JP2009252065A - Driving auxiliary apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a driving auxiliary apparatus for realizing more safe running. <P>SOLUTION: The driving auxiliary device 1 is provided with a position detecting means 2a detecting a position of a vehicle; a storage means 6 storing map information comprising a road R, a prescribed region SA attached to the road R, a leaving path A leaving from the road R to a prescribed region RA, a merging path B merged to the road R from the prescribed region SA; a position determining means 2e determining whether the vehicle is located in the prescribed region SA or not based on map information and a position of the vehicle; a right/left output detecting means 2f detecting right/left output of a direction indicator of the vehicle; and a reverse running determining means 2g determining whether the vehicle runs reversely or not based on a detection result of right/left output of the right/left output detecting means 2f after the position determining means 2e determines that the vehicle is located in the prescribed region SA. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a driving assistance device for a driver suitable for application to vehicles such as passenger cars, trucks, and buses.

  In recent vehicles, route information is guided to the driver based on the search conditions including the destination inputted by the driver and the position of the vehicle detected by GPS (Global Positioning System). Car navigation systems are often installed as driving assistance devices for enhancing convenience. In such a car navigation system, when guiding route information to a driver, guidance by voice using a map and text display by a display and a speaker is performed.

Among these, in particular, in the car navigation system described in Patent Document 1, the driver's carelessness or error is caused on the main road exiting to the service area or the parking area on a motorway such as an expressway. In order to prevent reverse running due to recognition, this main road exit road is registered as a reverse running prohibited road, and the position information and forward direction of this reverse running prohibited road are registered in the database as reverse running prohibited road information. It is proposed that when a vehicle tries to approach the main exit route in the reverse direction, the vehicle is detected to run backward, and a warning is given to the driver by sound from the speaker and display on the display. Yes.
JP 2007-139531 A

  However, in such a car navigation system, since the current position of the vehicle detected by GPS that the vehicle approaches the reverse running prohibition road is used, the current GPS position accuracy is the reverse of the vehicle. The detection of the running itself cannot be said to be accurate, and therefore, there is still a problem that the reverse running cannot be effectively prevented and the safer driving cannot be realized.

  In view of the above problems, an object of the present invention is to provide a driving assistance device that can realize safer traveling.

In order to solve the above problem, the driving assistance device according to the present invention is:
Stores map information including position detection means for detecting the position of the vehicle, a road, a predetermined area attached to the road, an exit road that exits from the road to the predetermined area, and a confluence that merges from the predetermined area to the road. Storage means, position determination means for determining whether or not the vehicle is located in the predetermined area based on the map information and the position of the vehicle, and left and right output for detecting left and right output of the direction indicator of the vehicle After the detection means and the position determination means determine that the vehicle is located in the predetermined area, it is determined whether the vehicle is running backward based on the detection result of the left and right outputs of the left and right output detection means. Reverse running determination means is provided.

  The position detecting means uses GPS or autonomous navigation, and the predetermined area is a so-called parking area when including a parking lot and a service area when including a commercial facility. The road is typically an automobile road such as an expressway or a toll road.

  Further, the left / right output means that when the vehicle turns to the left or moves to the left side, the direction indicator turns on the turn signal lamp located on the left side of the front part of the vehicle based on the driver's operation of the turn signal switch. When the vehicle turns to the right or moves to the right side, the direction indicator turns on the turn signal lamp located on the left side of the front part of the vehicle based on the driver's operation of the turn signal switch. For output to the right.

Here, in the driving assistance device,
It is preferable that vehicle speed detection means for detecting the vehicle speed of the vehicle is provided, and that the reverse running determination means does not determine whether the vehicle is running backward when the vehicle speed is equal to or lower than a predetermined vehicle speed. The predetermined vehicle speed indicates a limited vehicle speed within the predetermined area.

  According to this, when the vehicle travels under the condition of the predetermined vehicle speed or less, it can be considered that the left and right outputs of the direction indicator are performed based on the driver's intention in the predetermined area. It is possible to prevent the reverse running determination means from erroneously determining that the vehicle is running backward, even though the vehicle has entered the road and reverse running has not been performed.

  That is, when the vehicle speed is higher than the predetermined vehicle speed, the vehicle has departed from the predetermined area, and when the vehicle has correctly entered the combined flow path, the left and right outputs of the direction indicator Is determined based on the form of the road, a predetermined area attached to the road, an exit road that exits from the road to the predetermined area, and a merge path that merges from the predetermined area to the road. The determining means can determine whether or not the vehicle is traveling backward on the exit path based on the left and right outputs.

