US-12618686-B2 - Onboard information processing device, autonomous driving system, and onboard system

Abstract

An object of the present invention is to suppress deterioration of comfort of autonomous driving due to on-road parking on a general road. The present invention is a vehicle control system including: a first map storage unit that stores first map information including lane information; a second map storage unit that stores second map information including property information including a store or a facility; a route acquisition unit that acquires a travel route of a vehicle; a property acquisition unit that acquires the property information adjacent to the travel route; and a determination unit that determines a recommended lane based on the property information, in which when the vehicle autonomously travels on a general road, it is possible to prevent deterioration of comfort or cancellation of autonomous driving due to a vehicle stopping on the road, and to notify of recommended travel lane information with increased prediction accuracy by determining whether or not there is a vehicle parked on a road by a combination of a store (static information) and a vehicle speed (dynamic information). In addition, it is possible to operate at low cost without communicating with the outside and without performing off-line map processing or the like.

Inventors

• Koichi Ando
• Keisuke AMPO

Assignees

• HITACHI ASTEMO, LTD.

Dates

Publication Date

20260505

Application Date

20220302

Priority Date

20210628

Claims (10)

1. 1 . An onboard information processing device for driving assistance for a vehicle traveling on a travel route including a plurality of travel lanes, the onboard information processing device configured to: store lane information for identifying a travel lane of the plurality of travel lanes of the travel route and property information indicating a characteristic of a property; acquire the travel route of the vehicle; acquire the lane information of the acquired travel route; acquire the property information of the property close to the acquired travel route; and specify recommended travel lane information for specifying a recommended travel lane for the vehicle based on the acquired property information and the acquired lane information; and specify the recommended travel lane according to whether or not a vehicle speed of the vehicle has decreased, wherein the vehicle speed being decreased is indicative of a traveling situation.
2. 2 . The onboard information processing device according to claim 1 , further configured to specify the recommended travel lane as the recommended travel lane information.
3. 3 . The onboard information processing device according to claim 1 , further configured to determine that the vehicle speed has decreased in a case where the vehicle speed from a predetermined time has decreased by a predetermined threshold or more when the vehicle has passed through a predetermined vehicle speed change point.
4. 4 . The onboard information processing device according to claim 3 , wherein the travel route includes at least a first travel lane positioned on an outermost side of the travel route and a second travel lane, and the onboard information processing device further configured to specify the second travel lane as the recommended travel lane in a case where the vehicle is traveling on the second travel lane and the vehicle speed has decreased.
5. 5 . The onboard information processing device according to claim 3 , wherein the travel route includes at least a first travel lane positioned on an outermost side of the travel route and a second travel lane, and the onboard information processing device further configured to specify each of the travel lanes included in the travel route as the recommended travel lane in a case where the vehicle is traveling on the second travel lane and the vehicle speed does not decrease.
6. 6 . The onboard information processing device according to claim 1 , wherein the onboard information processing device further configured to specify the recommended travel lane by further using an external environment of the vehicle.
7. 7 . The onboard information processing device according to claim 1 , wherein the property information includes at least one of a position of the property, an available time, or a presence or absence of parking information.
8. 8 . The onboard information processing device according to claim 1 , further configured to output the recommended travel lane to an external device.
9. 9 . An autonomous driving system, comprising: the onboard information processing device according to claim 8 ; and the external device, wherein the external device is a control unit that controls driving of the vehicle.
10. 10 . An onboard system, comprising: the onboard information processing device according to claim 8 ; and the external device, wherein the external device is an onboard terminal that outputs the recommended travel lane information.

Description

TECHNICAL FIELD The present invention relates to a moving object, and particularly, to a driving assistance technology. BACKGROUND ART Currently, autonomous driving and driving assistance (information notification to an advanced driver assistance system (ADAS) or a driver) are performed as driving assistance technologies for a vehicle. Here, in a general road, there are many vehicles parked and stopped at a road shoulder of a left lane. For this reason, in a vehicle to which the driving assistance technology is applied, it is desirable to predict on-road parking in advance as early as possible. The prediction makes it possible to take measures such as avoiding traveling in the lane. A related art in this field includes JP 2006-184005 A (PTL 1). A route guidance system described in PTL 1 includes recommended lane setting processing means that sets a recommended travel lane for each section based on lane information for each road link and guidance route information at an intersection, road situation information acquisition processing means that acquires road situation information indicating a road situation that varies with the presence of an on-road parked vehicle for each road link, and recommended lane determination processing means that changes the recommended travel lane set based on the road situation information. Since the recommended travel lane is changed according to the road situation that changes with the presence of the on-road parked vehicle for each road link, it is possible to reliably guide a preferable lane for the vehicle to travel, and it is possible to appropriately perform route guidance. CITATION LIST Patent Literature PTL 1: JP 2006-184005 A SUMMARY OF INVENTION Technical Problem As described above, PTL 1 describes means that determines a road situation that changes with the presence of an on-road parked vehicle, and changes an appropriate recommended travel lane. However, since the determination method depends on statistical information based on past histories, there are a problem that it cannot be used for a route with limited travel history, a problem of maintenance of a database (statistical information) mounted on an actual machine, and the like. Therefore, an object of the present invention is to provide a driving assistance technology capable of determining an on-road parking possibility even without travel history. Solution to Problem A typical example of the invention disclosed in the present application is as follows. A recommended travel lane of a vehicle on a travel route is specified based on property information of a property close to the travel route of the vehicle. A more detailed configuration is an onboard information processing device including: a map management unit that stores lane information for identifying a travel lane of a travel route and property information indicating a characteristic of a property; a travel route acquisition unit that acquires the travel route of a vehicle; a lane information acquisition unit that acquires the lane information of the acquired travel route; a property information acquisition unit that acquires the property information of the property close to the acquired travel route; and a recommended lane information setting unit that specifies recommended travel lane information for specifying a recommended travel lane for the vehicle based on the acquired property information and the acquired lane information. The present invention also includes an autonomous driving system and an onboard system including the onboard information processing device. Advantageous Effects of Invention According to the present invention, it is possible to provide a driving assistance technology based on an on-road parking possibility. BRIEF DESCRIPTION OF DRAWINGS FIG. 1 is a functional block diagram of a vehicle control system including an MPU according to first and second embodiments. FIG. 2 is a diagram illustrating a situation to which the first embodiment is applied. FIG. 3 is a diagram illustrating an outline of processing of setting a recommended travel lane according to the first embodiment. FIG. 4 is a flowchart illustrating details of the processing of setting a recommended travel lane according to the first embodiment. FIG. 5 is a diagram for describing specification of a recommended lane in a case where a vehicle speed of an own vehicle decreases after passing through a vehicle speed change point 70 according to the second embodiment. FIG. 6 is a diagram for describing specification of a recommended lane in a case where the vehicle speed of the own vehicle does not decrease after passing through the vehicle speed change point 70 according to the second embodiment. FIG. 7 is a flowchart illustrating details of processing of correcting a recommended travel lane according to the second embodiment. FIG. 8 is a diagram illustrating store information used in the first and second embodiments. DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments of the p