Driving assistance device and computer program
Provided is a driving assistance device/program enabling selection of an appropriate parking space for parking a vehicle. A lane network which is a network representing movement into lanes that can be selected by a vehicle, a parking network which is a network representing a course that can be selected by the vehicle in a parking lot, an after-getting-out-of-vehicle network which is a network representing a course that can be selected by a user with moving means used after getting out of the vehicle are obtained, a moving cost required for movement to a destination, including movement by the vehicle to a parking space in the parking lot and movement from the parking space to the destination by the moving means used after getting out of the vehicle, is calculated using the networks, and a parking space in which the vehicle is parked is selected using the calculated moving cost.
1 . A driving assistance device comprising:
lane network obtaining means for obtaining a lane network, the lane network being a network representing movement into lanes that are available to be selected by a vehicle;
parking network obtaining means for obtaining a parking network, the parking network being a network representing a course that is available to be selected by a vehicle in a parking lot;
after-getting-out-of-vehicle network obtaining means for obtaining an after-getting-out-of-vehicle network, the after-getting-out-of-vehicle network being a network representing a course at least within a parking lot that is available to be selected by a user with moving means used after getting out of a vehicle, the after-getting-out-of-vehicle network includes walking nodes and walking links connecting nodes for areas passable by pedestrians between the walking nodes and the areas passable by pedestrians includes passages passable by vehicles, passages only passable by pedestrians and passages including boundary lines of parking spaces, the walking nodes and walking links construct the after-getting-out-of-vehicle network;
cost calculating means for calculating, using the lane network, the parking network, and the after-getting-out-of-vehicle network, a moving cost required for movement to a destination, including movement by a vehicle to a parking space in a parking lot and movement from a parking space to a destination by moving means used after getting out of a vehicle, the moving cost for each walking link based on a length, a configuration and a type of the area passage being traversed on each walking link;
parking space selecting means for selecting a parking space in which a vehicle is parked, using the moving cost calculated by the cost calculating means; and
travel path generating means for generating a travel path recommended for a vehicle to travel along from a travel start location of a vehicle to a parking space selected by the parking space selecting means, in accordance with a route with a minimum moving cost searched by the parking space selecting means; and
an automated driving controller to provide autonomous control of a vehicle based on the travel path.
2 . The driving assistance device according to claim 1 , wherein
when a destination is a tenant in a facility including a plurality of tenants,
the cost calculating means calculates a moving cost required for movement to a destination, including movement by a vehicle to a parking space in a parking lot and movement from a parking space to a tenant that is a destination present in a facility by moving means used after getting out of a vehicle.
3 . The driving assistance device according to claim 2 , wherein the cost calculating means calculates a moving cost required for movement to a destination, using location information of a parking space in a parking lot, location information of an entrance to a facility including a tenant that is a destination, and location information of a tenant that is a destination present in a facility, the movement including movement by a vehicle to a parking space in a parking lot and movement from a parking space to a tenant that is a destination present in a facility by moving means used after getting out of a vehicle.
4 . The driving assistance device according to claim 1 , wherein the cost calculating means calculates a higher moving cost for longer time required for movement.
5 . The driving assistance device according to claim 1 , wherein in the after-getting-out-of-vehicle network, a section line of a parking space provided in a parking lot is included in a course that that is available to be selected by a user with moving means used after getting out of a vehicle.
6 . A non-transitory computer readable medium storing a computer program for causing a computer to function as:
lane network obtaining means for obtaining a lane network, the lane network being a network representing movement into lanes that are available to be selected by a vehicle;
parking network obtaining means for obtaining a parking network, the parking network being a network representing a course that is available to be selected by a vehicle in a parking lot;
after-getting-out-of-vehicle network obtaining means for obtaining an after-getting-out-of-vehicle network, the after-getting-out-of-vehicle network being a network representing a course at least within a parking lot that is available to be selected by a user with moving means used after getting out of a vehicle, the after-getting-out-of-vehicle network includes walking nodes and walking links connecting nodes for areas passable by pedestrians between the walking nodes and the areas passable by pedestrians includes passages passable by vehicles, passages only passable by pedestrians and passages including boundary lines of parking spaces, the walking nodes and walking links construct the after-getting-out-of-vehicle network;
cost calculating means for calculating, using the lane network, the parking network, and the after-getting-out-of-vehicle network, a moving cost required for movement to a destination, including movement by a vehicle to a parking space in a parking lot and movement from a parking space to a destination by moving means used after getting out of a vehicle, the moving cost for each walking link based on a length, a configuration and a type of the area passage being traversed on each walking link;
parking space selecting means for selecting a parking space in which a vehicle is parked, using the moving cost calculated by the cost calculating means; and
travel path generating means for generating a travel path recommended for a vehicle to travel along from a travel start location of a vehicle to a parking space selected by the parking space selecting means, in accordance with a route with a minimum moving cost searched by the parking space selecting means; and
an automated driving control unit to provide autonomous control of a vehicle, based on the travel path.