U.S. patent application number 15/555476 was filed with the patent office on 2018-02-08 for route search device, control method, program and storage medium.
The applicant listed for this patent is INCREMENT P CORPORATION, PIONEER CORPORATION. Invention is credited to Tomoyuki FUJIEDA, Youko FUJITA, Tomoaki IWAI, Tetsuya KAWAHARA, Yuji TAWARAGI.
Application Number | 20180038701 15/555476 |
Document ID | / |
Family ID | 56848779 |
Filed Date | 2018-02-08 |
United States Patent
Application |
20180038701 |
Kind Code |
A1 |
IWAI; Tomoaki ; et
al. |
February 8, 2018 |
ROUTE SEARCH DEVICE, CONTROL METHOD, PROGRAM AND STORAGE MEDIUM
Abstract
An enhanced map information processing unit 14 of a driving
assistance device 1 acquires from a determination unit 13
information on surroundings of a vehicle which is needed to perform
autonomous driving, and acquires from a server device 2 environment
information on surroundings of a route on which autonomous driving
is performed. On the basis of the acquired environment information,
the enhanced map information processing unit 14 extracts, as an
autonomous driving unsuitable location Pn, a location at which the
accuracy of the acquirement of the sensor unit 12 is predicted not
to satisfy a standard for acquiring the information on the
surroundings of the vehicle needed to perform autonomous driving.
An informing unit 18 alerts the extracted autonomous driving
unsuitable location Pn to a user.
Inventors: |
IWAI; Tomoaki;
(Kawasaki-shi, Kanagawa, JP) ; TAWARAGI; Yuji;
(Kawasaki-shi, Kanagawa, JP) ; FUJIEDA; Tomoyuki;
(Kawasaki-shi, Kanagawa, JP) ; KAWAHARA; Tetsuya;
(Kawasaki-shi, Kanagawa, JP) ; FUJITA; Youko;
(Kawasaki-shi, Kanagawa, JP) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
PIONEER CORPORATION
INCREMENT P CORPORATION |
Tokyo
Tokyo |
|
JP
JP |
|
|
Family ID: |
56848779 |
Appl. No.: |
15/555476 |
Filed: |
March 3, 2015 |
PCT Filed: |
March 3, 2015 |
PCT NO: |
PCT/JP2015/056198 |
371 Date: |
September 1, 2017 |
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
G01C 21/3415 20130101;
G01C 21/367 20130101; G08G 1/0145 20130101; G08G 1/0112 20130101;
G05D 1/0276 20130101; B60W 30/00 20130101; G05D 1/0088 20130101;
G08G 1/096833 20130101; G01C 21/3407 20130101; G05D 1/021 20130101;
G08G 1/0969 20130101; G01C 21/26 20130101 |
International
Class: |
G01C 21/34 20060101
G01C021/34; G05D 1/02 20060101 G05D001/02 |
Claims
1. A route search device comprising: an acquirement unit configured
to acquire information on surroundings of a moving body; a route
search unit configured to search for or estimate a moving route
usable by the moving body; and an informing unit configured to
provide information associated with a location on the moving route
that was searched for or estimated by the route search unit and for
which an accuracy of the acquirement does not to meet a
standard.
2. The route search device according to claim 1, further comprising
an environment unit configured to acquire environment information
on surroundings of the moving route searched for or estimated by
the route search unit; an extraction unit configured to extract,
based on the environment information acquired by the environment
unit, a location on which an accuracy of the acquirement by the
acquirement unit is predicted not to meet a predetermined standard
from the moving route searched for or estimated by the route search
unit; and an autonomous driving control unit configured to perform
autonomous driving of a moving body based on the acquired
information on the surroundings, wherein the standard is a standard
for determining whether the accuracy of the acquirement meets an
accuracy required to perform the autonomous driving.
3. The route search device according to claim 2, wherein an alarm
unit is configured to output a warning of an inability to continue
to perform the autonomous driving shortly if the moving body is
proximal to the location extracted by the extraction unit within a
distance.
4. The route search device according to claim 2, wherein the
informing unit is configured, when the autonomous driving is not
turned off and an alert is issued to prompt an input for turning
off the autonomous driving, to guide the moving body to a location
where the moving body can stop before the moving body enters the
location extracted by the extraction unit.
5. The route search device according to claim 4, further comprising
a safe location search unit configured to search for the location
where the moving body is able to stop when the extraction unit
extracts the location on which the accuracy of the acquirement is
predicted not to meet the standard.
6. The route search device according to claim 2, wherein the route
search unit is configured, where the location extracted by the
extraction unit is included in the moving route, to search for
another moving route which does not include the location extracted
by the extraction unit.
7. The route search device according to claim 2, further comprising
a communication unit configured to communicate with a server device
which receives and stores information generated by plural moving
bodies based on output of sensors thereof, wherein the environment
acquirement unit is configured to acquire information from the
server device as the environment information, the information being
generated by a moving body passing through the moving route or a
periphery thereof.
8. The route search device according to claim 7, wherein the route
search device sends information on the location extracted by the
extraction unit to the server device.
9. A control method executed by a route search device, comprising:
acquiring information on surroundings of a moving body; searching
for or estimating a moving route where the moving body moves; and
informing a user by providing information associated with a
location on the moving route that was searched for or estimated and
for which an accuracy of the acquirement does not to meet a
standard.
