WO2022208864A1 - 自律走行支援装置 - Google Patents
自律走行支援装置 Download PDFInfo
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- WO2022208864A1 WO2022208864A1 PCT/JP2021/014280 JP2021014280W WO2022208864A1 WO 2022208864 A1 WO2022208864 A1 WO 2022208864A1 JP 2021014280 W JP2021014280 W JP 2021014280W WO 2022208864 A1 WO2022208864 A1 WO 2022208864A1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
Definitions
- This disclosure relates to an autonomous driving support device.
- the digital map is distributed to the autonomous driving vehicle, and the distributed digital map is used for driving support of the autonomous driving vehicle.
- a digital map is map data in which dynamic road information is superimposed on a map.
- Dynamic road information includes, for example, information about other vehicles on the travel route, traffic light information, and traffic congestion information (see, for example, Patent Document 1).
- the information included in the dynamic road information may be insufficient, making it difficult to provide appropriate driving assistance.
- the present disclosure has been made to solve the above problems, and aims to obtain an autonomous driving support device that can more appropriately perform autonomous driving support for a vehicle.
- the autonomous driving support device receives road condition information, which is information about the surrounding conditions of the roadside unit, from the roadside unit, and adds dynamic map information, which is information obtained by adding the road condition information to the map information, as scheduled.
- map information is stored in the server device as a combination of a plurality of nodes and a plurality of links, and each node is an intersection and each link corresponds to a road connecting two adjacent intersections.
- vehicle information which is information about the running state of the target vehicle, selects some of the nodes from among the plurality of nodes as selected nodes based on the vehicle information and the route information, and selects some of the nodes among the plurality of links A part of the links are selected as selected links from the selected nodes, and information obtained by adding road condition information regarding the selected nodes and the selected links to the map information is transmitted to the target vehicle as dynamic map information.
- the autonomous driving support device According to the autonomous driving support device according to the present disclosure, it is possible to more appropriately perform autonomous driving support for the vehicle.
- FIG. 1 is a block diagram showing an autonomous driving support device, a server device, a roadside device, and a vehicle according to Embodiment 1;
- FIG. FIG. 2 is a diagram showing a situation of an intersection to which the autonomous driving support device of FIG. 1 is applied;
- 2 is a flowchart showing an autonomous driving support control routine executed by a control unit of the autonomous driving support device of FIG. 1;
- FIG. 11 is a diagram for explaining the arrival cost in the autonomous driving support device according to Embodiment 2;
- FIG. FIG. 11 is a diagram for explaining the arrival cost in the autonomous driving support device according to Embodiment 2;
- FIG. 9 is a flowchart showing an autonomous driving support control routine executed by a control unit of an autonomous driving support device according to Embodiment 2;
- FIG. 11 is a diagram for explaining an example of control by an autonomous driving support device according to Embodiment 3;
- FIG. 11 is a diagram for explaining an example of control by an autonomous driving support device according to Embodiment 3;
- FIG. 2 is a configuration diagram showing a first example of a processing circuit that realizes the functions of the autonomous driving support devices according to Embodiments 1 to 3;
- FIG. 7 is a configuration diagram showing a second example of a processing circuit that implements the functions of the autonomous driving support devices according to Embodiments 1 to 3;
- Embodiment 1. 1 is a block diagram showing an autonomous driving support device, a server device, a roadside device, and a vehicle according to Embodiment 1.
- FIG. 1 is a block diagram showing an autonomous driving support device, a server device, a roadside device, and a vehicle according to Embodiment 1.
- FIG. 1 is a block diagram showing an autonomous driving support device, a server device, a roadside device, and a vehicle according to Embodiment 1.
- the autonomous driving support device 10 includes a server device 20.
- the server device 20 has a communication section 21, a road condition information acquisition section 22, a vehicle information acquisition section 23, a control section 24, a dynamic map transmission section 25, and a storage section 26 as functional blocks.
- the server device 20 for example, a server arranged in a core network of a mobile phone network called MEC (Multi-Access Edge Computing) is used. Also, the server device 20 may use a network built exclusively within a limited area, such as in a factory. For example, it may be connected to a network capable of connecting to a 5G network only within a limited site.
- MEC Multi-Access Edge Computing
- the communication unit 21 receives road condition information from the roadside unit 30 .
- the road condition information is information detected by the sensor 33 of the roadside device 30 and is information about the surrounding conditions of the roadside device 30 .