  That is, in the prior art, reverse running is determined by detecting that the position of the vehicle detected by the position detecting means such as GPS is traveling on the exit path in the direction opposite to the traveling direction. However, according to the present invention, the determination of reverse running is a parameter that can be acquired in the vehicle, that is, right and left output of the direction indicator. Since it can be performed based on this, the accuracy, accuracy, and reliability of determination can be increased.

Furthermore, in the driving assistance device,
After the position determining means determines that the position of the vehicle detected by the position detecting means has approached the exit path, the reverse running determining means determines whether or not the vehicle is running backward. Is preferred.

  According to this, in the event that the vehicle runs beyond the predetermined vehicle speed, which is a limited vehicle speed within the predetermined region, and the left and right outputs of the direction indicator are performed based on the driver's intention, It is possible to prevent the reverse running determination means from erroneously determining that the vehicle is running backward, even though the vehicle has entered the exit road and reverse running has not been performed.

Furthermore, in the driving assistance device,
When the reverse running determination means determines that the vehicle is running backward, it is preferable that the reverse running determination means includes warning means for warning a passenger of the vehicle.

  According to this, when the reverse running determination means determines that the vehicle is running backward, the warning means appropriately warns the passenger of the vehicle, and the vehicle runs backward on the exit path. It is possible to increase the safety of traveling by informing the passenger that the vehicle is traveling.

In addition, in the driving assistance device,
When the exit path is branched to the left side with respect to the road, and the reverse run determination means is configured such that the left-right output is a left output under the condition that the combined flow path merges with the left side of the road In addition, it is preferable to determine that the vehicle is running backward.

  According to this, in accordance with the form of a normal parking area or service area, when the merge path merges with the left side of the road, the right and left outputs of the direction indicator become right outputs. When the left / right output is a left output, the reverse running determination means can determine that the vehicle is running backward on the exit path, and can accurately determine the reverse running of the vehicle. .

Furthermore, in the driving assistance device,
It is preferable that the reverse running determination means determines that the vehicle is running backward when the left output continues for a predetermined time.

  According to this, when the occupant of the vehicle erroneously sets the direction indicator to the left output, the reverse running determination means determines that the vehicle is running backward on the exit path. Can be prevented.

In addition, in the driving assistance device,
Under the condition that the combined flow path is a plurality of lanes, the reverse running determination means determines that the vehicle is running backward when the last left / right output of the left / right output within a predetermined time is a left output. It is preferable to do.

  According to this, when the combined flow path has a plurality of lanes, even if the vehicle has entered the combined flow path correctly after starting from the predetermined area, the route in the combined flow path is changed. Considering that the left and right outputs of the direction indicator may be appropriately set to the left output, based on the left output for the course change, the reverse running determination means causes the vehicle to reverse the exit path. It can prevent judging that it is running.

In addition, in the driving assistance device,
When the exit path is branched to the right side with respect to the road, and the reverse run determination means is configured such that the left-right output is a right output under the condition that the combined flow path joins the right side of the road. In addition, it is preferable to determine that the vehicle is running backward.

  According to this, in accordance with the form of an exceptional parking area or service area, when the merge path merges with the right side of the road, the left and right outputs of the direction indicator are left outputs. Then, when the left and right output is a right output, the reverse running determination means determines that the vehicle is running backward on the exit path, and accurately determines the reverse running of the vehicle. it can.

Furthermore, in the driving assistance device,
Preferably, when the right output continues for a predetermined time, the reverse running determination means determines that the vehicle is running backward.

  According to this, when the occupant of the vehicle erroneously sets the direction indicator to the right output, the reverse running determination means determines that the vehicle is running backward on the exit path. Can be prevented.

In addition, in the driving assistance device,
Under the condition that the combined flow path is a plurality of lanes, the reverse running determination means determines that the vehicle is running backward when the last left and right output of the left and right outputs within a predetermined time is a right output. It is preferable to do.

  According to this, when the combined flow path has a plurality of lanes, even if the vehicle has entered the combined flow path correctly after starting from the predetermined area, the route in the combined flow path is changed. In consideration of the possibility that the left and right outputs of the direction indicator may be appropriately set to the right output, the reverse running determination means causes the vehicle to reverse the exit path based on the right output for the course change. It can prevent judging that it is running.

