Patent Description:
In recent years, technological development for autonomously moving a moving object such as a vehicle to a destination has been promoted. In order to move the moving object autonomously to the destination, it is necessary to set a route for the moving object to move. The technology for setting such a route includes, for example, a technology related to a car navigation apparatus.

Meanwhile, it is not possible for a general car navigation apparatus to set a route within an intersection. However, in the technology disclosed in Patent Document <NUM>, it is disclosed that a traveling trajectory is calculated using an entry lane to an intersection, an exit lane from the intersection, and the center of the intersection. Patent document <NUM> discloses a method in which geographic information of a location designated for a U-turn is obtained, a level of difficulty of the U-turn is determined, and an operator is assisted with the operation of the U-turn based on the level of difficulty. Patent document <NUM> discloses a driving assist apparatus of a vehicle which comprises a sensor for detecting a moving object existing around a vehicle and an electronic control unit for performing an attention operation to a driver of the vehicle.

In a case where a moving object travels while turning, the route that is easy for the moving object to pass is different depending on attributes of the moving object. As an example of the problem to be solved by the present invention, a case where, when a moving object moves while turning, the route is changed depending on the attributes of the moving object is exemplified.

There is provided a route setting apparatus according to claim <NUM>.

There is provided a route setting method according to claim <NUM>.

There is provided a computer program according to claim <NUM>.

The above-described objectives and other objectives, features and advantages will be further clarified by the preferred embodiments described below and the accompanying drawings.

In all drawings, similar components are denoted by the similar reference signs, and description thereof will not be repeated.

<FIG> is a diagram illustrating a usage environment of a route setting apparatus <NUM> according to a first embodiment. The route setting apparatus <NUM> is an apparatus that sets a route for causing a moving object to pass through a predetermined portion on a road while turning, and is used together with a map data storage unit <NUM>. The route setting apparatus <NUM> uses map data stored in the map data storage unit <NUM> when setting the above-described route. The map data stored in the map data storage unit <NUM> includes various kinds of information used when the route setting apparatus <NUM> sets the above-described route.

The moving object is a vehicle. The moving object is, for example, a vehicle that travels on a road, but is not limited to this. In the example shown in Fig.
<NUM>, the route setting apparatus <NUM> is used together with a moving-object control apparatus <NUM>. The moving-object control apparatus <NUM> is an apparatus that controls the movement of a moving object, and moves the moving object along the route set by the route setting apparatus <NUM>. The moving-object control apparatus <NUM> is, for example, an autonomous driving control apparatus for a vehicle that is autonomously driven, and is mounted on, for example, a moving object to be controlled. In this case, the route setting apparatus <NUM> may be located outside the moving object to be controlled, or may be mounted on the moving object as a portion of the moving-object control apparatus <NUM>. Both the route setting apparatus <NUM> and the moving-object control apparatus <NUM> may be located outside the moving object.

The map data storage unit <NUM> may also be mounted on the moving object to be controlled, or may be located outside the moving object. The map data storage unit <NUM> may be a portion of the route setting apparatus <NUM>. In a case where the moving-object control apparatus <NUM> and the map data storage unit <NUM> are installed at a location different from the location of the route setting apparatus <NUM>, the moving-object control apparatus <NUM> and the map data storage unit <NUM> communicate with the route setting apparatus <NUM> via a public communication network such as the Internet. At least a portion of the public communication network is wireless communication.

The predetermined portion on the road is an intersection. In illustrative embodiments which are not encompassed by the appended claims, the predetermined portion may be a portion that is bent by a predetermined angle
(for example, <NUM>°) or larger, or may be a crank. The intersection may be a three-way junction, a four-way junction, or a five-forked road or more. Description will be made below on the assumption that the predetermined portion is an intersection. Even though, in illustrative embodiments which are not encompassed by the appended claims, the predetermined portion may be other than the intersection, the configuration of various kinds of data (including map data) and the operation of the route setting apparatus <NUM> are the same as those in the examples described below.

<FIG> is a diagram illustrating a functional configuration of the route setting apparatus <NUM>. The route setting apparatus <NUM> includes an acquisition unit <NUM>, a determination rule setting unit <NUM>, and a route setting unit <NUM>.

An acquisition unit <NUM> acquires attribute information of a moving object, entry-exit information, and target position information. The entry-exit information is information for specifying an entry position to an intersection and an exit position from the intersection. The entry position and the exit position indicated by the entry-exit information may be points or information (for example, line) having a certain area or width. The attribute information of the moving object is information regarding the moving object. The attribute information of the moving object includes, for example, at least one of an overall length, a width, a minimum turning radius, a wheelbase, a front overhang, a rear overhang, and a vehicle type classification of the vehicle. The target position information is information
indicating a target position located in the intersection. The target position indicates a position at least near which a route of the moving object is to pass.