- Examples of the information about the situation around the roadside unit 30 include information about traveling vehicles, information about stopped vehicles, information about parked vehicles, information about pedestrians, information about obstacles, and information about road surface conditions.
- the senor 33 includes, for example, a camera, millimeter wave radar, and LiDAR (Light Detection and Ranging).
- Wireless communication or wired communication is used for communication between the server device 20 and the roadside device 30 .
- an optical fiber, a LAN cable, or the like is used for wired communication.
- the communication unit 21 receives vehicle information from the vehicle 40 as the target vehicle.
- the target vehicle is a vehicle that autonomously travels along a planned travel route, and is a vehicle that is subject to autonomous travel assistance.
- the vehicle information is information about the position of the vehicle 40 and information about the running state of the vehicle 40 .
- the information about the driving state of the vehicle 40 includes at least part of the speed of the vehicle 40, the acceleration of the vehicle 40, the driving history of the vehicle 40, the winker information of the vehicle 40, and the planned driving route of the vehicle 40.
- the communication unit 41 of the vehicle 40 includes a communication device capable of wireless communication and an antenna.
- a communication device capable of wireless communication and an antenna.
- C-V2X Cellular V2X
- LTE Long Term Evolution; registered trademark
- 5G Long Term Evolution
- OTA Over The Air
- the communication unit 41 transmits vehicle information and route information to the server device 20 at regular intervals.
- the road condition information acquisition unit 22 acquires road condition information from the roadside unit 30 via the communication unit 21.
- the vehicle information acquisition unit 23 acquires vehicle information from the vehicle 40 via the communication unit 21.
- the storage unit 26 stores map information as a combination of multiple nodes and multiple links. Each node corresponds to an intersection. Each link corresponds to a road connecting two adjacent intersections. Intersections include three-way intersections, crossroads, five-way intersections, roundabouts, and the like.
- the storage unit 26 holds route information of the vehicle 40 .
- the route information is information regarding the travel route of the vehicle 40 .
- the server device 20 stores the route information of the target vehicle in the storage unit 26 in association with the lane information.
- Lane information is information about lanes of a road. For example, the server device 20 holds not only information about the link on which the target vehicle is traveling, but also information about which lane the target vehicle is traveling on among a plurality of lanes of the road corresponding to the link. can do.
- the storage unit 26 stores list information about the target vehicles for autonomous driving support.
- the control unit 24 periodically performs dynamic map information transmission processing for each vehicle included in the list information.
- control unit 24 selects some nodes from among the plurality of nodes as selected nodes, and also selects some links from among the plurality of links. Select as link.
- the control unit 24 generates dynamic map information based on the map information stored in the storage unit 26 and the road condition information regarding the selected node and the selected link among the acquired road condition information.
- Dynamic map information is information obtained by adding road condition information to map information.
- the dynamic map information includes the positions of pedestrians, the movement routes of pedestrians, the point cloud data indicating the travel route of the vehicle 40 within a certain period of time, the positions of parked vehicles, construction work, and obstacles on the road. data shown.
- the dynamic map transmission unit 25 transmits the information generated by the control unit 24 to the vehicle 40 as dynamic map information.
- control unit 32 of the roadside unit 30 acquires road condition information around the roadside unit 30 from the sensor 33 and outputs the information to the communication unit 31 .
- the communication unit 31 transmits the acquired road condition information to the server device 20 .
- control unit 42 of the vehicle 40 controls the driving device, the braking device, the steering device, etc. (not shown) of the vehicle 40 based on the vehicle information and the road condition information received from the server device 20, thereby making the vehicle 40 autonomous. let it run.
- the received dynamic map information is superimposed on the map information stored in the storage unit 43 of the vehicle 40 and used to determine acceleration/deceleration, stop, etc. of the vehicle 40.
- the server device 20 refers to the position information included in the vehicle information received from the target vehicle that transmits the dynamic map information and the map information stored in the storage unit 26, and determines the link or node on which the vehicle 40 is traveling. to get
- map information stored in the server device 20 and the vehicle 40 is static map information.
- Static map information includes terrain, road information, and the like.
- static map information for example, GDF5.0 (Geographic Data Files 5.0), which is one of the international standards for road maps, is used, but maps based on other international standards or unique standards are also used.
- FIG. 1 shows only one roadside device 30 and one vehicle 40
- one server device 20 communicates with a plurality of roadside devices and a plurality of vehicles. It is possible to do so. Accordingly, the communication unit 21 similarly receives vehicle information from vehicles other than the target vehicle. In this case, the communication unit 21 asynchronously and periodically receives vehicle information from the plurality of vehicles 40 and asynchronously and periodically receives road condition information from the plurality of roadside units 30 .