  The exit path branches to the left side of the road, and the merge path intersects the road and joins the right side of the road, and the exit path branches to the right side of the road, In the case where the merge path intersects the road and merges to the left side of the road, the vehicle reverses the left and right outputs of the direction indicator when entering the road from the merge path and the exit path. Since the left and right outputs of the direction indicator when traveling and entering the road are the same, the driving according to the present invention determines reverse running of the vehicle on the exit road based on the left and right outputs of the direction indicator Auxiliary devices are not applicable.

  That is, when the exit road belonging to the predetermined area where the vehicle is located branches to the left side of the road and the merge path joins the right side of the road, and when the exit belongs to the predetermined area where the vehicle is located When the road branches to the right side of the road and the combined flow path merges to the left side of the road, the determination by the reverse running determination means described above is not performed.

  ADVANTAGE OF THE INVENTION According to this invention, the driving assistance apparatus which can implement | achieve safer driving | running can be provided.

  The best mode for carrying out the present invention will be described below with reference to the accompanying drawings.

  FIG. 1 is a schematic view showing an embodiment of a driving assistance device according to the present invention. FIG. 2 is a schematic diagram showing a part of map information included in an embodiment of the driving assistance device according to the present invention.

  The driving assistance device 1 includes a car navigation ECU 2 (Car Navigation Electronic Control Unit), a GPS antenna 3 (Global Positioning System), a yaw rate sensor 4, a receiver 5, a database 6, a display 7, The speaker 8 and the touch panel 9 are provided. Furthermore, an ABS 10 (Anti-lock Brake System) and a body ECU 11 are connected to the car navigation ECU 2 according to a communication standard such as CAN (Controller Area Network).

  The car navigation ECU 2 includes, for example, a CPU, a ROM, a RAM, a data bus that connects them to each other, and an input / output interface. The car navigation ECU 2 performs position control means 2a that performs each control described below in accordance with a program stored in the ROM. It functions as detection means 2b, search means 2c, display means 2d, position determination means 2e, left / right output detection means 2f, reverse running determination means 2g, and alarm means 2h.

  Here, the GPS antenna 3 receives radio waves from three of a plurality of satellites launched above the earth, the yaw rate sensor 4 detects the yaw rate of the vehicle, The receiver 5 is compliant with light or radio beacon, and receives road information including traffic jam information from VICS (Vehicle Information & Communication System). In addition, the database 6 is constituted by a storage medium such as a CD-ROM or a DVD-ROM to constitute a storage means, and stores and stores map information for display and map information for search.

  The display 7 displays the route information searched by the search means 2c of the car navigation ECU 2 based on the search map information based on the search conditions such as the destination input by the driver. Displayed together with the map information for display based on the command 2d, and constituted by a multi-information display, the touch panel 9, that is, means for the driver to input search conditions including the destination and other input information Also works.

  In this case, if the car navigation ECU 2 can control the car audio, radio, and other in-vehicle devices in a centralized and centralized manner, the in-vehicle device to be controlled is selected from those in-vehicle devices. Or input information for selecting the mode or function of each in-vehicle device.

  Further, the ABS 10 detects each wheel speed from a wheel speed sensor provided corresponding to each wheel, obtains the vehicle speed V from the average of each wheel speed, and any of the wheel speeds with respect to the vehicle speed V is determined. This is a device that reduces the hydraulic pressure of a brake that brakes a corresponding wheel when the vehicle falls below the determination threshold, and prevents the wheel from being locked during braking. Is output to CAN, and the car navigation ECU 2 acquires the vehicle speed V from the ABS 10 by transmission using CAN or the like.

  Further, the body ECU 11 is composed of, for example, a CPU, a ROM, a RAM, a data bus and an input / output interface for connecting them, and the CPU performs each process described below in accordance with a program stored in the ROM. When the occupant swings a turn signal switch (not shown) clockwise, a right output is generated to light the turn signal lamp located on the right side of the front end of the vehicle. When the occupant swings the turn signal switch counterclockwise, the front end of the vehicle A left output is generated to turn on the blinker lamp located on the left side of the unit.

  At the same time, the body ECU 11 detects which one of the left and right outputs has been performed, and transmits the detection result to the car navigation ECU 2 via the CAN. That is, the body ECU 11 constitutes a direction indicator, that is, a winker.

