JP2018189528A - Travel route setting device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a traveling route setting device capable of continuing automatic driving for a longer time when resetting a traveling route during automatic driving. SOLUTION: In a navigation device 200, at least a part of a traveling route to a destination corresponds to an automatic driving target section which is a target of automatic driving in which a vehicle is driven without a driver's driving operation. When the receiver 7, the traffic information acquisition unit 40, and the traffic information acquisition unit 40, which are mounted on the vehicle traveling in the driving target section by automatic driving and acquire the traffic information related to the driving route, acquire the traffic information. It is provided with a route search processing unit 30 that performs route search processing and sets a new travel route to a destination by giving priority to an automatic driving section during travel. [Selection diagram] Fig. 2

Description

  The present invention relates to a travel route setting device for setting a travel route to a destination in a vehicle capable of automatic driving.

  Conventionally, a route search is performed by a navigation device installed in a vehicle to set a travel route to a destination that is partly an automatic travel section, or when a destination changes or when traffic information such as traffic jam information is received There is known an automatic vehicle guidance system that re-searches a route and sets a route search condition so that a relatively large number of automatic travel sections are included in the travel route to the destination during these searches (for example, , See Patent Document 1).

JP 2003-141676 A

  By the way, in the navigation apparatus included in the automatic vehicle guidance system disclosed in Patent Document 1 described above, a relatively large number of automatic travel sections can be included when searching for a travel route to the destination. In addition, there is a problem in that automatic driving may be interrupted because a new driving route is not set so that automatic driving can be continued using the automatic driving section that is running at the time of re-searching. For example, a driver who thinks that he / she does not have to do anything while driving automatically in a preset automatic driving section is most preferably switched to manual driving in the middle of a preset automatic driving section. It is considered that the user wants to continue the automatic driving as much as possible even when switching to the manual driving on the way due to a traffic jam or the like.

  The present invention was created in view of the above points, and an object of the present invention is to provide a travel route setting device capable of continuing the automatic operation for a longer time when resetting the travel route during the automatic operation. There is.

  In order to solve the above-described problems, the travel route setting device according to the present invention is an automatic operation target in which at least a part of the travel route to the destination is an automatic operation target for driving the vehicle without a driver's driving operation. A traffic route setting device that is compatible with a section and is mounted on a vehicle that is traveling in this automatic driving target section by automatic driving, a traffic information acquisition unit that acquires traffic information related to the travel route, and traffic information acquisition Route search processing that performs route search processing when traffic information is acquired by the means and sets a new travel route to the destination with priority on the automatic driving section during travel is provided.

  As a result, even if there is a traffic jam or the like in the automatic driving target section scheduled to run by automatic driving, the automatic driving target section is given priority when setting a new driving route by re-searching, Compared to the case where the automatic driving target section is handled in the same way as other roads and a new travel route is set, the automatic driving can be continued for a longer time.

  Further, it is desirable that the route search means described above sets a new travel route so that the vehicle can travel without interrupting the automatic operation and maintain the automatic operation target section before the change as long as possible. As a result, it is possible to set a new travel route with the highest priority on continuing automatic driving, so that it is possible to prevent switching from automatic driving to manual driving at an unexpected position as early as possible due to occurrence of traffic jams. it can.

  In addition, it is desirable that the route search means described above sets a new travel route so that a series of automatic operation target sections including the travel position are included except when it is difficult to continue travel. As a result, automatic driving can be continued as much as possible except when it is difficult to continue traveling, such as when traffic is closed for some reason, and automatic driving can be switched from automatic driving to manual driving at an unexpected position at an early stage. Can be prevented as much as possible.

  In addition, when the traffic information indicates that the above-described automatic driving target section includes a specific section that is difficult to continue running, the route search unit again selects the automatic driving target section until the specific section is reached. It is desirable to set a new travel route by selecting and selecting another road instead of the specific section. As a result, even if it is difficult to continue traveling, such as when traffic is closed for some reason, it is possible to continue automatic driving until just before that, and switch from automatic driving to manual driving at an unexpected position at an early stage. This can be prevented as much as possible.

