JP2019061703A - Travel support device, program - Google Patents

Abstract

A travel support device capable of appropriately guiding and controlling a mobile body, and a data structure of map data used for the travel support device are provided.
A travel support system 1 for supporting the travel of a vehicle 2, which is an increase in travel associated with third section data whether the vehicle 2 is a first vehicle or a second vehicle Based on the information, the vehicle 2 is guided from the first section to the third section. When the vehicle 2 is the first vehicle, the information control unit 3 guides the vehicle straight from the first section to the second section based on the slope increase information associated with the third section data, and the vehicle 2 If the vehicle is the second vehicle, the vehicle 2 is guided from the first zone to the third zone based on the slope increase information associated with the third zone data.
[Selected figure] Figure 1

Description

  The present invention relates to a technology capable of assisting the traveling of a moving object.

BACKGROUND In recent years, devices that estimate the position of a host vehicle with high accuracy and support traveling of the vehicle have become widespread.
In relation to this, when it is determined that the road on which the lane is expanded corresponding to the road after the course change is running on the road in front of the branch point, the road section on which the lane is expanded is A technique has been proposed which provides directional guidance in the front and lane guidance in the lane extension section. (Patent Document 1)

JP, 2009-204514, A

An object of the present invention is to provide a travel support device capable of appropriately guiding and controlling a mobile body and a data structure of map data used for the travel support device.

According to an embodiment of the present invention, there is provided a driving assistance apparatus for assisting the traveling of a vehicle, comprising: first section information corresponding to a first section included in a first lane that constitutes a part of a road; Second section information corresponding to a second section adjacent to the forward direction of one section and a part of the road, which is a lane increased from the first lane, with respect to the first lane A map data storage unit having third section information corresponding to a third section included in a second lane adjacent to the width direction of the road, and the third section corresponds to the second section When the second lane is a section adjacent to the width direction of the road and the second lane is a lane increasing from the first lane as the traveling lane, the travel increase information is associated with the third zone information. The second lane from the first lane to the uphill lane. When the lane is an increasing lane, the third zone information is associated with the slope increase information, and the travel support device is the second vehicle even if the vehicle is the first vehicle. Also, based on the travel increase information associated with the third section information, the vehicle is guided from the first section to the third section, and the vehicle is the first vehicle. When the vehicle is guided straight from the first section to the second section based on the ascending slope increase information associated with the third section information, and the vehicle is a second vehicle, the third The first one is based on the uphill increase information associated with the section information.
The present invention provides a travel support device including a control unit that guides the vehicle from the section of (3) to the third section.

Further, as another aspect, the map data storage unit has fourth section information corresponding to a fourth section included in a third lane that constitutes a part of a road, and the fourth section information includes , Merge information,
Alternatively, at least one of the reduction information is associated, and the merging information is associated with the fourth section information when the third lane is a lane that merges with another lane, and the reduction information is When the third lane is a decreasing lane, it is associated with the fourth section information, and the control unit is based on either the merging information associated with the fourth section information or the reduction information. The present invention provides a driving support device that controls to pay attention to other vehicles traveling on a lane where the vehicle merges or decreases.

In another aspect, the data structure of map data stored in the map data storage unit is used in a computer that has a control unit that performs processing for guidance control of a vehicle and includes a map data storage unit. The map data includes first section information corresponding to a first section included in a first lane forming part of a road, and a second section adjacent to the forward direction of the first section. Second lane information corresponding to the lane and a part of the road, which is a lane increased from the first lane and adjacent to the first lane in the width direction of the road And a third section corresponding to a third section included in the second section, the third section being a section adjacent to the second section in the width direction of the road, In the lane where the lane increases from the first lane as a traffic lane In the case where the second section information is associated with travel increase information in the third section and the second lane is a lane that increases from the first lane as the uphill lane, The section increase information is associated with the section information of 3, and the control section relates the third section information to the travel increase information or the slope increase information from the map data storage section. There is provided a data structure of map data used in a process of acquiring the travel increase information or the climb increase information related to the section information.

Further, as another aspect, there is provided a driving assistance apparatus for assisting the traveling of a vehicle, comprising: a first area constituting a part of a road; and a part of the road, the road corresponding to the first area A map data storage unit having boundary line information that physically passes through the boundary between the second region and the second region adjacent in the width direction, but that defines the boundary between the first region and the second region; A driving support apparatus is provided, comprising: a control unit that prohibits a vehicle passing through the first area from passing toward the second area based on the boundary line information.

Further, as another aspect, the control unit provides a driving support device that permits passage to the second area according to a vehicle passing through the first area based on the boundary line information. .

In another aspect, the data structure of map data stored in the map data storage unit is used in a computer that has a control unit that performs processing for guidance control of a vehicle and includes a map data storage unit. The map data includes a first area forming a part of a road and a second area forming a part of the road and being adjacent to the first area in the width direction of the road A boundary is physically passable, but boundary line information defining the boundary between the first area and the second area, and a traveling line representing a traveling line for the vehicle to travel in the first area The traveling line information and the boundary line information are associated with each other, and the control unit associates the traveling line information with the boundary line information from the map data storage unit. Get the border information related to line information That used in the process, to provide a data structure of map data.

BRIEF DESCRIPTION OF DRAWINGS FIG. 1 is a diagram for describing a configuration of a travel support device of a first embodiment. It is a figure for demonstrating the concept of the map data of Embodiment 1. FIG. FIG. 6 is a diagram for explaining the concept of driving support processing of the first embodiment. It is a figure for demonstrating the detail of the map data of Embodiment 1. FIG. It is a figure for demonstrating the detail of the map data of Embodiment 1. FIG. FIG. 6 is a diagram for describing an operation flow of a driving support process of the first embodiment. FIG. 6 is a diagram for explaining the concept of driving support processing of the first embodiment. It is a figure for demonstrating the detail of the map data of Embodiment 1. FIG. It is a figure for demonstrating the detail of the map data of Embodiment 1. FIG. FIG. 6 is a diagram for describing an operation flow of a driving support process of the first embodiment. FIG. 7 is a diagram for explaining the concept of driving support processing of the second embodiment. It is a figure for demonstrating the detail of the map data of Embodiment 2. FIG. It is a figure for demonstrating the detail of the map data of Embodiment 2. FIG. 14 is a diagram for describing an operation flow of driving support processing of the second embodiment. FIG. 14 is a diagram for explaining the concept of driving support processing of the third embodiment. It is a figure for demonstrating the detail of the map data of Embodiment 3. FIG. FIG. 18 is a diagram for describing an operation flow of a driving support process of a third embodiment. It is a figure for demonstrating the concept of the driving assistance process of the modification 1. FIG. It is a figure for demonstrating the data structure of the map data 20 of the modification 1. FIG. It is a figure for demonstrating the operation | movement flow of the driving assistance process of the modification 1. FIG. FIG. 13 is a diagram for illustrating the concept of a driving support process of a modification 2; It is a figure for demonstrating the data structure of the map data 20 of the modification 2. FIG. FIG. 13 is a diagram for describing an operation flow of a driving support process of a modification 2;

FIG. 1 is a driving support system 1 according to a first embodiment which is an example of a driving support device. The driving support system 1 is mounted on a vehicle, which is a moving object, and includes an information control unit 3, a storage unit 4, and an input unit 5.
, A position acquisition unit 6, a vehicle speed information acquisition unit 7, a peripheral information acquisition unit 8, and a vehicle control unit 9.
The information control unit 3 includes functional units for realizing predetermined functions such as the map data acquisition unit 10, the route search unit 11, the position specification unit 12, the route specification unit 13, and the guidance unit 14.
Entral Processing Unit), ROM (Read Only Memory), and RAM (R
and andom Access Memory).
The CPU of the information control unit reads out various programs stored in the ROM, and develops and executes them in the RAM to realize functions related to the various programs. Further, functional units such as the map data acquisition unit 10, the route search unit 11, the position specifying unit 12, the route specifying unit 13 and the guiding unit 14 are functions realized by a program.