  The position detection means 2a of the car navigation ECU 2 measures the position of the vehicle, that is, the longitude and latitude based on, for example, the principle of triangulation based on the radio wave received by the GPS antenna 3. When measuring altitude as well as longitude and latitude, four satellites are used. In addition, the vehicle speed detection means 2b of the car navigation ECU 2 acquires the vehicle speed V of the vehicle from the ABS 10 via the CAN.

  In addition, the position detection means 2a of the car navigation ECU 2 calculates the moving distance and direction of the vehicle based on the vehicle speed acquired from the ABS 10, the yaw rate detected by the yaw rate sensor 4, and the steering angle acquired from the EPS ECU 13. When the position of the vehicle is measured by autonomous navigation and the GPS antenna 3 cannot receive radio waves from the satellite, the position data of the vehicle is complemented. Thereby, in addition to the measurement of the current position of the vehicle using the GPS antenna 3, the accuracy of the measurement of the current position of the total vehicle is increased.

  That is, the measurement of the current position of the vehicle by the position detection means 2a of the car navigation ECU 2 using the GPS antenna 3 described above is performed when the vehicle is located in a valley of a high-rise building or in a tunnel because of the characteristics of using radio waves from a satellite. When the vehicle is traveling inside, or when the vehicle is traveling under a viaduct, the GPS antenna 3 cannot receive the radio wave from the satellite, and thus the current position of the vehicle cannot be measured. However, this problem is solved by the latter measurement by autonomous navigation.

  The search means 2c of the car navigation ECU 2 uses the search map in the database 6 to obtain route information connecting the current position of the vehicle measured in this way and the destination input by the driver through the touch panel 9, that is, the display 7. Search using information such as Dijkstra method.

  The display means 2d of the car navigation ECU 2 includes the map information for display in the database 6, the position of the vehicle measured by the above-described method, the destination input by the touch panel 9, that is, the display 7, and the search means 2c. The route information from the searched vehicle position to the destination is also displayed on the display 7, and when the current position of the vehicle approaches the left or right turn location in the route information, the speaker 8 drives the left or right turn location. To the person by voice.

  Further, the map information for search stored in the database 6 constituting the storage means described above exits from the road R to the service area SA, as shown in FIG. 2, the road R, the service area SA attached to the road R, and the road R. The exit path A and the merge path B joining the road R from the service area SA are included.

  In addition, the position determination means 2e of the car navigation ECU 2 determines whether or not the vehicle is located in the service area SA based on the map information for search stored in the database 6 and the position of the vehicle. Further, the left / right output detection means 2f of the car navigation ECU 2 detects the left / right output of the vehicle direction indicator from the body ECU 11 via the CAN.

  Further, the reverse running determination means 2g of the car navigation ECU 2 determines that the vehicle is reverse running based on the detection result of the left and right output of the left and right output detection means 2f after the position determination means 2e determines that the vehicle is located in the service area SA. It is determined whether or not.

  Here, the reverse running determination means 2g of the car navigation ECU 2 does not determine whether or not the vehicle is running backward when the vehicle speed V detected by the vehicle speed detection means 2b is equal to or lower than the predetermined vehicle speed α. In addition, the reverse running determination means 2g of the car navigation ECU 2 determines whether or not the vehicle is running backward after the position of the vehicle detected by the position detection means 2a approaches the exit path A.

  Further, the reverse running determination means 2g of the car navigation ECU 2 determines that the exit road A attached to the service area SA is the road R based on the search map information stored in the database 6 as shown in FIG. The left and right output detection means 2f detects from the body ECU 11 via CAN when it is affirmative when it is determined whether the combined flow path B is in the form of joining the left side of the road R. When the left / right output is the left output and the left output continues for the predetermined time β, it is determined that the vehicle is running backward. The predetermined time β is a time required for changing the position of the vehicle from the combined flow path B to the road R.

  Here, in determining the connection form between the exit path A and the combined path B and the road R by the reverse running determination means 2g, the determination may be made based on the form of the node and the link included in the map information. Or it is good also as determining using the attribute contained in the link which shows the joint path B. FIG.

  Furthermore, the reverse running determination means 2g of the car navigation ECU 2 determines whether or not the combined path B has a plurality of lanes based on the map information for search stored in the database 7, and when there are a plurality of lanes. When the last left / right output within the predetermined time γ is the left output, it is determined that the vehicle is running backward. The predetermined time γ is a time that is appropriately determined according to the length of the exit path A.

  In this case as well, in determining whether the combined flow path B has a plurality of lanes by the reverse running determination means 2g, it may be determined by the form of the nodes and links included in the map information, or the link indicating the combined flow path B The determination may be made using the included attributes.

