JP2001357499A - Safety traveling management device for vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To effectively prevent accidents by performing alarming even in a stage having time to spare at a frequency for not troubling a driver in the safety traveling management device of a vehicle for detecting beforehand a danger spot on an estimated route for which the future traveling route of the vehicle is estimated and alarming it. SOLUTION: The danger spots are respectively extracted within the two ranges of a long distance and a short distance on the estimated route of the vehicle, priority is provided and only one of the danger spots of both long distance and short distance is selected and alarmed to the driver.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a driving control of a motor vehicle, and more particularly to a safe driving management device which alerts a driver before the vehicle reaches a dangerous state during driving.

[0002]

2. Description of the Related Art Conventionally, for example, Japanese Patent Laid-Open Publication No.
As described in Japanese Patent Publication No. 9, a road shape (for example, a curved road) is extracted from map information possessed by a navigation device or the like that detects the position of the vehicle on a map, and a vehicle approach speed according to the road characteristics of the curved road. A device that reads or processes information and obtains a warning to the driver of speed reduction or activation of vehicle speed reduction means, issues an alarm or reduces vehicle speed before entering a curved road, and realizes safe driving Proposed. Further, for example, in the safe driving control system described in Japanese Patent Application Laid-Open No. 7-306998, the driving skill of a driver is measured, and a danger point when the estimated driving route is driven at the current vehicle speed is detected. The safe driving control is performed according to the driving skill.

[0003]

However, in this type of device, the running condition of the vehicle is dangerous with respect to the road characteristics so that the device does not frequently operate and the driver does not feel bothered. It is tuned to work only when or just before the situation. In other words, there is no time to reach a dangerous situation, and therefore, in order to avoid a dangerous situation, the driver must promptly perform an accurate driving operation in response to an alarm or control the vehicle speed reduction. You have to escape while feeling mental stress.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-described problems, and a driver is imminent by issuing a warning at a precise frequency and timing with a small burden on the driver. It is an object of the present invention not only to avoid such dangerous situations, but also to easily avoid such dangerous situations with sufficient time.

[0005]

Means for Solving the Problems Claim 1 according to the present invention.
The driving safety management device for a vehicle described above includes a map database storing road map information, a vehicle position detection unit that detects a current position of the vehicle on a map, and a traveling state detection unit that detects a traveling state of the vehicle. A travel route estimating means for estimating a future travel route of the vehicle based on the output of the map database and the own vehicle position detecting means, and managing the vehicle traveling on the estimated route. Means for acquiring location information of a danger point on the estimated route and danger information of each danger point; extracting the danger point within a first predetermined range from the current position of the vehicle on the estimated route. Means for informing a driver of a long-distance danger point, and extracting the danger point in a second range that is closer than the first range from the current position of the host vehicle on the estimated route. The said A vehicle traveling danger condition which leads to a danger determined according to the danger information at the steep point is compared with a traveling state of the vehicle from the traveling state detecting means, and a driver is notified of a danger point satisfying the vehicle traveling danger condition. Short-range danger point notification means.

According to a second aspect of the present invention, there is provided a safe driving management apparatus for a vehicle according to the first aspect, wherein the means for acquiring the location information of the danger point and the danger information of each danger point comprises:
The location information of the above-mentioned danger point and the danger information of each danger point on the map of the road map information are stored in advance, and the information on the estimated route from the traveling route estimation means is extracted and obtained.

According to a third aspect of the present invention, in the vehicle safety driving management apparatus according to the first aspect, the means for acquiring the location information of the danger point and the danger information of each danger point includes:
A road structure condition that is a dangerous point is stored in advance, and the dangerous point that satisfies the road structure condition is detected on the estimated route from the travel route estimating means, and the information is acquired.

According to a fourth aspect of the present invention, in the vehicle safety driving management apparatus according to the first aspect, the means for acquiring the location information of the danger point and the danger information of each danger point includes:
A wireless terminal is provided and acquired based on roadside information input from outside.

According to a fifth aspect of the present invention, there is provided a vehicle safety driving management apparatus according to any one of the first to fourth aspects, wherein the vehicle driving danger condition is set in advance according to danger information of each danger point. A stored one is used, or a calculated one is used in accordance with danger information of each danger point extracted by the short-range danger point notification means.

According to a sixth aspect of the present invention, there is provided a vehicle safety driving management device according to any one of the first to fifth aspects, wherein the current position of the vehicle at each predetermined point on the estimated route from the traveling route estimating means is determined. There is provided means for estimating the arrival time from the position, and the first and second ranges in the long-distance danger point notification means and the short-distance danger point notification means are set by the estimated arrival time.

According to a seventh aspect of the present invention, in the vehicle safety management apparatus according to the sixth aspect, the means for estimating the arrival time includes an average vehicle speed based on the vehicle speed from the traveling state detecting means, or road map information. The arrival time is estimated based on the regulated vehicle speed of the road and the distance obtained based on the road map information.

According to the present invention, there is provided a vehicle safety driving management device according to any one of claims 1 to 7, wherein the driving route estimating means operates at predetermined intervals to update the estimated route. In addition, every time the estimated route is updated, the long-distance dangerous point notification means and the short-range dangerous point notification means also operate to newly extract and notify a dangerous point.

According to a ninth aspect of the present invention, there is provided a vehicle safety driving management apparatus according to any one of the first to eighth aspects, wherein the danger information of each danger point includes a degree of danger, and a long-distance danger point notification means. The extraction of the danger point by the short-range danger point notification means is to extract the danger point whose degree of danger is equal to or more than a predetermined value.

According to a tenth aspect of the present invention, in the vehicle safety management device according to the ninth aspect, the predetermined value of the degree of danger that is a reference for extraction of a danger point is a value in the long distance danger point notification means. Is higher than the value in the short-range danger point notification means.

According to the present invention, there is provided a vehicle safety management system according to any one of the first to tenth aspects, wherein the danger point notification means and the short distance danger point notification means are operated at each danger point. If there is a danger point that satisfies the vehicle driving danger condition in the short distance danger point notification means, a high priority one is selected and notified, and the long distance danger point notification means Do not announce,
Further, when there is no danger point satisfying the vehicle traveling danger condition in the short distance danger point notification means, a high priority danger point is selected and notified from the long distance danger point notification means. Things.

