JP2003337993A5

JP2003337993A5 -

Info

Publication number: JP2003337993A5
Application number: JP2002271152A
Authority: JP
Filing date: 2002-09-18
Publication date: 2005-04-14
Anticipated expiration: 2022-09-18

Description

従って、本発明の目的は、インフラストラクチャ整備に巨額の費用をかけることなく、車両の自動運転を行うことができ、また、サンプリング期間の長い位置情報でも正確に軌道誤差の修正ができ、これにより車両の自動運転を行い、安全運転を支援することができる運転支援システム、運転支援方法及び運転支援プログラム、並びに、運転支援装置を提供することである。 Therefore, the object of the present invention is to enable automatic operation of a vehicle without requiring a great deal of infrastructure maintenance, and correct correction of trajectory errors even with long sampling period location information. It is an object of the present invention to provide a driving support system, a driving support method, a driving support program , and a driving support apparatus capable of performing automatic driving of a vehicle and supporting safe driving.

ここで、道路情報は、走行軌道を示す仮想的デジタル走行軌道を含み、運転支援情報生成手段は、線分、円弧、クロソイド曲線等を用いて仮想的デジタル走行軌道を生成し、クロソイド曲線を用いて仮想的デジタル走行軌道の曲率緩和曲線を描く場合、クロソイド原点からの弧長のみをパラメータとした関係式

からクロソイド曲線の座標を求め、クロソイド原点付近での例外処理を行うことなく、クロソイド原点からクロソイド曲線を描画する、ことができる。 Here, the road information includes a virtual digital traveling track indicating a traveling track, and the driving support information generation unit generates a virtual digital traveling track using a line segment, an arc, a clothoid curve, etc., and uses the clothoid curve. In the case of drawing the curvature relaxation curve of a virtual digital running track, the relational expression which made only the arc length from the clothoid origin as a parameter

Obtains the coordinates of the pressurized et clothoid curve, without performing exception handling in the vicinity clothoid origin, it draws a clothoid curve from a clothoid origin can.

ここで、運転支援情報生成手段は、関係式のｘ，ｙの級数展開の第ｎ項（Ｔｘ（ｎ），Ｔｙ（ｎ））の間の漸化式

を用いてクロソイド曲線を描画する、ようにするとよい。 Here, the driving support information generation means is a recurrence formula among the nth terms (Tx (n), Ty (n)) of the series expansion of x, y of the relational expression.

It is good to draw a clothoid curve using.

また、道路情報は、走行軌道を示す仮想的デジタル走行軌道を含み、ステップ（Ｅ）は、線分、円弧、クロソイド曲線等を用いて仮想的デジタル走行軌道を生成し、クロソイド曲線を用いて前記仮想的デジタル走行軌道の曲率緩和曲線を描く場合、クロソイド原点からの弧長のみをパラメータとした関係式

からクロソイド曲線の座標を求め、クロソイド原点付近での例外処理を行うことなく、クロソイド原点からクロソイド曲線を描画する、ことができる。 Further, the road information includes a virtual digital traveling track indicating a traveling track, and the step (E) generates a virtual digital traveling track using a line segment, an arc, a clothoid curve, etc., and uses the clothoid curve. In the case of drawing the curvature relaxation curve of a virtual digital running track, a relational expression that uses only the arc length from the clothoid origin as a parameter

The coordinates of the clothoid curve can be obtained from and the clothoid curve can be drawn from the clothoid origin without performing exceptional processing near the clothoid origin.

このとき、ステップ（Ｅ）は、関係式のｘ，ｙの級数展開の第ｎ項（Ｔｘ（ｎ），Ｔｙ（ｎ））の間の漸化式

を用いてクロソイド曲線を描画する、ようにするとよい。
また、上記課題を解決するため、本発明の運転支援装置は、車両に搭載され、道路パラメータ及び／又は道路情報を記録している外部の道路ジオメトリサーバと通信することにより、車両の運転を支援するための装置であって、道路ジオメトリサーバとの通信を制御し、道路ジオメトリサーバから道路パラメータ及び／又は道路情報を受信する通信制御手段と、基本位置情報に基づいて車両の位置情報を算出する位置情報制御手段と、道路ジオメトリサーバからの道路パラメータ及び／又は道路情報と、位置情報制御手段からの位置情報に基づいて、運転支援情報を生成する運転支援情報生成手段と、を備えることを特徴とする。 At this time, step (E) is a recursion between the n-th terms (Tx (n), Ty (n)) of the series expansion of x, y of the relational expression

It is good to draw a clothoid curve using.
Further, in order to solve the above problems, the driving support device of the present invention supports the driving of the vehicle by communicating with an external road geometry server which is mounted on the vehicle and records road parameters and / or road information. Device for controlling the communication with the road geometry server, and calculating vehicle position information based on the basic position information and communication control means for receiving road parameters and / or road information from the road geometry server It is characterized by comprising: drive information generation means for generating drive support information based on position information control means, road parameters and / or road information from a road geometry server, and position information from position information control means. I assume.

