel plan created by the travel plan creation means (41), guidance of recommended vehicle speed between traffic signals to vehicles traveling on the planned travel route, or vehicle control for traveling between traffic signals at the recommended vehicle speed is performed. It has a driving support means (41).
According to the travel plan generation device having the above configuration, the vehicle can travel according to the travel plan. In particular, in a vehicle that supports automatic driving, it is possible to perform automatic driving according to the created travel plan.

1 Navigation device 13 Navigation ECU
41 CPU
42 RAM
43 ROM

Claims (7)

A planned travel route acquisition means for acquiring a planned travel route on which the vehicle travels;
Traffic light information acquisition means for acquiring the position of the traffic light on the planned travel route and the lighting pattern of the traffic light;
A travel plan creation means for creating a travel plan in which a recommended vehicle speed between traffic lights when the vehicle travels on the planned travel route is set,
The travel plan creation unit creates the travel plan by giving priority to a small change in recommended vehicle speed set between the traffic lights. The travel plan creation means includes
In the coordinate system with the distance along the planned travel route as the first axis and the elapsed time as the second axis, a route connecting the travel start point to the target destination point is created as the travel plan,
In the coordinate system, identify a travelable section that is a section in the second axis direction corresponding to a lighting pattern indicating the travelability of each traffic light on the planned travel route,
Connect any point in the travelable section of each traffic light on the planned travel route along the traveling direction of the vehicle with a straight link, giving priority to a smaller angle difference between the links,
The travel plan generation device according to claim 1, wherein the connected series of links is the route. Having a limited vehicle speed acquisition means for acquiring a limited vehicle speed of the planned travel route;
The travel plan generation device according to claim 2, wherein the travel plan creation means sets an angle of a link connecting a travelable section of each traffic signal on a planned travel route within a range not exceeding the limit vehicle speed. The travel plan creation means includes
Set nodes at the start and end points of the travelable section in the coordinate system,
The travel start point is set as a start node, the target arrival point is set as a goal node,
4. The travel plan generation device according to claim 2, wherein the route connecting the travel start point to the target arrival point is searched using each of the set nodes and a search algorithm. 5. The travel plan creation means includes
Set a cost for the link and search for the route by a search algorithm;
The travel plan generation device according to claim 4, wherein the cost for the link is set to a smaller cost for a link having a small angle difference from an adjacent link to be connected.   In accordance with the travel plan created by the travel plan creation means, driving assistance means for performing guidance for recommended vehicle speed between traffic signals to vehicles traveling on the planned travel route or vehicle control for traveling between traffic lights at the recommended vehicle speed. The travel plan generation device according to claim 1, comprising: Computer
A planned travel route acquisition means for acquiring a planned travel route on which the vehicle travels;
Traffic light information acquisition means for acquiring the position of the traffic light on the planned travel route and the lighting pattern of the traffic light;
A computer program for functioning as travel plan creation means for creating a travel plan that sets a recommended vehicle speed between traffic lights when the vehicle travels on the planned travel route,
The travel plan creation means is a computer program for creating the travel plan in which priority is given to a small change in recommended vehicle speed set between the traffic lights.

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