  Further, the reverse running determination means 2g of the car navigation ECU 2 determines that the exit path A attached to the service area SA is the road R based on the search map information stored in the database 6 as shown in FIG. The right and left output detection means 2f detects via the CAN from the body ECU 11 if it is affirmative. When the left / right output is the right output and the right output continues for a predetermined time β, it is determined that the vehicle is running backward.

  Furthermore, the reverse running determination means 2g of the car navigation ECU 2 determines whether or not the combined path B has a plurality of lanes based on the map information for search stored in the database 7, and when there are a plurality of lanes. If the last left / right output within the predetermined time γ is the right output, it is determined that the vehicle is running backward.

  In addition, as shown in FIG. 2 (c), the exit path A attached to the service area SA branches to the left side of the road R, and the merge path B intersects the road R and joins the right side of the road R. In this case, and as shown in FIG. 2 (d), the exit path A attached to the service area SA branches to the right side of the road R, and the junction B intersects the road R and joins the left side of the road R. In this case, the left and right outputs of the direction indicator when entering the road R from the combined flow path B are the same as the left and right outputs of the direction indicator when the vehicle runs backward on the exit path A and enters the road R. Therefore, the reverse running determination means 2g of the car navigation ECU 2 does not determine whether or not the vehicle described above is running backward.

  Further, the alarm means 2h of the car navigation ECU 2 generates an alarm sound by the speaker 8 to alert the vehicle occupant when the reverse running determination means 2g determines that the vehicle is running backward.

  The control contents of the car navigation ECU 2 described above will be described with reference to flowcharts and diagrams. FIG. 3 is a flowchart showing the control contents of the driving assistance device 1 according to the present invention.

  In S1, the position determination means 2e of the car navigation ECU 2 detects the position of the vehicle. In S2, the reverse travel determination means 2g of the car navigation ECU 2 determines the map information for search stored in the database 6 and the position of the vehicle. Based on this, it is determined whether or not the vehicle is located in the service area SA. If the result is affirmative, the process proceeds to S3. If the result is negative, the process returns to S1.

  In S3, the left / right output detection means 2f of the car navigation ECU 2 detects the left / right output of the direction indicator, that is, the winker, from the body ECU 11 via the CAN. Subsequently, in S4, the vehicle speed detection means 2b of the car navigation ECU 2 detects the vehicle speed V from the ABS 10 via CAN.

  Subsequently, in S5, the reverse running determination means 2g of the car navigation ECU 2 determines whether the exit path A attached to the service area SA branches from the road R to the left side, and the merge path B joins from the right side of the road R. If the result is affirmative, the control is terminated, and if the result is negative, the process proceeds to S6.

  In S6, the reverse running determination means 2g of the car navigation ECU 2 determines whether or not the exit path A attached to the service area SA branches from the road R to the right side, and the junction path B joins from the left side of the road R, If the result is affirmative, the control is terminated, and if it is negative, the process proceeds to S7.

  In S7, the reverse running determination means 2g of the car navigation ECU 2 determines whether or not the vehicle speed V is equal to or higher than the predetermined vehicle speed α. If the result is affirmative, the control is terminated, and if it is negative, the process proceeds to S8.

  In S8, the position determination means 2e of the car navigation ECU 2 determines that the vehicle has left the exit path A based on the current position of the vehicle detected by the position detection means 2a and the information on the exit path A of the map information for search stored in the database 6. If the determination is affirmative, the process proceeds to S9, and if the determination is negative, the control is terminated.

  In S9, the reverse running determination means 2g of the car navigation ECU 2 determines that the exit route A attached to the service area SA branches to the left side of the road R from the map information for search stored in the database 6 and joins. It is determined whether or not the road B joins from the left side of the road R. If the result is affirmative, the process proceeds to S11. If the result is negative, the process proceeds to S10.

  Furthermore, in S10, the reverse running determination means 2g of the car navigation ECU 2 branches the exit route A attached to the service area SA to the right side of the road R from the map information for search stored in the database 6. It is determined whether or not the combined flow path B is joined from the right side of the road R. If the result is affirmative, the process proceeds to S16, and if the result is negative, the control is terminated.

  In S11, the reverse running determination means 2g of the car navigation ECU 2 acquires information related to the merge path B from the search map information stored in the database 6, and determines whether the merge path B has a plurality of lanes. If the determination is negative, the process proceeds to S12, and if affirmative, the process proceeds to S14.