The storage unit 4 is configured of a large capacity storage medium such as a hard disk or an SD-RAM.
The storage unit 4 stores map data 20 used for route search processing, position specification of a vehicle, vehicle guidance control, and the like. The map data 20 includes road network data 30, lane network data 31, feature data 32, and attribute data 33.

The road network data 30 has a plurality of road section information including a plurality of point information including road intersections and branch points and information on a predetermined section of the road, and the plurality of point information and the plurality of road section information Information that represents the connection between Lane network data 3
1 corresponds to identification information for identifying the lane section information, coordinate information representing a series of coordinate points of the center line of the lane corresponding to the lane section information, and an exit side section of the section corresponding to the lane section information The exit side identification information which is the identification information of the lane section information to be carried out, the entry side identification information corresponding to the section on the entry side of the section corresponding to the lane section, and the like are included. The feature data 32 includes boundary line information and the like representing road boundaries. Attribute data 33 is road network data 3
The related information for associating the road segment information of 0 with the lane segment information of the lane network data 31 includes lane attribute information. The details of the lane attribute information and the boundary line information will be described later.

The input unit 5 receives an instruction input for route setting and vehicle guidance from the user. The position acquisition unit 6 receives radio waves received from artificial satellites constituting a GPS (Global Positioning System),
Based on a signal from a gyro provided in the vehicle, position information regarding the position of the vehicle including latitude and longitude is obtained. The vehicle speed information acquisition unit 7 acquires information on the speed of the vehicle based on the pulse signal acquired from the vehicle speed sensor. The peripheral information acquisition unit 8 acquires peripheral information of the vehicle which is image information of a subject such as a sign around the vehicle and a marking paint (for example, a dividing line) of a road.

The map data acquisition unit 10 extracts the desired map data 20 stored in the storage unit 4 in response to the map data acquisition request. The route search unit 11 executes route search processing using the road network data 30 stored in the storage unit 4. Specifically, the route search unit 11 uses the road section information and the point information included in the road network data 30 to execute a route search process from the departure point to the destination point. Then, route information indicating a route from the departure place to the destination (a plurality of point information and a plurality of road section information connecting the departure place to the destination) is created by the route search process. As a route search method, a known method such as Dijkstra's method is adopted, and the shortest route from the departure point to the destination point is searched using the cost information included in the road section information.
The position specifying unit 12 specifies which position on the road the position of the vehicle is on the road from the position information acquired by the position acquiring unit 6, or in addition to the position information acquired by the position acquiring unit 6, a feature From the data 33 and the peripheral information acquired by the peripheral information acquisition unit 8, it is specified which position on the road the vehicle is located.

The route specifying unit 13 uses the route information of the road network data 30 created by the route searching unit 11 to perform a process of specifying a route in the lane network data 31 based on the related information.
The first to third embodiments described below are examples in which the route specified in the lane network data 31 by the route specifying unit 13 is traveled.
The guidance unit 14 generates guidance information for controlling the vehicle such that the vehicle control unit 9 moves along a predetermined lane of the road, and outputs the guidance information to the vehicle control unit 9. The vehicle control unit 9 controls (steering, acceleration / deceleration, stop, etc.) the vehicle to move along a predetermined lane of the road based on the guidance information.

In the driving support system 1, the information control unit 3 and the storage unit 4 are not installed in the vehicle 2 but installed in the server, and the information control unit 3 in the server includes the input unit 5, the position acquisition unit 6, and the vehicle speed information. While receiving the information of the acquisition part 7 and the periphery information acquisition part 8 as communication information, the guidance information may be output to the vehicle control part 9 as communication information. In the driving support system 1, the storage unit 20 is not installed in the vehicle 2 but installed in the server, and the information control unit 3 in the vehicle is stored in the storage unit 4 in response to a map data acquisition request. The desired map data 20 may be acquired and received by communication information.

FIG. 2 is a diagram for explaining the concept of map data of the first embodiment and the second embodiment. The attribute data 33 is a conceptual view of a data structure included in the map data 20, and includes lane type information and division / merging information. The lane type is information on the type of the section of the lane, and is any one of a traveling lane, an overtaking lane, an uphill lane, a crawling lane, an acceleration lane, and a deceleration lane. The division / merging type information is information on the type of branching and merging of a section of a lane, and is any of no change, branching, merging, increase, and decrease.

First Embodiment
A travel support process using the travel support system of the first embodiment will be described using FIGS. 3 to 6.
FIG. 3 is a diagram for explaining the concept of the map data 20 of the first embodiment. 60 represents the actual road and the data structure of the road. Section to A of map data 20, A to B
Sections from B to C, from C to D, from D to the sections from the actual road A to A, from A to B, from B to C, from C to D, D It corresponds to the following sections.
The map data 20 includes lane section information L10 to L1 included in the lane network data 31.
13 and lane attribute information AL10 to AL113 included in the attribute data 33, each lane attribute information relates to the lane type information on the lane type of the section corresponding to the lane section information L10 to L113 and the type of the bifurcation The information includes the minute merge type information. For example, it includes lane type information “traveling lane” of a section related to the lane section information L111 and minute merge information “increase”.

FIG. 4 is a diagram for explaining the details of the map data 20 of the first embodiment. Each of the lane section information L10 to L113 included in the lane network data 31 is identification information for identifying the lane section information, and a coordinate point sequence representing a center line of the lane corresponding to the lane section information L10 to L113. Information, exit side identification information which is identification information of lane section information corresponding to the section on the exit side of the section corresponding to the lane section information L10 to L113, the lane section information L1
The entry side identification information etc. which are identification information of the lane area information corresponding to the area by the side of the approach of the area corresponding to 0-L113 are included. Further, the connection between the front and the rear of the lane is represented by the exit side identification information and the approach side identification information. The lane section information L10 is first section information corresponding to the first section included in the first lane that constitutes a part of the road, and the lane section information L11 is the second adjacent to the forward direction of the first section. The second section information corresponding to the section of the second section, lane section information L111 is a lane which constitutes a part of the road and is increased from the first lane, and is adjacent to the first lane in the width direction of the road It is an example of the 3rd section information corresponding to the 3rd section contained in 2 lanes.
The third section is a section adjacent to the second section in the width direction of the road.

FIG. 5 is a diagram for explaining the details of the map data 20 of the first embodiment. Attribute data 3
Each of the three lane attribute information AL10 to AL113 is identification information of the lane section information for identifying the section corresponding to the lane section information L10 to L113, lane type information on the type of lane, and division and merging type on the type of branch and junction Contains information. The identification information of the lane section information L111, the lane type information “travel lane” and the minute merge type information “increase” are the third section information when the second lane is a lane increasing from the first lane as the travel lane Is an example in which traveling increase information is associated.