- FIG. 2 is a diagram showing the situation of an intersection to which the autonomous driving support device 10 of FIG. 1 is applied.
- Four roads 61, 62, 63, and 64 are connected to the intersection 50 shown in FIG. That is, in this example, four links are connected to one node.
- intersection 50 is also referred to as node #1
- roads 61, 62, 63, and 64 are also referred to as link #1, link #2, link #3, and link #4, respectively.
- Roads 61, 62, 63, and 64 are two-lane roads with left-hand traffic.
- Road 62 exists on an extension of road 61 . That is, a vehicle running on the road 61 can enter the road 62 by going straight, and a vehicle running on the road 62 can enter the road 61 by going straight.
- a first roadside machine 301 and a second roadside machine 302 are installed on the roadside of the intersection 50 .
- each of the first roadside machine 301 and the second roadside machine 302 is provided with a sensor.
- Each sensor is considered sensor 33 in FIG.
- Each sensor detects road condition information.
- the detectable area AR1 of the sensor of the first roadside unit 301 is a part of the intersection 50, a part of the road 62, and a part of the road 64.
- a sensor of the first roadside unit 301 mainly detects the condition of the road 62 .
- the detectable area AR2 of the sensor of the second roadside unit 302 is a part of the intersection 50, a part of the road 62, a part of the road 63, and a part of the road 64.
- the sensor of the second roadside unit 302 mainly detects the condition of the road 64 .
- FIG. 2 eight vehicles 401-408 are running or stopped.
- the vehicle 401 is traveling straight ahead on the travel lane 61a of the road 61, that is, traveling leftward in FIG. Vehicle 402 is about to enter road 64 by turning right at intersection 50 after traveling in lane 61 a of road 61 .
- the vehicle 403 and the vehicle 404 are traveling straight on the opposite lane 62b of the road 62, that is, traveling rightward in FIG.
- Vehicles 405, 406, and 407 are stopped on road 64 to wait for a traffic light.
- Vehicle 408 is stopped on road 63 to wait for a signal.
- a base station 70 is installed near the intersection 50 .
- the base station 70 relays communication between the server device 20 and the first roadside device 301, communication between the server device 20 and the second roadside device 302, and communication between the server device 20 and the vehicle 402. .
- the relay by the base station 70 is not necessarily required, and the base station 70 may be omitted.
- the first roadside machine 301, the second roadside machine 302, and the vehicle 402 may communicate directly with the server device 20, respectively.
- the sensor of the first roadside unit 301 can detect the vehicle 403 and the vehicle 404.
- the server device 20 receives road condition information about the road 62 from the first roadside device 301 via the base station 70 . Therefore, road condition information about road 62 includes information about vehicle 403 and vehicle 404 .
- the sensors of the second roadside unit 302 can detect vehicles 405, 406, and 407.
- the server device 20 receives road condition information about the road 64 from the second roadside device 302 via the base station 70 . Accordingly, road condition information about road 64 includes information about vehicle 405 , vehicle 406 and vehicle 407 .
- the travel route of the vehicle 402 is road 61 ⁇ intersection 50 ⁇ road 64, that is, link #1 ⁇ node #1 ⁇ link #4.
- the vehicle 403 and the vehicle 404 are traveling on the link #2 which is an extension of the link #1 on which the vehicle 402 was traveling, and are moving in the opposite lane 62b to the traveling lane 61a of the vehicle 402 in the direction toward the vehicle 402. running to Such a running mode of the vehicle 403 and the vehicle 404 will be called a first running mode.
- Vehicles 405, 406, and 407 detected by the sensors of the second roadside unit 302 are on the travel route of the vehicle 402, but the road 64 does not exist on the extension of the link on which the vehicle 402 traveled. .
- the control unit 24 of the server device 20 acquires road condition information of the road 62 from the first roadside unit 301 via the base station 70 .
- the road condition information of the road 62 includes information regarding the vehicle 403 and the vehicle 404 .
- the control unit 24 acquires vehicle information of the vehicle 402 from the vehicle 402 via the base station 70 .
- the control unit 24 acquires map information from the storage unit 26 . Based on the road condition information of the road 62, the vehicle information of the vehicle 402, and the map information, the control unit 24 determines that the vehicle 403 and the vehicle 404 are traveling in the "first traveling mode".