10. A non-transitory computer readable medium including
instructions executed by a computer, the instructions comprising:
acquiring information on surroundings of a moving body; searching
for or estimating a moving route where the moving body moves;
acquiring environment information on surroundings of the moving
route searched for or estimated; extracting, based on the
environment information acquired, a location on which an accuracy
of the acquirement is predicted not to meet a standard from the
moving route searched for or estimated; and informing a user by
providing information associated with a location on the moving
route that was searched for or estimated and for which an accuracy
of the acquirement does not to meet a standard.
11. (canceled)
Description
TECHNICAL FIELD
[0001] The present invention relates to a technology for autonomous
driving.
BACKGROUND TECHNIQUE
[0002] Conventionally, there is known autonomous driving which
automates driving of a vehicle by using sensors such as a camera
and a radar. Patent Reference-1 discloses a technique for giving
notice of becoming incapable of performing autonomous driving
and/or directing the driver to a safe location at the time of
detecting that necessary requirements for performing autonomous
driving becomes unsatisfied.
[0003] Patent Reference-1: Japanese Patent Application Laid-open
under No. 2014-106854
DISCLOSURE OF INVENTION
Problem to be Solved by the Invention
[0004] When a vehicle approaches a location where autonomous
driving cannot be performed such as a location where sensors
necessary to perform autonomous driving do not work, switching from
autonomous driving to manual driving is required. In this case, if
notice is given at the time when the necessary requirement for
performing autonomous driving becomes unsatisfied, the driver does
not have enough time to deal with manual driving.
[0005] The above is an example of the problem to be solved by the
present invention. An object of the present invention is to provide
a route search device capable of preferably informing a location
where sufficient peripheral information necessary to perform
autonomous driving cannot be acquired.
Means for Solving the Problem
[0006] One invention is a route search device including: an
acquirement unit configured to acquire information on surroundings
of a moving body; a route search unit configured to search for or
estimate a moving route where the moving body moves; an environment
acquirement unit configured to acquire environment information on
surroundings of the moving route searched for or estimated by the
route search unit; an extraction unit configured to extract, based
on the environment information acquired by the environment
acquirement unit, a location on which an accuracy of the
acquirement by the acquirement unit is predicted not to meet a
predetermined standard from the moving route searched for or
estimated by the route search unit; and an informing unit
configured to inform a user of the location extracted by the
extraction unit.
[0007] Another invention is a control method executed by a route
search device, including: an acquirement process to acquire
information on surroundings of a moving body; a route search
process to search for or estimate a moving route where the moving
body moves; an environment acquirement process to acquire
environment information on surroundings of the moving route
searched for or estimated by the route search process; an
extraction process to extract, based on the environment information
acquired by the environment acquirement process, a location on
which an accuracy of the acquirement by the acquirement process is
predicted not to meet a predetermined standard from the moving
route searched for or estimated by the route search process; and an
informing process to inform a user of the location extracted by the
extraction process.
[0008] Still another invention is a program executed by a computer,
making the computer function as: an acquirement unit configured to
acquire information on surroundings of a moving body; a route
search unit configured to search for or estimate a moving route
where the moving body moves; an environment acquirement unit
configured to acquire environment information on surroundings of
the moving route searched for or estimated by the route search
unit; an extraction unit configured to extract, based on the
environment information acquired by the environment acquirement
unit, a location on which an accuracy of the acquirement by the
acquirement unit is predicted not to meet a predetermined standard
from the moving route searched for or estimated by the route search
unit; and an informing unit configured to inform a user of the
location extracted by the extraction unit.
BRIEF DESCRIPTION OF THE DRAWINGS
[0009] FIG. 1 illustrates a schematic configuration of an
autonomous driving system.
[0010] FIG. 2 is a block diagram of a driving assistance
device.
[0011] FIG. 3 is a flowchart indicating a procedure of a process at
the time of setting a route.
[0012] FIG. 4 is a flowchart indicating a procedure of a process
executed by the driving assistance device during running based on
autonomous driving.
[0013] FIG. 5 illustrates a display example which suggests an
avoidance route.
[0014] FIG. 6 illustrates a display example at the time of
approaching an autonomous driving unsuitable location.
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS
[0015] According to a preferable embodiment of the present
invention, there is provided a route search device including: an
acquirement unit configured to acquire information on surroundings
of a moving body; a route search unit configured to search for or
estimate a moving route where the moving body moves; an environment
acquirement unit configured to acquire environment information on
surroundings of the moving route searched for or estimated by the
route search unit; an extraction unit configured to extract, based
on the environment information acquired by the environment
acquirement unit, a location on which an accuracy of the
acquirement by the acquirement unit is predicted not to meet a
predetermined standard from the moving route searched for or
estimated by the route search unit; and an informing unit
configured to inform a user of the location extracted by the
extraction unit.
[0016] The above route search device includes an acquirement unit,
a route search unit, an environment acquirement unit, an extraction
unit and an informing unit. The acquirement unit is configured to
acquire information on surroundings of a moving body. The route
search unit is configured to search for or estimate a moving route
where the moving body moves. The environment acquirement unit is
configured to acquire environment information on surroundings of
the moving route searched for or estimated by the route search
unit. The extraction unit is configured to extract, based on the
environment information acquired by the environment acquirement
unit, a location on which an accuracy of the acquirement by the
acquirement unit is predicted not to meet a predetermined standard
from the moving route. The informing unit is configured to inform a
user of the location extracted by the extraction unit. According to
this mode, the route search device can preliminarily inform the
user of the existence of such a location that peripheral
information cannot be acquired with a sufficient accuracy required
to perform autonomous driving.