The determination rule setting unit <NUM> sets a rule (described as a determination rule below) used when a route is determined, by using the attribute information of the moving object. The determination rule is used together with the entry-exit information and the target position information described above. The route setting unit <NUM> sets the above-described route using the determination rule set by the determination rule setting unit <NUM>, and the entry-exit information and the target position information acquired by the acquisition unit <NUM>.

<FIG> is a diagram illustrating an example of the hardware configuration of the route setting apparatus <NUM>. The main configuration of the route setting apparatus <NUM> is realized using an integrated circuit. The integrated circuit includes a bus <NUM>, a processor <NUM>, a memory <NUM>, a storage device <NUM>, an input/output interface <NUM>, and a network interface <NUM>. The bus <NUM> is a data transmission line for the processor <NUM>, the memory <NUM>, the storage device <NUM>, the input/output interface <NUM>, and the network interface <NUM> to transmit and receive data to and from each other. A method of connecting the processors <NUM> and the like to each other is not limited to the bus connection. The processor <NUM> is an arithmetic processing unit realized using a microprocessor or the like. The memory <NUM> is a memory realized using a random access memory (RAM) or the like. The storage device <NUM> is a storage device realized using a read only memory (ROM), a flash memory, or the like.

The input/output interface <NUM> is an interface for connecting the route setting apparatus <NUM> to peripheral devices.

The network interface <NUM> is an interface for connecting the route setting apparatus <NUM> to a communication network. A method of connecting the network interface <NUM> to the communication network may be a wireless connection or a wired connection.

The storage device <NUM> stores a program module for realizing each functional element of the route setting apparatus <NUM>. The processor <NUM> reads and executes the program module into the memory <NUM> to realize the functions of the route setting apparatus <NUM>. The storage device <NUM> may also function as the map data storage unit <NUM>.

The hardware configuration of the integrated circuit described above is not limited to the configuration shown in <FIG>. For example, the program module may be stored in the memory <NUM>. In this case, the integrated circuit may not include the storage device <NUM>.

<FIG> is a flowchart illustrating an example of a route setting process performed by the route setting apparatus <NUM>. Firstly, the acquisition unit <NUM> in the route setting apparatus <NUM> acquires attribute information of a moving object, entry-exit information, and target position information (Step S10 in <FIG>). A specific example of a method of acquiring each kind of information will be described below.

The attribute information of the moving object is stored in, for example, a storage unit of the route setting apparatus <NUM>. In this case, the acquisition unit <NUM> reads the attribute information of the moving object from the storage unit.

The attribute information of the moving object may be stored in an external storage device. In this case, the acquisition unit <NUM> acquires the attribute information of the moving object from the storage device. The external storage device may store the attribute information of the moving object in association with moving-object identification information (for example, number written on a license plate, or vehicle identification number) for identifying the moving object. In this case, the acquisition unit <NUM> acquires the moving-object identification information and transmits the moving-object identification information to the external storage device. The storage device transmits the attribute information corresponding to the received moving-object identification information to the acquisition unit <NUM>. The moving-object identification information may be stored in advance in the route setting apparatus <NUM> or may be acquired from the moving-object control apparatus <NUM>.

The acquisition unit <NUM> acquires the entry-exit information, for example, by using the movement route of the moving object and the map data.

Specifically, in the moving-object control apparatus <NUM> of the moving object, a movement route connecting a starting point (or the current position) and the target point is set, for example, using a car navigation program. Route information indicating the movement route includes an intersection in which the route to be set by the route setting apparatus <NUM>. Therefore, the route setting apparatus <NUM> can determine the target intersection by using the route information, and can determine a road (described as an entry road below) on which the moving object travels when entering the intersection, and a road (described as an exit road below) on which the moving object travels when exiting from the intersection.

As described above, the route setting apparatus <NUM> can use the map data stored in the map data storage unit <NUM>. The map data includes information indicating the lane of the road (for example, the presence/absence of a right turn lane, or the presence/absence of a left turn lane) as information (described as road information below) indicating a road. Therefore, the moving-object control apparatus <NUM> can determine the lane in which the moving object is to pass in each of the entry road and the exit road, by using the route information and the map data.

In the map data, the road information includes information (described as end information below) indicating the end of the road at the intersection. The acquisition unit <NUM> acquires the end information on the entry road, as at least a portion of information indicating the entry position, and acquires the end information on the exit road, as at least a portion of information indicating the exit position.

Consider a case where the road information is defined using nodes and links. In this case, the end information indicates the end of the link. The acquisition unit <NUM> determines the lane in which the moving object is to pass on the entry road, and then recognizes a position corresponding to the end of a link in the lane as the entry position to the intersection. The acquisition unit <NUM> determines the lane in which the moving object is to pass on the exit road, and then recognizes a position corresponding to the end of a link in the lane as the exit position from the intersection.