According to a twelfth aspect of the present invention, there is provided the vehicle safety driving management device according to the eleventh aspect, wherein the vehicle travels within a predetermined time longer than an operation interval of the long distance danger point notification means and the short distance danger point notification means. Each of the danger point notification means does not perform the notification for the same danger point a plurality of times.

According to a thirteenth aspect of the present invention, there is provided the vehicle safety driving management device according to the eleventh or twelfth aspect, wherein the predetermined time period is longer than an operation interval of the long distance danger point notification means and the short distance danger point notification means. Among the above, each of the danger point notifying means does not notify the danger point having the same danger information a plurality of times.

According to a fourteenth aspect of the present invention, there is provided a vehicle safety driving management device according to any one of the first to thirteenth aspects, wherein a warning message to a driver is stored in advance for each danger point, and a long distance danger point is provided. The notification to the driver by the notification means and the short distance danger point notification means is performed by uttering or displaying the warning message.

[0019]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiment 1 FIG. 1 is a schematic configuration diagram of a safe driving management apparatus for a vehicle according to Embodiment 1 of the present invention. In the figure, reference numeral 101 denotes a locator device as a vehicle position detecting means, which indicates the position of the vehicle on a map by GP.
S102, angular velocity sensor 103, geomagnetic sensor 104,
It is determined based on information from the wheel speed sensor 105 and the map database 106. Here, the angular velocity sensor 103 and the wheel speed sensor 105 constitute a traveling state detecting means for detecting the traveling state of the vehicle, and may further include an acceleration sensor or the like as means for detecting the traveling state. Also, 107
Reference numeral denotes a danger prediction warning device as a long distance danger point notification means and a short distance danger point notification means, and includes an I / O interface 108, a CPU 109, a RAM 110, and a ROM 11.
It is composed of 1. The danger prediction warning device 107 includes road map information from the map database 106, position information of the own vehicle from the locator device 101, and the wheel speed sensor 1
Based on the wheel speed information from 2005 or in addition thereto, roadside information from the outside is input via the communication terminal 114 as a wireless terminal, and a calculation is performed based on the information. , The display 115 and the speaker 116 are driven to warn the driver to call attention.

FIG. 2 shows an example of digital map information stored in the map database 106. A digital map divides a road map into meshes, and combines nodes and links in units of the divided meshes and combinations of their attributes (for example, links connected to nodes, latitude and longitude, road numbers of links, widths, etc.). Road information is stored. Next, the flow of a program stored in the ROM 111 in the danger prediction warning device 107 and repeatedly executed by the CPU 109 at a predetermined cycle or every event will be described below.

FIG. 3 shows the state at predetermined time intervals, specifically, several tens to several hundreds.
It is a flowchart which shows the main process by the danger prediction warning apparatus 107 which is repeatedly executed every msec. First, in step 301, an input process for inputting the current position and the traveling state of the vehicle to the danger prediction warning device 107 via the I / O interface 108 is performed. Details will be described below with reference to FIG. First, in step 401, the current position of the host vehicle is read from the locator device 101,
Then, in step 402, the vehicle speed is read from the wheel speed sensor 105, or in addition thereto, the traveling state of the vehicle is detected by other traveling state detecting means and stored in the RAM 110.

Returning to FIG. 3, in step 302, the time required to reach each node on the estimated route from the current position of the own vehicle to the map information in the map database 106 is calculated. A process of estimating based on the average vehicle speed of the own vehicle is performed. The details of this estimating process will be described later with reference to FIG. 10 and the details of the traveling route estimating process will be described later with reference to FIGS. Subsequently, in step 303, a process of extracting a danger point on the estimated route and a warning determination process of determining whether to perform a warning are performed. Specifically, a danger point is extracted based on a traveling route list in which information for each node on the estimated route is stored, and it is determined whether or not to warn based on the degree of danger of the point. The extracted danger points are listed in a warning list described later. Details of the processing here will be described later with reference to FIGS. Subsequently, in step 304, a warning is issued to the driver regarding the danger point extracted in step 303, and a process for calling attention is performed. More specifically, a warning is issued for the danger points listed in the warning list in step 303, and the warned danger points are listed in a warning list described later. The details of this process will be described later with reference to FIG.

By the way, every time a running vehicle passes through each node shown in FIG. 2, a process of estimating a future travel route of the vehicle is performed. This is an interrupt process that is repeatedly executed during the main process shown in FIG. 3, and will be described below with reference to FIG. First, as shown in FIG. 5, in step 501, a post-node passing timer (Tim) that stores the time elapsed since the last passing of the node is initialized to zero. The post-node timer is a timer that is counted up every predetermined time. Subsequently, in step 502, a traveling route that the host vehicle will travel in the future is estimated, and the estimated route is listed in a traveling route list described later for each node. Details of the processing here will be described below based on the flowcharts in FIGS.

First, in step 601, a variable i as a node ID (ID added to a node included in a future traveling route of the own vehicle in order of decreasing distance) is initially set to 1. Subsequently, in step 602, a variable hsum for storing the integrated value of the distance is initialized to 0. Subsequently, in step 603, the position information of the vehicle input from the locator device 101 is compared with the map database 106, and the number of the node that has passed at present is stored in a variable N (i). Subsequently, in step 604, the number of the node that has passed the previous time is read from the RAM 110 and stored in the variable Nold. Subsequently, in step 605, hsum is changed from the current position to node i.
Is stored in a variable D (i) as the distance to the object. Therefore, D (1) of the first node (i = 1 node) becomes 0. Subsequently, in step 606, a plurality of links to be connected are searched from the attribute information of the node having the node number N (i), and the link numbers (L1 to Ln) and the attribute information of the links are listed.

Subsequently, in step 607, step 60
From the links (L1 to Ln) listed in 6,
Select the link Lm whose connection destination node is Nold,
Since this link Lm is a link that has traveled, it is removed from the list. The list of a plurality of links (L1 to Ln excluding Lm) thus obtained is a future route candidate. Subsequently, in step 608, the process branches depending on the number of links listed, so the process branches. If there is only one link, the route taken by the vehicle in the future is automatically determined, and there is no need to perform the estimation process. In this case, the process proceeds to step 610. On the other hand, if there are a plurality of links, it is necessary to estimate the link most likely to travel in the future from among them, and the process proceeds to step 609.