[0017] In one mode of the route search device, the route search
device further includes an autonomous driving control unit
configured to perform autonomous driving of a vehicle based on the
information on the surroundings acquired by the acquirement unit,
wherein the predetermined standard is a standard for determining
whether or not the accuracy of the acquirement by the acquirement
unit meets an accuracy required to perform the autonomous driving.
According to this mode, the route search device can predict such a
location that peripheral information cannot be acquired with a
sufficient accuracy required to perform autonomous driving, and can
inform the user thereof.
[0018] In another mode of the route search device, the informing
unit is configured to output a warning of an inability to continue
to perform the autonomous driving shortly if the moving body comes
close to the location extracted by the extraction unit within a
predetermined distance. According to this mode, the route search
device can prevent the sudden stop of autonomous driving and
switching to manual driving despite no time for a driver to deal
with manual driving.
[0019] In still another mode of the route search device, the
informing unit is configured, at a time when the autonomous driving
is not turned off despite an alert issued to prompt an input for
turning off the autonomous driving, to guide the moving body to a
location where the moving body is able to stop before the moving
body entering the location extracted by the extraction unit.
According to this mode, the route search device can let the user
stand by at a safe location before switching from autonomous
driving to manual driving.
[0020] In still another mode of the route search device, the route
search device further includes a safe location search unit
configured to search for the location where the moving body is able
to stop at a time when the extraction unit extracts the location on
which the accuracy of the acquirement by the acquirement unit is
predicted not to meet the predetermined standard. Thereby, the
route search device can smoothly guide the user to a predetermined
safe location.
[0021] In still another mode of the route search device, the route
search unit is configured, in a case where the location extracted
by the extraction unit is included in the moving route, to search
for another moving route which does not include the location
extracted by the extraction unit. According to this mode, the route
search device can preferably avoid running on a section where the
accuracy of the acquirement by the acquirement unit does not meet a
predetermined standard.
[0022] In still another mode of the route search device, the route
search device further includes a communication unit configured to
communicate with a server device which receives and stores
information generated by plural moving bodies based on output of
sensors thereof, wherein the environment acquirement unit is
configured to acquire information from the server device as the
environment information, the information being generated by a
moving body passing through the moving route or a periphery
thereof. According to this mode, the route search device acquires
environment information on surroundings of the moving route thereby
to precisely extract a location where the accuracy of the
acquirement by the acquirement unit is predicted not to meet a
predetermined standard.
[0023] In still another mode of the route search device, the route
search device sends information on the location extracted by the
extraction unit to the server device.
[0024] According to another preferable embodiment of the present
invention, there is provided a control method executed by a route
search device, including: an acquirement process to acquire
information on surroundings of a moving body; a route search
process to search for or estimate a moving route where the moving
body moves; an environment acquirement process to acquire
environment information on surroundings of the moving route
searched for or estimated by the route search process; an
extraction process to extract, based on the environment information
acquired by the environment acquirement process, a location on
which an accuracy of the acquirement by the acquirement process is
predicted not to meet a predetermined standard from the moving
route searched for or estimated by the route search process; and an
informing process to inform a user of the location extracted by the
extraction process. By executing the control method, the route
search device can extract such a location that peripheral
information cannot be acquired with a sufficient accuracy required
to perform autonomous driving, and can preliminarily inform the
user the existence thereof.
[0025] According to another preferable embodiment of the present
invention, there is provided a program executed by a computer,
making the computer function as: an acquirement unit configured to
acquire information on surroundings of a moving body; a route
search unit configured to search for or estimate a moving route
where the moving body moves; an environment acquirement unit
configured to acquire environment information on surroundings of
the moving route searched for or estimated by the route search
unit; an extraction unit configured to extract, based on the
environment information acquired by the environment acquirement
unit, a location on which an accuracy of the acquirement by the
acquirement unit is predicted not to meet a predetermined standard
from the moving route searched for or estimated by the route search
unit; and an informing unit configured to inform a user of the
location extracted by the extraction unit. By executing the
program, the computer can extract such a location that peripheral
information cannot be acquired with a sufficient accuracy required
to perform autonomous driving, and can preliminarily inform the
user the existence thereof. Preferably, the program can be treated
in a state that it is stored in a storage medium.
EMBODIMENT
[0026] Now, a preferred embodiment of the present invention will be
described below with reference to the attached drawings.
[0027] [Overview of Autonomous Driving System]
[0028] FIG. 1 illustrates a schematic configuration of an
autonomous driving system according to the embodiment. The
autonomous driving system includes plural driving assistance
devices 1 each of which moves together with each vehicle, and a
server device 2 which communicates with each of the driving
assistance devices 1 via a network 9. By updating the enhanced map
DB (Database) 21 stored on the server device 2 with information
measured by the driving assistance devices 1, the autonomous
driving system stores information needed to determine whether or
not autonomous driving can be performed.