The entry-exit information may be input by a passenger of the moving object or a representative of the passenger. In this case, the passenger or the representative inputs the entry-exit information by selecting each of the entry position and the exit position in, for example, the intersection displayed on a display. A device for the input may be a terminal operated by a person who intends to perform an input, or may be a portion of the route setting apparatus <NUM>.

The target position information is stored in, for example, the map data storage unit <NUM>. As described above, the target position information indicates a position at least near which the route of the moving object is to pass. The map data storage unit <NUM> preferably stores the target position information in association with each intersection. In this case, the acquisition unit <NUM> acquires the target position information associated with the target intersection.

The target position information may be changed depending on the combination of information for specifying the intersection (or the information for specifying the type of intersection) and the attribute information of the moving object. For example, the target position information is stored for each intersection (or each type of intersection) and for each piece of the attribute information of the moving object. Here, the type of intersection is defined using the number of roads intersecting at the intersection, the number of lanes on each road, the angle at which the roads intersect at the intersection, and the like. In this case, the map data storage unit <NUM> stores, for example, the target position information for a small vehicle, the target position information for a large vehicle, and the target position information for a trailer at each intersection. In this case, the acquisition unit <NUM> selects and acquires the target position information corresponding to the attribute information of the moving object among pieces of the target position information associated with the target intersection.

In the above two examples, the target position information may be changed depending on the information for specifying the type of intersection. For example, destination information may be stored for each type of intersection. In this case, the acquisition unit <NUM> determines the type of the target intersection by using the road information stored in the map data storage unit <NUM>, and acquires the target position information corresponding to the determined type.

In the above three examples, the target position information may be stored further in association with the combination of the entry lane and the exit lane of the moving object. In this case, the acquisition unit <NUM> determines the entry lane and the exit lane at the target intersection by using movement data and the road information stored in the map data storage unit <NUM>, and acquires the target position information corresponding to the combination of the determined lanes.

The target position information may be stored in association with only the attribute information of the moving object. The acquisition unit <NUM> selects and acquires the target position information corresponding to the attribute information of the moving object.

Then, the determination rule setting unit <NUM> sets a determination rule, using the attribute information of the moving object, used when the route is set (Step S20). The determination rule is, for example, a program in which an arithmetic expression is described, and is stored in advance in, for example, the storage unit of the route setting apparatus <NUM> or the map data storage unit <NUM>. The input to the program includes the entry-exit information and the target position information.

The storage unit described above or the map data storage unit <NUM> may store a plurality of determination rules in association with the attribute information of the moving object for which the determination rule is to be used. For example, the storage unit described above or the map data storage unit <NUM> stores a determination rule for a small vehicle, a determination rule for a large vehicle, and a determination rule for a trailer. The determination rule setting unit <NUM> reads the determination rule corresponding to the attribute information acquired in Step S10, from the storage unit or the map data storage unit <NUM>.

In a case where the above-described arithmetic expression includes at least one parameter, the determination rule setting unit <NUM> may set the determination rule by determining the value of the parameter using the attribute information acquired in Step S10, and putting the determined value into the above-described program.

In any of the above examples, the storage unit described above or the map data storage unit <NUM> may store the above-described determination rule in association with each intersection. In this case, the determination rule differs depending on the intersection. The determination rule setting unit <NUM> reads the determination rule corresponding to the intersection to be processed, from the storage unit described above or the map data storage unit <NUM>. A plurality of intersections may form a set, and one determination rule may be set for the formed set.

The map data storage unit <NUM> may store the above-described determination rule as a portion of the map data, in a state of corresponding to the attribute information of the moving object and in a state of not being directly linked to the intersection.

Then, the route setting unit <NUM> sets the route on which the moving object is to move, by inputting the entry-exit information and the target position information into the determination rule set in Step S20 and perform processing (Step S30).

<FIG> is a diagram illustrating a first example of a route R set for an intersection <NUM>. The intersection <NUM> shown in <FIG> is a crossroad, and each road has two lanes. The route setting apparatus <NUM> sets a route R for a moving object <NUM> to turn right at the intersection.

Specifically, the map data stored in the map data storage unit <NUM> includes a link 840a of an entry road of the moving object <NUM>, a link 840b of an exit road of the moving object <NUM>, and target position information indicating a target position <NUM> at the intersection <NUM>. When the intersection <NUM> is designated, the acquisition unit <NUM> reads the links 840a and 840b and the target position information from the map data storage unit <NUM>. The acquisition unit <NUM> recognizes a portion of the traveling lane of the moving object <NUM> on the entry road, which corresponds to an end 842a of the link 840a on the intersection <NUM> side, as an entry position <NUM>. The acquisition unit <NUM> recognizes a portion of the traveling lane of the moving object <NUM> on the exit road, which corresponds to an end 842b of the link 840b on the intersection <NUM> side, as an exit position <NUM>.

