阅读说明：本技术 车辆控制系统、管理表生产方法以及记录介质 (Vehicle control system, management table production method and recording medium ) 是由 大古场勇介 樋口贤志 小西仁 须藤修一 大平正明 斋藤纪之 于 2018-03-02 设计创作，主要内容包括：本发明涉及车辆控制系统、管理表生产方法以及记录介质。车辆控制系统适合于在使用路径搜索用地图数据搜索到的路径的一部分或者全部,使用与路径搜索用地图数据不同目的的车辆控制用地图数据来实现移动体的车辆控制。导航装置(3)使用路径搜索用地图数据来搜索路径。控制装置(5)的判定部(27)使用表存储部(23)的表来确定在路径上存在车辆控制用地图数据的区间,车辆控制部(31)使用车辆控制用地图数据进行车辆控制。在表存储部(23)中管理包含表示车辆控制用地图数据中的交叉点形状的交叉点多边形的交叉点区域。判定部(27)进行路径上的节点的位置信息与交叉点区域的匹配处理。由于利用位置信息,因此无需特别修正各地图数据,就能够实现使路径搜索与车辆控制联动的处理。(The present invention relates to vehicle control system, management table production method and recording mediums.Vehicle control system is suitable for using the vehicle control for realizing moving body with map datum with the vehicle control of map datum difference purpose with route searching in some or all of the path searched using route searching with map datum.Navigation device (3) is using route searching with map datum come searching route.The determination unit (27) of control device (5) determines that, there are the section of vehicle control map datum on path, vehicle control section (31) carries out vehicle control with map datum using vehicle control using the table of table storage unit (23).The cross-point region of crosspoint polygon of the management comprising indicating the cross-point geometry in vehicle control map datum in table storage unit (23).Determination unit (27) carries out the location information of the node on path and the matching treatment of cross-point region.Due to utilizing location information, there is no need to especially correct each map datum, it will be able to realize the processing for making route searching and vehicle control link.)

1. a kind of vehicle control system, has:

Map datum is used in route searching map datum storage unit, store path search；

Vehicle control map datum storage unit, is stored in vehicle control map datum used in vehicle control；

Table storage unit is stored with no management table；

Route searching unit is determined using above-mentioned route searching with map datum corresponding with crosspoint more in above-mentioned path Link data between the location information and connecting node of a node；And

Judging unit determines in above-mentioned path to carry out vehicle control there are the section of above-mentioned vehicle control map datum,

Above-mentioned whether there is or not management table includes: location information, indicates the polygon of the crosspoint comprising above-mentioned vehicle control map datum Shape region, that is, cross-point region；And whether there is or not information, indicate to use at position corresponding with crosspoint with the presence or absence of vehicle control Map datum,

Location information of the above-mentioned judging unit based on the above-mentioned node in above-mentioned path and the position for indicating above-mentioned cross-point region The comparison of information, the specific friendship in the above-mentioned path for the position being judged as in above-mentioned cross-point region to the position in crosspoint Whether crunode is retrieved, and based on above-mentioned whether there is or not information, deposit at position corresponding with above-mentioned specific crosspoint In the judgement of vehicle control map datum, thus determine that there are the areas of above-mentioned vehicle control map datum in above-mentioned path Between.

2. vehicle control system as described in claim 1, wherein

Above-mentioned table storage unit also storage facility manages table, and there are vehicles for being determined to become in above-mentioned path for the facilities management table The crosspoint of the starting point in the section of control map datum,

Above-mentioned vehicle control system is also equipped with starting point retrieval unit, the starting point retrieval unit referring to above-mentioned facilities management table and Obtain the crosspoint as above-mentioned starting point.

3. a kind of management table production method produces the friendship to using the vehicle control map datum for vehicle control and determining The management table that crunode region is managed, wherein

Above-mentioned vehicle control map datum includes lane data relevant to the lane that vehicle can pass through,

Above-mentioned management table production method includes:

Deciding step, the administrative unit that information processing unit has are determined to use to enter and are somebody's turn to do for each of multiple crosspoints The road width in crosspoint and the crosspoint polygon of determination from the road width that the crosspoint is exited, and determine comprising should The above-mentioned cross-point region of crosspoint polygon；And

Production stage adds related to above-mentioned vehicle control map datum corresponding to the above-mentioned each cross-point region determined Data, and produce above-mentioned management table.

4. management table production method as claimed in claim 3, wherein

It further include the update step for updating above-mentioned vehicle control map datum,

In above-mentioned deciding step and above-mentioned production stage, above-mentioned administrative unit uses updated above-mentioned vehicle control land used Diagram data produces above-mentioned management table to determine above-mentioned each cross-point region,

Above-mentioned management table production method includes following deletion information adding step: above-mentioned administrative unit in new management table, The cross-point region in deleted crosspoint for the update due to above-mentioned vehicle control map datum, the additional crosspoint Deleted information.