[0029] The driving assistance devices 1 are stationary navigation
devices or portable phones such as a smart phone, and acquire from
the server device 2 detailed map information (referred to as
"enhanced map information D1") which includes information necessary
to perform autonomous driving. Then, on the basis of the received
enhanced map information D1, the driving assistance devices 1
perform driving assistance such as a guidance of a route and
autonomous driving. The driving assistance devices 1 send the
server device 2 information (referred to as "sensor information
D2") which is either output information from a sensor unit 12 such
as a camera or recognized information based thereon. It is noted
that the sensor information D2 includes time information indicating
time when each of the driving assistance devices 1 generates the
sensor information D2 and position information indicating a
location where each of the driving assistance devices 1 generates
the sensor information D2. Preferably, when there is a location
where autonomous driving cannot be performed due to an absence of
marks necessary to perform autonomous driving such as a road white
line or due to a lack of the accuracy of the sensor unit 12 used to
perform autonomous driving, the driving assistance devices 1 send
the server device 2 information on the location as actual result
information on autonomous driving.
[0030] Additionally, according to the embodiment, on the basis of
the enhanced map information D1 received, each of the driving
assistance devices 1 predicts a point or a section (referred to as
"autonomous driving unsuitable location Pn") unsuitable for
performing autonomous driving on the predetermined route. Each of
the driving assistance devices 1 is an example of "the route search
device" according to the present invention.
[0031] The server device 2 stores the enhanced map DB 21 and
updates the enhanced map DB 21 by receiving the sensor information
D2 from each of the driving assistance devices 1. Here, the
enhanced map DB 21 includes road data, traffic information,
peripheral state information and weather information. Examples of
the road data include map information on positions and shapes of
roads, traffic lanes, traffic intersection, signs and buildings.
The traffic information indicates traffic conditions of congested
roads and the like. The peripheral state information indicates the
state of surroundings of each road such as a lane restriction due
to a traffic accident or constructions. The weather information
indicates present or forecasted weather on each road. In response
to a request from a driving assistance device 1, the server device
2 extracts data corresponding to an area where the driving
assistance device 1 exists or data corresponding to surroundings of
a route set by the driving assistance device 1, and sends the data
to the driving assistance device 1 as the enhanced map information
D1.
[0032] [Block Configuration]
[0033] FIG. 2 is a block diagram indicating a functional
configuration of a driving assistance device 1. As illustrated in
FIG. 2, the driving assistance device 1 mainly includes a
communication unit 11, a sensor unit 12, a determination unit 13,
an enhanced map information processing unit 14, a route setting
unit 15, a user interface (also referred to as "user I/F") 16, an
autonomous driving control unit 17 and an informing unit 18.
[0034] The communication unit 11 communicates with the server
device 2 thereby to receive the enhanced map information D1 and
send the sensor information D2. It is noted that the communication
unit 11 may communicate with other driving assistance devices 1
mounted on other vehicles thereby to exchange position information
and the like with them.
[0035] The sensor unit 12 includes an external sensor 20 and an
internal sensor 30, and generates information on a vehicle (own
vehicle) moving together with the driving assistance device 1. The
external sensor 20 is a sensor for acquiring information on
surroundings of the own vehicle, and includes a camera 22, a laser
sensor 23 such as a LIDAR (Light Detection and Ranging or Laser
Illuminated Detection and Ranging), a radar 24 and a sonar 25. The
internal sensor 30 is a sensor which detects the state of the own
vehicle, and includes a satellite positioning sensor 31 such as a
GPS receiver, a gyro sensor 32, a vehicle speed sensor 33 and a
vehicle control signal sensor 34 for acquiring from the vehicle
various kinds of information such as information on the state of a
direction indicator. Output signals from the external sensor 20 and
the internal sensor 30 are supplied to the determination unit 13
and the route setting unit 15. The sensor unit 12 is an example of
"the acquirement unit" according to the present invention.
[0036] The determination unit 13 determines the position of the own
vehicle, the state of the own vehicle and the peripheral state of
the own vehicle based on the output signals from the sensor unit
12. For example, in order to precisely estimate the own vehicle
position necessary to perform autonomous driving, the determination
unit 13 estimates the own vehicle position not only by the output
of the satellite positioning sensor 31 but also by recognizing the
road white line(s) on the lane where the own vehicle is running and
the position of traffic sign(s) ahead of the own vehicle based on
the output of the external sensor 20 including the camera 22. The
determination unit 13 recognizes the running state and the driving
operation state of the own vehicle including running speed
information and traveling direction information regarding the own
vehicle based on the output of the internal sensor 30 including the
vehicle speed sensor 33 and the vehicle control signal sensor 34.
Furthermore, on the basis of the output of the external sensor 20,
the determination unit 13 recognizes a peripheral state of the road
where the own vehicle is running, wherein examples of the
peripheral state include a traffic accident location, a restricted
lane and a newly established lane. The determination unit 13
supplies the enhanced map information processing unit 14 with
information recognized based on the output of the sensor unit 12.
Additionally, the determination unit 13 supplies the communication
unit 11 with the output information acquired from the sensor unit
12 or information recognized based thereon as the sensor
information D2.
[0037] The enhanced map information processing unit 14 performs
predetermined processing based on the enhanced map information D1
received from the server device 2 and/or information received from
the determination unit 13, and includes a road data storage unit
41, a peripheral state storage unit 42, a traffic information
storage unit 43, a weather information storage unit 44, an
autonomous driving unsuitable location prediction unit 45 and a
safe location search unit 46. The enhanced map information
processing unit 14 is an example of "the environment acquirement
unit" according to the present invention.
