Navigation device, automatic driving control device, and navigation method

Patent metadata

Field	Value
Publication number	US-11920935-B2
Application number	US-201917595896-A
Country	US
Kind code	B2
Filing date	May 28, 2019
Priority date	May 28, 2019
Publication date	Mar 5, 2024
Grant date	Mar 5, 2024

Abstract

A navigation device includes an own vehicle position detecting unit configured to detect position information of own vehicle; a route setting unit configured to set a guidance route that guides the own vehicle to a destination on the basis of a first map including information of a traveling route and the position information of the own vehicle; a matching unit configured to match a position of the own vehicle as a first own position with the traveling route where the own vehicle travels on the first map on the basis of the position information of the own vehicle; a driving lane detecting unit configured to match the position of the own vehicle as a second own position with a driving lane where the own vehicle travels on a second map on the basis of the second map including information of the driving lane in the traveling route and the position information of the own vehicle; and a calculating unit configured to determine whether the second own position is included in the first own position. When the guidance route is set, the matching unit matches the first own position on the guidance route, and when the second own position is no longer included in the first own position thereafter, the matching unit matches the first own position on the first map on the basis of the position information.

First claim

The invention claimed is:

1. A navigation device comprising:
own vehicle position detecting means configured to detect position information of own vehicle;
a first map including information of traveling routes and a second map including information of driving lanes in the traveling routes;
matching means configured to match a detected position of the own vehicle with a position, referred to as a first own position, on the traveling route where the own vehicle travels on the first map on the basis of the first map and the position information of the own vehicle, the first own position being a predetermined region around the center of the traveling route on which the own vehicle travels, the predetermined region having a dimension dependent on the resolution of the first map;
route setting means configured to set a guidance route that guides the own vehicle from its current detected position to a destination on the basis of the first map and the position information of the own vehicle;
driving lane detecting means configured to match the current detected position of the own vehicle with a position, referred to as second own position, on a driving lane where the own vehicle travels on the second map on the basis of the second map and the position information of the own vehicle, the second own position being a predetermined region around the center of the driving lane on which the own vehicle travels, the predetermined region having a dimension dependent on the resolution of the second map;
determining means configured to determine whether the second own position is included in the first own position; and
an automatic driving control device configured to perform automatic driving on the own vehicle,
wherein when the guidance route is set and the matching means matches the first own position on the guidance route, and when the second own position is no longer included in the first own position thereafter, the matching means re-matches the first own position on the first map on the basis of the position information and the route setting means updates the guidance route, and
wherein the automatic driving control device is able to perform automatic driving on the own vehicle when the guidance route is set and the second own position is included in the first own position.

2. The navigation device according to claim 1 , wherein the second map has a resolution higher than a resolution of the first map.

3. The navigation device according to claim 1 , wherein the first map does not include the information of the driving lane with which the position of the own vehicle is matched, and the second map includes the information of the driving lane with which the position of the own vehicle is matched.

4. The navigation device according to claim 1 , comprising reliability calculating means configured to calculate a matching reliability as a value indicative of probability that the own vehicle travels the traveling route for at least one of the traveling routes on the basis of the position information of the own vehicle and the information of the traveling route, wherein the matching means matches the first own position with the traveling route on the basis of the matching reliability.

5. The navigation device according to claim 4 , wherein the matching means matches the first own position with the traveling route with the highest matching reliability.

6. The navigation device according to claim 4 , wherein when the guidance route is set, the reliability calculating means sets the matching reliability regarding the guidance route to a higher value compared with a case where the guidance route is not set.

7. The navigation device according to claim 6 , wherein when the guidance route is set and the second own position is no longer included in the first own position thereafter, the reliability calculating means sets the matching reliability regarding the guidance route to the matching reliability before the setting of the guidance route, and the matching means matches the first own position with the traveling route with the highest matching reliability among the traveling routes.

8. The navigation device according to claim 4 , wherein when the guidance route is set, the reliability calculating means adds a predetermined value to the matching reliability regarding the guidance route.

9. The navigation device according to claim 8 , wherein when the guidance route is set and the second own position is no longer included in the first own position thereafter, the reliability calculating means subtracts the predetermined value added to the matching reliability regarding the guidance route, and after the predetermined value is subtracted, the matching means matches the first own position with the traveling route with the highest matching reliability among the traveling routes.

10. The navigation device according to claim 1 , wherein when the guidance route is set and the second own position is no longer included in the first own position thereafter, the route setting means updates the guidance route.

11. A navigation method using a first map comprising information of traveling routes and a second map comprising information of driving lanes in the traveling routes, the method comprising:
an own vehicle position detecting step of detecting position information of own vehicle;
a matching step of matching a detected position of the own vehicle with a position, referred to as a first own position, on the traveling route when the own vehicle travels on the first map on the basis of the first map and the position information of the own vehicle,
the first own position being a predetermined region around the center of the traveling route on which the own vehicle travels, the predetermined region having a dimension dependent on the resolution of the first map;
a route setting step of setting a guidance route that guides the own vehicle from its current detected position to a destination on the basis of the first map and the position information of the own vehicle;
a driving lane detecting step of matching the current detected position of the own vehicle with a position, referred to as a second own position, on a driving lane where the own vehicle travels on the second map on the basis of the second map and the position information of the own vehicle, the second own position being a predetermined region around the center of the driving lane on which the own vehicle travels the predetermined region having a dimension dependent on the resolution of the second map;
a determining step of determining whether the second own position is included in the first own position; and
an automatic driving controlling step of performing automatic driving on the own vehicle,
wherein when the guidance route is set and the matching step matches the first own position on the guidance route, and when the second own position is no longer included in the first own position thereafter, the matching step re-matches the first own position on the first map on the basis of the position information and the route setting step updates the guidance route, and
wherein the automatic driving controlling step can be performed when the guidance route is set and the second own position is included in the first own position.

12. The navigation device according to claim 1 , wherein when the own vehicle enters a route that is not the traveling route on the guidance route, automatic driving is cancelled.

13. The navigation method according to claim 11 , further comprising cancelling automatic driving when the own vehicle enters a route that is not the traveling route on the guidance route.

Assignees

• Nissan Motor
• Renault Sas

Inventors

• Takeda Wataru
• Hatayama Junichi
• Ito Tetsuya
• Ohashi Katsumi

Classifications

• G01C21/30 Primary

  Map- or contour-matching · CPC title

• B60W60/001

  Planning or execution of driving tasks · CPC title

• B60W2556/40

  High definition maps · CPC title