  Further, it is desirable that the route search means described above performs route search processing by setting the cost of a continuous automatic driving target section including the travel position smaller than the cost of other roads. In addition, the route search means described above reduces the cost of entering the road that is the target of manual driving for driving the vehicle according to the driving operation by the driver from the middle of the continuous automatic driving target section including the driving position. It is desirable to set the route search process to be larger than the cost for turning left and right at other intersections. Thereby, when re-searching, it is possible to preferentially include the automatic driving target section currently traveling at that time and include it in the new traveling route, and to prevent the automatic driving from being interrupted as much as possible.

It is a figure which shows the structure of the vehicle-mounted system of one Embodiment. It is a figure which shows the structure of a navigation apparatus. It is a flowchart which shows the operation | movement procedure which performs a re-search when traffic information is received. It is a figure which shows the specific example of the re-search which gave priority to the area for automatic driving | running | working.

  Hereinafter, an in-vehicle system according to an embodiment to which a route setting device of the present invention is applied will be described with reference to the drawings.

  FIG. 1 is a diagram illustrating a configuration of an in-vehicle system according to an embodiment. As shown in FIG. 1, the in-vehicle system of the present embodiment includes an automatic driving device 100, a navigation device 200, a signal generation unit 300, a driving switching device 400, a handle 500, an accelerator pedal 502, a brake pedal 504, and an operation unit 506. ing.

  The automatic driving device 100 performs automatic driving for driving the host vehicle along the driving route (guidance route) to the destination set by the navigation device 200 without the driver's driving operation. For example, in the present embodiment, level 3 or level 4 automatic driving is assumed. In addition, since a specific method for realizing automatic driving is not directly related to the contents of the present invention, the description thereof is omitted, but the present invention is applied to automatic driving using various technologies realized at present or in the future. be able to.

  The navigation device 200 performs a navigation operation for guiding the traveling of the vehicle (the host vehicle) on which the navigation device 200 is mounted based on the map data. Details of the navigation device 200 will be described later.

  The signal generation unit 300 generates various operation signals corresponding to operation contents such as a steering wheel operation, an accelerator pedal operation, a brake pedal operation, and the like at the time of manual driving in which the vehicle is driven according to the driving operation of the driver. Moreover, the signal generation part 300 produces | generates the operation signal equivalent to the operation signal produced | generated at the time of manual driving corresponding to the automatic driving operation by the automatic driving device 100 at the time of automatic driving. These operation signals are input to an engine ECU (not shown) and the like, and steering angle control, engine control, brake control, and the like necessary for traveling of the vehicle are performed.

  The driving switching device 400 performs control when switching between automatic driving by the automatic driving device 100 and manual driving in which the driver himself operates the steering wheel 500, the accelerator pedal 502, the brake pedal 504, and the like. This switching instruction can be given by the driver operating the operation unit 56. For example, when the “automatic driving” button included in the operation unit 506 is pressed, the mode is switched to automatic driving. When the “automatic driving” button is released or when a predetermined release condition is satisfied, Operation is canceled and switched to manual operation.

  FIG. 2 is a diagram illustrating a configuration of the navigation device 200. As shown in FIG. 2, the navigation device 200 includes a navigation controller 1, a map data storage device 2, an operation unit 3, a vehicle position detection unit 4, a display device 5, an audio unit 6, and a receiver 7. .

  The navigation controller 1 executes a predetermined operation program using a CPU, a ROM, a RAM, and the like, thereby performing a map image display operation around the vehicle position and a route search process for setting a guidance route connecting the departure point and the destination. In addition, various functions such as a route guidance operation for guiding the traveling of the vehicle along the guidance route are realized. The detailed configuration of the navigation controller 1 will be described later.

  The map data storage device 2 is a storage medium storing map data and a reading device thereof. The map data storage device 2 stores map data in units of rectangular figure leaves divided into appropriate sizes by longitude and latitude. The map data of each leaf can be specified and read by designating the leaf number. The map data storage device 2 is realized by a hard disk device or a semiconductor memory, or by a DVD and its reading device. Further, the map data storage device 2 may be replaced with a communication device to acquire map data from an external map distribution server (not shown).