[0038] The road data storage unit 41 stores road data and facility
information which are preliminarily recorded as map information. It
is noted that the road data storage unit 41 may update the stored
road data based on the enhanced map information D1 as
necessary.
[0039] The peripheral state storage unit 42 stores information on
peripheral state of a road specified by the enhanced map
information D1 or information received from the determination unit
13. If the enhanced map information D1 includes information on
actual result of whether or not autonomous driving can be performed
on a road where other vehicles have already run, the peripheral
state storage unit 42 stores the information on the actual result.
If the enhanced map information D1 includes information on whether
or not there are any marks along a road such as a road white line
or a sign necessary for the sensor unit 12 to recognize in order to
perform autonomous driving, the peripheral state storage unit 42
also stores that information.
[0040] The traffic information storage unit 43 stores traffic
information on traffic jams and traffic restrictions included in
the enhanced map information D1. It is noted that the traffic
information storage unit 43 may receive and store traffic
information on traffic jams and traffic restrictions delivered from
a VICS (registered trademark, Vehicle Information Communication
System) center. The weather information storage unit 44 stores
weather information included in the enhanced map information D1 or
weather information corresponding to the own vehicle position and
its periphery, wherein the latter weather information is received
by the communication unit 11 from a server (not shown) which stores
weather information corresponding to various regions.
[0041] On the basis of information ("environment information")
stored on the road data storage unit 41, the peripheral state
storage unit 42, the traffic information storage unit 43 and the
weather information storage unit 44, the autonomous driving
unsuitable location prediction unit 45 predicts an autonomous
driving unsuitable location Pn existing on the route set by the
route setting unit 15 to be described later. In this case, the
autonomous driving unsuitable location prediction unit 45
recognizes a section existing on or near the predetermined route as
an autonomous driving unsuitable location Pn, wherein the section
is estimated that the accuracy (referred to as "sensor accuracy")
of detections through the sensor unit 12 with respect to
obstructions such as a vehicle in front and a pedestrian and marks
for driving such as a road white line does not meet an accuracy
(referred to as "standard accuracy") required to perform autonomous
driving. The above standard accuracy is an example of "the
predetermined standard" according to the present invention.
[0042] In this case, for example, on the basis of information
stored on the peripheral state storage unit 42 and the weather
information storage unit 44, the autonomous driving unsuitable
location prediction unit 45 determines that the sensor accuracy
during running on such a section that there are rainfalls or snow
falls whose amount is higher than a standard value or that there is
road surface freezing or heavy fog does not meet the standard
accuracy, and recognizes the section as an autonomous driving
unsuitable location Pn. In this case, the autonomous driving
unsuitable location prediction unit 45 may calculate each expected
time of arrival of the own vehicle corresponding to each point on
the route to determine whether or not every point on the route
corresponds to an autonomous driving unsuitable location Pn based
on weather forecast at each expected time of the arrival. In
another example, if the autonomous driving unsuitable location
prediction unit 45 detects, on the basis of the environment
information, such a section that there is no detectable marks such
as a road white line, a sign, and a building necessary for the
sensor to perform autonomous driving, the autonomous driving
unsuitable location prediction unit 45 determines that the sensor
accuracy during running on the section does not meet the standard
accuracy and recognizes the section as an autonomous driving
unsuitable location Pn. In still another example, if the autonomous
driving unsuitable location prediction unit 45 detects, on the
basis of the environment information, a section where another
vehicle ran and could not perform autonomous driving, the
autonomous driving unsuitable location prediction unit 45
determines that the sensor accuracy during running on the section
does not meet the standard accuracy and recognizes the section as
an autonomous driving unsuitable location Pn.
[0043] Preferably, when detecting an autonomous driving unsuitable
location Pn, the autonomous driving unsuitable location prediction
unit 45 sends information on the detected autonomous driving
unsuitable location Pn to the server device 2 via the communication
unit 11. In this case, preferably, the server device 2 stores the
sent information on the autonomous driving unsuitable location Pn
on the enhanced map DB 21 or updates the enhanced map DB 21 by
using the sent information. The autonomous driving unsuitable
location prediction unit 45 is an example of "the extraction unit"
according to the present invention.
[0044] The safe location search unit 46 detects, in a case where
there is an autonomous driving unsuitable location Pn along the
predetermined route, a location (simply referred to as "safe
location") where a vehicle can safely stop before the vehicle
enters the autonomous driving unsuitable location Pn. Here, the
safe location is a location where a vehicle can safely stop and
examples of the safe location include a parking lot, an empty lot
and a parking facility. For example, on the basis of the facility
information stored on the road data storage unit 41, the safe
location search unit 46 searches for a location which is available
at the expected time of the arrival of the vehicle and is near the
autonomous driving unsuitable location Pn. Preferably, when
detecting a safe location, the safe location search unit 46 sends
information on the detected safe location to the server device 2
via the communication unit 11.
[0045] The route setting unit 15 searches for a route to a
destination inputted through the user I/F 16. According to the
embodiment, as describe later, when the destination is set, the
route setting unit 15 searches for a recommended route in
consideration of conditions (i.e., time, distance and/or toll)
other than the condition on whether or not autonomous driving can
be performed. Then, in a case where any autonomous driving
unsuitable location Pn exists on the route set by the route setting
unit 15, the route setting unit 15 also searches for a route
(referred to as "avoidance route") to the destination which avoids
the autonomous driving unsuitable location Pn. The route setting
unit 15 is an example of "the route search unit" according to the
present invention.