5. a kind of recording medium is the computer-readable recording medium of logging program, the program is for being used in vehicle control The computer of system is used as lower unit functions:

Map datum is used in route searching map datum storage unit, store path search；

Vehicle control map datum storage unit, is stored in vehicle control map datum used in vehicle control；

Table storage unit is stored with no management table；

Route searching unit is determined using above-mentioned route searching with map datum corresponding with crosspoint multiple in above-mentioned path Link data between the location information and connecting node of node；And

Judging unit in order to carry out vehicle control, and determines that there are the areas of above-mentioned vehicle control map datum in above-mentioned path Between,

In aforementioned recording medium,

It is above-mentioned that whether there is or not management tables to include:

Location information indicates the polygonal region, that is, cross-point region in the crosspoint comprising above-mentioned vehicle control map datum； And

Whether there is or not information, indicate to whether there is vehicle control map datum at position corresponding with crosspoint,

Above-mentioned judging unit is,

Location information based on the above-mentioned node in above-mentioned path is right compared with the location information for indicating above-mentioned cross-point region Specific crosspoint in the above-mentioned path for the position that the position in crosspoint is judged as in above-mentioned cross-point region is retrieved, Also,

Based on above-mentioned whether there is or not information, it whether there is vehicle control map at position corresponding with above-mentioned specific crosspoint Data are determined, thus determine that there are the sections of above-mentioned vehicle control map datum in above-mentioned path.

Technical field

The present invention relates to vehicle control system, management table production method and recording mediums, more particularly to are searched using path Rope carries out the vehicle control system etc. of vehicle control with map datum come searching route to moving body.

Background technique

In the past, in navigation system, route searching map datum is utilized in order to search for movement routine.For example, special The content that multiple route searching map datums are utilized in navigation system is described in sharp document 1 and 2.

Summary of the invention

Subject to be solved by the invention

Recently, it grows to even greater heights for the concern of automatic Pilot technology.But in previous navigation system, as long as can Determine path from origin to destination with regard to enough.Therefore, route searching is not that by vehicle control with map datum The high accuracy data of the degree of system.

In addition, being almost prepared with route searching map datum according to the whole country.On the other hand, it can be realized vehicle control The high-precision vehicle control map datum of the degree of system, in the perfect stage, such as exists only in super expressway Deng a part.

The content using multiple map datums is described in patent document 1 and 2.But these map datums are total to Logical purpose is for route searching.Therefore, it is impossible to be applied to for path search processing route searching map datum with Realize the cooperation of the vehicle control map datum of the different purpose of property as vehicle control.

For example, data transfer device documented by patent document 1 is, " commonly include using in two map datums Place " Lai Jinhang data conversion.For example, crosspoint becomes " point " in route searching map datum.On the other hand, in vehicle With in map datum, the space for needing vehicle to pass through occupies certain space for control.Even identical " crosspoint ", It is different also to become property in the map datum of different purposes.

Also, navigation device documented by patent document 2 is, there are the regions of detailed route searching map datum In, common route searching is supplemented with map datum with map datum by detailed route searching, and carry out path Search, path are shown.But the common purpose of these route searchings map datum is path search processing, and is used for The service of height is provided in the technical field as the two common " route searching ".It is dfficult to apply to different more of property It plants Services Composition and new service is provided.

Therefore, the purpose of the present invention is to provide a kind of vehicle control system etc., it is suitable for using route searching land used Diagram data and the path that searches out it is some or all in, use the purpose vehicle different from route searching map datum The vehicle control of moving body is realized in control with map datum.

Means for solving the problems

1st viewpoint of the present application is a kind of vehicle control system, is had: the storage of route searching map datum is single Map datum is used in member, store path search；Vehicle control map datum storage unit, is stored in vehicle used in vehicle control Map datum is used in control；Table storage unit is stored with no management table；Route searching unit uses above-mentioned route searching land used Diagram data links number between the location information and connecting node of multiple nodes corresponding with crosspoint to determine in above-mentioned path According to；And judging unit, in order to carry out vehicle control, and determine that there are above-mentioned vehicle control map datums in above-mentioned path Section, above-mentioned whether there is or not management table includes: location information, indicates the polygon of the crosspoint comprising above-mentioned vehicle control map datum Shape region, that is, cross-point region；And whether there is or not information, indicate to use at position corresponding with crosspoint with the presence or absence of vehicle control Map datum, location information of the above-mentioned judging unit based on the above-mentioned node in above-mentioned path and the above-mentioned cross-point region of expression The comparison of location information, the position for retrieving crosspoint are judged as spy in the above-mentioned path of the position in above-mentioned cross-point region Fixed crosspoint, and based on above-mentioned whether there is or not information whether there is vehicle at position corresponding with above-mentioned specific crosspoint Control is determined with map datum, thus determines that there are the sections of above-mentioned vehicle control map datum in above-mentioned path.