  In S12, the reverse running determination means 2g of the car navigation ECU 2 determines whether the left and right outputs of the direction indicator detected by the left and right output detection means 2f, that is, the left and right outputs of the winkers, are left outputs and continue for a predetermined time β. If it is affirmative, it will progress to S13, and if it is negative, control will be complete | finished. In S13, the warning means 2h of the car navigation ECU 2 issues a warning to the vehicle occupant through the speaker 8.

  In S14, the reverse running determination means 2g of the car navigation ECU 2 determines that the direction indicator detected by the left and right output detection means 2f, that is, the last left and right output within the predetermined time γ of the turn signal is the left output, and continues for the predetermined time β. If the result is affirmative, the process proceeds to S15. If the result is negative, the control is terminated. In S15, the warning means 2h of the car navigation ECU 2 issues a warning to the vehicle occupant through the speaker 8.

  In S16, the reverse running determination means 2g of the car navigation ECU 2 acquires information related to the merge path B from the search map information stored in the database 6, and determines whether the merge path B has a plurality of lanes. If the determination is negative, the process proceeds to S17, and if affirmative, the process proceeds to S19.

  In S17, the reverse running determination means 2g of the car navigation ECU 2 determines whether the left and right outputs of the direction indicator detected by the left and right output detection means 2f, that is, the right and left outputs of the winkers, are right outputs and continue for a predetermined time β. If affirmative, the process proceeds to S18, and if negative, the control is terminated. In S18, the warning means 2h of the car navigation ECU 2 issues a warning to the vehicle occupant through the speaker 8.

  In S19, the reverse running determination means 2g of the car navigation ECU 2 determines that the direction indicator detected by the left / right output detection means 2f, that is, the last left / right output within a predetermined time γ of the winker is a right output and continues for a predetermined time β. If the result is affirmative, the process proceeds to S20, and if the result is negative, the control is terminated. In S20, the warning means 2h of the car navigation ECU 2 issues a warning to the vehicle occupant through the speaker 8.

  Note that the processing from S1 to S20 is continuously performed in a predetermined cycle when the ignition key of the vehicle is on.

  According to the driving assistance device 1 of the present embodiment realized by the control content described above, the following operational effects can be obtained. That is, the driving assistance device 1 includes vehicle speed detection means 2b for detecting the vehicle speed V of the vehicle. When the vehicle speed V is equal to or lower than the predetermined vehicle speed α, the reverse running determination means 2g of the car navigation ECU 2 causes the reverse running of the vehicle. By not determining whether or not, the following effects are obtained.

  That is, when the vehicle travels under the condition where the vehicle speed V is equal to or lower than the predetermined vehicle speed α, it can be considered that the left and right outputs of the direction indicator, that is, the winker are performed based on the driver's intention in the service area SA. The case where the vehicle speed V is equal to or lower than the predetermined vehicle speed α can be excluded in advance from the case where the reverse running determination means 2g performs control. Thereby, it is possible to prevent the reverse running determination means 2g from erroneously determining that the vehicle is running backward although the vehicle has entered the exit path A and the vehicle is not running backward.

  That is, when the vehicle speed V is higher than the predetermined vehicle speed α, the vehicle has departed from the service area SA, and when the vehicle has correctly entered the junction path B, the left and right outputs of the direction indicator, that is, the winker, are Based on the road R, the service area SA attached to the road R, the exit path A exiting from the road R to the service area SA, and the joining path B joining the road R from the service area SA. Thus, the reverse running determination means 2g of the car navigation ECU 2 can determine whether or not the vehicle runs backward on the exit path A based on the left and right outputs.

  That is, in the prior art, it is detected that the position of the vehicle calculated by GPS or autonomous navigation and detected by the position detection means 2a of the car navigation ECU 2 is traveling on the exit path A in the direction opposite to the traveling direction. Thus, the reverse running is determined, and if the GPS accuracy is low, the reverse running cannot be accurately determined. However, according to the driving assistance device 1 of the present embodiment, the reverse running is not performed. Since the determination can be performed based on a parameter that can be acquired in the vehicle, that is, a left / right output of a turn indicator, that is, a turn signal, the accuracy, accuracy, and reliability of the determination can be improved.