- the control unit 24 acquires road condition information of the road 64 from the second roadside unit 302 via the base station 70 .
- Road condition information for road 64 includes information about vehicles 405 , 406 and 407 . Based on the road condition information of the road 64, the vehicle information of the vehicle 402, and the map information, the control unit 24 determines that the driving mode of the vehicles 404, 406, and 407 does not correspond to the "first driving mode" described above. do.
- control unit 24 adds the road condition information from the first roadside unit 301 to the static map information, but does not add the road condition information from the second roadside unit 302 to the static map information. Then, the dynamic map transmission unit 25 of the server device 20 transmits the map information to which the road condition information from the first roadside unit 301 is added as dynamic map information to the vehicle 402 .
- the control unit of vehicle 402 supports autonomous driving of vehicle 402 based on the received dynamic map information. For example, the control unit of the vehicle 402 stops the vehicle 402 until the vehicles 403 and 404 pass through the intersection 50 , and causes the vehicle 402 to turn right after the vehicles 403 and 404 pass through the intersection 50 .
- the target vehicle 402 is running on the node, but the target vehicle may be running on the link. Therefore, in the autonomous driving support device 10 according to Embodiment 1, it is determined whether the target vehicle is traveling on a node or on a link, and road conditions are added to the map information as dynamic map information. Change the scope of information.
- the server device 20 adds road condition information included in a range on the map corresponding to the node and the link adjacent to the node to the map information, It is transmitted to the vehicle 40 as dynamic map information.
- the server device 20 obtains the road condition information included in the range on the map corresponding to the link, the node to be reached next, and the link adjacent to the node. It is added to the map information and transmitted to the vehicle 40 as dynamic map information.
- the road condition information for the link where the vehicle corresponding to the first driving mode is present is selected.
- the road condition information about the link connected to the node where the target vehicle is currently traveling or the road condition information about the link connected to the node where the target vehicle is scheduled to travel next is not included in the map information. may be added. Processing in the control unit 24 of the server device 20 in these cases will be described with reference to FIG.
- FIG. 3 is a flowchart showing an autonomous driving support routine executed by the control unit 24 of the autonomous driving support device 10 of FIG.
- the routine of FIG. 3 is started, for example, when the ignition key switch of the vehicle is turned on, and is executed each time a certain period of time elapses.
- control unit 24 first acquires vehicle information of the vehicle 40 from the vehicle 40 in step S101.
- control unit 24 acquires road condition information from the roadside unit 30 in step S102.
- step S103 the control unit 24 determines whether or not the target vehicle for transmitting the dynamic map information is traveling on the link.
- the control unit 24 selects the currently traveling link and the link connected to the next node to be reached as the selected link in step S104. select. Also, the control unit 24 selects the node to be reached next as the selection node.
- the control unit 24 selects the currently running node as the selected link in step S105. Select a connected link. In addition, the control unit 24 selects the currently running node as the selected node.
- step S106 the control unit 24 acquires vehicle information and road condition information included in the map range of the acquired links and nodes.
- step S107 the control unit 24 transmits the acquired vehicle information and road condition information to the target vehicle 40 as dynamic map information, and temporarily ends this routine.
- the autonomous driving support device 10 includes the server device 20 .
- the server device 20 receives road condition information from the roadside device 30 and transmits dynamic map information to the vehicle 40 as the target vehicle. Map information is stored in the server device 20 as a combination of a plurality of nodes and a plurality of links.
- the server device 20 also holds route information of the target vehicle.
- Server device 20 receives vehicle information from vehicle 40 . Based on the route information and the received vehicle information, the server device 20 selects some of the nodes as selected nodes and selects some of the links as selected links. .
- the server device 20 transmits to the vehicle 40 as dynamic map information information obtained by adding road condition information regarding the selected node and the selected link to the map information.
- the dynamic information of the dynamic map information includes information on routes other than the driving route of the target vehicle. It is possible to suppress the occurrence of such a situation.
- the dynamic map information transmitted from the server device 20 to the target vehicle does not include information unnecessary for driving support of the target vehicle. Therefore, there is no fear that the large amount of information will increase the computational processing load in the control unit of the target vehicle, resulting in a delay in the control, and there is no fear that unnecessary information will become noise and cause an error in the computation result. That is, according to the autonomous driving support device 10, the autonomous driving support for the vehicle can be performed more appropriately.
- the selected link is a link that satisfies Condition 1 below.