2nd viewpoint of the present application is a kind of vehicle control system, above-mentioned in the vehicle control system of the 1st viewpoint Table storage unit also storage facility manages table, and there are vehicle control lands used for being determined to become in above-mentioned path for the facilities management table The crosspoint of the starting point in the section of diagram data, above-mentioned vehicle control system are also equipped with starting point retrieval unit, starting point inspection Cable elements obtain the crosspoint as above-mentioned starting point referring to above-mentioned facilities management table.

3rd viewpoint of the present application is a kind of management table production method, is produced to the vehicle used for vehicle control The management table that the cross-point region that control is determined with map datum is managed, above-mentioned vehicle control with map datum include with The relevant lane data in the lane that vehicle can pass through, above-mentioned management table production method include: deciding step, information processing apparatus Had administrative unit is set for each of multiple crosspoints, determine using the road width for entering the crosspoint and from this Road width that crosspoint is exited and the crosspoint polygon determined, and determine include the crosspoint polygon above-mentioned intersection Point region；And production stage, it is additional with above-mentioned vehicle control map corresponding to the above-mentioned each cross-point region determined The relevant data of data, and produce above-mentioned management table.

4th viewpoint of the present application is a kind of management table production method, in the management table production method of the 3rd viewpoint, Update step including updating above-mentioned vehicle control map datum, in above-mentioned deciding step and above-mentioned production stage, on Administrative unit is stated to determine above-mentioned each cross-point region using updated above-mentioned vehicle control with map datum and produce above-mentioned Table is managed, above-mentioned management table production method includes following deletion information adding step: above-mentioned administrative unit is in new management table In, the cross-point region in deleted crosspoint for the update due to above-mentioned vehicle control map datum, the additional friendship The deleted information of crunode.

5th viewpoint of the present application is a kind of recording medium, is the computer-readable recording medium of logging program, The computer that the program is used to be used in vehicle control is used as lower unit functions: the storage of route searching map datum is single Map datum is used in member, store path search；Vehicle control map datum storage unit, is stored in vehicle used in vehicle control Map datum is used in control；Table storage unit is stored with no management table；Route searching unit uses above-mentioned route searching land used Diagram data links number between the location information and connecting node of multiple nodes corresponding with crosspoint to determine in above-mentioned path According to；And judging unit, in order to carry out vehicle control, and determine that there are above-mentioned vehicle control map datums in above-mentioned path Section, in aforementioned recording medium, above-mentioned whether there is or not management table includes: location information, indicates to include above-mentioned vehicle control map Polygonal region, that is, the cross-point region in the crosspoint of data；And whether there is or not information, expression is at position corresponding with crosspoint It is no there are vehicle control map datum, location information and expression of the above-mentioned judging unit based on the above-mentioned node in above-mentioned path The comparison of the location information of above-mentioned cross-point region, the position for retrieving crosspoint are judged as position in above-mentioned cross-point region Above-mentioned path in specific crosspoint, and whether there is or not information based on above-mentioned, to corresponding with above-mentioned specific crosspoint Determined with the presence or absence of vehicle control with map datum at position, thus determines that there are above-mentioned vehicle control use in above-mentioned path The section of map datum.

Alternatively, it is also possible to which the present application to be interpreted as, vehicle is being accessed in order to carry out vehicle control to moving body The table etc. of data structure used in the processing of control map datum.In addition it is also possible to be interpreted as, for realizing the application hair The program of bright each viewpoint, the computer-readable recording medium for steadily recording the program.

In addition, by the update date for managing each section in whether there is or not table, thus the presence or absence of match table referring to path Section update date, whether there is or not updates for the vehicle control map datum that can judge on path.It can be only to needing to update Vehicle control be updated with map datum, and become required minimal data and update, therefore be able to suppress the traffic And improve data renewal speed.

The effect of invention

According to the present application, it is able to use as route searching map datum and vehicle control map datum not With the map datum of purpose, path search processing and vehicle control are carried out.

Detailed description of the invention

(a) in Fig. 1 is an example for indicating the composition of vehicle control system 1 involved in the embodiment of the present application Block diagram, (b) be indicate in vehicle control system 1 for processing data relationship figure.

(a) in Fig. 2 is to indicate the vehicle control map datum of vehicle control system 1 whether there is or not the data structures of table Figure is (b) to indicate vehicle control map datum whether there is or not the associated figures between table and vehicle control map datum.

Fig. 3 is the flow chart for indicating an example of the movement of vehicle control system 1 of Fig. 1.

Fig. 4 is the figure for indicating the summary of an example of processing of vehicle control system 1.

Fig. 5 is the figure for being illustrated to facilities management table.

Fig. 6 be for the branch path to road near vehicle control map datum whether there is or not table and use its judgement The figure that the processing in portion 27 is illustrated.

Fig. 7 is the figure for being illustrated to left and right decision table.

Fig. 8 is the figure for indicating an example of update processing of vehicle control map datum.

Specific embodiment

Hereinafter, being illustrated referring to embodiment of the attached drawing to the present application.In addition, the embodiment of the present application is simultaneously It is not limited to the following embodiments.