FIG. 6 is a diagram for explaining the operation flow of the driving support process of the first embodiment.
The information control unit 3 uses the position specifying process for specifying the current position of the vehicle, the vehicle specifying process for specifying the vehicle, the information on the current position specified in the position specifying process, the lane network data 31 and the attribute data 33 And guiding processing to control the traveling of the vehicle. The position identification processing, the vehicle identification processing, and the guidance processing will be specifically described below.

The information control unit 3 (position specifying unit 12) performs the following process as the position specifying process.
The coordinates of the current position of the vehicle are calculated from the current position information acquired by the position acquisition unit 6. The current position of the vehicle is obtained by using the peripheral image information of the vehicle such as the lane line of the actual road acquired by the periphery information acquiring unit 8 and the feature data 32 such as the lane line information (not shown) stored in the storage unit 4 The coordinates may be calculated (step S10).

The information control unit 3 performs the following processing as the vehicle identification processing.
The identification information for identifying a vehicle type such as a large car, an ordinary car, or a minicar is acquired from the vehicle to identify whether the vehicle is a large car, an ordinary car, or a minicar. Further, based on the vehicle speed information of the vehicle acquired by the vehicle speed information acquisition unit 7, it may be specified whether the vehicle is a high speed vehicle or a low speed vehicle. Note that, based on the identification information input to the input unit 5 by the driver of the vehicle,
It may be specified whether the vehicle is a large car, an ordinary car or a light car, or based on the vehicle speed information input to the input unit 5 by the driver of the vehicle, it may be specified whether the vehicle is a high speed vehicle or a low speed vehicle (Step S20).

The information control unit 3 (the map data acquisition unit 10, the guidance unit 14) performs the following processing as guidance processing.
Lane section information L having information of coordinates closest to the coordinates of the current position calculated by the position specifying process
10 is specified, the coordinate information of the current position is compared with the information of the coordinate point sequence included in the lane section information L10, and the guidance information for the vehicle to move along the coordinate point sequence is generated, and the vehicle control unit 9
Output to In addition, map data based on the identification information L111 of the lane section information included in the lane attribute information AL111 that is the association with the lane type information "traveling lane" and the minute junction information "increase" in the section corresponding to the lane section information L111. The acquisition unit 10 acquires lane section information L from the storage unit 4.
The lane type information “traveling lane” and the minute merge type information “increase” related to 111 are acquired. This process is an example of a process in which the control unit acquires traveling increase information related to the third section information from the map data storage unit.
After generating guidance information for the vehicle to move along the coordinate point sequence of the lane section information L10,
Guidance information for the vehicle to move along the coordinate point sequence of the lane section information L111 based on the information of the vehicle specified in the vehicle identification process, the lane type information of the section corresponding to the lane section information L111, and the minute merge type information Generate More specifically, when the lane type information and the minute merge information of the section corresponding to the acquired lane section information L111 are the lane type information "traveling lane" and the minute merge information "increase", it is specified in the vehicle identification process. Regardless of the selected vehicle, guidance information for moving the vehicle along the coordinate point sequence of the lane section information L111 from the coordinate point sequence of the vehicle section information L10 is generated and output to the vehicle control unit 9. The above-described process transfers the vehicle from the first section to the third section based on the travel increase information associated with the third section information whether the vehicle is the first vehicle or the second vehicle. This is an example of guidance (step S30).

Next, another example of the driving support processing using the driving support system of the first embodiment will be described using FIGS. 7 to 10.
FIG. 7 is a diagram for explaining the concept of the map data 20 of the first embodiment. 62 represents an actual road and a data structure of the road. The section to A of map data 20, the section from A to B, the section from B to C, the section from C to D, the section after D is a section to A of an actual road, a section from A to B, B To C, from C to D, and from D onwards. The map data 20 includes lane section information L20 to L included in the lane network data 31.
213 and lane attribute information AL20 to AL213 included in the attribute data 33, and each of the lane attribute information AL20 to AL213 includes the lane type information and the branching / merging related to the lane type of the section corresponding to the lane section information L20 to L213 And the information about the type of the meeting. For example, the section corresponding to the lane section information L211 includes lane type information "uphill lane" and minute merge information "increase".

FIG. 8 is a diagram for explaining the details of the map data 20 of the first embodiment. Each of the lane section information L20 to L213 included in the lane network data 31 is identification information for identifying the lane section information, and a coordinate point sequence representing a center line of the lane corresponding to the lane section information L20 to L213. Information, exit side identification information which is identification information of lane section information corresponding to the section on the exit side of the section corresponding to the lane section information L20 to L213, the lane section information L20
.., L213 is included, which is identification information of lane section information corresponding to the section on the entry side of the section corresponding to L213. Further, the connection between the front and the rear of the lane is represented by the exit side identification information and the approach side identification information. The lane section information L20 is first section information corresponding to the first section included in the first lane that constitutes a part of the road, and the lane section information L21 is the second adjacent to the forward direction of the first section. The second section information corresponding to the section of the second section, lane section information L211 is a lane which constitutes a part of the road and is increased from the first lane, and is adjacent to the first lane in the width direction of the road It is an example of the 3rd section information corresponding to the 3rd section contained in 2 lanes.
The third section is a section adjacent to the second section in the width direction of the road.

FIG. 9 is a diagram for explaining the details of the map data 20 of the first embodiment. Attribute data 3
Identification information of lane section information for identifying a section corresponding to the lane section information L20 to L213, lane type information on the type of lane, and division and merging type on type of branch and junction of each of the three lane attribute information AL20 to 213 Contains information. The identification information of the lane section information L211, the lane type information "uphill lane" and the minute junction type information "increase" are the third section information when the second lane is a lane that increases from the first lane as the uphill lane Is an example in which climbing increase information is associated.

FIG. 10 is a diagram for explaining the operation flow of the driving support process of the first embodiment.
The information control unit 3 uses the position specifying process for specifying the current position of the vehicle, the vehicle specifying process for specifying the vehicle, the information on the current position specified in the position specifying process, the lane network data 31 and the attribute data 33 And guiding processing to control the traveling of the vehicle.
The position identification processing, the vehicle identification processing, and the guidance processing will be specifically described below.

The information control unit 3 (position specifying unit 12) performs the following process as the position specifying process.
The coordinates of the current position of the vehicle are calculated from the current position information acquired by the position acquisition unit 6. The current position of the vehicle is obtained by using the peripheral image information of the vehicle such as the lane line of the actual road acquired by the periphery information acquiring unit 8 and the feature data 32 such as the lane line information (not shown) stored in the storage unit 4 The coordinates may be calculated (step S50).

The information control unit 3 performs the following processing as the vehicle identification processing.
The identification information for identifying a vehicle type such as a large car, an ordinary car, or a minicar is acquired from the vehicle to identify whether the vehicle is a large car, an ordinary car, or a minicar. Further, based on the vehicle speed information of the vehicle acquired by the vehicle speed information acquisition unit 7, it may be specified whether the vehicle is a high speed vehicle or a low speed vehicle. Note that, based on the identification information input to the input unit 5 by the driver of the vehicle,
It may be specified whether the vehicle is a large car, an ordinary car or a light car, or based on the vehicle speed information input to the input unit 5 by the driver of the vehicle, it may be specified whether the vehicle is a high speed vehicle or a low speed vehicle (Step S60).