- Condition 1 Connected to one link on which the target vehicle is currently traveling and to the one link, connected to the next node that the target vehicle reaches, and one or more different from the one link link of
- the selected node is a node that is connected to one link on which the target vehicle is currently traveling and that the target vehicle will reach next.
- the selected link is connected to the node on which the target vehicle is currently traveling and is a link different from the link through which the target vehicle has passed. is. Also, the selected node is the node on which the target vehicle is currently running.
- the server device 20 holds the route information in association with the lane information, which is the information about the lane of the road. According to this, for example, a vehicle traveling in the oncoming lane can be held separately from vehicles traveling in other lanes, so that autonomous driving support for the vehicle can be performed more appropriately.
- an arrival cost is defined for each link of map information defined by links and nodes.
- the arrival cost quantifies the difficulty of movement when a vehicle moves between two nodes connected by one link. For example, the longer the link distance, the higher the arrival cost tends to be. Further, for example, when a traffic jam occurs on a link, the arrival cost increases.
- the arrival cost is defined as the cost of movement based on the average movement time required to move between two nodes and the distance between the two nodes.
- the cost of arrival is the relative weighting for each link.
- the configuration other than the introduction of the arrival cost is the same as the configuration of the autonomous driving support device 10 according to the first embodiment.
- FIG. 4 is a diagram for explaining the arrival cost in the autonomous driving support device according to the second embodiment.
- FIG. 4 shows 8 nodes N1-N8 and 13 links L1-L13 connected thereto.
- a link L1 is connected between the node N1 and the node N2.
- the arrival cost of link L1 is three.
- a link L13 is connected between the node N7 and the node N8.
- the arrival cost of link L13 is six.
- link L13 takes twice as long to move as link L1. Also, when the arrival cost is determined based on the distance, the link L13 has twice the distance of the link L1.
- the arrival cost of the route "A ⁇ B ⁇ G” is the sum of the arrival cost of L1 and the arrival cost of link L2. Calculated as a value.
- the total arrival cost is calculated as an integrated value of each arrival cost. That is, the arrival cost of the route "A ⁇ B ⁇ G" is 5.9.
- FIG. 5 is a diagram for explaining the arrival cost in the autonomous driving support device according to the second embodiment.
- the route "S ⁇ C ⁇ D ⁇ G" shown in FIG. 5 is a route that minimizes the total arrival cost when the vehicle travels from node N4, which is the starting point of the vehicle, to node N3, which is the destination of the vehicle. is.
- the vehicle travels through link L8, link L9, and link L7, and the total arrival cost is 6.3.
- the server device 20 determines the selected node and the selected link based on the vehicle information of the target vehicle, the route information of the target vehicle, and the arrival cost of each link. For example, links in the range where the total value of the arrival cost of the link on which the target vehicle is currently traveling and the arrival cost of the link starting from the next node that the target vehicle arrives at is less than or equal to the judgment value is selected as the selected link. be done. Note that when the arrival cost of the link on which the target vehicle is currently traveling exceeds the determination value, only this link is selected as the selected link.
- the server device 20 selects only the running link as the selected link.
- the server apparatus 20 selects, as a selected link, a link with an arrival cost of 2.7 or less among the links connected to the node N6 to which the vehicle will arrive next. Therefore, the server device 20 selects the link L9, the link L6 with an arrival cost of 1.5, and the link L7 with an arrival cost of 1 as selected links.
- the server device 20 selects a link with an arrival cost of 3 or less from among the links connected to the node N3 to which the vehicle will arrive next, as the selected link. Therefore, the server device 20 selects the link L7 and the link L2 whose arrival cost is 2.9 as selected links.
- the server device 20 selects the links L12 and L13 as selected links in addition to the links L9, L6, and L7.
- FIG. 6 is a flowchart showing an autonomous driving support routine executed by the control unit 24 of the autonomous driving support device 10 according to the second embodiment.
- the routine of FIG. 6 is started, for example, by turning on the ignition key switch of the vehicle, and is executed each time a certain period of time elapses.
- steps that are the same as those in the routine of FIG. 3 are given the same step numbers. Descriptions of these identical steps are omitted.
- control unit 24 of the autonomous driving support device executes the processing from step S101 to step S103.
- the control unit 24 selects the selection link as follows in step S201.
- the control unit 24 selects, as selected links, links within a range in which the total value of the arrival costs of the links starting from the currently running link and the next node to be reached is equal to or less than the determination value.
- the control unit 24 selects the selected link in step S202 as follows. select.