Subsequently, at step 609, the link which is most likely to travel in the future is estimated. The information necessary for making this estimation is based on the attributes (road type, line number, width) of the road of the link. include. Focus on the importance of roads as an example of the estimation method. The road type is the first key attribute, and the priority is defined as follows. Expressway National Highway> Automobile Expressway> General National Highway> General Prefectural Road> General Municipal Road> Other priority is given in the order of high traffic volume. Then, the route to reach the destination through the branch line is considered. In this estimating method, among the plurality of links, the one having the highest priority among the plurality of links with the attribute of the road type in the above-described priority is selected, and the route to be taken in the future is estimated. The route number is used as the second key attribute, and the one with the smaller number is prioritized. As a third key attribute, the one having a small angle to intersect with the previous link is prioritized. This is to proceed as straight as possible at an intersection (node).
A road width is used as a fourth key attribute, and a wider one is given priority. The first key attribute is given the highest priority, and the fourth key attribute is given the lowest priority. In this way, one link having a high possibility of being used as a route is selected from a plurality of links connected to the node, and the number of this link is set as a variable L (i).
To be stored. As a second example of the estimation method in step 609, for example, when attention is paid to the actual size of the road, the angle at which the previous link intersects the
Route selection may be performed by using the road width as the key attribute, the road type as the third key attribute, and the route number as the fourth key attribute, and the route may be estimated.

Subsequently, at step 610, the node N
(I), number of link L (i), attribute information, and distance D
(I) are stored in the traveling route list provided in the RAM 110. FIG. 8 shows the configuration of this travel route list.
The attribute information of the node includes a danger classification k (i) and a danger level (danger level) LV (i) as danger information, and the danger classification and the danger level are assigned in advance as shown in FIG. ing. Here, the degree of danger is
For example, a value of 0 to 3 is taken, and a larger value means more dangerous. Subsequently, at step 611, the sum hsum of the distance is added to the length h (i) of the link L (i) connected to the node i, and the sum is stored again as hsum. Subsequently, at step 612, the node ID is incremented. Subsequently, in step 613, the node ID is compared with a predetermined value imax (for example, a numerical value of 100) stored in the ROM 111 in advance. If the node ID is equal to or smaller than imax, the process jumps to step 605 and the processes of steps 605 to 612 are performed again. .
If it is larger than imax, the traveling route estimation processing ends.

As described above, each time the vehicle passes through each node during the main processing shown in FIG. 3, as an interrupt processing, a future vehicle is determined based on the current position input from the locator device 101 and the information from the map database 106. Is estimated, and information is listed in the traveling route list on a node-by-node basis. Upon completion of this interrupt processing, the process returns to step 302 in FIG. The process of estimating the time required to reach each node on the estimated route of the vehicle from the current position of the host vehicle in step 302 will be described in detail below with reference to FIG.

First, in step 1001, a variable i meaning a node ID is initialized to 1. Then step 1
In 002, a variable T (i) storing the time from the current position to the arrival at the node i is initialized to 0. Subsequently, in step 1003, T (i) is stored in the series of the node i in the traveling route list (see FIG. 8). Therefore, T (1) of the first node (i = 1 node) becomes 0. Subsequently, in step 1004, the node ID is compared with a predetermined value imax. If the node ID is smaller than imax, the process proceeds to step 1005. If the node ID is equal to or larger than imax, the arrival time estimation process ends. Subsequently, in step 1005, the distance D (i) to the node i, the average vehicle speed Vave calculated based on the vehicle speed of the own vehicle obtained from the wheel speed sensor, and the time from the previous node passage time (previous travel route list update time) Elapsed time Ti
m to reach node i (D (i) /
Vave-Tim) is calculated and stored in T (i). Subsequently, in step 1006, the node ID is incremented, and the process jumps to step 1003 to repeat the processing in step 1103 and thereafter.

Here, the time required to reach the node i is calculated based on the average vehicle speed Vave calculated based on the vehicle speed of the host vehicle and the elapsed time Tim from the previous node passage time (previous running route list update time). However, based on the regulated vehicle speed of the road and Tim, the node i
May be calculated.

Next, the danger spot extraction processing and the alarm determination processing in step 303 of FIG. 3 will be described below with reference to FIG. In this processing, an alarm list and an alarmed list as shown in FIG. 12 are used. The alarm list lists (stores) the nodes (dangerous points) to be warned from now on. The alarmed list continuously stores information of the alarmed node for a predetermined time after the alarm, and prevents nodes in the alarmed list from being listed (stored) in the alarm list. Note that two sets of the alarm list and the alarmed list are prepared for long-distance use and short-distance use. First, step 110
In step 1, a node that has passed a predetermined time from the alarm occurrence time in the long-distance alarmed list provided in the RAM 110 is deleted from this list. Subsequently, in step 1102, from the short-distance alarmed list provided in the RAM 110, a node that has passed a predetermined time from the alarm occurrence time is deleted from this list.

Subsequently, in step 1103, a long-range danger point extraction process for extracting a node that is a danger point in a relatively wide range of the first range is performed. The details of this process will be described later with reference to FIG. Then step 11
In step 04, a short-range dangerous point extraction process is performed to extract a node that becomes a dangerous point in a relatively narrow distance range that is the second range. Details of the processing here will be described later with reference to FIG. Subsequently, in step 1105, the long-range alarm list is arranged. Specifically, the nodes included in the short distance alarm list in the long distance alarm list are deleted from the long distance alarm list. In the long-distance alarm list, if the long-distance alarmed list includes nodes having the same danger classification, the nodes are deleted from the long-distance alarm list. Subsequently, in step 1106, the short-range alarm list is arranged. Specifically, in the short-distance alert list, if the short-distance alerted list includes a node having the same danger classification, the node is deleted from the short-distance alert list. In addition, the traveling state of the own vehicle is compared with the traveling state of the vehicle determined according to the risk classification of the node in the short-range warning list, and the traveling state of the own vehicle does not match the traveling state of the vehicle. If so, remove it from the list. Details of the arrangement of the short-distance warning list based on the comparison with the vehicle traveling danger condition (danger condition comparison processing 1106a) will be described later with reference to FIG.

Next, the long-distance dangerous point extraction processing in step 1103 in FIG. 11 will be described below with reference to FIG. First, in step 1301, a variable i meaning a node ID is initialized to 1. Then step 1302
Then, it is determined whether the risk level LV (i) is 3 or more. If it is three or more, the process proceeds to step 1303, and if it is less than three, the process proceeds to step 1306. Here, in the process of extracting nodes whose degree of risk is equal to or more than a predetermined value, a predetermined value other than 3 may be 2 or 1. Subsequently, step 1303
Then, it is determined whether or not the node i exists in the long-distance alerted list. If not, step 130
4 and if so, to step 1306. Subsequently, in step 1304, the node i is stored as a long-distance danger point and the information is stored in the long-distance warning list.