[0046] The user I/F 16 is an interface for the user to input the
destination and to turn autonomous driving on or off. Examples of
the user I/F 16 include a button, a switch, a touch panel and a
remote controller.
[0047] The autonomous driving control unit 17 performs autonomous
driving of the vehicle based on the route set by the route setting
unit 15 if the setting of autonomous driving is on-state. For
example, while performing autonomous driving, the autonomous
driving control unit 17 controls the vehicle by adjusting the
acceleration amount, the brake amount and the steering angle based
on peripheral state of the own vehicle recognized by the
determination unit 13.
[0048] Under the control of the enhanced map information processing
unit 14, the informing unit 18 displays a predetermined image on a
display and/or outputs predetermined sound (voice) through an audio
output device. For example, according to the embodiment, when there
is an autonomous driving unsuitable location Pn on the
predetermined route, the informing unit 18 informs the existence of
the autonomous driving unsuitable location Pn and suggests an
avoidance route which the route setting unit 15 searches for. The
display example of the informing unit 18 will be described in
detail in the section "Display Example".
[0049] A CPU, which functions as the determination unit 13, the
enhanced map information processing unit 14, the route setting unit
15, the autonomous driving control unit 17 and the informing unit
18, is an example of a computer which executes the program
according to the present invention.
[0050] [Process Flow]
[0051] Next, with reference to FIGS. 3 and 4, a description will be
given of the process which the driving assistance device 1
executes.
[0052] (1) Process Prior to Drive Based on Autonomous Driving
[0053] FIG. 3 is a flowchart indicating a procedure of a route
setting process prior to drive based on autonomous driving. The
driving assistance device 1 executes the process of the flowchart
illustrated in FIG. 3 at the time when the destination is specified
through the user I/F 16.
[0054] First, by searching for a route to destination specified by
the user I/F 16, the route setting unit 15 of the driving
assistance device 1 sets a running route where autonomous driving
is to be performed (step S101). In this case, the route setting
unit 15 searches for a recommended route in consideration of
conditions (i.e., time, distance and/or toll) other than the
condition on whether or not autonomous driving can be performed.
Then, the determination unit 13 estimates the own vehicle position,
the own vehicle state and the peripheral state based on the output
of the sensor unit 12 (step S102). The determination unit 13 also
sends information on the estimation result and output information
of the sensor unit 12 to the server device 2 via the communication
unit 11 as the sensor information D2.
[0055] The enhanced map information processing unit 14 receives the
enhanced map information D1 from the server device 2 via the
communication unit 11 (step S103). Then, the enhanced map
information processing unit 14 stores the received enhanced map
information D1 as the environment information on the road data
storage unit 41, the peripheral state storage unit 42, the traffic
information storage unit 43 and the weather information storage
unit 44.
[0056] On the basis of the environment information in which the
enhanced map information D1 is reflected, the autonomous driving
unsuitable location prediction unit 45 of the enhanced map
information processing unit 14 predicts an autonomous driving
unsuitable location Pn existing on or around the route set at step
S101 (step S104). Preferably, when detecting an autonomous driving
unsuitable location Pn, the autonomous driving unsuitable location
prediction unit 45 sends information on the detected autonomous
driving unsuitable location Pn to the server device 2.
[0057] The autonomous driving unsuitable location prediction unit
45 determines whether or not there exists an autonomous driving
unsuitable location Pn on the running route set at step S101 (step
S105). Then, if there exists an autonomous driving unsuitable
location Pn on the running route set at step S101 (step S105; Yes),
the route setting unit 15 searches for an avoidance route (step
S106). In contrast, if there exists no autonomous driving
unsuitable location Pn on the running route set at step S101 (step
S105; No), the autonomous driving control unit 17 starts to drive
the vehicle based on the route set at step S101 (step S111).
[0058] After searching for the avoidance route at step S106, the
informing unit 18 displays the running route set at step S101
together with the autonomous driving unsuitable location(s) Pn and
the avoidance route in a selectable manner (step S107). Thereby,
the informing unit 18 lets the user recognize the position of the
autonomous driving unsuitable location Pn and select whether to run
on the running route set at step S101 or on the avoidance route.
The Display example at step S107 will be described later.
[0059] When the avoidance route is selected (step S108; Yes), the
autonomous driving control unit 17 starts to drive the vehicle
based on the avoidance route (step S109). Thereby, the driving
assistance device 1 can start to perform autonomous driving based
on such a route that switching to manual driving is not needed.
[0060] When the avoidance route is not selected (step S108; No),
i.e., when the running route set at step S101 is selected, the safe
location search unit 46 searches for a safe location where the
vehicle is able to drop by before entering the autonomous driving
unsuitable location Pn (step S110). As described later, the safe
location searched for at step S110 is used for a target of the
guidance executed at the time when the vehicle comes close to the
autonomous driving unsuitable location Pn. The safe location search
unit 46 sends information on the safe location to the server device
2. Then, the autonomous driving control unit 17 starts to drive the
vehicle based on the route set at step S101 (step S111).
[0061] (2) Process During Running Based on Autonomous Driving
[0062] FIG. 4 is a flowchart indicating a procedure of the process
executed by the driving assistance device 1 during running based on
autonomous driving. The driving assistance device 1 executes the
process of the flowchart illustrated in FIG. 4 at the time of
starting to drive the vehicle based on autonomous driving.
[0063] First, the autonomous driving control unit 17 performs
autonomous driving based on the predetermined running route (step
S201). Then, the determination unit 13 estimates the own vehicle
position, the own vehicle state and the peripheral state based on
the output of the sensor unit 12 (step S202). The determination
unit 13 also sends information on the estimation result and output
information of the sensor unit 12 to the server device 2 via the
communication unit 11 as the sensor information D2.
[0064] Next, the enhanced map information processing unit 14
receives the enhanced map information D1 from the server device 2
via the communication unit 11 (step S203). Then, the enhanced map
information processing unit 14 stores the received enhanced map
information D1 as the environment information on the road data
storage unit 41, the peripheral state storage unit 42, the traffic
information storage unit 43 and the weather information storage
unit 44.
[0065] On the basis of the environment information in which the
enhanced map information D1 is reflected, the autonomous driving
unsuitable location prediction unit 45 of the enhanced map
information processing unit 14 predicts an autonomous driving
unsuitable location Pn existing on or around the route set at step
S101 (step S204). Preferably, when detecting the autonomous driving
unsuitable location Pn, the autonomous driving unsuitable location
prediction unit 45 sends information on the detected autonomous
driving unsuitable location Pn to the server device 2.
[0066] The autonomous driving unsuitable location prediction unit
45 determines whether or not there exists an autonomous driving
unsuitable location Pn on the predetermined running route (step
S205). Then, if there exists an autonomous driving unsuitable
location Pn on the predetermined running route (step S205; Yes),
the autonomous driving unsuitable location prediction unit 45
determines whether or not the vehicle comes close to the autonomous
driving unsuitable location Pn within a predetermined distance
(step S206). The above-mentioned predetermined distance is
determined in consideration of time needed to perform a switching
operation to manual driving and time needed for a driver to prepare
for manual driving after switching to manual driving. In contrast,
if there exists no autonomous driving unsuitable location Pn on the
predetermined running route (step S205; No), the driving assistance
device 1 executes each process at step S201 to S205 again and
determines whether or not an autonomous driving unsuitable location
Pn occurs on the predetermined route as time goes by.
[0067] When the vehicle comes close to the autonomous driving
unsuitable location Pn within the predetermined distance (step
S206; Yes), the informing unit 18 gives notice which prompts
switching to manual driving through an audio guidance or a display
(step S207). Then, the driving assistance device 1 determines
whether or not an operation for switching to manual driving is
detected through the user I/F 16 (step S208). Then, when the
driving assistance device 1 detects an operation for switching to
manual driving in a predetermined time after the notice at S207
(step S208; Yes), the driving assistance device 1 terminates
autonomous driving and ends the process of the flowchart.
[0068] When the driving assistance device 1 does not detect any
operation for switching to manual driving in the predetermined time
after the notice at S207 (step S208; No), the driving assistance
device 1 starts to guide the vehicle to the safe location (step
S209). Preferably, in this case, the driving assistance device 1
guides the vehicle to the safe location detected at step S110 in
FIG. 3.
[0069] [Display Example]
[0070] FIG. 5 illustrates a display example displayed by the
informing unit 18 at the time of setting a route at step S107 in
FIG. 3. In FIG. 5, the mark 50 indicates the present position of
the vehicle and the position 51 indicates the position of the
destination.
[0071] According to FIG. 5, the informing unit 18 displays an
avoidance route 52 in addition to a predetermined route 53 set at
step S101 on the map (not shown). In the case of the example
illustrated in FIG. 5, the informing unit 18 displays the
predetermined route 53 so that the section of the autonomous
driving unsuitable location Pn and the sections other than the
autonomous driving unsuitable location Pn are differently displayed
(e.g., differently colored). Thereby, the informing unit 18 lets
the user preferably recognize the position of the autonomous
driving unsuitable location Pn.
[0072] Furthermore, on the screen illustrated in FIG. 5, the
informing unit 18 displays a window 55 including buttons 56 and 57
for selecting whether or not to set the avoidance route as a
running route instead of the predetermined route 53. When the
driving assistance device 1 detects the YES button 56 pushed, the
autonomous driving control unit 17 starts to perform autonomous
driving based on the avoidance route 52. In contrast, when the
driving assistance device 1 detects the NO button 57 pushed, the
autonomous driving control unit 17 starts to perform autonomous
driving based on the predetermined route 53.
[0073] FIG. 6 illustrates a display example displayed by the
informing unit 18 at step S207 in FIG. 4. According to FIG. 6, in
response to the selection of the No button 57 in FIG. 5, the
driving assistance device 1 performs autonomous driving based on
the predetermined route 53 including an autonomous driving
unsuitable location Pn.
[0074] In this case, since the vehicle comes close to the
autonomous driving unsuitable location Pn within the predetermined
distance, the informing unit 18 displays a windows 59 which prompts
switching to manual driving according to step S207. Additionally,
on the window 59, the informing unit 18 displays a warning that the
guidance to a safe location (in this case,
".smallcircle..smallcircle. parking") preliminary searched for at
step S110 in FIG. 3 starts if there is no operation for switching
to manual driving in a predetermined time (one minute in this
case). Furthermore, according to FIG. 6, the informing unit 18
illustrates the position of the safe location
".smallcircle..smallcircle. parking" and a route to the location on
the map. In the case of the example illustrated in FIG. 6, as with
the example illustrated in FIG. 5, the informing unit 18 displays
the predetermined route 53 so that the section of the autonomous
driving unsuitable location Pn and the sections other than the
autonomous driving unsuitable location Pn are displayed in
different manners.