- the control unit 24 selects, as selected links, links in a range in which the total value of the arrival costs of the links starting from the currently running node is equal to or less than the determination value. Also, the control unit 24 selects a node between the node to be reached next and the selection link as the selection node.
- control unit 24 After executing the process of step S104 or the process of step S105, the control unit 24 sequentially executes the process of step S106 and the process of step S107, and ends this routine.
- arrival costs which are relative weightings, are given to each link.
- the server device 20 determines the selected node and the selected link based on the vehicle information of the target vehicle, the route information of the target vehicle, and the arrival cost.
- the autonomous driving support device by considering the arrival cost when determining the selected node and the selected link, the autonomous driving support of the target vehicle can be performed more appropriately.
- the arrival cost is determined corresponding to the time required for the target vehicle to move between two nodes connected by each link. Therefore, the autonomous driving support for the target vehicle can be performed more appropriately.
- the arrival cost is determined corresponding to the distance of each link. Therefore, the autonomous driving support for the target vehicle can be performed more appropriately.
- the selected link is a link group in which the total value of the arrival costs of the links in the selected link is equal to or less than the determination value. Therefore, the autonomous driving support for the target vehicle can be performed more appropriately.
- the total value of the arrival costs is simply the sum of the respective arrival costs, the total value of the arrival costs may be the sum of the squares of the respective arrival costs, or may be accumulated by other methods.
- the arrival cost was the cost calculated based on the average travel time required to move between two nodes and the distance between two nodes. , etc., may be calculated in consideration of other variable factors.
- Embodiment 3 Next, an autonomous driving support device according to Embodiment 3 will be described.
- the autonomous driving support device according to Embodiment 3 an example of autonomous driving support when a target vehicle turns right or left at an intersection will be described.
- the configuration of the autonomous driving support device according to the third embodiment is the same as the autonomous driving support device 10 according to the first embodiment and the autonomous driving support device 10 according to the second embodiment.
- FIG. 7 is a diagram for explaining an example of control by the autonomous driving support device according to the third embodiment.
- FIG. 7 shows an intersection 50 as a node and four roads 61, 62, 63 and 64 as links connecting to the intersection 50.
- the four roads 61, 62, 63, and 64 are left-hand traffic two-lane roads.
- Roadside units 311, 312, and 313 are installed at three of the four corners of the intersection 50, respectively.
- a sensor detectable area AR3 of the roadside unit 311 is a partial area of the road 64 .
- a sensor detectable area AR4 of the roadside unit 312 is a partial area of the road 61 .
- a sensor detectable area AR5 of the roadside unit 313 is a partial area of the road 63 .
- a vehicle 411 is traveling on the road 62 toward the intersection 50 , and a vehicle 412 is traveling on the road 61 toward the intersection 50 .
- the vehicle 411 is a vehicle capable of autonomous driving, and is a target vehicle for autonomous driving support. The vehicle 411 is then scheduled to turn left at the intersection 50 and run on the road 64 .
- a vehicle 411a represents a future vehicle 411 traveling on a planned travel route.
- vehicle 412 is traveling in the opposite direction to vehicle 411 and is approaching vehicle 411 .
- Such vehicles are hereinafter referred to as "oncoming approaching vehicles”.
- the pedestrian 81 is crossing the road 64 and the pedestrian 82 is crossing the road 63.
- the server device 20 receives road condition information within the detectable area AR3 from the roadside device 311. Therefore, the road condition information from the roadside unit 311 includes information about the pedestrian 81 .
- the server device 20 receives road condition information within the detectable area AR4 from the roadside device 312 . Therefore, the road condition information from the roadside unit 312 includes information about the vehicle 412 .
- the server device 20 receives the road condition information within the detectable area AR5 from the roadside device 313. Therefore, the road condition information from the roadside unit 313 includes information about the pedestrian 82 . The server device 20 also receives vehicle information of the vehicle 411 and the travel route of the vehicle 411 from the vehicle 411 .
- the server device 20 holds route information of the vehicle 411 .
- the server device 20 also receives vehicle information of the vehicle 411 .
- the server device 20 selects the link corresponding to the road 62 and the link corresponding to the road 64 as the selection links.
- the server device 20 transmits information obtained by adding the road condition information of the selected link to the map information stored in the server device 20 to the vehicle 411 as dynamic map information.
- the control unit of the vehicle 411 recognizes the presence of the pedestrian 81 crossing the road 64, and the vehicle 411 stops in front of the pedestrian 81 like the vehicle 411a.