  Furthermore, in the driving assistance device 1 of the present embodiment, whether the reverse running determination means 2g of the car navigation ECU 2 is running backward after the position of the vehicle detected by the position detection means 2a approaches the exit path A. By judging whether or not, the vehicle should run beyond the predetermined vehicle speed α, which is the limited vehicle speed in the service area SA, and the left and right outputs of the direction indicator, that is, the winker, are output based on the driver's intention. In this case, the reverse traveling determination means 2g of the car navigation ECU 2 is prevented from erroneously determining that the vehicle is traveling backward, even though the vehicle has entered the exit path A and has not performed reverse traveling. can do.

  Furthermore, in the driving assistance device 1 of the present embodiment, when the reverse running determination means 2g of the car navigation ECU 2 determines that the vehicle is running backward, the warning means 2h issues an alarm to the vehicle occupant through the speaker 8. Accordingly, it is possible to notify the occupant that the vehicle is traveling backward on the exit road, and to improve the safety of traveling.

  In addition, in the driving assistance device 1, when the exit path A branches to the left side with respect to the road R and the combined flow path B joins the left side of the road R, that is, as shown in FIG. If the left and right outputs are left outputs, the reverse running determination means 2g of the car navigation ECU 2 can determine that the vehicle is running backward.

  According to this, when the combined flow path B merges with the left side of the road R in accordance with the form of the normal service area SA, the left and right outputs of the direction indicator, that is, the turn signal, are used as the right output. When the left / right output is the left output, the reverse running determination means 2g of the car navigation ECU 2 determines that the vehicle is running backward on the exit path A, and can accurately determine the reverse running of the vehicle. .

  Further, in the driving assistance device 1, when the left output continues for a predetermined time β, the reverse running determination means 2g of the car navigation ECU 2 determines that the vehicle is running backward, so that the vehicle occupant can turn the direction indicator. That is, when the turn signal is mistakenly set to the left output, it is possible to prevent the reverse running determination means 2g from determining that the vehicle is traveling backward on the exit path 2g.

  In addition, in the driving assistance device 1, when the combined flow path B has a plurality of lanes, the reverse running determination means 2g of the car navigation ECU 2 determines that the last left and right output of the left and right outputs within the predetermined time γ is the left output. By determining that the vehicle is running in reverse, the following effects can be obtained.

  That is, when the combined path B has a plurality of lanes, even if the vehicle departs from the service area SA and then correctly enters the combined path B, a direction indicator, In consideration of the possibility that the left and right outputs of the turn signal may be appropriately set to the left output, the reverse running determination means 2g of the car navigation ECU 2 makes the vehicle run backward on the exit path A based on the left output for changing the course. It can be prevented that it is determined that the user is doing.

  In addition, in the driving assistance device 1, when the exit path A branches to the right side with respect to the road R and the combined flow path B joins to the right side of the road R, the reverse running determination means 2 g of the car navigation ECU 2 However, when the left / right output is the right output, the following effects can be obtained by determining that the vehicle is running backward.

  That is, in accordance with the form of the exceptional service area SA as shown in FIG. 2 (b), when the merge path B merges on the right side of the road R, the left and right outputs of the direction indicator, that is, the turn signal, are left. Using the output, the reverse running determination means 2g of the car navigation ECU 2 determines that the vehicle is running backward on the exit path A when the left / right output is the right output, and the vehicle runs backward. Can be accurately determined.

  Further, in the driving assistance device 1, when the right output continues for a predetermined time β, the reverse running determination means 2g of the car navigation ECU 2 determines that the vehicle is running backward, whereby the vehicle occupant can turn the direction indicator. That is, it is possible to prevent the reverse running determination means 2g of the car navigation ECU 2 from determining that the vehicle is traveling backward on the exit path A when the winker is erroneously set to the right output.

  In addition, in the driving assistance device 1, when the combined flow path B has a plurality of lanes, the reverse running determination unit 2g of the car navigation ECU 2 determines that the last left and right output of the left and right outputs within the predetermined time γ is the right output. By determining that the vehicle is running backward, the following effects can be obtained.

  That is, when the combined path B has a plurality of lanes, even if the vehicle departs from the service area SA and then enters the combined path B correctly, In consideration of the possibility that the right / left output of the turn signal may be appropriately output to the right, the reverse running determination means 2g of the car navigation ECU 2 makes the vehicle run backward on the exit path A based on the right output for changing the course. It can be prevented that it is determined that the user is doing.

  Although the preferred embodiments of the present invention have been described in detail above, the present invention is not limited to the above-described embodiments, and various modifications and substitutions are made to the above-described embodiments without departing from the scope of the present invention. be able to.