ここで、クロソイド曲線は、クロソイド原点からの弧長Ａｉ（ｉ＝１、２、３、４）のみをパラメータとした関係式

からクロソイド曲線の座標を求め、クロソイド原点付近での例外処理を行うことなく、クロソイド原点からクロソイド曲線を描画する。 Here, the clothoid curve is a relational expression using only the arc length Ai (i = 1, 2, 3, 4) from the clothoid origin as a parameter

Determine the coordinates of the pressurized et al clothoid curve, without performing the exception handling in the vicinity of the clothoid origin, to draw a clothoid curve from the clothoid origin.

すなわち、上述の関係式「数１１」のｘｉ，ｙｉの級数展開の第ｎ項（Ｔｘｉ（ｎ），Ｔｙｉ（ｎ））の間の漸化式

を用いてクロソイド曲線を描画することができる。 That is, a recurrence formula between the nth term (Txi (n), Tyi (n)) of the series expansion of xi, yi in the above-mentioned relational expression "Equation 11"

Can be used to draw a clothoid curve.

図１５は、横断勾配すりつけ図における道路の標高値の算出方法を示す図である。ここで、道路の標高値（Ｚ値）は、図１５に示すように、

によって求めることができる。 FIG. 15 is a diagram showing a method of calculating the road elevation value in the cross slope rubbing map. Here, the altitude value (Z value) of the road is as shown in FIG.

It can be determined by

以上、本発明の運転支援システム及び運転支援方法及び運転支援装置について説明したが、道路ジオメトリサーバ１０に、仮想的デジタル走行軌道６０を予め記憶しているＤＢを設けることができる。このＤＢは、道路ジオメトリＤＢ１３であってもよく、仮想的デジタル走行軌道６０を記憶する別のＤＢであってもよい。 As mentioned above, although the driving assistance system, the driving assistance method, and the driving assistance apparatus of this invention were demonstrated, DB which stores the virtual digital traveling track 60 beforehand can be provided in the road geometry server 10. FIG. This DB may be a road geometry DB 13 or another DB storing a virtual digital traveling track 60.

また、上述した本発明の運転支援システムの機能、及び運転支援方法、並びに、運転支援装置の処理をコンピュータに実行させるためのプログラムとすることができる。 Moreover, it can be set as the program for making a computer perform the function of the driving assistance system of this invention mentioned above, the driving assistance method , and a driving assistance apparatus .

以上、本発明の運転支援システムの機能、運転支援方法及びプログラム、並びに、運転支援装置を説明したが、本発明は一般的な自動車のみならず、他の交通機関、例えば、バス、鉄道車両などにも容易に適用することができる。 Although the functions of the driving support system, the driving support method and program , and the driving support apparatus of the present invention have been described above, the present invention is not limited to general vehicles, but also to other transportation systems such as buses and trains Can be applied easily.

【０１１０】
【発明の効果】
以上述べた通り、本発明の運転支援システムの機能、運転支援方法及びプログラム、並びに、運転支援装置によれば、インフラストラクチャ整備に巨額の費用をかけることなく、車両の自動運転を行うことができ、また、サンプリング期間の長い位置情報でも正確に軌道誤差の修正ができ、これにより車両の自動運転を行い、安全運転を支援することができるようになった。
[0110]
【Effect of the invention】
As described above, according to the function of the driving support system of the present invention, the driving support method and program , and the driving support device , it is possible to perform automatic driving of the vehicle without imposing a huge cost on infrastructure maintenance. Also, even with positional information with a long sampling period, it is possible to correct the trajectory error accurately, which makes it possible to perform automatic driving of the vehicle and support safe driving.

Claims

A driving support system comprising a road geometry server, a driving support device for supporting driving of a vehicle, and a computer network for performing communication between the road geometry server and the driving support device,
The road geometry server
Communication control means for controlling communication with the computer network;
Road geometry storage means for storing road parameters and / or road information;
The road parameters and / or road information stored in the road geometry storage means are read out based on the request from the drive support device received via the communication control means, and the drive support via the communication control means Road parameter processing means for sending to the device;
Equipped with
The driving support device is
Communication control means for controlling communication with the computer network;
Position information control means for calculating position information of the vehicle based on the basic position information;
Driving support information generation means for generating driving support information based on road parameters and / or road information from the road geometry server and the position information from the position information control means;
Equipped with
Driving support system characterized by.