- the target vehicle turns left on a left-hand traffic road
- only links on the travel route are selected as selected links among the links connected to the node to which the target vehicle will reach next.
- the target vehicle turns right on a right-hand traffic road
- only links on the travel route are selected as selected links.
- the server device 20 determines the node to which the vehicle 411 arrives next.
- Road condition information about a link that is connected and exists in the direction in which the vehicle 411 turns is transmitted to the vehicle 411 as dynamic map information.
- FIG. 8 is a diagram for explaining an example of control by the autonomous driving support device according to the third embodiment.
- FIG. 8 is a diagram when the vehicle 411 is planning to turn right at the intersection 50. As shown in FIG. It is the same as FIG. 7 except that the vehicle 411 is scheduled to turn right.
- the server device 20 selects the link corresponding to the road 62, the link corresponding to the road 63, and the link corresponding to the road 61 as the selection links.
- the server device 20 transmits information obtained by adding the road condition information of the selected link to the map information stored in the server device 20 to the vehicle 411 as dynamic map information.
- the control unit of the vehicle 411 recognizes the existence of the pedestrian 82 crossing the road 63 and also recognizes the existence of the vehicle 412 traveling on the road 61 and approaching the vehicle 411 .
- the vehicle 411 stops just in front of the pedestrian 82 like the vehicle 411b.
- the server device 20 determines whether the vehicle 412, which is the oncoming approaching vehicle, is scheduled to turn.
- the vehicle information of the vehicle 412 is transmitted to the vehicle 411 as dynamic map information.
- the server device 20 determines whether the one or more vehicles Information regarding the location and driving conditions of the one or more vehicles may not be transmitted to the target vehicle.
- server device 20 can provide more appropriate autonomous driving support.
- an MEC is used as the server device 20, but the server device 20 is not particularly limited to the MEC.
- FIG. 9 is a configuration diagram showing a first example of a processing circuit that implements the functions of the autonomous driving support devices according to Embodiments 1 to 3.
- the processing circuit 100 of the first example is dedicated hardware.
- processing circuit 100 is, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or a combination thereof. Applicable.
- FIG. 10 is a configuration diagram showing a second example of a processing circuit that implements the functions of the autonomous driving support devices according to Embodiments 1-3.
- the second example processing circuit 200 comprises a processor 201 and a memory 202 .
- the functions of the autonomous driving support device are realized by software, firmware, or a combination of software and firmware.
- Software and firmware are written as programs and stored in memory 202 .
- the processor 201 implements functions by reading and executing programs stored in the memory 202 .
- the program stored in the memory 202 causes the computer to execute the procedure or method of each unit described above.
- the memory 202 is a non-volatile memory such as RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable Read Only Memory), EEPROM (Electrically Erasable and Programmable Read Only Memory). volatile or volatile semiconductor memory.
- the memory 202 also includes magnetic disks, flexible disks, optical disks, compact disks, mini disks, DVDs, and the like.
- autonomous driving support device may be partially realized by dedicated hardware and partially realized by software or firmware.
- the processing circuit can realize the functions of the above-described autonomous driving support device by means of hardware, software, firmware, or a combination thereof.
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Abstract
Description
実施の形態1.