  The operation unit 3 is for receiving user instructions (operations) related to navigation operations such as destination setting necessary for route search operations and implementation of route searches, and includes various operation buttons and operation knobs. ing. In addition, the operation unit 3 includes a touch panel attached to the screen of the display device 5, and an operation instruction can be performed when a user directly points a part on the screen with a finger or the like. Yes. The vehicle position detection unit 4 includes, for example, a GPS receiver, an orientation sensor, a distance sensor, and the like, detects the vehicle position (longitude, latitude) at a predetermined timing, and outputs a detection result.

  The display device 5 is configured by, for example, an LCD (liquid crystal display device), and displays a map image around the vehicle position based on the video signal output from the navigation controller 1. The audio unit 6 outputs a guidance voice or the like generated based on the voice signal input from the navigation controller 1 into the vehicle interior.

  The receiver 7 is traffic information necessary for dynamic route guidance, for example, traffic information (VICS information) such as traffic jam information, traffic fault information, traffic regulation information, etc. sent from a VICS (Vehicle Information and Communication System, registered trademark) center. ). Specifically, a DSRC on-board device (Dedicated Short Range Communications) or the like is used as the receiver 7.

  Next, a detailed configuration of the navigation controller 1 will be described. A navigation controller 1 shown in FIG. 1 includes a map buffer 10, a map readout control unit 12, a map drawing unit 14, a vehicle position correction unit 20, a route search processing unit 30, a route guidance processing unit 32, a destination setting unit 34, a travel route. The output unit 36 includes a traffic information acquisition unit 40, an automatic driving determination unit 50, an input processing unit 60, and a display processing unit 70.

  The map buffer 10 temporarily stores map data read from the map data storage device 2. This map data includes at least data necessary for drawing a map image and data necessary for route search and route guidance. The map reading control unit 12 issues a request for reading map data in a predetermined range according to the own vehicle position calculated by the vehicle position correcting unit 20 and the position designated by the user by operating the operation unit 3. Output to 2. Based on the map data stored in the map buffer 10, the map drawing unit 14 performs drawing processing necessary for displaying a map image on the display device 5 to create map drawing data.

  The vehicle position correction unit 20 calculates the vehicle position based on the detection data output from the vehicle position detection unit 4, and if the calculated vehicle position is not on the road of the map data, the vehicle position correction unit 20 calculates the vehicle position. Perform map matching processing to correct.

  The route search processing unit 30 calculates a guidance route having a minimum cost from the departure point to the destination by route search processing using a predetermined search condition. In addition, the route search processing unit 30 is when the vehicle position deviates from the guidance route during manual driving, or when new traffic information corresponding to the current guidance route is obtained during manual driving or automatic driving. Then, a route search process (re-search) is performed to reset a new guidance route to the destination.

  The route guidance processing unit 32 displays the guidance route obtained by the search processing by the route search processing unit 30 so as to be superimposed on the map image, or creates guidance route drawing data for displaying a guidance map of a right / left turn intersection. At the same time, an audio signal such as intersection guidance necessary to guide the traveling of the vehicle along the guidance route is generated. In the present embodiment, the guidance route set by the route search processing unit 30 is used as a “traveling route” to the destination during automatic operation, and the route guidance operation unit 32 performs route guidance operation during manual operation. Used as a “guide route” as a target. In addition, the guidance route set by the route search processing unit 30 does not necessarily use all sections as “traveling routes” for automatic driving, and some sections (including a plurality of places) are used for automatic driving. Sometimes used as a “travel route”. In the following description, a section that is part or all of the travel route and that is the target of automatic driving is referred to as “automatic driving target section”. The destination setting unit 34 sets a destination used for the route search processing performed by the route search processing unit 30. The travel route output unit 36 outputs the “driving route” (particularly, the automatic operation target section) of automatic driving set by the route search processing unit 30 to the automatic driving device 100.