The driving support system according to claim 1, wherein the driving support information generation unit generates road information based on the road parameters from the road geometry server.

The driving support device further includes
Measuring means for detecting a state of the vehicle and calculating a measurement value;
Measurement information control means for generating measurement information based on the measurement value from the measurement means;
Equipped with
The driving support information generation unit of the driving support apparatus generates road information from the road geometry server and / or generated based on the road parameters, the position information from the position information control unit, and the measurement information control unit Generating driving support information based on the measurement information from
The driving assistance system according to claim 1 or 2, characterized in that:

The measuring means is
Distance accumulation means for accumulating the travel distance of the vehicle to calculate the measurement value;
Speed sensor means for measuring the speed of the vehicle and calculating the measured value;
Gyro sensor means for measuring the inclination of the vehicle and calculating the measured value;
Angle measurement means for measuring the traveling direction angle of the vehicle and calculating the measurement value;
Equipped with
The measurement information control means generates cumulative distance information based on the measurement value from the distance accumulation means, generates speed information based on the measurement value from the speed sensor means, and generates the distance information from the gyro sensor means Rotation angle information is generated based on the measurement value, and direction angle information is generated based on the measurement value from the angle measurement means;
The driving support system according to claim 3, characterized in that:

The driving support device is
Input means for inputting the request;
Output means for displaying the road information and / or the driving support information;
Equipped with
The driving assistance system according to any one of claims 1 to 4, characterized in that:

The driving support device includes map storage means for storing part or all of the road information and / or map information.
The driving support information generation unit generates driving support information based on the road information, the position information, and the map information.
The driving assistance system according to any one of claims 1 to 5, characterized in that:

7. The communication between the driving support device and the computer network is performed via a communication device such as a mobile phone and / or an LCX (leaky coaxial cable) provided on a road. Driving support system.

The driving support system according to any one of claims 1 to 7, wherein the computer network is the Internet or an intranet.

The driving support system according to any one of claims 1 to 8, wherein the driving support information generation unit generates the driving support information by using image information from a radar device or / and a laser scanning device.

The driving support system according to any one of claims 1 to 9, further comprising: a driving control unit configured to control the driving of the vehicle based on the driving support information generated by the driving support information generation unit. system.

The road information includes a virtual digital traveling track indicating a traveling track,
The driving support information generation unit generates a virtual digital traveling track using a line segment, an arc, a clothoid curve, etc., and draws a curvature relaxation curve of the virtual digital traveling track using the clothoid curve, the clothoid origin Relational equation with only the arc length from

Determine the coordinates of the pressurized et al clothoid curve, without performing the exception handling in the vicinity of the clothoid origin, to draw a clothoid curve from the clothoid origin,
The driving assistance system according to any one of claims 1 to 10, characterized in that:

The driving support information generation means is a recurrence formula among the nth term (Tx (n), Ty (n)) of the series expansion of x, y of the relational expression.

Draw a clothoid curve using
The driving support system according to claim 11, characterized in that:

The driving support system according to any one of claims 1 to 12, wherein the basic position information is information from a GPS (Global Positioning System), information from a magnetic nail, and / or information from a beacon.

A driving assistance method in a driving assistance system comprising a road geometry server, a driving assistance device for assisting driving of a vehicle, and a computer network for performing communication between the road geometry server and the driving assistance device,
(A) The driving support apparatus transmits the input driving support request information to the road geometry server via the computer network,
(B) In the road geometry server, road parameters and / or road information stored in advance are read out based on the received driving support request information from the driving support device, and the driving is performed via the computer network. Send to support device,
(C) In the driving support device, when road parameters are received from the road geometry server, road information is generated based on the road parameters,
(D) In the driving support device, position information of the vehicle is calculated based on the basic position information,
(E) The driving support apparatus generates driving support information based on the road information received from the road geometry server and / or the road information generated in step (C) and the position information.
Driving support method characterized in that.

In the step (E), in the driving support device, the state of the vehicle is measured to generate measurement information, and the road information received from the road geometry server and / or the road information generated in the step (C); Generating driving support information based on the position information and the measurement information;
The driving support method according to claim 14, characterized in that:

The driving support method according to claim 15, wherein the measurement information includes cumulative distance information, speed information, vehicle angle information, and / or steering wheel angle information of the vehicle.

17. The driving assistance according to claim 14, wherein the communication between the driving assistance device and the computer network in the step (A) and the step (B) is performed via a communication device such as a mobile phone. Method.

The communication between the driving support device and the computer network in the step (A) and the step (B) is performed through an LCX (leakage coaxial cable) provided on a road. The driving support method described in 17.