Subsequently, in step 1305, the arrival time T (i) to the node i is compared with a predetermined value (Tfar) stored in the ROM 110. If the arrival time Ti is within a range smaller than Tfar, which is the first range, step 13
The process proceeds to step 06, and if it is equal to or greater than Tfar, the long-range dangerous point extraction processing ends. Subsequently, in step 1306, the node ID is incremented. Then step 130
In step 7, the node ID is compared with a predetermined value imax.
The processing up to 06 is performed again. Node ID is ima
When it is larger than x, the arrival time estimation processing ends.

Next, the short-range danger point extraction processing in step 1104 of FIG. 11 will be described below with reference to FIG. First, at step 1401, a variable i meaning a node ID is initialized to 1. Then step 1402
Then, it is determined whether the risk level LV (i) is 1 or more. If it is 1 or more, the process proceeds to step 1403. If it is less than 1, the process proceeds to step 1406. Here, in the process of extracting nodes whose degree of danger is equal to or more than a predetermined value, a predetermined value other than 1 may be 2 or 3, but it is set to be smaller than the predetermined value in step 1302 in the long distance danger point extraction process. desirable. Subsequently, in step 1403, it is determined whether or not the node i exists in the short-distance alerted list. If not, proceed to step 1404,
If there is, the process proceeds to step 1406. Then step 1
At 404, the information is stored in the short-range alert list with the node i as the short-range danger point.

Subsequently, at step 1405, the arrival time T (i) to the node i is compared with a predetermined value (Tnear) stored in the ROM 110. If the arrival time Ti is within a range smaller than Tnear which is the second range, step 14 is executed.
The process proceeds to step 06, and if it is equal to or greater than Tnear, the near-range dangerous point extraction processing ends. Here, the predetermined value (Tnear) is set to a time shorter than the predetermined value (Tfar) in step 1305 in the long distance dangerous point extraction processing, for example, from several seconds to several tens of seconds. Subsequently, at step 1406, the node I
Increment D. Subsequently, in step 1407, the node ID is compared with a predetermined value imax, and when it is equal to or smaller than imax, the process proceeds to step 1402 and steps 1402 to 1406.
Repeat the process up to. If the node ID is larger than imax, the short-range danger point extraction processing ends.

Next, the danger condition collation processing 1106a, which is a part of the short-distance alarm list arrangement processing in step 1106 of FIG. 11, will be described below with reference to FIG.
This process is executed for each of all the nodes listed in the short-distance alert list, and the vehicle traveling danger condition (in this case, the vehicle speed condition) determined according to the danger classification at each node and the self The traveling state (vehicle speed) of the vehicle is compared, and if the traveling state of the own vehicle does not match the vehicle traveling danger condition, it is deleted from the list. In addition,
For convenience, the danger classification of the nodes listed in the short-distance alarm list is only 1, 2, 3, and 4 in this case. First, in step 1501, it is determined whether or not the value of the danger classification at the node in the short-distance warning list is 1, that is, whether or not the danger classification is “intersection without signal” (see FIG. 9). If it is not 1, the process proceeds to step 1503. If it is 1, the process proceeds to step 1502. Then step 150
In 2, it is determined whether the vehicle speed V of the host vehicle is lower than V1 stored in the ROM 111 in advance. If the vehicle speed V is lower than V1, it is determined that the vehicle running state does not match the dangerous condition, and the process proceeds to step 1508. Vehicle speed V is V1
If this is the case, it is determined that the vehicle running state matches the risk condition, and the risk condition matching process ends.

Subsequently, in step 1503, it is determined whether or not the value of the danger classification is 2, that is, whether or not the danger classification is "interruption instruction intersection" (see FIG. 9). If it is not 2, the process proceeds to step 1505. If it is 2, the process proceeds to step 1504.
Proceed to. Subsequently, in step 1504, the vehicle speed V of the own vehicle
Is smaller than V2 stored in the ROM 111 in advance. If the vehicle speed V is lower than V2, it is determined that the vehicle running state does not match the dangerous condition, and the process proceeds to step 1508. If the vehicle speed V is equal to or higher than V2, it is determined that the vehicle running state matches the risk condition, and the risk condition matching process is terminated. Subsequently, in step 1505, whether the value of the risk category is 3, that is, the risk category is “toll gate” (FIG. 9)
See). If not 3, step 15
07, if it is 3, the process proceeds to step 1506. Subsequently, at step 1506, the vehicle speed V of the own vehicle is stored in the ROM 11
It is determined whether or not V3 is smaller than V3 stored in advance. If the vehicle speed V is lower than V3, it is determined that the vehicle running state does not match the dangerous condition, and the process proceeds to step 1508. If the vehicle speed V is equal to or higher than V3, it is determined that the vehicle running state matches the risk condition, and the risk condition matching process is terminated.

Subsequently, at step 1507, it is determined whether or not the vehicle speed V of the host vehicle is lower than V4 stored in the ROM 111 in advance because the value of the danger classification is "takeover" of 4 (see FIG. 9). If the vehicle speed V is lower than V4, it is determined that the vehicle running state does not match the dangerous condition, and the process proceeds to step 1508. If the vehicle speed V is V4 or higher,
It is determined that the vehicle running state matches the danger condition, and this danger condition collation processing ends. Subsequently, in step 1508, information on nodes whose vehicle running state does not match the risk condition is deleted from the short-range warning list.

Next, the output processing in step 304 of FIG. 3 will be described below with reference to FIG. In this process, for the nodes (dangerous points) listed in the alert list in step 303, a high-priority node is selected and an alert is issued, and the alerted node is listed in the alerted list. First, in step 1601, it is determined whether or not a node (dangerous point) to be warned exists in the short-range warning list. Step 1602 if present
If not, the process proceeds to step 1605. This process allows you to set
The occurrence of an alarm is given priority to a danger point in the short-distance alarm list. Subsequently, in step 1602, among the nodes (dangerous points) in the short-distance alarm list, nodes having the highest degree of danger (if there are a plurality of nodes having the highest degree of danger, the degree of danger is the highest, and Only one node (a node that has been stored for a long time) is selected.
A warning message corresponding to the danger classification stored in advance is output from the speaker 116 to give an alarm.