  The traffic information acquisition unit 40 performs processing for acquiring traffic information (congestion information, traffic fault information, traffic regulation information, etc.) received by the receiver 7. In addition, you may make it acquire such traffic information or similar traffic information from facilities other than a VICS center. For example, traffic information distributed from a specific server operated by a private company or the like is acquired using the receiver 7 or via the Internet (in this case, a communication device capable of connecting to the Internet is required). You may do it.

  The automatic driving determination unit 50 determines whether the host vehicle is in automatic driving (whether automatic driving or manual driving is being performed). For example, an identification signal indicating the current driving state (automatic driving / manual driving) is input to the navigation device 100, and the automatic driving determination unit 50 determines whether automatic driving is being performed based on the identification signal.

  The input processing unit 60 outputs commands for performing operations corresponding to various operation instructions input from the operation unit 3 toward each unit in the navigation controller 1.

  The display processing unit 70 is input with the map drawing data created by the map drawing unit 14, and displays a predetermined range of map images on the screen of the display device 5 based on the drawing data. When the guidance route drawing data indicating the guidance route set by the route search processing unit 30 is input, the display processing unit 70 superimposes the guidance route corresponding to the drawing data on the map image of the display device 5. Display on the screen.

  The receiver 7 and the traffic information acquisition unit 40 described above correspond to the traffic information acquisition unit, and the route search processing unit 30 corresponds to the route search unit.

  The in-vehicle system of the present embodiment has such a configuration, and the operation thereof will be described next.

  FIG. 3 is a flowchart showing an operation procedure for performing a re-search when traffic information is received. In the flowchart shown in FIG. 3, the vehicle is traveling along the guidance route set by the route search process (regardless of whether the vehicle is in manual driving or automatic driving) and is guided by the driver's own operation. The re-search operation performed when the vehicle position deviates from the route is not included.

  The traffic information acquisition unit 40 determines whether or not the traffic information corresponding to the driving guidance route (including the surrounding roads) has been acquired (step 100). When the traffic information is not received by the receiver 7 or when the traffic information is received but the information corresponding to the guidance route that is running is not included, a negative determination is made, and this determination is repeated.

  When traffic information corresponding to the guidance route that is running is acquired, an affirmative determination is made in the determination of step 100. The automatic driving determination unit 50 determines whether or not automatic driving is in progress at that time (step 102). If automatic operation is not being performed (manual operation is being performed), a negative determination is made. Next, the route search processing unit 30 corrects the link cost and the like based on the acquired traffic information, and calculates a new guidance route that minimizes the cost to the destination by route search processing (re-search) (step). 104). The re-search performed here is the same as the conventional route search operation.

  In the case of automatic driving, an affirmative determination is made in step 102. Next, the route search processing unit 30 gives priority to the automatic driving target section that is running in the automatic driving, and takes a new guidance route (traveling route) to the destination in consideration of the acquired traffic information. Calculation is performed by search processing (re-search) (step 106). After completion of the re-search, the travel route output unit 36 outputs the newly set travel route toward the automatic driving device 100 (step 108).

  FIG. 4 is a diagram illustrating a specific example of the re-search that prioritizes the automatic driving target section. For example, as shown in FIG. 4A, an automatic driving route (automatic driving target section) includes links L1, L2, L3, L4, and L5 from the vehicle position G to the destination P. It is set and automatic operation is performed. In this state, it is assumed that traffic information notifying that a traffic jam has occurred on the links L3 and L4 is acquired. In such a case, conventionally, since the link cost of the links L3 and L4 where the traffic jam occurs increases, for example, as shown in FIG. 4B, the links L11, L12, L13, and L14 that bypass the traffic jam occurrence section. When the total cost of is smaller than the total cost of the links L3 and L4, a new guidance route including these links L11, L12, L13, and L14 as a detour is set by re-searching.

  However, in the present embodiment, since the automatic driving target section that is currently traveling is prioritized, a new guidance route is set based on a standard different from the traffic jam. Specific examples of the re-search that gives priority to the automatic driving target section during traveling include the following cases 1 to 4.