図1は、実施の形態1に係る自律走行支援装置、サーバ装置、路側機、及び車両を示すブロック図である。
条件1:対象車両が現在走行している1つのリンク及び当該1つのリンクに接続しており、且つ対象車両が次に到達するノードに接続されており、当該1つのリンクとは異なる1つ以上のリンク
次に、実施の形態2に係る自律走行支援装置について説明する。実施の形態2では、リンク及びノードにより定義された地図情報の各リンクに対し、到達コストを定義する。到達コストは、1つのリンクが接続される2点のノード間を車両が移動するときの移動のしにくさを数値化したものである。例えば、リンクの距離が長いほど到達コストは高くなる傾向がある。また、例えば、リンクに渋滞が発生すると、到達コストは上昇する。
次に、実施の形態3に係る自律走行支援装置について説明する。実施の形態3に係る自律走行支援装置では、対象車両が交差点において右折又は左折する場合の自律走行支援の例について説明する。なお、実施の形態3に係る自律走行支援装置の構成は、実施の形態1に係る自律走行支援装置10及び実施の形態2に係る自律走行支援装置10と同様である。
Claims (10)
- 路側機から、前記路側機の周囲の状況に関する情報である道路状況情報を受信するとともに、前記道路状況情報を地図情報に付加した情報であるダイナミックマップ情報を、予定された走行ルートに沿って自律走行する対象車両に送信するサーバ装置
を備え、
前記サーバ装置には、前記地図情報が、複数のノードと複数のリンクとの組み合わせとして記憶されており、
各前記ノードは、交差点に対応しており、
各前記リンクは、隣り合う2つの前記交差点を結ぶ道路に対応しており、
前記サーバ装置は、
前記走行ルートに関する情報であるルート情報を保持しており、
前記対象車両から、前記対象車両の位置に関する情報及び前記対象車両の走行状態に関する情報である車両情報を受信し、
前記車両情報及び前記ルート情報に基づいて、前記複数のノードの中から一部のノードを選択ノードとして選択するとともに、前記複数のリンクの中から一部のリンクを選択リンクとして選択し、
前記選択ノードと前記選択リンクとに関する前記道路状況情報を前記地図情報に付加した情報を、前記ダイナミックマップ情報として前記対象車両に送信する
自律走行支援装置。 - 前記リンクには、各前記リンクに対する相対的な重み付けである到達コストが付与され、
前記サーバ装置は、前記車両情報、前記ルート情報、及び前記到達コストに基づいて、前記選択ノード及び前記選択リンクを決定する
請求項1に記載の自律走行支援装置。 - 前記到達コストは、各前記リンクが接続している2つの前記ノード間を前記対象車両が移動するのに要する時間に対応して定められている
請求項2に記載の自律走行支援装置。 - 前記到達コストは、各前記リンクの距離に対応して定められている
請求項2に記載の自律走行支援装置。 - 前記選択リンクは、前記選択リンク内における各前記リンクの前記到達コストの合計値が判定値以下となるリンク群である
請求項2から請求項4までのいずれか1項に記載の自律走行支援装置。 - 前記サーバ装置は、前記予定された走行ルートを、前記対象車両の進行方向とは反対の方向に走行している1つ以上の車両のうち、前記対象車両から離れる方向に走行している1つ以上の車両から受信した当該1つ以上の車両の位置及び当該1つ以上の車両の走行状態に関する情報を、前記対象車両に送信しない
請求項1から請求項5までのいずれか1項に記載の自律走行支援装置。 - 前記サーバ装置は、前記対象車両が前記リンクを走行しており、前記対象車両が次に到達する前記ノードにおいて、右折又は左折を予定している場合、前記対象車両が次に到達する前記ノードに接続されており、且つ前記対象車両が曲がる方向に存在する前記リンクについての前記道路状況情報を、前記ダイナミックマップ情報として、前記対象車両に送信する
請求項1から請求項6までのいずれか1項に記載の自律走行支援装置。 - 前記サーバ装置は、前記対象車両が前記リンクを走行しており、前記対象車両が次に到達する前記ノードにおいて、右折又は左折を予定している場合、前記対象車両とは反対方向に走行し、且つ前記対象車両に近付いている1つ以上の車両である対向接近車両の予定された走行ルートと、前記対象車両の前記予定された走行ルートとが交差する場合、前記対向接近車両の前記車両情報を、前記ダイナミックマップ情報として、前記対象車両に送信する
請求項1から請求項7までのいずれか1項に記載の自律走行支援装置。 - 前記サーバ装置は、前記ルート情報を、前記道路の車線に関する情報である車線情報と関連付けて保持している
請求項1から請求項8までのいずれか1項に記載の自律走行支援装置。 - 前記対象車両が前記複数のリンクの中の1つのリンクを走行している場合、
前記選択リンクは、前記対象車両が現在走行している前記1つのリンク及び当該1つのリンクに接続しており、且つ前記対象車両が次に到達するノードに接続されており、当該1つのリンクとは異なる1つ以上のリンクであり、
前記選択ノードは、前記対象車両が現在走行している前記1つのリンクに接続しており、且つ前記対象車両が次に到達するノードであり、
前記対象車両が前記複数のノードの中の1つのノードを走行している場合、
前記選択リンクは、前記対象車両が現在走行しているノードに接続されており、前記対象車両が通過したリンクとは異なるリンクであり、
前記選択ノードは、前記対象車両が現在走行しているノードである
請求項1から請求項9までのいずれか1項に記載の自律走行支援装置。
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JP2019139281A (ja) * | 2018-02-06 | 2019-08-22 | 日立オートモティブシステムズ株式会社 | 車載電子制御装置 |
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