Subsequently, in step 1603, step 1
The information of the node (dangerous point) warned in 602 is stored in the short-range warned list. At the time of storage, the current time, that is, the alarm occurrence time is added. The information stored here is deleted from the short-distance alarmed list in step 1102 in FIG. 11 when a predetermined time has elapsed from the alarm generation time. Note that the predetermined time for which information is held in the short-distance alerted list is set to be longer than the operation interval of the repetition of a series of processes in steps 302 to 304 in FIG. Subsequently, in step 1604, the information of the node (dangerous point) warned in step 1602 is deleted from the short-range warning list.

Subsequently, in step 1605, among the nodes (dangerous points) in the long-distance warning list, nodes having the highest degree of danger (if there are a plurality of nodes having the highest degree of danger, the degree of danger is the highest. And the oldest stored node) is selected and the ROM 11
A warning message corresponding to the danger classification, which is stored in advance in 1, is output from the speaker 116 to warn. Subsequently, in step 1606, information on the node (dangerous point) warned in step 1605 is stored in the long-distance warned list. At the time of storage, the current time, that is, the alarm occurrence time is added. When a predetermined time has passed since the time when the alarm was generated, the stored information is stored in step 11 of FIG.
01 is deleted from the long-distance alerted list.
It should be noted that the above-mentioned predetermined time for keeping the information in the long-distance alarmed list is set longer than the operation interval of the repetition of the series of processes in steps 302 to 304 in FIG. May be the same time as the predetermined time for which is held. Subsequently, in step 1607, information on the node (dangerous point) warned in step 1605 is deleted from the long-distance warning list. Step 1702,
In the example of 1705, the message corresponding to the risk classification is RO
Although it is stored in M111, it may be stored in the map database 106 together with information on the danger point.

Note that the alarm output in steps 1602 and 1605 uses the speaker 116, but an alarm may be displayed using the display 115. Also, so that the driver does not feel annoying
The speaker 116 for the short-range warning only in step 1602
And the display 115 may be used for the long-distance warning in step 1605.

As described above, in this embodiment, the traveling route on which the host vehicle will travel in the future is estimated, and the danger points existing on this estimated route are extracted in a long distance range. To the alarm list. The danger points listed in the warning list are configured such that a warning message corresponding to the danger classification is output from the speaker 116. Therefore, at a point relatively far from the danger point, that is, at a time when there is enough time, by predicting and warning the danger irrespective of the traveling state of the own vehicle,
The driver's consciousness can be made to act on the safe side. As a result, the driver can easily avoid danger with an appropriate driving operation with sufficient time and mental space. Also, the danger points existing on the estimated route are separately extracted in a short distance range, and are listed in a short distance alarm list.
However, in this case, if the traveling state (vehicle speed) of the vehicle does not match the preset danger condition, that is, if the vehicle is traveling safely, it is deleted from the alarm list. The danger points listed in the warning list are configured so that a warning message corresponding to the danger classification is output from the speaker 116. Therefore, as a result of the warning in the long distance range, even if the driver's consciousness is made to act on the safe side, if the driver accidentally falls into a dangerous state, immediately before reaching the danger point (short distance range). This can be detected and a warning can be issued again, thereby effectively preventing accidents.

Further, the alarmed lists for long-distance and short-distance are provided, and the alarmed danger points are stored for a predetermined period of time, so that the same range can be set for the long-distance range and the short-distance range. Do not warn about danger points more than once. As a result, the danger point warned at a long distance is not repeatedly warned until it enters the short distance range, that is, immediately before the danger point. Also, using the above-mentioned alarmed list, warnings are not repeatedly performed in the same manner in the long-distance range and the short-distance range for the danger points belonging to the same danger classification. Thus, for example, when a similar curve is continuous such as a mountain road, the same warning is not repeated many times. The warning is issued only when the degree of danger at the danger point is equal to or higher than a predetermined value. In particular, as for the danger points extracted at a long distance that are not imminent dangers, only the danger points with a higher degree of danger are warned as compared with those at a short distance. With these processes, only high-priority warnings are output,
The frequency of the warning output is not unnecessarily increased, and the driver does not feel troublesome.

Embodiment 2 Although the danger classification and the danger degree as the danger information described in the first embodiment are based on the attribute information of the node, they may be based on the attribute information of the link. In this case, FIG. 17 shows the one corresponding to the danger information shown in FIG. 9 of the first embodiment. Here, the degree of danger takes a value of 0 to 3, and the larger the value, the more the danger. Also in the second embodiment, the same effects as those of the first embodiment can be obtained.

Embodiment 3 Next, a vehicle safety driving management device according to a third embodiment of the present invention will be described.
In this embodiment, the danger classification and the danger degree as danger information are not stored in advance in the attribute information, and the road structure conditions (in this case, the curve Is set and stored, and the danger classification and the danger degree are determined, and a danger point satisfying the above road structure condition is detected. Hereinafter, the processing of the danger prediction warning device 107 according to this embodiment will be described.
In the main process shown in FIG. 3 in the first embodiment, after executing the vehicle traveling route estimation process shown in FIG. 5 which is an interruption process, the curve curvature is calculated based on information of each node on the estimated route. Estimate and extract danger curves. The curve curvature radius estimation processing and the risk curve extraction processing will be described below with reference to FIG. FIG.
Is a road map information diagram showing the relationship between nodes, links, and the like. First, in step 1801, a variable i meaning a node ID is initialized to 1. Then step 180
In 2, the slope a (i-1) of the link L (i-1) is obtained as follows. a (i-1) = (X (i) -X (i-1)) / (Y
(I) -Y (i-1)) (X (i), Y (i)): coordinates of node i

Subsequently, in step 1803, step 1
Similarly to 802, the gradient a (i) of the link L (i) is obtained. Subsequently, at step 1804, link L (i-1)
And the angle θ (i) formed by the link L (i) are obtained as follows. θ (i) = tan ⁻¹ (a (i)) − tan ⁻¹ (a (i−
1)) Subsequently, in step 1805, the radius of curvature r (i) is obtained as follows. r (i) = h (i) / θ (i) h (i): length of link L (i) Subsequently, in step 1806, the radius of curvature r ( i) is stored. Subsequently, in step 1807, the risk classification is set to 9, and the degree of danger is set based on the radius of curvature r (i) and the regulated vehicle speed V (i) according to the characteristic diagram shown in FIG. As shown in FIG. 20, the degree of danger decreases as the radius of curvature r (i) increases, and the degree of danger decreases as the regulation vehicle speed V (i) decreases. The thus set danger classification and danger degree are stored in the traveling route list. Subsequently, in step 1808, the variable i as the node ID is incremented. Subsequently, in step 1809, the node ID is compared with a predetermined value imax.
The process proceeds to step 2 and the processing of steps 1802 to 1808 is performed again. When the node ID is larger than imax, the curve curvature radius estimation processing and the risk curve extraction processing are ended.