The information control unit 3 (the map data acquisition unit 10, the guidance unit 14) performs the following processing as guidance processing.
Lane section information L having information of coordinates closest to the coordinates of the current position calculated by the position specifying process
20 is specified, the coordinate information of the current position is compared with the information of the coordinate point sequence included in the lane section information L20, and the guidance information for the vehicle to move along the coordinate point sequence is generated, and the vehicle control unit 9
Output to In addition, based on the identification information L211 of the lane section information included in the lane attribute information AL211 which is the association of the lane type information "uphill lane" and the minute junction information "increase" in the section corresponding to the lane section information L211. Acquisition unit 10 receives lane section information L from recording unit 4
The lane type information "uphill lane" and the minute merge type information "increase" related to 211 are acquired. This process is an example of a process in which the control unit acquires the climb increase information related to the third section information from the map data storage unit.
Subsequently, the vehicle moves along the coordinate point sequence of the lane section information based on the information of the vehicle specified in the vehicle identification process, and the lane type information and the minute merge type information of the section corresponding to the lane section information L211. Generate guidance information for More specifically, after the guidance information for moving the vehicle along the coordinate point sequence of the lane section information L20 is generated, the acquired lane section information L211
The lane type information and the minute merge information of the section related to are the lane type information “travel lane” and the minute merge information “increase”, and the vehicle specified in the vehicle identification process is (1) an ordinary car , (2) passenger car, (3) if it corresponds to any one of high-speed vehicles, lane section information L vehicle
From 20 coordinate point sequences, guidance information for moving along the coordinate point sequences of the lane section information L21 is generated. This (1) ordinary car, (2) passenger car, (3) high-speed vehicle is an example of the first vehicle, and the above process is associated with the third section information when the vehicle is the first vehicle. This is an example in which the vehicle is guided straight from the first section to the second section based on the climb increase information.
In addition, the lane type information and the minute merge information of the section related to the acquired lane section information L211,
Lane type information “traveling lane” and minute merge information “increase”, and the vehicle specified in the vehicle identification process is either (4) large car, (5) mini car, (6) low speed vehicle When it corresponds to one, guidance information for moving the vehicle along the coordinate point sequence of the lane section information L211 from the coordinate point sequence of the vehicle section information L20 is generated and output to the vehicle control unit 9. This (4) large car, (5) mini car, (6) low speed vehicle is an example of the second vehicle, and the above process is associated with the third section information when the vehicle is the second vehicle. This is an example of guiding the vehicle from the first section to the third section based on the climb increase information. (Step S70).

Second Embodiment
Next, driving support processing using the driving support system of the second embodiment will be described using FIGS. 11 to 14. The system configuration of the driving support system of the second embodiment is the same as that of the first embodiment.
FIG. 11 is a diagram for explaining the concept of the map data 20 of the second embodiment. 64 represents an actual road and a data structure of the road. The section to A of map data 20, the section from A to B, the section from B to C, the section from C to D, the section after D is a section to A of an actual road, a section from A to B, B To C, from C to D, and from D onwards. The map data 20 includes lane section information L30 to L30 included in the lane network data 31.
Lane attribute information AL33, AL311, AL31 included in L312 and attribute data 33
2 and each lane attribute information includes lane type information on the type of the section corresponding to the lane section information L311, L312, and L33, and division and merging type information on the type of branch and junction. For example, the section corresponding to the lane section information L312 includes lane type information “traveling lane” and minute merge information “joining”. In order to simplify the description, lane section information L30 to L3
The description of the lane type information and the minute merge type information of the section corresponding to No. 2 and the lane section information L34 to L44 is omitted. The lane section information L312 is an example of fourth section information corresponding to the fourth section included in the third lane, and is associated with the lane type information "traveling lane" and the minute merging information "associated with the lane section information L312. "Merge" is an example of merge information associated with the fourth section information when the third lane is a lane that merges with another lane.

FIG. 12 is a diagram for explaining the details of the map data of the second embodiment.
Each of the lane section information L30 to L312 included in the lane network data 31 is identification information for identifying the lane section information, and coordinates indicating a coordinate point sequence of the center line of the lane corresponding to the lane section information L30 to L312 Information, exit side identification information which is identification information of lane section information corresponding to the section on the exit side of the section corresponding to the lane section information L30 to L312, section on the entry side of the section corresponding to the lane section information L30 to L312 Incoming side identification information etc. which are identification information of the lane section information corresponding to. Further, the connection between the front and the rear of the lane is represented by the exit side identification information and the approach side identification information.

FIG. 13 is a diagram for explaining the details of the map data of the second embodiment.
Each of the lane attribute information AL30 to AL312 included in the attribute data 33 corresponds to the lane section information L.
The identification information of the lane section information for identifying the section corresponding to 30 to L312, the lane type information on the type of the lane, and the split junction type information on the type of the junction are included.

FIG. 14 is a diagram for describing an operation flow of the driving support process of the second embodiment.
The information control unit 3 travels the lane where the vehicle merges, using position identification processing for identifying the current position of the vehicle, information on the current position identified in the current position identification processing, the lane network data 31 and the attribute data 33 Conduct guidance processing to pay attention to other vehicles.
The position identification processing and control processing will be specifically described below.

The information control unit 3 (position specifying unit 12) performs the following process as the position specifying process.
The coordinates of the current position of the vehicle are calculated from the current position information acquired by the position acquisition unit 6. The current position of the vehicle is obtained by using the peripheral image information of the vehicle such as the lane line of the actual road acquired by the periphery information acquiring unit 8 and the feature data 32 such as the lane line information (not shown) stored in the storage unit 4 The coordinates may be calculated (step S100).

The information control unit 3 (the map data acquisition unit 10, the guidance unit 14) performs the following processing as guidance processing.
Lane section information L3 having information of coordinates closest to the coordinates of the current position calculated by the position specifying process
When 12 is specified, the coordinate information of the current position is compared with the information of the coordinate point sequence included in the lane section information L312, and the guidance information for moving the vehicle along the coordinate point sequence is generated, and the vehicle control unit Output to 9 In addition, based on the identification information L312 of the lane section information included in the lane attribute information AL312 which is the association with the lane type information "traveling lane" and the minute merging information "joining" of the section corresponding to the lane section information L312. The acquisition unit 10 acquires, from the recording unit 4, lane type information “traveling lane” and minute merge information “merging” related to the lane section information L312.
The guidance information is generated so as to pay attention to the other vehicle traveling in the section corresponding to the lane section information L32 where the vehicle becomes a merging destination based on the section merging information “joining” of the section corresponding to the lane section information L312 Output to the surrounding information acquisition unit 8 and / or the vehicle control unit 9. As an example of this guidance information, information for controlling the vehicle control unit 9 to join at a timing when other vehicles are not approaching in the merging destination lane, for the vehicle control unit 9 to join the merging destination lane There are information for performing control to accelerate the traveling speed of the vehicle, information for the peripheral information acquisition unit 8 to start acquiring image information on the lane side of the merging destination of the vehicle, and the like. Here, in addition to the vehicle that travels the section corresponding to the lane section information L32 where the vehicle joins, based on the exit side identification information L33 and the entry side identification information L31 of the lane section information L32, the lane section information L31 and Lane section information L3
The guidance information may be generated so as to pay attention to other vehicles traveling in the section corresponding to 3 and output to the surrounding information acquisition unit 8 and / or the vehicle control unit 9. The above-described guidance processing is an example of control to pay attention to another vehicle traveling in a lane to which the vehicle merges based on the merging information associated with the fourth section information.