  For example, in the driving assistance device 1 shown in the above-described embodiment, as shown in FIG. 3S8, the vehicle moves to the exit path A by the position of the vehicle calculated by the position detection means 2a of the car navigation ECU 2 by GPS or autonomous navigation. When it is determined that the vehicle is approaching, the reverse indicator is determined using the direction indicator, that is, the right and left outputs of the winkers. However, the flowchart shown in FIG.

  Furthermore, the forms of the road R, the exit path A, and the combined flow path B shown in FIG. 2 are exemplary, and the form in which the exit path A branches three-dimensionally with the road R, or the exit path A and the combined flow path B are illustrated. It is also conceivable that both of the roads intersect the road R and branch and join.

  Even in this case, when the vehicle travels on the exit road A, the left / right output detection pattern of the left / right output detection means 2f is unique to each form, and is therefore predicted or stored in advance. Based on the comparison between the detection pattern of the left / right output detection means 2f and the detection result of the left / right output detection means 2f, the reverse running determination means 2g may determine whether the vehicle is running backward.

  The present invention relates to a driving assistance device that assists driving of a vehicle occupant, and can realize safer driving by relatively minor changes in control, so that various types of passenger cars, trucks, buses, etc. This is useful when applied to various vehicles.

It is a block diagram which shows one Embodiment of the driving assistance device which concerns on this invention. It is a schematic diagram which shows a part of map information which one Embodiment of the driving assistance device concerning this invention has. It is a flowchart which shows the control content of one Embodiment of the driving assistance device which concerns on this invention. It is a flowchart which shows the control content of one Embodiment of the driving assistance device which concerns on this invention.

Explanation of symbols

1 Driving assistance device 2 Car navigation ECU
2a Position detection means 2b Vehicle speed detection means 2c Search means 2d Display means 2e Position determination means 2f Left / right output detection means 2g Reverse running determination means 2h Alarm means 3 GPS antenna 4 Yaw rate sensor 5 Receiver 6 Database 7 Display 8 Speaker 9 Touch panel 10 ABS
11 Body ECU

Claims (10)

  Stores map information including position detection means for detecting the position of the vehicle, a road, a predetermined area attached to the road, an exit road that exits from the road to the predetermined area, and a confluence that merges from the predetermined area to the road. Storage means, position determination means for determining whether or not the vehicle is located in the predetermined area based on the map information and the position of the vehicle, and left and right output for detecting left and right output of the direction indicator of the vehicle After the detection means and the position determination means determine that the vehicle is located in the predetermined area, it is determined whether the vehicle is running backward based on the detection result of the left and right outputs of the left and right output detection means. A driving assistance device comprising reverse running determination means.   Vehicle speed detection means for detecting the vehicle speed of the vehicle is provided, and when the vehicle speed is equal to or lower than a predetermined vehicle speed, the reverse running determination means does not determine whether or not the vehicle is running backward. The driving assistance device according to claim 1.   After the position determining means determines that the position of the vehicle detected by the position detecting means has approached the exit path, the reverse running determining means determines whether or not the vehicle is running backward. The driving assistance device according to claim 2.   The driving assistance device according to claim 3, further comprising a warning unit that issues a warning to an occupant of the vehicle when the reverse running determination unit determines that the vehicle is running backward.   When the exit path is branched to the left side with respect to the road, and the reverse run determination means is configured such that the left-right output is a left output under the condition that the combined flow path merges with the left side of the road The driving assistance device according to claim 4, wherein the vehicle is determined to run backward.   The driving assistance device according to claim 5, wherein the reverse running determination unit determines that the vehicle is running backward when the left output continues for a predetermined time.   Under the condition that the combined flow path is a plurality of lanes, the reverse running determination means determines that the vehicle is running backward when the last left / right output of the left / right output within a predetermined time is a left output. The driving assistance device according to claim 6, wherein   When the exit path is branched to the right side with respect to the road, and the reverse run determination means is configured such that the left-right output is a right output under the condition that the combined flow path joins the right side of the road. The driving assistance device according to claim 5, wherein the vehicle is determined to run backward.   The driving assistance device according to claim 8, wherein the reverse running determination unit determines that the vehicle is running backward when the left output continues for a predetermined time.   Under the condition that the combined flow path is a plurality of lanes, the reverse running determination means determines that the vehicle is running backward when the last left and right output of the left and right outputs within a predetermined time is a right output. The driving assistance device according to claim 9, wherein

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