Next, as in the first embodiment, the processing of steps 302 to 304 in the main processing is performed.
In the first embodiment, the risk condition matching process shown in FIG. 15 is changed to the process shown in FIG. 21 in this case. Hereinafter, the risk condition matching process will be described with reference to FIG. This process is executed for each of all nodes listed in the short-range alert list.
Curvature radius r (i) as danger information at each node i
The vehicle traveling danger condition (vehicle speed condition in this case) determined in correspondence with the traveling state (vehicle speed) of the own vehicle is compared. If the traveling state of the own vehicle does not match the vehicle traveling danger condition, Remove from list.

First, in step 2101, it is determined whether or not the value of the danger classification is 9, that is, whether or not the danger classification is “curve”. If it is not 9, this process ends. If it is 9, the process proceeds to step 2102. Subsequently, at step 2102, the upper limit value Vr of the vehicle speed at which the vehicle can safely pass through the curve is calculated as follows. Here, k is a coefficient set and stored in the ROM 111 in advance. Vr = k√ (r (i)) Subsequently, in step 2103, it is determined whether or not the vehicle speed V of the own vehicle is lower than the vehicle speed Vr calculated in step 2102. If the vehicle speed V is lower than Vr, it is determined that the vehicle traveling state does not match the dangerous condition, and step 210 is performed.
Proceed to 4. If the vehicle speed V is equal to or higher than Vr, it is determined that the vehicle running state matches the danger condition, and the danger condition collation processing ends. Subsequently, in step 2104, information on nodes whose vehicle running state does not match the risk condition is deleted from the short-range warning list.

As described above, in this embodiment, the travel route on which the host vehicle will travel in the future is estimated, the curve existing on the estimated route is extracted, the curvature radius of the curve is calculated, and the curve curvature is calculated. The degree of danger is set according to the radius.
Then, a curve serving as a danger point existing on the estimated route is extracted in a long-distance range, and listed in a long-distance warning list. For the danger points listed in the alarm list, a warning message corresponding to the danger classification is output from the speaker 1.
16 is output. Therefore, at a point relatively far from the curve that is a danger point, that is, at a time when there is enough time, the driver's consciousness is acted on the safe side by predicting and warning danger irrespective of the traveling state of the host vehicle. Can be done. As a result, the driver can easily avoid danger with an appropriate driving operation with sufficient time and mental space. In addition, a curve existing on the estimated route is separately extracted in a short distance range and listed in a short distance alarm list. However, in this case, if the traveling state (vehicle speed) of the vehicle does not match the risk condition calculated from the radius of curvature, that is, if the vehicle is traveling safely, it is deleted from the alarm list. The danger points listed in the warning list are configured so that a warning message corresponding to the danger classification is output from the speaker 116. Therefore, as a result of the warning in the long-distance range, even if the driver's consciousness is made to act on the safe side, if the driver accidentally falls into a dangerous state, immediately before reaching the danger point curve (short-distance Range), it is possible to detect it again and give a warning again, thereby effectively preventing accidents.

When the radius of curvature of the curve is large, the degree of danger is set small, and a warning is issued only when the degree of danger is equal to or more than a predetermined value. In particular, as for the danger points extracted at a long distance that are not imminent dangers, only the danger points with a higher degree of danger are warned as compared with those at a short distance. Furthermore, similar to the first embodiment, the alarmed lists for long distance and short distance are provided to prevent the same warning from being repeated many times, so that only the high priority warning is output. As a result, the frequency of the warning output becomes unnecessary and the driver does not feel troublesome.

Embodiment 4 Embodiments 1 and 2 above
In the above, the danger classification and the danger degree are based on the attribute information of the node or the link, and are stored in the map database 106 together with the location information of the danger point. May be input via the communication terminal 114, a danger point may be detected based on this roadside information, and a danger classification and a danger degree may be set. In this case, FIG.
FIG. 22 shows information corresponding to the danger information shown in FIG. Here, the degree of danger takes a value of 0 to 3, and a larger value indicates a danger, but dynamically changes in a roadside state. Also in the fourth embodiment, similar effects can be obtained by the same processing as in the first embodiment.

It should be noted that, for example, by distinguishing by danger classification, the danger point detected by setting the danger classification and the danger degree based on the roadside information, and the location information and the danger point as described in the first and second embodiments. It is also possible to combine both the danger points in which the danger classification and the danger degree are stored in advance, and warn the danger points extracted from the danger points extracted by the same processing as in the first embodiment.

[0055]

As described above, the vehicle safety driving management apparatus according to the first aspect of the present invention comprises: a map database storing road map information; and a vehicle position detecting a current position of the vehicle on a map. Detecting means, running state detecting means for detecting a running state of the vehicle, and running route estimating means for estimating a future running route of the vehicle based on outputs of the map database and the vehicle position detecting means. Means for managing vehicle travel on the estimated route, means for acquiring location information of danger points on the estimated route and danger information of each danger point; A long-distance danger point notification means for extracting the danger point within a predetermined first range from the position and informing the driver of the danger point; Also The danger points are extracted within a second range of the distance, and a vehicle traveling danger condition leading to a danger determined according to the danger information at each of the danger points and a traveling state of the vehicle from the traveling state detecting means are extracted. And a short distance danger point notification means for notifying the driver of a danger point that satisfies the vehicle traveling danger condition. For this reason, it is possible to announce the danger at a long distance from the danger point and apply the driver's consciousness to the safe side, avoid the danger easily with sufficient time and mental space, and furthermore, the danger state In the event that the vehicle falls into a danger point, it can be detected and notified immediately before reaching the danger point (a short distance range), and accident prevention can be effectively achieved.