In addition, the information control unit 3 may perform the following processing as the same guidance processing as the guidance processing using the division and merging type information “merging” described above.
In FIG. 3 described above, when the lane section information L113 having the information of coordinates closest to the coordinates of the current position calculated in the position specifying process is specified, the division type information “decrease” of the section corresponding to the lane section information L113. The guidance information is generated so as to pay attention to other vehicles traveling in a section corresponding to the lane section information L13 where the vehicle decreases, and is output to the peripheral information acquisition unit 8 and / or the vehicle control unit 9. Here, based on the exit side identification information L14 and the entry side identification information L12 of the lane section information L13, control information is paid to pay attention to the other vehicles traveling in the section corresponding to the lane section information L12 and the lane section information L14. To generate the peripheral information acquisition unit 8
And / or may be output to the vehicle control unit 9. The minute merge type information “decrease” in the lane section information L113 is an example of merge information associated with the fourth section information when the third lane is a lane that merges with another lane.

Embodiment 3
Next, travel support processing using the travel support system of the third embodiment will be described using FIGS. The system configuration of the driving support system of the third embodiment is the same as that of the first embodiment.
FIG. 15 is a diagram for explaining the concept of the map data 20 of the third embodiment. Reference numeral 66 represents an actual road (around a toll booth such as an expressway) and a data structure of the road. Area A to D
Respectively correspond to the actual road areas A to D, and the areas AR1 and AR2 correspond to the actual road areas AR1 and AR2, respectively. Areas A to D are road areas of entrances to and exits of toll stations of expressways, and area AR1 is a manager's facility for managing facilities of expressways, toll stations, and the like. The above areas A to D are an example of a first area constituting a part of a road, and the areas AR1 and AR2 constitute a part of a road and are adjacent to the first area in the width direction of the road It is an example of a 2nd field.

BL10 to BL16 of the feature data 32 respectively represent boundary line information, and although the boundary is physically passable, the boundary between the area AR1 and the area A and the area B, and the area AR2 and the area C and the area D It prescribes. The above-mentioned BL10 to BL16 are physically the boundary between the first area that constitutes a part of the road and the second area that constitutes part of the road and is adjacent to the first area in the width direction of the road. But is an example of boundary line information that defines the boundary between the first area and the second area.
Lane section information included in the lane network data 31 is associated with boundary line information. More specifically, the lane section information L51 includes the boundary line information BL10 and the lane section information L57.
Is boundary line information BL11, lane line information L53 is boundary line information BL12, lane line information L58
Is boundary line information BL13, lane line information L508 is boundary line information BL14, lane line information L5
A line 07 is associated with the boundary information BL15, and a lane section information L503 is associated with the boundary information BL16. The lane section information is an example of traveling line information representing a traveling line for the vehicle to travel in the first region. The association of the lane section information and the boundary line information is an example in which the traveling line information and the boundary line information are associated with each other.

FIG. 16 is a diagram for explaining the details of the map data of the third embodiment. Boundary line information BL
Each of 10 to BL 16 is identification information of lane section information for identifying lane section information associated with the border line information, road border line identification information for identifying the border line information, border line information thereof Road boundary coordinate information representing a series of coordinate points of the center line of the boundary corresponding to 、, whether the boundary represented by the road boundary coordinate information is a physically passable boundary (virtual boundary),
It includes boundary identification information for identifying whether it is a boundary which can not physically pass even by a protective wall or the like. The boundary identification information has information of “1” when it is a virtual boundary and “0” when it is not a virtual boundary. Each of the boundary line information has the lane line information, so that the lane line information and the boundary line information are associated with each other. Lane section information L50 to L59, lane section information L501 to L50
The details of 8 are the same as the details of the lane section information described in FIG. 4 of the first embodiment.

FIG. 17 is a diagram for explaining the operation flow of the driving support process of the third embodiment.
The information control unit 3 uses location identification processing for identifying the current location of the vehicle, vehicle identification processing for identifying the vehicle, information on the current location identified in the position identification processing, lane network data 31, and feature data 32. Perform guidance processing to control travel of the vehicle. The position identification processing, the vehicle identification processing, and the guidance processing will be specifically described below.

The information control unit 3 (position specifying unit 12) performs the following process as the position specifying process.
The coordinates of the current position of the vehicle are calculated from the current position information acquired by the position acquisition unit 6. The current position of the vehicle is obtained by using the peripheral image information of the vehicle such as the lane line of the actual road acquired by the periphery information acquiring unit 8 and the feature data 32 such as the lane line information (not shown) stored in the storage unit 4 The coordinates may be calculated (step S210).

The information control unit 3 performs the following processing as the vehicle identification processing.
The vehicle manages by acquiring identification information for identifying whether it is a control vehicle indicating a vehicle for a facility manager for managing facilities and toll stations on a highway from a vehicle or a general vehicle indicating a general vehicle. Identify if it is a vehicle or a general vehicle. Note that the control vehicle or the general vehicle may be specified based on the information input to the input unit 5 by the driver of the vehicle (step S220).

The information control unit 3 (induction unit 14) performs the following process as the induction process.
Lane section information L5 having information of coordinates closest to the coordinates of the current position calculated by the position specifying process
1 is specified, the coordinate information of the current position is compared with the information of the coordinate point sequence included in the lane section information L51, and the guidance information for the vehicle to move along the coordinate point sequence is generated, and the vehicle control unit Output to 9 The map data acquisition unit 10 acquires the boundary line information BL10 from the storage unit 4 based on the lane section identification information L51 included in the boundary line information BL10. This process is an example of a process used by the control unit to acquire boundary line information related to traveling line information from the map data storage unit.

The value of the boundary identification information of the boundary information BL10 is determined, and if the value is “1”, the following processing is performed.
When the vehicle specified in the vehicle specifying process is a general vehicle, when moving the vehicle to the end of the area AR2 under any circumstances (such as a failure of the vehicle), based on the road boundary line coordinate information of the boundary line information BL10, A vehicle traveling on a section corresponding to the lane section information L51 is prohibited from passing to the area AR1 side. Specifically, control is performed so that the vehicle does not exceed the boundary defined by the coordinates of the road boundary coordinate information. This process is an example of a process for prohibiting a vehicle passing through the first area to the second area side based on the boundary line information.
If the vehicle identified in the vehicle identification process is a controlled vehicle, based on the boundary line information BL10,
A vehicle traveling on a section corresponding to the lane section information L51 generates guidance information for permitting passage to the area AR1 side, and outputs the guidance information to the vehicle control unit 9. Specifically, the vehicle is controlled to travel to the area AR1 side beyond the boundary defined by the coordinates of the road boundary coordinate information. This process is
It is an example of the process which permits passage to the said 2nd area | region side according to the vehicle which passes the said 1st area | region based on boundary line information (step S230).
The value of the boundary identification information of the acquired boundary information is determined, and when the value is “0”, the road boundary of the boundary information is determined regardless of whether the vehicle is a general vehicle or a control vehicle. Control is performed so that the coordinates of line coordinate information do not exceed defined boundaries.

The present invention is not limited to the above embodiment, and can be implemented in various modes without departing from the scope of the invention. For example, the following modifications are possible.