[0075] As described above, the enhanced map information processing
unit 14 of the driving assistance device 1 according to the
embodiment acquires from the determination unit 13 information on
surroundings of the vehicle which is necessary to perform
autonomous driving, and also acquires from the server device 2
environment information on surroundings of a route on which
autonomous driving is to be performed. On the basis of the acquired
environment information, the enhanced map information processing
unit 14 extracts, as an autonomous driving unsuitable location Pn,
a location at which the accuracy of the acquirement of the sensor
unit 12 is predicted not to satisfy a standard for acquiring the
information on the surroundings of the vehicle needed to perform
autonomous driving. The informing unit 18 informs the extracted
autonomous driving unsuitable location Pn to a user. According to
this mode, on the basis of the environment information, the driving
assistance device 1 can extract such an autonomous driving
unsuitable location Pn that the information on the surroundings of
the vehicle with a sufficient accuracy required to perform
autonomous driving cannot be acquired, and inform the user of the
existence thereof in advance.
[0076] [Modification]
[0077] Hereinafter, preferable modifications of the embodiment will
be described. Each modification can be applied to the embodiment in
combination.
[0078] (First Modification)
[0079] The driving assistance device 1 performs autonomous driving
after searching for a route to the destination specified by the
user I/F 16. Instead, even in a case that any destination is not
specified, by referring to the past traveling history of the
vehicle, the driving assistance device 1 may estimate a route where
the vehicle should advance and perform autonomous driving based on
the estimated route. In this case, the driving assistance device 1
stores information on roads where the vehicle ran as the traveling
history, and predicts a running route by using known statistical
means with reference to the traveling history. Then, for example,
the driving assistance device 1 performs autonomous driving based
on the predicted route if the degree of accuracy of the predicted
route is equal to or higher than a predetermined value.
[0080] (Second Modification)
[0081] The flowcharts in FIGS. 3 and 4 are merely examples and
procedures to which the present invention can be applied are not
limited to them.
[0082] For example, in the case of FIG. 3, instead of searching for
a safe location only when the avoidance route is not selected, the
driving assistance device 1 may search for a safe location and
predict an autonomous driving unsuitable location Pn at the same
time. In this case, the driving assistance device 1 searches for a
safe location regardless of whether or not an autonomous driving
unsuitable location Pn is detected. In another example, while
running according to autonomous driving, the driving assistance
device 1 may repeatedly and continuously search for a safe location
which is preferable to drop by from the present position. In still
another example, the driving assistance device 1 may search for an
autonomous driving unsuitable location Pn only at the time of
setting a route and may not search for an autonomous driving
unsuitable location Pn again at the time of performing autonomous
driving. Namely, in this case, the driving assistance device 1 does
not execute the process at step S204 in FIG. 4.
[0083] (Third Modification)
[0084] The server device 2 may execute the prediction process of an
autonomous driving unsuitable location Pn in substitution for the
autonomous driving unsuitable location prediction unit 45.
[0085] In this case, with reference to the enhanced map DB 21, the
server device 2 detects an autonomous driving unsuitable location
Pn existing on roads each registered in the enhanced map DB 21 in a
similar way as detecting the autonomous driving unsuitable location
Pn by the autonomous driving unsuitable location prediction unit
45. Then, the server device 2 stores on the enhanced map DB 21
information on the detected autonomous driving unsuitable location
Pn as information on road conditions. The server device 2 also
sends the enhanced map information D1 including the information on
the autonomous driving unsuitable location Pn to the driving
assistance device 1. Even in this mode, preferably, the driving
assistance device 1 acquires an autonomous driving unsuitable
location Pn predicted based on the environment information to
inform the user thereof.
[0086] (Fourth Modification)
[0087] Preferably, during performing autonomous driving, when the
vehicle comes close to a predetermined location estimated to need
an attention other than autonomous driving unsuitable locations Pn,
the driving assistance device 1 warns the driver to pay attention
to the predetermined location. Examples of the predetermined
location include a school zone, a silver zone and a residential
area.
[0088] (Fifth Modification)
[0089] A server system including a plurality of server devices may
executes the process of the server device 2 explained in the above
embodiment. In this case, each of the server devices executes a
process assigned in advance by receiving information needed to
execute the process from the other server devices as necessary.
[0090] (Sixth Modification)
[0091] The driving assistance device 1 may receive weather
information from a server device collecting weather information
other than the server device 2 and stores the weather information
on the weather information storage unit 44 if the weather
information is neither registered in the enhanced map DB 21 nor
included in the enhanced map information D1.
BRIEF DESCRIPTION OF REFERENCE NUMBERS
[0092] 1 Driving assistance device [0093] 2 Server device [0094] 9
Network [0095] 11 Communication unit [0096] 12 Sensor unit [0097]
13 Determination unit [0098] 14 Enhanced map information processing
unit [0099] 15 Route setting unit [0100] 16 User I/F [0101] 17
Autonomous driving control unit [0102] 18 Informing unit [0103] 21
Enhanced map DB
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