According to a second aspect of the present invention, there is provided a vehicle safety driving management apparatus according to the first aspect, wherein the means for acquiring the location information of the danger point and the danger information of each danger point comprises:
The location information of the above-mentioned danger point and the danger information of each danger point on the map of the road map information are stored in advance, and the information on the estimated route from the traveling route estimation means is extracted and obtained, so that it is easy and reliable. The dangerous point to be notified can be detected, and the driver can be notified of the dangerous point without fail.

According to a third aspect of the present invention, in the vehicle safe driving management apparatus according to the first aspect, the means for acquiring the location information of the danger point and the danger information of each danger point includes:
In order to store in advance the road structure conditions that become the danger points, detect the danger points that satisfy the road structure conditions on the estimated route from the travel route estimation unit, and acquire the information, the danger points that should be informed reliably are The detection can be performed, and the data amount of the dangerous point stored in advance can be reduced.

According to a fourth aspect of the present invention, there is provided a vehicle safety driving management apparatus according to the first aspect, wherein the means for acquiring the location information of the danger points and the danger information of each danger point comprises:
Since the wireless terminal is provided and acquired based on roadside information input from the outside, it is possible to detect a dangerous point following the changing roadside state, and to notify the driver of the dangerous point with high reliability.

According to a fifth aspect of the present invention, there is provided a vehicle safety driving management device according to any one of the first to fourth aspects, wherein the vehicle driving danger condition is set in advance in accordance with danger information of each danger point. To use the memorized data or to calculate and use according to the danger information of each danger point extracted by the short-range danger point notification means, immediately before reaching the danger point (short distance range), Dangerous points to be notified can be reliably detected in response, which is more effective in preventing accidents.

According to a sixth aspect of the present invention, there is provided a vehicle safety driving management device according to any one of the first to fifth aspects, wherein the current position of the vehicle at each predetermined point on the estimated route from the traveling route estimating means is determined. It is provided with a means for estimating the arrival time from the position, and the first and second ranges in the long distance danger point notification means and the short distance danger point notification means are set based on the estimated arrival time. As a result, it is possible to reliably detect and notify an imminent danger point even at a short distance, thereby effectively preventing accidents.

According to a seventh aspect of the present invention, there is provided a vehicle safety driving management apparatus according to the sixth aspect, wherein the means for estimating the arrival time comprises an average vehicle speed based on the vehicle speed from the traveling state detecting means, or road map information. The arrival time is estimated based on the regulated vehicle speed of the road and the distance obtained based on the road map information, so that a highly reliable arrival time can be estimated.

According to an eighth aspect of the present invention, in the vehicle safety driving management apparatus according to any one of the first to seventh aspects, the traveling route estimating means operates at predetermined intervals to update the estimated route. Yes, every time the estimated route is updated, the long-distance danger point notification means and the short-distance danger point notification means also operate to newly extract and notify the danger point, so that the extraction of the danger point to be notified can be performed with high reliability. It can be done reliably.

According to a ninth aspect of the present invention, there is provided a safe driving management apparatus for a vehicle according to any one of the first to eighth aspects, wherein the danger information of each danger point includes a degree of danger, and a long-distance danger point notification means. The extraction of the danger points by the short-range danger point notification means extracts the danger points whose degree of danger is equal to or more than a predetermined value, so that the frequency of the notification is reduced and only the danger points of high importance are effectively notified. can do.

According to a tenth aspect of the present invention, in the vehicle safety management apparatus according to the ninth aspect, the predetermined value of the degree of danger which is a reference for extraction of a danger point is a value in a long distance danger point notification means. Is higher than the value of the short-range danger point notification means, the short-distance imminent danger point is regarded as more important, and only the danger point having a higher importance can be effectively notified.

According to an eleventh aspect of the present invention, there is provided a vehicle safety driving management apparatus according to any one of the first to tenth aspects, wherein the danger point notification means and the short distance danger point notification means operate at each danger point. If there is a danger point that satisfies the vehicle driving danger condition in the short distance danger point notification means, a high priority one is selected and notified, and the long distance danger point notification means Do not announce,
Further, when there is no danger point satisfying the vehicle traveling danger condition in the short distance danger point notification means, a high priority danger point is selected and notified from the long distance danger point notification means. Therefore, the frequency of the notification can be reduced, and only the danger point with high importance can be effectively notified, and the driver is not bothered.

According to a twelfth aspect of the present invention, there is provided a vehicle safety driving management device according to the eleventh aspect, wherein the vehicle travels within a predetermined time longer than an operation interval of the long distance danger point notification means and the short distance danger point notification means. However, since the above-mentioned danger point notification means does not perform the notification for the same danger point a plurality of times, the frequency of the notification can be effectively and reliably reduced, and only the danger points with high importance can be notified, which may bother the driver. Absent.

According to a thirteenth aspect of the present invention, in the vehicle safety driving management device according to the eleventh or twelfth aspect, the predetermined time longer than the operation interval of the long distance danger point notification means and the short distance danger point notification means is provided. Among the above, each of the danger point notification means, since the notification about the danger point having the same danger information is not performed a plurality of times, the frequency of the notification can be effectively and reliably reduced, and only the danger point with high importance can be notified,
It does not bother the driver.

According to a fourteenth aspect of the present invention, there is provided a vehicle safety driving management device according to any one of the first to thirteenth aspects, wherein a warning message to a driver is stored in advance for each danger point, and Since the notification to the driver by the notification means and the short-range danger point notification means is performed by uttering or displaying the above-mentioned warning message, the driver can be reliably warned about the danger point and can call attention.

[Brief description of the drawings]

FIG. 1 is a schematic configuration diagram of a safe driving management apparatus for a vehicle according to a first embodiment of the present invention.

FIG. 2 is a diagram showing digital map information according to the first embodiment of the present invention.

FIG. 3 is a flowchart showing a main process according to the first embodiment of the present invention.

FIG. 4 is a flowchart showing an input process according to the first embodiment of the present invention.

FIG. 5 is a flowchart showing an interrupt process for the main process according to the first embodiment of the present invention.

FIG. 6 is a flowchart showing a traveling route estimation process according to the first embodiment of the present invention.

FIG. 7 is a flowchart showing a traveling route estimation process according to the first embodiment of the present invention.

FIG. 8 is a diagram showing a traveling route list according to the first embodiment of the present invention.

FIG. 9 is a diagram showing danger information of a danger point according to the first embodiment of the present invention.