The driving support method according to any one of claims 14 to 18, wherein the computer network is the Internet or an intranet.

The step (E) is driving support information based on map information prepared in advance, the road information received from the road geometry server and / or the road information generated in the step (C), and the position information. The driving assistance method according to any one of claims 14 to 19, wherein:

The driving support method according to any one of claims 14 to 20, wherein the step (E) generates the driving support information using image information from a radar device or / and a laser scanning device.

The road information includes a virtual digital traveling track indicating a traveling track,
In the step (E), a virtual digital traveling track is generated using a line segment, an arc, a clothoid curve, etc., and a curvature relaxation curve of the virtual digital traveling track is drawn using the clothoid curve, from the clothoid origin Equation with only the arc length of

Determine the coordinates of the pressurized et al clothoid curve, without performing the exception handling in the vicinity of the clothoid origin, to draw a clothoid curve from the clothoid origin,
The driving support method according to any one of claims 14 to 21, characterized in that:

The step (E) is a recursion between the nth term (Tx (n), Ty (n)) of the series expansion of x, y of the relational expression.

Draw a clothoid curve using
The driving support method according to claim 22, characterized in that:

The driving support method according to any one of claims 14 to 23, wherein the basic position information in the step (D) is GPS information, magnetic nail information, and / or beacon information.

A program for causing a computer to generate and process driving support information of a vehicle,
A program for causing a computer to realize the function of the driving support system according to any one of claims 1 to 13.

A program for causing a computer to generate and process driving support information of a vehicle,
A program for causing a computer to implement the processing of the driving support method according to any of claims 14 to 24.

  An apparatus for assisting the driving of the vehicle by communicating with an external road geometry server mounted on the vehicle and recording road parameters and / or road information,
  Communication control means for controlling communication with the road geometry server and receiving the road parameters and / or road information from the road geometry server;
  Position information control means for calculating position information of the vehicle based on basic position information;
  Driving support information generation means for generating driving support information based on the road parameter and / or road information from the road geometry server and the position information from the position information control means;
A driving support apparatus comprising:

The driving support apparatus according to claim 27, wherein the driving support information generation unit generates the road information based on the road parameter from the road geometry server.

  further,
  Measuring means for detecting a state of the vehicle and calculating a measurement value;
  Measurement information control means for generating measurement information based on the measurement value from the measurement means;
  Equipped with
  The driving support information generation unit may generate the road information from the road geometry server, and / or the position information from the position information control unit, and the position information from the measurement information control unit. Generate driving support information based on the measurement information
The driving support device according to claim 27 or 28, characterized in that:

  The measuring means is
  Distance accumulation means for accumulating the travel distance of the vehicle to calculate the measurement value;
  Speed sensor means for measuring the speed of the vehicle and calculating the measured value;
  Gyro sensor means for measuring the inclination of the vehicle and calculating the measured value;
  Angle measurement means for measuring the traveling direction angle of the vehicle and calculating the measurement value;
Equipped with
  The measurement information control means generates cumulative distance information based on the measurement value from the distance accumulation means, generates speed information based on the measurement value from the speed sensor means, and generates the distance information from the gyro sensor means Rotation angle information is generated based on the measurement value, and direction angle information is generated based on the measurement value from the angle measurement means;
The driving support device according to claim 29, characterized in that.

Input means for inputting a request for the operating parameter and / or operating information;
Output means for displaying the road information and / or the driving support information;
Equipped with
31. The driving support device according to claim 27, wherein

  further,
  Map storage means for storing part or all of the road information and / or map information;
  The driving support information generation unit generates driving support information based on the road information, the position information, and the map information.
The driving support apparatus according to any one of claims 27 to 31, characterized in that:

The operation according to any of claims 27 to 32, wherein communication with the map geometry server is performed via a communication device such as a mobile phone and / or LCX (leaky coaxial cable) provided on a road. Support device.

The driving assistance apparatus according to any one of claims 27 to 33, wherein the driving assistance information generation means generates the driving assistance information using image information from a radar device and / or a laser scanning device.

The driving support apparatus according to any one of claims 27 to 34, further comprising: a driving control unit that controls the driving of the vehicle based on the driving support information generated by the driving support information generation unit.

The coordinates of the clothoid curve are determined from, and the clothoid curve is drawn from the clothoid origin without performing exception processing near the clothoid origin.
The driving assistance apparatus according to any one of claims 27 to 35, characterized in that:

Draw a clothoid curve using
The driving support device according to claim 36, characterized in that:

The driving support apparatus according to any one of claims 27 to 37, wherein the basic position information is information from a GPS (Global Positioning System), information from a magnetic nail, and / or information from a beacon.