(Case 1)
The route search processing unit 30 makes a new run for the automatic driving target section that is currently running so that it can run without interrupting the automatic driving and maintain the automatic driving target section before the change as long as possible. Set the route. In the example shown in FIG. 4A, the links L3 and L4 take a long time to pass due to the occurrence of traffic congestion. However, the links can be traveled without interrupting the automatic driving and included in the driving route of the automatic driving as they are. This also satisfies the condition of “maintaining the automatic operation target section before the change as long as possible”. Therefore, the route search processing unit 30 resets L1, L2, L3, L4, and L5 as the automatic driving target sections as new travel routes (no change compared to before).

(Case 2)
The route search processing unit 30 sets a new travel route so that a series of automatic operation target sections including the travel position are included except when it is difficult to continue travel. In the example shown in FIG. 4A, the links L1, L2, L3, L4, and L5 are “continuous automatic operation target sections including the travel position”, and the links L3 and L4 where the traffic jam occurs are “travel”. Does not fall under the case where continuation is difficult. Therefore, the route search processing unit 30 changes L1, L2, L3, L4, and L5 as a series of automatic driving target sections to include a new travel route (compared to before) so as to include these links L3 and L4. (None) is reset.

  If the acquired traffic information indicates that the automatic driving target section includes a section that is difficult to continue running (specific section), the route search processing unit 30 does not reach the specific section. By selecting the automatic driving target section again and selecting another road instead of the specific section, a new travel route is set by re-searching. For example, as shown in FIG. 4C, when it is determined from the traffic information that there is a road closure at the link L4 and traffic congestion has occurred at the link L3, the route search processing unit 30 may determine whether traffic congestion has occurred. The links L1, L2, and L3 are included in a new travel route, and the links L21 and L22 (the one with the lower total cost of each link to the destination is selected) are newly added for the link L4 including the specific section. Include it in the route.

(Case 3)
The route search processing unit 30 sets a new travel route by performing route search processing with the cost of a continuous automatic driving target section including the travel position made smaller than the cost of other roads. In the example shown in FIG. 4A, the costs of the links L1, L2, L3, L4, and L5 as a series of automatic driving target sections (the links L3 and L4 in which traffic congestion has occurred The cost after the change) is set to, for example, a value of 1/10 when the automatic operation target section is not set. By doing so, the link L1 as the automatic driving target section is used as a new travel route after the re-search, except when it takes 10 times or more time to pass through the links L3 and L4 including the traffic jam occurrence section. , L2, L3, L4, and L5 can be selected again.

(Case 4)
The route search processing unit 30 sets the cost for entering the road subject to manual driving from the middle of the continuous automatic driving target section including the travel position to be larger than the cost for turning left and right at other intersections. Then, a route search process is performed to set a new travel route. In the example shown in FIG. 4D, it is possible to enter the link L31 or L32 that is the target of manual operation at the node N1 that is the end point of the link L1, but the cost associated with these right and left turns is a general intersection. It is set to a large value compared to the cost for turning left and right at. Similarly, the node N2 which is the end point of the link L2 can enter the link L33 or L34 to be manually operated, but the cost associated with these right and left turns is set to a large value. The node N3 which is the end point of the link L3 can enter the link L35 or L36 to be manually operated. Similarly, the cost associated with these right and left turns is set to a large value. By doing in this way, when trying to enter the road subject to manual driving to bypass the links L3 and L4 including the traffic jam occurrence section, a large cost is added at that time, so the total cost to the destination As a result, the links L1, L2, L3, L4, and L5 as the automatic driving target sections can be selected again as new travel routes after the re-search.

  As described above, in the navigation device 200 according to the present embodiment, even when a traffic jam or the like occurs in an automatic driving target section scheduled to travel by automatic driving, a new driving route is set by re-searching. Since the automatic driving target section is prioritized, it is possible to continue the automatic driving for a longer time compared to the case where the automatic driving target section is handled in the same way as other roads and a new travel route is set.

  In addition, it is possible to run without interrupting automatic driving, and a new driving route is set to maintain the automatic driving target section before the change as long as possible. A new travel route can be set, and it is possible to prevent switching from automatic operation to manual operation at an unexpected position as early as possible due to occurrence of traffic jams.

  In addition, since a new travel route is set so that a series of sections subject to automatic driving including the travel position are included except when it is difficult to continue traveling, it is possible to travel as if the road was closed for some reason. Except for the case where it is difficult to continue, the automatic operation can be continued as much as possible, and it is possible to prevent the automatic operation to the manual operation at an unexpected position as early as possible.

  In addition, when the traffic information indicates that a specific section that is difficult to continue running is included in the automatic driving target section, the automatic driving target section is selected again until reaching the specific section, and the specific section Instead, a new travel route is set by selecting another road, so even if it is difficult to continue traveling, such as when traffic is closed for some reason, automatic driving continues until just before that. Therefore, it is possible to prevent switching from automatic operation to manual operation at an unexpected position as early as possible.

  In addition, the route search process can be performed by setting the cost of the continuous target area including the driving position to be lower than the cost of other roads, or driving from the middle of the continuous target area including the driving position. By performing the route search process by setting the cost when entering the road subject to manual driving that drives the vehicle according to the driving operation by the person to be larger than the cost when turning left and right at other intersections, When re-searching, it is possible to preferentially include the automatic driving target section that is running at that time and include it in the new driving route so that the automatic driving is not interrupted as much as possible.

  In addition, this invention is not limited to the said embodiment, A various deformation | transformation implementation is possible within the range of the summary of this invention. For example, in the above-described embodiment, the navigation device 200 is provided separately from the automatic driving device 100, but the automatic driving device 100 may have the function of the navigation device 200.

  As described above, according to the present invention, automatic driving is performed when a new driving route is set by re-searching even when traffic congestion or the like occurs in an automatic driving target section scheduled to travel by automatic driving. Since the target section is given priority, it is possible to continue the automatic driving for a longer time than in the case where the automatic driving target section is handled in the same way as other roads and a new travel route is set.

DESCRIPTION OF SYMBOLS 1 Navigation controller 2 Map data storage device 4 Vehicle position detection part 5 Display apparatus 7 Receiver 10 Map buffer 12 Map read-out control part 14 Map drawing part 20 Vehicle position correction part 30 Route search process part 32 Route guidance process part 36 Travel path output Unit 40 traffic information acquisition unit 50 automatic driving determination unit 70 display processing unit 100 automatic driving device 200 navigation device

Claims (6)

At least a part of the travel route to the destination corresponds to an automatic driving target section that is a target of automatic driving for driving the vehicle without driving operation by the driver, and this automatic driving target section is driven by automatic driving. A travel route setting device mounted on a vehicle inside,
Traffic information acquisition means for acquiring traffic information relating to the travel route;
A route search unit that performs route search processing when the traffic information is acquired by the traffic information acquisition unit, and sets a new travel route to the destination in preference to the automatic driving section during travel;
A travel route setting device comprising:   The route search means is capable of traveling without interrupting the automatic driving, and sets a new driving route so as to maintain the automatic driving target section before the change as long as possible. Setting device.   3. The route search means sets a new travel route so that a series of the automatic operation target sections including a travel position are included except when it is difficult to continue travel. The travel route setting device described in 1.   When the traffic information indicates that the specific section that is difficult to continue traveling is included in the automatic driving target section, the route search means determines the automatic driving target section until the specific section is reached. The travel route setting device according to claim 3, wherein a new travel route is set by selecting again and selecting another road instead of the specific section.   2. The travel route according to claim 1, wherein the route search means performs a route search process by setting a cost of a series of sections subject to automatic driving including a travel position to be smaller than a cost of another road. Setting device.   The route search means includes a cost for entering a road subject to manual driving for driving the vehicle in accordance with a driving operation by the driver from the middle of the continuous driving target section including a driving position, and the like. The travel route setting device according to claim 1 or 2, wherein the route search processing is performed by setting the cost higher than the cost for making a right or left turn at the intersection.

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