The route setting unit <NUM> sets the route R of the moving object <NUM> to connect the ends 842a and 842b. At this time, the route is set to overlap the target position <NUM> or to pass near the target position <NUM>.

The route R of the moving object <NUM> differs depending on the position of the target position <NUM>. For example, as shown in <FIG>, as the target position <NUM> moves to the outer peripheral side of the intersection <NUM>, the route R also moves to the outside of the intersection <NUM>. Therefore, the route setting apparatus <NUM> can set the route R appropriate for the moving object <NUM> by changing the target position <NUM> in accordance with the attribute of the moving object <NUM>.

<FIG> and <FIG> are diagrams illustrating a second example of the route set for the intersection <NUM>. In the example shown in <FIG> and <FIG>, at least one of the entry road and the exit road to and from the intersection <NUM> (both in the example shown in <FIG> and <FIG>) has a plurality of lanes. The map data stored in the map data storage unit <NUM> includes such information. The acquisition unit <NUM> in the route setting apparatus <NUM> uses the route information indicating the movement route of the moving object <NUM> to determine the lane in which the moving object <NUM> passes when entering the intersection <NUM>, and the lane in which the moving object <NUM> passes when exiting from the intersection <NUM>, and to set the determined lanes as a portion of the entry-exit information. That is, in the example shown in <FIG> and <FIG>, the entry-exit information includes information for determining one of the plurality of lanes.

The acquisition unit <NUM> sets a position at which the determined lane overlaps the end of the link <NUM>, as the entry position or the exit position to or from <NUM>. As shown in <FIG> and <FIG>, when the lane in which the moving object <NUM> enters the intersection <NUM> (or the lane in which the moving object <NUM> exits from the intersection <NUM>) is different, the route R on which the moving object <NUM> is to pass is also different.

As described above, according to the present embodiment, the route setting apparatus <NUM> can set a route for causing the moving object <NUM> to pass through a predetermined portion on a road while turning, in accordance with the attribute of the moving object <NUM>. Thus, the moving object <NUM> can turn the above-described predetermined portion on the road in a stable state.

<FIG> is a diagram illustrating a usage environment of a route setting apparatus <NUM> according to a second embodiment. In the example shown in <FIG>, a moving object <NUM> includes a sensor <NUM> and an analysis apparatus <NUM>. The sensor <NUM> is, for example, a light detection and ranging (LiDAR) or an imaging device. The analysis apparatus <NUM> analyzes data generated by the sensor <NUM> to generate information indicating the surrounding state of the moving object <NUM> (described as surrounding information below). The surrounding information includes the position of a stop line on a road and the position of a line or mark indicating the traveling road drawn in an intersection, in association with information for specifying the type of the line or mark. An acquisition unit <NUM> in a route setting apparatus <NUM> generates at least one of target position information and entry-exit information by using the above-described surrounding information.

For example, the route setting apparatus <NUM> sets a predetermined line or mark to be drawn in an intersection, as a target position. The acquisition unit <NUM> in the route setting apparatus <NUM> recognizes the position of the predetermined line or mark described above from the surrounding information, and sets the recognized position as the target position.

The acquisition unit <NUM> recognizes the position of the stop line of the entry road from the surrounding information and sets the recognized position as an entry position. The acquisition unit <NUM> sets a start position of a lane for defining the exit road as an exit position.

Also in the present embodiment, similar to the first embodiment, the moving object <NUM> can turn the above-described predetermined portion on the road in a stable state. Even though the map data storage unit <NUM> does not store the target position information, the target position information can be generated using the data generated by the sensor <NUM>.

Hitherto, the embodiments and examples have been described above with reference to the drawings, but these are examples of the present invention, and various configurations other than the above description can be adopted.

Claim 1:
A route setting apparatus (<NUM>) that sets a route (R) for causing a moving object (<NUM>), namely a vehicle, to pass through a predetermined portion on a road while turning, the apparatus comprising:
an acquisition unit (<NUM>) that acquires attribute information of the moving object (<NUM>) and target position information indicating a target position (<NUM>) located in the predetermined portion; and
a route setting unit (<NUM>) that sets the route (R),
characterized in that the predetermined portion is an intersection (<NUM>), said intersection being a three-way junction, a four-way junction, or a five-forked junction or more, that the acquisition unit (<NUM>) acquires entry-exit information for specifying an entry position (<NUM>) to the intersection and an exit position (<NUM>) from the intersection, that the apparatus comprises a determination-rule setting unit (<NUM>) that sets a determination rule using the attribute information, the determination rule corresponding to the intersection to be processed, the determination rule being used when the route (R) is set using the entry-exit information and the target position information; and
wherein the route setting unit (<NUM>) sets the route (R) using the determination rule, the entry-exit information, and the target position information.