In the above embodiment, an example has been described in which each of the lane attribute information included in the lane network data 31 includes exit side identification information, entry side identification information, lane type information, and minute merge type information. In addition to this, the section adjacent to the section corresponding to the lane section information (right lane,
In order to specify the left lane), identification information of lane section information of an adjacent section, information of an availability level of lane change to the adjacent section, and the like may be included.
Here, the lane change availability level indicating the lane change availability level is data indicating the availability of lane change. The lane change permission level is set to at least one of a plurality of restriction levels having different reasons for the lane change restriction. In the present embodiment, as the reason for the lane change restriction,
It distinguishes the presence or absence of a physical failure and the presence or absence of a legal restriction, and one of five restriction levels from level 1 to level 5 shown below is selected and set.

Level 1: A section where there is a physical boundary, such as a wall, fence, guardrail, delineator or the like, or an adjacent lane is the opposite of the traveling direction, indicating that lane change (transfer) is not possible.
Level 2: A section with physical obstacles and legal restrictions. There are physical obstacles such as road cones, pole cones and cat's eyes, etc., and basically lane change (transfer) Indicates that is impossible.
Level 3: There is no physical obstacle, but it is a section with a legal restriction, for example, it is a lane change control lane that is made only for straight ahead, yellow solid line is drawn, and overtravel is prohibited, etc. In principle, it indicates that lane change (transfer change) is not possible.
Level 4: A section where there are physical obstacles but no legal restrictions, basically indicating that it is impossible to change lanes.
Level 5: This section indicates that there are no physical obstacles or legal restrictions, lane change is possible, and lane change in that section is recommended.
Below, the modification 1 which used the lane change availability level is demonstrated.

FIG. 18 is a diagram for explaining the concept of the map data 30 of the present embodiment. 68 represents the actual road and the data structure of the road. Also, as the vehicle travels, a wall (section from A to B), a pole and a yellow solid line (section from B to C), a yellow solid line (a section from C to D), a pole and a white broken line (Section from D to E) and white broken line (section from E to F) are changed.

FIG. 19 is a diagram for explaining the data structure of the map data 20 of the first modification.
Each of the lane attribute information AL611 to AL615 included in the attribute data 33 is identification information for identifying lane section information, lane type information, minute merge information,
The identification information of the lane section information of the left and right lanes for specifying the lane adjacent to the lane, and the information of the left and right lane change availability level indicating the availability of the lane change are included.

FIG. 20 is a diagram for describing an operation flow of the driving support process of the first modification.
The information control unit 3 uses position identification processing for identifying the current position of the vehicle, information on the current position identified in the current position identification processing, lane network data 31, and lanes adjacent to the lane on which the vehicle travels using the attribute data 33. Pay attention to the other vehicles traveling and conduct guidance processing so as to change lanes to adjacent lanes. The position identification process and the guidance process will be specifically described below.

The information control unit 3 (position specifying unit 12) performs the following process as the position specifying process.
The coordinates of the current position of the vehicle are calculated from the current position information acquired by the position acquisition unit 6. The current position of the vehicle is obtained by using the peripheral image information of the vehicle such as the lane line of the actual road acquired by the periphery information acquiring unit 8 and the feature data 32 such as the lane line information (not shown) stored in the storage unit 4 Coordinates may be calculated (step S300).

The information control unit 3 performs the following process as the induction process.
Lane section information L6 having information of coordinates closest to the coordinates of the current position calculated by the position specifying process
When “11” is specified, it is determined that the section corresponding to the lane section information L611 is adjacent to the section corresponding to the lane section information L61 based on the identification information of the lane section information of the right lane. Then
Based on the lane change permission level of the right lane of the lane section information L611, it is determined that the lane change to the section corresponding to the lane section information L61 is not possible. Therefore, no lane change is performed in the section corresponding to the lane section information L611. Further, control information is not generated to pay attention to other vehicles traveling in a section corresponding to the lane section information L61 where the vehicles are adjacent based on the minute merge information "merge".
When the lane section information L612 having information of coordinates closest to the coordinates of the current position calculated in the position specifying process is specified, the lane section information L61 is determined based on the identification information of the lane section information of the right lane.
It is determined that the section corresponding to 2 is adjacent to the section corresponding to the lane section information L62. Then, based on the lane change possibility level of the right lane of the lane section information L612, the lane section information L6
It is determined that the lane change to the section corresponding to 2 is not possible. Therefore, lane section information L61
Lane change is not performed in the section corresponding to 2. Further, control information is not generated to pay attention to other vehicles traveling in a section corresponding to the lane section information L62 where the vehicles are adjacent based on the minute merge information "merge".
When the lane section information L613 having the information of coordinates closest to the coordinates of the current position calculated in the position specifying process is specified, the lane section information L61 is determined based on the identification information of the lane section information of the right lane.
It is determined that the section corresponding to 3 is adjacent to the section corresponding to the lane section information L63. Then, based on the lane change possibility level of the right lane of the lane section information L613, the lane section information L6
It is determined that the lane change to the section corresponding to 3 is not possible. Therefore, lane section information L61
Lane change is not performed in the section corresponding to 3. Further, control information is not generated to pay attention to other vehicles traveling in a section corresponding to the lane section information L63 in which the vehicles are adjacent based on the minute merge information "merge".
When the lane section information L614 having information of coordinates closest to the coordinates of the current position calculated in the position identification process is specified, the lane section information L61 is determined based on the identification information of the lane section information of the right lane.
It is determined that the section corresponding to 4 is adjacent to the section corresponding to the lane section information L64. Then, based on the lane change possibility level of the right lane of the lane section information L614, the lane section information L6
It is determined that the lane change to the section corresponding to 4 is not possible. Therefore, lane section information L61
Lane change is not performed in the section corresponding to 4. Further, control information is generated to pay attention to other vehicles traveling in a section corresponding to the lane section information L64 where the vehicles are adjacent based on the minute merge information “merge”, and is output to the vehicle control unit 9.
Lane section information L having information of coordinates closest to the coordinates of the current position calculated by the position specifying process
When 615 is specified, it is determined that the section corresponding to the lane section information L615 is adjacent to the section corresponding to the lane section information L65 based on the identification information of the lane section information of the right lane of the lane section information L615. Then, based on the lane change permission level of the right lane, lane section information L65
It is determined that the lane change to the section corresponding to is possible. Then, in the section corresponding to the lane section information L615, pay attention to other vehicles traveling in the section corresponding to the lane section information L65 where the vehicles are adjacent, and generate guidance information for changing the lane in that section, and the vehicle control unit It outputs to 9 (step S310).
In the above process, a section corresponding to lane section information L612, lane section information L613
In the section corresponding to the section and the section corresponding to the lane section information L614, control is performed not to change the lane, but some situation (for example, a situation where it is not possible to move ahead of the lane due to an accident or an obstacle) When it is necessary to change the lane, guidance information for performing the lane change is generated and output to the vehicle control unit 9. That is, when the lane change level is 2 to 4, guidance information for performing the lane change is generated according to the situation, and is output to the vehicle control unit 9.
The information control unit 3 may change the output level of the guidance information according to the lane change permission level. For example, in the above process, based on the lane change availability level 4 of the right lane of the section corresponding to the lane section information L614 and the min merge information “merge” of the lane section information L614, it corresponds to the lane section information L64 where the vehicles are adjacent Output an output level 1 (reminder) of guidance control information that pays attention to other vehicles traveling in the section. Based on the lane merging information “joining” of the lane changeability level 5 of the right lane of the zone corresponding to the lane zone information L615 and the lane zone information L615,
The output level 2 (acceleration / deceleration information, traveling direction information) of the guidance information for paying attention to other vehicles traveling in a section corresponding to the lane section information L65 where the vehicles are adjacent is output.
The identification information of the lane section information, the identification information of the lane section information of the left lane, the lane change possibility level of the left lane, and the lane of the right lane corresponding to the road section having a plurality of lanes which are not the minute junction. It has lane attribute information having identification information of section information and lane change possibility level of right lane, and using such lane attribute information, the information control unit 3 changes lanes in a section where the lane change feasibility level is 5 If guidance information is generated and it is necessary to change lanes in any situation (for example, an accident or obstacle that can not move ahead of the lane or an emergency), the lane change level is 2 to 4 Even in the section, guidance information for performing lane change may be generated and output to the vehicle control unit 9.

In the above embodiment, an example of boundary line information which is physically passable but defines the boundary between areas has been described. In addition to this, it may include road shoulder width information regarding the width of the adjacent road shoulder for each section corresponding to the lane section information. Below, the modification 2 using road shoulder width information is demonstrated.

FIG. 21 is a diagram for explaining the concept of the map data 20 of the second modification. 70 represents the actual road and the data structure of the road. Lane section information L71 is boundary line information BL2
The lane line information L72 is associated with boundary line information BL21. Boundary line information B
L20 and BL21 are boundary lines between the area AR11 and the area AR12. Further, the lane section information L71 is associated with the road shoulder width information W1, and the lane section information L72 is associated with the road width information W2.

FIG. 22 is a diagram for describing the details of the data structure of the map data 20 of the second modification.
Boundary line information BL20 and BL21 are identification information of lane line information for identifying lane line information associated with the boundary line information, road boundary line identification information for identifying the boundary line information, and the boundary line information Road boundary coordinate information representing a series of coordinate points of the center line of the boundary corresponding to the road boundary position information indicating whether the road boundary is to the left or right of the section corresponding to the associated lane section information; It includes road shoulder width information (in meters) on the left and right of the section corresponding to the lane section information.

FIG. 23 is a diagram for describing an operation flow of the driving support process of the second modification.
The information control unit 3 controls the travel of the vehicle using the position specifying processing for specifying the current position of the vehicle, the information on the current position specified in the position specifying processing, the lane network information 31 and the feature data 32. And induction processing. The position identification process and the guidance process will be specifically described below.

The information control unit 3 (position specifying unit 12) performs the following process as the position specifying process.
The coordinates of the current position of the vehicle are calculated from the current position information acquired by the position acquisition unit 6. The current position of the vehicle is obtained by using the peripheral image information of the vehicle such as the lane line of the actual road acquired by the periphery information acquiring unit 8 and the feature data 32 such as the lane line information (not shown) stored in the storage unit 4 Coordinates may be calculated (step S410).

The information control unit 3 (induction unit 14) performs the following process as the induction process.
Lane section information L having information of coordinates closest to the coordinates of the current position calculated by the position specifying process
71 is specified, the coordinate information of the current position is compared with the information of the coordinate point sequence included in the lane section information L71, and the guidance information for moving the vehicle along the coordinate point sequence is generated, and the vehicle control unit 9
Output to Then, when it is necessary to stop the vehicle due to a certain situation (such as breakdown of the vehicle), the map data acquisition unit 10 acquires boundary line information from the storage unit 4 based on the lane section identification information L71 included in the boundary line information BL20. Acquire BL20. The vehicle width information regarding the width of the vehicle and the road shoulder width information of the section corresponding to the lane section information L71 are compared, and it is determined whether the vehicle can stop on the road boundary line side corresponding to the road boundary line information. For example, when the vehicle width information is 1.7 m, the vehicle width information is wider than the left road shoulder width information as compared to the left road shoulder width information 1.5 m of the section corresponding to the lane section information L71, so the vehicle is a road boundary It is determined that the road boundary side corresponding to the information BL20 can not be stopped.

Next, the lane section information L72 having the information of coordinates closest to the coordinates of the current position calculated in the position specifying process is specified, and the coordinate information of the current position is compared with the information of the coordinate point sequence included in the lane section information L72. And generates guidance information for moving the vehicle along the coordinate point sequence, and outputs the guidance information to the vehicle control unit 9. The boundary line information BL21 is acquired based on the lane line identification information L72 included in the boundary line information BL21 associated with the lane line information L72. And
The vehicle width information on the width of the vehicle and the road shoulder width information on the left and right of the section corresponding to the lane section information L72 are compared to determine whether the vehicle can stop on the road boundary side corresponding to the road boundary information. For example, when the vehicle width information is 1.7 m, the vehicle width information is narrower than the left road shoulder width information in comparison with the left road shoulder width information 4.0 m of the section corresponding to the lane section information L72. It is determined that the road boundary side corresponding to BL21 can be stopped. And, border line information B
Based on the road boundary coordinate information of L21, the guidance information for guiding to stop at the road shoulder portion is generated so that the coordinates of the road boundary coordinate information of the boundary information do not exceed the defined boundary, and the vehicle It outputs to the control part 9 (step S420).

As the map data 20, Embodiments 1 to 3 and Modifications 1 and 2
6 includes the information described in at least two, and the map data 20 is used to perform the process of the first embodiment (FIG. 6), the process of the second embodiment (FIG. 10), the process of the third embodiment (FIG. 14), the modification Alternatively, all the processes described in at least two of the process of Example 1 (FIG. 17) and the modified example 2 (FIG. 20) may be performed, and as the map data 20, Embodiments 1 to 3 and the modified example The process described in the first embodiment (FIG. 6), the process according to the second embodiment (FIG. 10), and the process according to the third embodiment (FIG. 14) using the map data 20 including the information described in all of 1 and the second modification. All the processes described in at least two of the process of the first modification (FIG. 17) and the second example of the second modification (FIG. 20) may be performed.

The lane extension section realized by Patent Document 1 is uniform without considering the characteristics of the lane extension section and the characteristics of the vehicle. Even in the same lane extension section, due to the difference in the increase in traveling and the increase in slopes, and the difference in the characteristics of the vehicle, the guidance may not always be desirable. The embodiments described above solve these problems.
The aspect described in all or a part of the above embodiments provides a driving support apparatus capable of appropriately guiding and controlling a mobile body and a data structure of map data used for the driving support apparatus. Improvement of processing speed, improvement of processing accuracy, improvement of usability, improvement of function using data or provision of appropriate function Other function improvement or provision of appropriate function, reduction of data and / or program capacity, apparatus and And / or provision of appropriate data such as system miniaturization, programs, recording media, devices and / or systems, and reduction of production / production costs of data, programs, devices or systems, facilitation of production / production, production / production Solve one of the problems of optimization of production and manufacture of data, programs, recording media, devices and / or systems, such as shortening of production time.

DESCRIPTION OF SYMBOLS 1 driving support system 2 vehicle 3 information control unit 4 storage unit 5 input unit 6 position acquisition unit 7 vehicle speed information acquisition unit 8 peripheral information acquisition unit 9 vehicle control unit 10 map data acquisition unit 11 route search unit 12 position specification unit 13 route specification Section 14 Guidance section 20 Map data 30 Road network data 31 Lane network data 32 Feature data 33 Attribute data 60 to 70 Roads and their data structures L10 to L615 Lane marking information AL10 to AL615 Lane attribute information A to D, AR1 to AR12 Area BL10 to BL21 Boundary line information

According to an embodiment of the present invention, there is provided a travel support device for supporting the travel of a vehicle . In this driving support apparatus, the first section information corresponding to the first section included in the first lane that constitutes a part of the road, and the second section adjacent to the forward direction of the first section And a third section included in a second lane adjacent to the first lane in the width direction of the road, which is a lane that constitutes a part of the second section and a part of the road and joins the first lane. The third section is a section adjacent to the first section in the width direction of the road, and the third section information is merging information in the third section information. Are associated with each other, and the driving support apparatus further controls the vehicle to accelerate the traveling speed of the vehicle to merge into the lane where the vehicle merges, based on the merging information associated with the third section information. It has a control unit .

In addition, as another embodiment of the present invention, a travel support device for supporting the travel of a vehicle is provided. In this driving support apparatus, the first section information corresponding to the first section included in the first lane that constitutes a part of the road, and the second section adjacent to the forward direction of the first section And a third section included in a second lane adjacent to the first lane in the width direction of the road, which is a lane that constitutes a part of the second section and a part of the road and joins the first lane. The third section is a section adjacent to the second section in the width direction of the road, and the third section information is merging information in the third section information. And lane change availability information representing lane change possible or lane change non-permission is associated, and the driving support apparatus further adds the merging information associated with the third section information and the lane change availability information representing the lane change possible. Based on the lane where the vehicle merges Control to change lanes, and based on the merging information associated with the second section information and the lane change availability information that indicates no lane Control to prohibit.

Further, as another aspect, there is provided a program for realizing a reference function for causing a control unit having a travel support function for supporting the travel of a vehicle to refer to map data stored in a storage unit. In this program, the map data includes first section information corresponding to a first section included in a first lane that constitutes a part of the road, and a second section adjacent to the forward direction of the first section. A second lane information corresponding to the second lane, and a third lane included in a second lane adjacent to the first lane in the width direction of the road, which is a lane forming part of the road and joining the first lane a third section information corresponding to the section, the third section is a section adjacent to the width direction of the road with respect to the first section, the third section information merging information is associated The reference function includes a function to refer to the first section information, the second section information, the third section information, and the merging information, and the driving support function corresponds to the merging information associated with the third section information. Accelerate the traveling speed of the vehicle to join the lane where the vehicle merges Including the ability to control such that.

Further, as another aspect, there is provided a program for realizing a reference function for causing a control unit having a driving support function for supporting the traveling of a vehicle to refer to the map data stored in the storage unit. A first section information corresponding to a first section included in a first lane that constitutes a part of a road; a second section corresponding to a second section adjacent to the forward direction of the first section; A third lane corresponding to a third section included in a second lane that is part of the information and the road and joins the first lane and is adjacent to the first lane in the width direction of the road; The third section is a section adjacent to the second section in the width direction of the road, and the third section information indicates merging information and lane changeable or lane change impossibility in the third section information. Changeability information is associated and The function includes a function of referring to the first section information, the second section information, the third section information, the merging information and the lane change availability information, and the driving support function is a merging section associated with the third section information The vehicle is controlled to change lanes in order to merge with the lane to be merged based on the information and the lane change availability information indicating that the lane change is possible, and the merging information and the lane change disabled associated with the second section information And a function to control the lane change to be prohibited in order to merge the vehicle to the merging destination lane based on the lane change availability information representing.

Claims (6)

A travel support device for supporting the travel of a vehicle,
First section information corresponding to a first section included in a first lane that constitutes a part of a road, and a second section corresponding to a second section adjacent to the forward direction of the first section Information and a third section included in a second lane that is part of the road and is increased from the first lane and is adjacent to the first lane in the width direction of the road A map data storage unit having corresponding third section information;
The third section is a section adjacent to the second section in the width direction of the road, and
When the second lane is a lane that increases from the first lane as a travel lane, the third lane
The traveling increase information is associated with the section information of the above, and when the second lane is a lane increasing from the first lane to the uphill lane, the third section information is associated with the climbing increase information Yes,
The driving support device further includes:
Whether the vehicle is a first vehicle or a second vehicle, the first section to the third section are based on the travel increase information associated with the third section information. In the case where the vehicle is guided and the vehicle is the first vehicle, the vehicle is advanced straight from the first zone to the second zone based on the ascending slope increase information associated with the third zone information. Induce,
When the vehicle is a second vehicle, the control unit is configured to guide the vehicle from the first section to the third section based on the slope increase information associated with the third section information. Driving support device. The driving support apparatus according to claim 1, wherein
The map data storage unit has fourth section information corresponding to a fourth section included in a third lane that constitutes a part of a road,
The fourth section information is associated with at least one of merging information or reduction information, and the merging information is the fourth section when the third lane is a lane that merges with another lane. In association with data, the reduction information is associated with the fourth section information when the third lane is a decreasing lane,
The control unit may pay attention to another vehicle traveling in a lane where the vehicle is to be merged or reduced based on either the merging information associated with the fourth section information or the reduction information. Driving support device to control. A data structure of map data stored in the map data storage unit, used in a computer including a control unit that performs processing for guidance control of a vehicle and including a map data storage unit,
The map data is
First section information corresponding to a first section included in a first lane that constitutes a part of a road, and a second section corresponding to a second section adjacent to the forward direction of the first section Information and a third section included in a second lane that is part of the road and is increased from the first lane and is adjacent to the first lane in the width direction of the road Has corresponding third section information,
The third section is a section adjacent to the second section in the width direction of the road, and
When the second lane is a lane that increases from the first lane as a travel lane, the third lane
The travel increase information in the third section is associated with the section information in the above section, and when the second lane is a lane that increases from the first lane as an uphill lane, the third section information is climbed to the third section information Increase information is associated,
As for the association between the third section information and the travel increase information or the slope increase information, the control unit controls the travel increase information or the slope increase information related to the third section information from the map data storage unit. Data structure of map data used in the process of acquiring. A travel support device for supporting the travel of a vehicle,
The boundary between a first area forming a part of a road and a second area forming a part of the road and adjacent to the first area in the width direction of the road is physically passable A map data storage unit having boundary line information defining the boundary between the first area and the second area;
And a control unit configured to prohibit a vehicle passing through the first area from passing toward the second area based on the boundary line information. The driving support apparatus according to claim 4, wherein
The driving support apparatus according to claim 1, wherein the control unit permits passage to the second area according to a vehicle passing through the first area based on the boundary line information. A data structure of map data stored in the map data storage unit, used in a computer including a control unit that performs processing for guidance control of a vehicle and including a map data storage unit,
The map data is
The boundary between a first area forming a part of a road and a second area forming a part of the road and adjacent to the first area in the width direction of the road is physically passable Boundary line information that defines the boundary between the first area and the second area;
Travel line information representing a travel line for the vehicle to travel in the first area;
The traveling line information and the boundary line information are associated with each other, and the control unit relates the traveling line information to the boundary line information from the map data storage unit to the boundary relating to the traveling line information. Data structure of map data used for processing to acquire line information.

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