FIG. 10 is a flowchart illustrating an arrival time estimation process according to the first embodiment of the present invention.

FIG. 11 is a flowchart showing a dangerous point extraction process and an alarm determination process according to the first embodiment of the present invention.

FIG. 12 is a diagram showing an alarm list and an alarmed list according to the first embodiment of the present invention.

FIG. 13 is a flowchart showing a long-range danger point extraction process according to the first embodiment of the present invention.

FIG. 14 is a flowchart illustrating a short-range danger point extraction process according to the first embodiment of the present invention.

FIG. 15 is a flowchart showing a risk condition matching process according to the first embodiment of the present invention.

FIG. 16 is a flowchart showing an output process according to the first embodiment of the present invention.

FIG. 17 is a diagram showing danger information of a danger point according to the second embodiment of the present invention.

FIG. 18 is a flowchart showing a curve curvature radius estimation process and a risk curve extraction process according to the third embodiment of the present invention.

FIG. 19 is a diagram showing digital map information according to Embodiment 3 of the present invention.

FIG. 20 is a diagram showing a relationship between a radius of curvature and a danger level according to the third embodiment of the present invention.

FIG. 21 is a flowchart showing a risk condition matching process according to Embodiment 3 of the present invention.

FIG. 22 is a diagram showing danger information of a danger point according to the fourth embodiment of the present invention.

[Explanation of symbols]

101 Locator device as vehicle position detecting means, 10
3. Angular velocity sensor as traveling state detecting means, 105
Wheel speed sensor as traveling state detecting means, 106 map database, 107 danger prediction warning device as danger point notifying means, 110 RAM, 111 ROM.

 ──────────────────────────────────────────────────続 き Continued on the front page F term (reference) 2F029 AA02 AB01 AB07 AB09 AC01 AC02 AC04 AC09 AC18 5H180 AA01 FF04 FF05 FF22 FF25 FF27 FF32 LL06 LL15 LL18

Claims (14)

[Claims] 1. A map database storing road map information, a vehicle position detecting means for detecting a current position of the vehicle on a map, a running state detecting means for detecting a running state of the vehicle, and the map database. A safe route management device for a vehicle that includes a travel route estimating unit that estimates a future travel route of the vehicle based on an output of the own vehicle position detection unit and manages vehicle travel on the estimated route. Means for obtaining location information of the danger point on the estimated route and danger information of each danger point; extracting the danger point within a first predetermined range from the current position of the host vehicle on the estimated route; A long-distance danger point notification means for notifying a person, and extracting the danger point within a second range that is closer than the first range from the current position of the host vehicle on the estimated route, Each danger A vehicle traveling danger condition leading to a danger determined according to the danger information at the steep point is compared with a traveling state of the vehicle from the traveling state detecting means, and a driver is notified of a danger point satisfying the vehicle traveling danger condition. And a short-range danger point notification means. And means for acquiring location information of the danger point and danger information of each danger point, storing the location information of the danger point on the map of the road map information and danger information of each danger point in advance, and 2. The safe driving management device for a vehicle according to claim 1, wherein the information on the estimated route from the route estimating means is extracted and acquired. 3. A means for acquiring location information of a danger point and danger information of each danger point stores in advance a road structure condition to be a danger point, and converts the road structure condition on an estimated route from a traveling route estimation means. 2. The safe driving management device for a vehicle according to claim 1, wherein the dangerous point that satisfies the condition is detected and the information is acquired. 4. The apparatus according to claim 1, wherein the means for acquiring the location information of the danger point and the danger information of each danger point includes a wireless terminal and obtains the information based on roadside information inputted from outside. A safe driving management device for a vehicle according to the above. 5. A vehicle driving danger condition is set and stored in advance in accordance with danger information of each danger point, or is used in accordance with danger information of each danger point extracted by a short-range danger point notification means. The vehicle safety driving management device according to any one of claims 1 to 4, wherein the device is calculated and used. 6. A long-distance danger point notification means and a short-distance danger point notification means, comprising: means for estimating the arrival time from the current position of the vehicle at each predetermined point on the estimated route from the travel route estimation means. 6. The safe driving management apparatus for a vehicle according to claim 1, wherein the first and second ranges are set based on the estimated arrival time. 7. The means for estimating the arrival time is based on the average vehicle speed based on the vehicle speed from the traveling state detecting means, or the regulated vehicle speed of the road stored together with the road map information, and the distance obtained based on the road map information. The safe travel management device for a vehicle according to claim 6, wherein the arrival time is estimated. 8. The travel route estimating means operates at predetermined intervals to update the estimated route, and each time the estimated route is updated, the long distance danger point notification means and the short distance danger point notification means also operate. The safe driving management apparatus for a vehicle according to any one of claims 1 to 7, wherein a new danger point is extracted and notified. 9. The danger information of each danger point includes the degree of danger, and the extraction of the danger points by the long-distance danger point notification means and the short-distance danger point notification means includes the steps of: The safe driving management device for a vehicle according to any one of claims 1 to 8, wherein the device extracts a point. 10. The method according to claim 9, wherein the predetermined value of the degree of danger serving as a reference for extraction of a danger point is such that a value in the long distance danger point notification means is higher than a value in the short distance danger point notification means. A safe driving management device for a vehicle according to the above. 11. A danger point is extracted for each operation of the long-distance danger point notification means and the short-distance danger point notification means. Among them, a high-priority one is selected and notified, and the notification is not made by the long-distance danger point notification means. The safe driving management of a vehicle according to any one of claims 1 to 10, wherein when there is no vehicle, a high-priority danger point is selected and notified from the long-distance danger point notification means. apparatus. 12. Within a predetermined time longer than the operation interval of the long-distance danger point notification means and the short-distance danger point notification means, each of the danger point notification means does not notify the same danger point a plurality of times. The safe driving management device for a vehicle according to claim 11, wherein: 13. Within a predetermined period of time longer than the operation intervals of the long distance danger point notification means and the short distance danger point notification means, each of the danger point notification means makes a plurality of notifications about danger points having the same danger information. 13. The safe driving management device for a vehicle according to claim 11, wherein the turning is not performed. 14. A warning message to the driver is stored in advance for each danger point, and the notification to the driver by the long-distance danger point notification means and the short-distance danger point notification means is performed by uttering or displaying the warning message. The safe driving management device for a vehicle according to any one of claims 1 to 13, wherein: