JP2013084088A - Warning system for vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vehicle warning system which raises a warning for driving by a driver in an inexpensive manner by using an in-vehicle apparatus which is generally mounted on a vehicle in recent years.SOLUTION: A vehicle warning system 1 can detect a current location of its own vehicle, coordinates with a vehicle navigation device 2 which calculates a route to a set destination on the basis of road map data and guides the route, when the vehicle 100 approaches a road which can be entered by merging or crossing, identifies structure of the road, further identifies predetermined safe driving conduct of each type of vehicle for an estimated passage route of the vehicle 100 determined by the road structure, and raises a warning to a driver when the predetermined vehicle conduct could not be traced in passing the estimated passage route.

Description

  The present invention relates to a vehicle warning system.

  When the vehicle enters an intersection, etc., it is necessary to confirm the safety on the left and right after the driver has stopped temporarily.In situations where this is neglected, there is a system that alerts the driver. Safer vehicle travel is possible. As such an alerting system, for example, there is a drowsiness detection system. Specifically, the driver's face is captured by a camera, and the captured image is analyzed to detect drowsiness. When drowsiness is detected, the driver must not stop or confirm safety. It is a system that performs alert output.

JP 2010-165087 A

  However, such a system is expensive because it requires a camera and an image processing unit, is installed only in some luxury cars, and is not widely used in the world. On the other hand, in recent vehicles, there is one aspect in which a navigation device is widely installed even though it is a highly functional device.

  An object of the present invention is to provide a vehicular warning system that uses a vehicle-mounted device that has been widely installed in recent years and that alerts a driver to drive in an inexpensive manner.

Means for Solving the Problems and Effects of the Invention

In order to solve the above problems, a vehicle warning system according to the present invention includes:
Based on the road map data, the current position detection means for detecting the current position of the host vehicle, the road map data storage unit for storing road map data for specifying the road network and road structure, and the route to the set destination A vehicle warning system that is configured as a vehicle navigation device itself, or that is configured to cooperate with the vehicle navigation device.
With respect to roads where the host vehicle can enter in the form of merging or crossing, if the road structure of the road determined based on the entry position is the destination road structure, a plurality of predetermined destination roads having different structures from each other For each structure, an estimated passage route approaching and entering from the reference approach position is defined for joining or crossing the road that is the target of entry to the carriageway, and safe when passing through the estimated passage route A vehicle behavior condition information storage unit that stores vehicle behavior condition information that defines vehicle behavior conditions to be satisfied for traveling;
Based on the current position and road map data, an approach detection means for detecting the approach of the host vehicle to a road that can be entered in the form of merging or crossing;
Road structure coincidence determining means for determining whether or not the road structure of the detected approaching road matches any of a plurality of types of destination road structures based on the road map data and vehicle behavior condition information;
Vehicle behavior condition identifying means for identifying each vehicle behavior condition corresponding to the approach road structure determined to match based on the vehicle behavior condition information;
Based on each identified vehicle behavior condition, current position, and road map data, it is determined whether each vehicle behavior condition is satisfied when the host vehicle passes the estimated passing route on the detected approaching road Vehicle behavior determination means for
Warning output control means for causing a predetermined warning output unit to execute warning output to the driver when it is determined that the corresponding vehicle behavior condition is not satisfied;
It is characterized by providing.

  In recent years, vehicular navigation devices that have been widely installed in vehicles can detect the current position of the vehicle, and include road network information that identifies various roads and their connections, and the structure of each road. Road map data having identifiable road structure information and the like is stored. According to the configuration of the present invention, by using those functions and data (information) of the navigation device, the driver can be driven at an appropriate timing while entering the road in the form of merging or crossing. It is possible to call attention. Because it is a technology that can be realized by using those functions and data (information) of the navigation device, there is no need to add a separate device. It becomes a possible system.

  In the vehicle behavior condition information of the present invention, an estimated passage route determined for each approach road structure is defined by a plurality of passage regions on the estimated passage route, and a vehicle behavior condition is defined for each of the passage regions. Can do. In this case, the vehicle behavior condition specifying means determines each passing area corresponding to the approach destination road structure determined to be matched by the road structure matching judging means based on the vehicle behavior condition information, and the vehicle behavior condition in these passing areas. The vehicle behavior determining means identifies the vehicle approaching / entering the approaching road detected by the approach detecting means based on the specified passing area, vehicle behavior condition, current position, and road map data. Until the vehicle merges or crosses the roadway, it is determined whether or not the corresponding vehicle behavior condition is satisfied when passing through each of the specified passage areas, and the warning output control means When it is determined that the condition is not satisfied, the warning output unit can be configured to execute warning output. According to this configuration, it is possible to easily determine the estimated passage route determined for the approach destination road structure by connecting a plurality of passage areas. In addition, even if you do not intend to actually define the estimated passage route, as long as there are multiple passage areas, if you connect them, it will be an estimated passage area. And

  The warning output control means of the present invention executes warning output to the warning output unit upon completion of passing through the passing area when the vehicle behavior condition corresponding to the passing area is not satisfied when passing through the passing area. You can make it. According to this configuration, it is determined whether or not the corresponding vehicle behavior condition is satisfied when passing through each passing region, and if not, the driver is warned immediately when the passing is completed. Can do.

  In the present invention, a warning content storage unit that determines the content of warning output for each passage area can be provided. In this case, the warning output control means corresponds to the passage area when passing through the passage area. When the vehicle behavior condition to be performed is not satisfied, the warning output unit can be configured to cause the warning output unit to execute the warning output having the content determined for the passage area stored in the warning content storage unit. According to this configuration, the presence or absence of a corresponding vehicle behavior condition is determined at the time when the passage through each passing region is completed, and a warning of the contents relating to the passing region and the corresponding vehicle behavior condition is output immediately upon completion of the passage. Can do. For example, when a corresponding roadway behavior condition is not satisfied in a certain passage area, a warning in a form that specifically indicates the vehicle behavior condition that should have been satisfied is output to inform the driver. it can.

  In the vehicle behavior condition information according to the present invention, the position immediately before entering the roadway on which the own vehicle enters in the form of merging or crossing is defined as one of the passing areas for all the destination road structures. As a vehicle behavior condition that should be satisfied at the position immediately before entry, the vehicle can be temporarily stopped at the position immediately before entry. When entering the road in the form of merging or crossing, it is necessary to temporarily stop (temporarily stop) immediately before entering the roadway of the road for safety. According to the above configuration, a warning can be output to the driver when there is no temporary stop immediately before entering the roadway.

  The vehicle behavior condition information in the present invention includes at least one of the destination road structures, a roadway to which the host vehicle is to enter, a front side of the roadway in the traveling direction of the host vehicle, It is possible to include road structures that have various roadside roads (roadside belts, sidewalks (including pedestrian crossings), bicycle paths) that have been partitioned so that they can only be used for traffic. In this case, a position immediately before entering the road along the roadway is determined as one of the passing areas for the road structure, and the vehicle is temporarily stopped at the position immediately before entering as a vehicle behavior condition to be satisfied at the position immediately before entering the road. Can be determined. Some roads have roadside roads such as roadside belts, sidewalks, and bicycle roads on the side of the roadway. In such a road structure, the roadside roadside beside the roadway before joining or crossing the roadway. Although it becomes a crossing shape, it is necessary to stop not only when entering the roadway but also when entering the roadside road, and pay attention to the object passing through the roadside road. According to the configuration, the driver can be urged to stop once when entering the roadway side road.

  It should be noted that the roadway side road in the present invention can be determined so that even if the roadway to be provided is divided by a roadway branched from the roadway, the divided section is also regarded as the roadway side road. For T-shaped roads and crossroads, if there is a roadway connected to the roadway that crosses, the roadway to be connected cuts off the roadway side road next to the roadway that crosses, but that part also becomes the roadway. The cut portion also passes through the roadway side road, so that part can also be regarded as a roadway side road. Accordingly, when entering a crossing roadway from a roadway connected to the roadway, it is necessary to pay attention to an object passing through a roadway side road that has been a roadway. According to the configuration of the present invention, the driver can be urged to stop once when entering the roadway side road that has been turned into a roadway.

  The vehicle behavior condition information in the present invention includes a road structure in which a plurality of estimated passage paths having different merging directions or crossing directions to the roadway to which the host vehicle is to enter exist as the destination road structure. For the structure, it is possible to define a passing area for each of the estimated passing paths and to determine a vehicle behavior condition in the passing area. According to this configuration, even in a road structure in which a plurality of estimated passing routes can be estimated, vehicle behavior conditions can be set for each of the determined passing areas.

  In the case of this configuration, if the navigation device is guiding the route to the destination, the estimated passing route that matches the guiding route is identified from among a plurality of estimated passing routes, and the identified estimated You may comprise so that it may determine whether the corresponding vehicle behavior condition was satisfy | filled when each passing area on a passage route was passed. Also, if there is a user operation on the direction indicator operation unit of the direction indicator, an estimated passage route that proceeds to a route in a direction that matches the direction indicated by the direction indicator is identified from among a plurality of estimated passage routes. Then, it may be configured to determine whether or not the corresponding vehicle behavior condition is satisfied when each passing region on the specified estimated passing route is passed. In addition, when the host vehicle travels to another estimated passage route that is different from the one estimated passage route as described above, the vehicle travels in a direction different from the guide route, Or it can comprise so that a driver | operator may be warned about the point which is advancing in the direction different from an instruction | indication direction.

  In the present invention, a warning output mode set in the warning output control means is predetermined by a user for switching between a warning execution mode for executing warning output and a warning prohibiting mode for prohibiting warning output. A warning output mode switching operation receiving means for receiving a warning output mode switching operation; a warning output mode setting means for setting a warning output mode in the warning output control means based on the warning output mode switching operation; and a warning output control means Can be configured to permit warning output when the warning execution mode is set and prohibit warning output when the warning prohibit mode is set. According to this configuration, the mode can be changed according to the user's preference, and if the user desires, no warning output can be made.

  In the present invention, vehicle behavior condition determination result storage means for storing / accumulating the determination result by the vehicle behavior determination means in the vehicle behavior condition determination result storage unit, and before entering the estimated passage route (or the passage area therein) Based on past determination results stored and accumulated in the vehicle behavior condition determination result storage unit at a predetermined timing, a probability that the vehicle behavior condition corresponding to the estimated passage route (or the passage region) is not satisfied is calculated. The vehicle behavior condition satisfaction rate determination means for determining whether or not the probability exceeds a predetermined rate, and the pre-established notification output unit that determines whether the probability exceeds the predetermined rate A prior notification output control means for executing a prior notification output to the driver of a vehicle behavior condition to be satisfied when passing through the route (or the passing region). According to this configuration, since it is possible to know the roadway behavior condition that the driver tends to forget about the area that should satisfy the roadway behavior condition before passing through the area, it is possible to enter the road safely.

  In the present invention, vehicle status information acquisition means for acquiring predetermined information as information on the status of the host vehicle as vehicle status specifying information, and the current vehicle status is specified based on the acquired vehicle status specifying information. Vehicle status specifying means, and in this case, the vehicle behavior condition determination result storage means acquires the vehicle status information acquired by the vehicle status information acquisition means when the determination result by the vehicle behavior determination means is obtained. The vehicle situation at the time of acquisition of the determination result is specified based on the specific information, and the determination result is stored in the vehicle behavior condition determination result storage unit in association with the specified vehicle situation. The determination means stores the past determination results stored / accumulated in the vehicle behavior condition determination result storage unit when the predetermined timing before entering the estimated passage route (or the passage region therein) is reached. Of these, the vehicle behavior condition corresponding to the estimated passage route (or the passage area) was not satisfied in the vehicle situation based on the determination result associated with the vehicle situation identified by the vehicle situation identification unit at the timing The probability is calculated, and it is determined whether or not the probability exceeds a predetermined rate, and the prior notification output control means determines that the probability exceeds the predetermined rate, The vehicle behavior condition to be satisfied when passing through the estimated passage route (or the passage region) can be configured to be output in advance to the driver. According to the above configuration, it is possible to determine whether or not the vehicle behavior condition is not satisfied when the estimated passage route is passed is due to a predetermined situation of the vehicle, and the vehicle behavior condition is difficult to be satisfied. In this situation, only when the estimated passage route approaches, the vehicle behavior condition to be satisfied by the estimated passage route is notified in advance.

  As the situation of the host vehicle, for example, the weather (sunny, cloudy, rain, snow, etc.) and the outside temperature of the vehicle can be exemplified as the situation outside the vehicle, and the inside temperature and direction indicator operation can be exemplified as the situation inside the vehicle. A state (right or left) etc. can be illustrated. For example, when the vehicle behavior condition tends to be difficult to be satisfied on a rainy day on an estimated passage route, a prior notice output can be made only on a rainy day on the estimated passage route. Also, for example, in a certain road structure, if the vehicle behavior condition tends to be difficult to meet in the estimated passage route that joins in the form of a right turn, the advance notification is given only when the blinker indicates the right side in the estimated passage route Output can be made.

  In the present invention, the prior notification output mode set in the prior notification output control means, for switching between the prior notification execution mode for executing the prior notification output and the prior notification prohibiting mode for prohibiting the prior notification output, Preliminary notification output mode switching operation receiving means for accepting a predetermined preliminary notification output mode switching operation by a user, and a prior notification output mode setting means for setting the preliminary notification output mode based on the preliminary notification output mode switching operation In this case, the advance notification output control unit can be configured to permit advance notification output when the advance notification execution mode is set, and to prohibit advance notification output when the advance notification prohibit mode is set. According to this configuration, the mode can be changed according to the user's preference, and if the user desires, the advance notification output can be prevented.

The block diagram which shows simply the structure of the warning system for vehicles which is one Embodiment of this invention. The figure which shows vehicle behavior condition information. The flowchart which shows the flow of a warning output process. The 1st example which showed the road structure for approach simply. The figure which shows the vehicle behavior condition information corresponding to the road structure of FIG. The 2nd example which showed the road structure for approach simply. The figure which shows the vehicle behavior condition information corresponding to the road structure of FIG. The 3rd example which showed the road structure for approach simply. The figure which shows the vehicle behavior condition information corresponding to the road structure of FIG. The block diagram which shows simply the structure of the warning system for vehicles different from embodiment of FIG. The block diagram which shows simply the structure of the warning system for vehicles different from embodiment of FIG.1 and FIG.10. The figure which shows condition determination result information. The flowchart which shows the flow of the warning output process different from the warning output process of FIG. The flowchart which shows the flow of a prior notification process. The flowchart which shows the flow of a mode setting process. The figure which shows the 1st example of the condition determination result information totaled for every vehicle condition. The figure which shows the 2nd example of the condition determination result information totaled for every vehicle condition. The figure which shows the 3rd example of the condition determination result information totaled for every vehicle condition. 14 is a flowchart showing a flow of warning output processing different from the warning output processing of FIGS. 3 and 13. The flowchart which shows the flow of the prior notification output process different from the prior notification output process of FIG.

  Hereinafter, an embodiment of a vehicle warning system of the present invention will be described with reference to the drawings.

  FIG. 1 is a block diagram schematically showing the configuration of a vehicle warning system 1 according to an embodiment of the present invention. A vehicle warning system 1 shown in FIG. 1 includes a position detector (current position detection means) 21 that detects the current position of the host vehicle, an external storage device (road map data storage unit) 25 that stores road map data, A route to a set destination is calculated based on road map data, and is configured to cooperate with a vehicle navigation device 2 having a navigation function (route guidance means) for guiding the route. When the host vehicle 100 approaches a road that can be entered in the form of merge or crossing, the structure of the road is specified, and the estimated passage route of the host vehicle 100 specified in the structure of the road is safe. Identify various vehicle behaviors defined for driving and determine whether or not the vehicle behavior was traced when passing through the road. A warning to those that inform the driver.

  Specifically, the vehicle warning system 1 in FIG. 1 includes a main control unit 10, a vehicle navigation device 2 connected to the control unit 10 via an in-vehicle LAN 5, and a known in-vehicle device 3. It is prepared for. The main control unit 10 is a control unit configured as a normal computer including a known CPU, ROM, RAM, and the like, and a warning output program (warning output PG) described later is stored in the storage unit (vehicle behavior condition information storage unit). ) And vehicle behavior condition information.

  The vehicle behavior condition information is determined for each of a plurality of predetermined approach destination road structures having different structures as shown in FIG. In the vehicle behavior condition information, an estimated passage route approaching from a reference entry position is defined for joining or crossing to the roadway of the road targeted for entry in the corresponding destination road structure. A plurality of vehicle behavior conditions to be satisfied for safe driving when passing through the estimated passage route are defined. The approach destination road structure is a road structure of the road which is determined on the basis of the approach position with respect to the road on which the own vehicle 100 can enter in the form of merging or crossing.

  That is, if the road structure of the road on which the own vehicle 100 can enter in the form of merge or crossing is determined as a structure seen from the entry position of the own vehicle 100 (if the entry position and the entry direction change on the same road, the structure is different. Therefore, a future passage route (estimated passage route) can be determined according to the merging direction and the crossing direction when the host vehicle 100 enters the road having the structure from the approach position. Among such road structures, a plurality of types of road structures determined in advance are used as the approach destination road structures, and a plurality of vehicles that are to be satisfied for safe driving with respect to the respective estimated passing routes determined in the approach destination road structures. Behavior conditions are defined.

  This vehicle behavior condition may be continuously defined as a series of vehicle behavior flows across the entire estimated passage route, but here, a plurality of passage regions are defined in the estimated passage route, and each of the passage regions is defined. Vehicle behavior conditions are defined. In other words, the estimated passage route determined for each approach road structure is determined by connecting a plurality of passage regions on the estimated passage route, and vehicle behavior conditions are determined for each of the passage regions. Yes. In addition, even if you do not intend to actually define the estimated passage route, it is assumed that the estimated passage region has been defined, as long as a plurality of passage regions are defined, it will become the estimated passage region by connecting them. be able to.

  The road structure in the present invention is the structure of the road as seen from the entry position of the host vehicle 100, and is determined based on the entry position. Specifically, the physical structure of the road when viewed from the approach position (road alignment, number of lanes, width structure such as roadways, sidewalks, bicycle paths, shoulders, signals, pedestrian crossings), It is a structure defined by a legally defined structure (for example, priority road, one-way street, speed limit, etc.).

  In addition, the roadway side road in the present invention includes a sidewalk (including a pedestrian crossing) and a bicycle road that are provided alongside the roadway on which the vehicle travels and that is provided only for a predetermined target other than the vehicle. That is.

  Here, the approach destination road structure and the vehicle behavior condition information will be described with reference to an example of the approach destination road structure. 4, 6, and 8 show examples of each approach road structure, and FIGS. 5, 7, and 9 show examples of vehicle behavior condition information corresponding thereto.

  FIG. 4 is a first example of an approach road structure 200, which has a structure having sidewalks 202 on both sides of a one-way (left direction in the figure) roadway 201. FIG. The approach position is the exit of the parking lot 300 further outside the sidewalk 202 on both sides of the roadway 201, and the estimated passage route crosses the sidewalk 202 immediately after the exit of the parking lot 300 and turns left with respect to the roadway 201 ahead. It is a route that merges in the form of

  FIG. 5 is vehicle behavior condition information associated with the road structure 200 of FIG. One estimated passage route can be specified in the road structure 200 of FIG. 4, and first to third passage regions (P1) to (P3) are determined in advance in the order of passage with respect to the estimated passage route. In the first passing area (P1), the position before the sidewalk is obtained immediately after the exit of the parking lot 300 is determined, and a stop (temporary stop) is defined as a vehicle behavior condition to be satisfied there, and the vehicle behavior condition is further satisfied. The warning content (content that prompts a temporary stop at that position) to be output when it is not performed is defined. The second passage area (P2) is a crossing section of the sidewalk 202 immediately after the exit of the parking lot 300, and slow driving (driving below a predetermined vehicle speed) is determined as a vehicle behavior condition to be satisfied there, A warning content (content that prompts slowing down in the section) that is output when the vehicle behavior condition is not satisfied is defined. The third passing region (P3) is a position immediately before entering the roadway 201, and is output when the vehicle behavior condition to be satisfied is temporarily stopped (temporary stop) and the vehicle behavior condition is not satisfied. The warning contents (contents that prompt the stop) are determined.

  FIG. 6 shows a second example of the approach destination road structure 200. A roadway 201 having a sidewalk 202 on both sides (a roadway extending in the left-right direction in the figure) 201 and a roadway intersecting with the roadway (a roadway extending in the vertical direction in the figure). 201 has a structure in which an intersection is formed. The approach position is a position before progress acquisition from one of the latter roadways 201 (lower side in the figure) to the sidewalk 202 on the side of the former roadway 201. The estimated passing route crosses the sidewalk section (the area within the two broken lines connecting the left and right sidewalks 202 in the figure) that is cut off from the roadway 201 that is the entry position. Then, after passing either right or left turn from there, cross the two roads that merge with the intersecting roadway 201 and the sidewalk section, and from there enter the roadway 201 ahead further across the intersecting roadway 201 There are three paths with the path.

  FIG. 7 shows vehicle behavior condition information associated with the road structure of FIG. In the road structure of FIG. 6, three estimated passage paths can be specified, and a passage area is predetermined for each of the estimated passage paths in the order of passage. In the first passage region (P1) in these estimated passage routes, a position before the vehicle is obtained from the roadway 201 set as the entry position to the sidewalk (region in the two broken lines in the figure) 202 is determined, and the vehicle behavior to be satisfied there A stop (temporary stop) is defined as a condition, and a warning content (content that prompts a temporary stop at that position) that is output when the vehicle behavior condition is not satisfied is defined. The second passing area (P2) is a section that crosses the sidewalk (area 2 in the broken line in the figure) 202 on the roadway 201 that is set as the entry position, and is slow (predetermined as a vehicle behavior condition to be satisfied there). Traveling at a vehicle speed equal to or lower than the vehicle speed) and warning contents (contents for urging the vehicle in that section) to be output when the vehicle behavior condition is not satisfied. The third passing area (P3) is a position immediately before entering the roadway 201 that is the object of the right or left turn, and a stop (temporary stop) is defined as a vehicle behavior condition to be satisfied there, and the vehicle behavior condition is further satisfied. A warning content (content that prompts a stop) that is output when it is not done is defined.

  FIG. 8 shows a third example of the approach road structure 200. A roadway 201 having a sidewalk 202 on both sides and having an opposite lane (a roadway extending in the left-right direction in the figure) 201 and a roadway having the same opposite lane intersecting with the roadway 201 (Roadway extending in the vertical direction in the figure) 201 has a structure in which an intersection without a signal is configured. The approach position is a position before obtaining the advance from one of the latter roads 201 (the lower side in the figure) to the pedestrian crossing 203 on the side of the former roadway 201 which has priority. The estimated passage route crosses the pedestrian crossing 203 section from the lane 201 that is the entry position, crosses the pedestrian crossing section after crossing the pedestrian crossing section 201 by either turning right or left from there. From there, there are further three routes that cross the intersecting roadway 201 and that enter the roadway 201 ahead.

  FIG. 9 shows vehicle behavior condition information associated with the road structure of FIG. In the road structure of FIG. 8, three estimated passage routes can be specified, and a passage region is predetermined for each of the estimated passage routes in order of passage.

  In the first passage area (P1) in these three estimated passage routes, a position before the vehicle is obtained from the roadway 201 set as the entry position to the pedestrian crossing 203 is determined, and is temporarily stopped (temporarily stopped) as a vehicle behavior condition to be satisfied there. ) And a warning content (content that prompts a stop at that position) to be output when the vehicle behavior condition is not satisfied. In the second passage area (P2), the position before the advance to the roadway 201 is determined, and when the vehicle behavior condition to be satisfied is temporarily stopped (temporary stop), and the vehicle behavior condition is not satisfied The warning content (content that prompts the user to stop at that position) is defined. Note that a section that crosses the pedestrian crossing 203 on the roadway 201 set as the entry position may also be set as a passing area. In this case, slow traveling (traveling at a predetermined vehicle speed or less) is set as a vehicle behavior condition to be satisfied there. Further, a warning content (content that prompts slowing down in that section) that is output when the vehicle behavior condition is not satisfied may be determined.

  After the third passage region, different vehicle behavior conditions and warning contents are defined for each estimated passage route.

  In the estimated passing route including the left turn, a section to the bicycle path 204 approaching after the left turn is determined as the third passing area (P3-1), and the vehicle travel condition to be satisfied there is slow driving (predetermined vehicle speed). In addition, the warning content (the content that prompts the vehicle to travel slowly in that section) that is output when the vehicle behavior condition is not satisfied is determined. In the fourth passage area (P4-1), a position immediately before entering the bicycle path 204 approaching after the left turn is determined, and a stop (temporary stop) is determined as a vehicle behavior condition to be satisfied there, and the vehicle A warning content (content that prompts a temporary stop at that position) that is output when the behavior condition is not satisfied is defined.

  In the estimated passing route including the right turn, a section to the front position crossing the oncoming lane approaching after the right turn is defined as the third passing area (P3-2). The content of warning (content that prompts slowing down in the section) that is output when the vehicle behavior condition is not satisfied is defined. In the fourth passing area (P4-2), a position immediately before entering the oncoming lane approaching after a right turn is determined, and a stop (temporary stop) is defined as a vehicle behavior condition to be satisfied there, and further the vehicle behavior A warning content (content that prompts a temporary stop at the position) that is output when the condition is not satisfied is defined. As the fifth passage area (P5-2), a section up to the bicycle path 204 that approaches after the right turn is determined, and acceleration (according to a predetermined acceleration level or more and a predetermined upper limit) is satisfied as a vehicle behavior condition to be satisfied there. The warning content that is output when the vehicle travels below the speed, or travels below the upper limit speed and travels above the predetermined lower limit speed, and the vehicle behavior conditions are not satisfied (in that section) Content that promotes acceleration). In the sixth passage area (P6-2), a position immediately before entering the bicycle path 204 approaching after the left turn is determined, and deceleration (driving below a predetermined upper limit speed) is satisfied as a vehicle behavior condition to be satisfied there. Further, warning contents (contents for prompting deceleration in the section) to be output when the vehicle behavior condition is not satisfied are determined.

  In the estimated passing route including straight and crossing, a section to the pedestrian crossing 203 approaching after crossing the lane (the roadway extending in the left-right direction in the figure) 201 is defined as the third passing area (P3-3). Then, acceleration (running above a predetermined acceleration level and below a predetermined upper limit speed, or traveling below the upper limit speed and above a predetermined lower limit speed) is determined as a vehicle behavior condition to be satisfied there. In addition, a warning content (content that prompts acceleration in the section) that is output when the vehicle behavior condition is not satisfied is defined. In the fourth passage area (P4-2), a position immediately before entering the pedestrian crossing 203 approaching after the crossing is determined, and deceleration (driving below a predetermined upper limit speed) as a vehicle behavior condition to be satisfied there. ) And warning contents (contents for prompting deceleration in the section) to be output when the vehicle behavior condition is not satisfied.

  Note that the approach road structure and vehicle behavior condition information described above are merely representative examples, and other approach road structure and vehicle behavior condition information may be set. Different vehicle behavior condition information may be defined.

  Returning to FIG. The navigation device 2 includes a position detector 21, a display device (liquid crystal display, etc.) 22, a voice output unit (voice synthesis circuit and speaker) 23, an operation input unit (mechanical switch, touch switch, remote controller, voice input unit, etc.) 24, The storage device (hard disk drive or the like) 25 and the vehicle speed sensor 26 have a known configuration that is connected to the control unit 20.

  The position detector 21 is current position specifying means for specifying the current position of the vehicle 100, and is a well-known geomagnetic sensor, a gyroscope that detects the rotational angular velocity of the vehicle 100, a distance sensor that detects the travel distance of the vehicle 100, and a satellite. It is a well-known device having a GPS receiver that detects the position of the vehicle 100 based on radio waves from the vehicle.

  The control unit 20 is a normal computer configured with a well-known CPU, ROM, and RAM. The CPU performs control based on a navigation program and data stored in the storage device 25, for example, a destination. Route guidance can be performed by display within the display device 22 or voice output from the voice output unit 23.

  The storage device 25 stores road map data in addition to the known navigation program for executing the route guidance and the like. The road map data stores predetermined map image information for screen display and road network information including link information and node information. In other words, the road map data includes map image data as a background, road network data (road network information) for specifying various roads and their connection, and road structure data (road structure) for specifying the structure of each road. Information) and the like are stored.

  The road network data is configured as map data in which roads are expressed in units of links, and road networks are expressed by connecting these links. On the other hand, the road structure data is configured as attribute data in which attributes of the link body and the link end point are described for each link constituting the road network. The attributes of the link body include the road shape and the roadway on which the vehicle runs, as well as various roadway sideways that are provided alongside the roadway and are provided only for a predetermined target other than the vehicle ( It includes road structure information that can specify the road structure such as roadside belts, sidewalks (including pedestrian crossings, and bicycle paths) and their positional relationships. For this reason, if this road structure information is used, it is possible to specify the structure of the road 200 on which the host vehicle 100 travels and the road 200 approaching from now. In other words, by using this road structure data, with respect to those roads 200, the number of lanes and their width, the presence or absence of a roadside road, the form of a roadside road such as the width of a roadside road, the presence or absence of a pedestrian crossing and its It is possible to specify the road structure such as the width, the presence / absence of a section that is cut by the roadway, but the same object as the roadside road, and the width (considered to be the same as the adjacent roadway). The attribute of the link end point includes information indicating a link connection relationship at the end point.

  Further, in the storage device 25, the user can independently write data such as route guidance auxiliary information and entertainment information, and the data is stored as user data. Data and various information necessary for the operation of the navigation device 2 are also stored as a database.

  The main control unit 10 in the vehicle warning system 1 according to the present embodiment is a control unit configured as a normal computer including a well-known CPU, ROM, RAM, and the like, and in its storage unit (vehicle behavior condition information storage unit). A warning output program (warning output PG) to be described later and vehicle behavior condition information are stored.

  The vehicle warning system 1 according to the present embodiment includes a warning output unit that performs warning output such as warning sound and warning sound. The warning output device of the present embodiment is the voice output unit 23 of the navigation device 2. The warning output unit may be a car audio device that is installed as standard in a general vehicle that is not a luxury vehicle.

  Hereinafter, the processing flow of the warning output program executed by the main control unit 10 will be described with reference to the flowchart of FIG.

  In S1, the control unit 10 acquires the current position, the traveling direction, and road map data from the navigation device 2, and based on the acquired information, the current position of the host vehicle 100 is located on the road network. And a road to be merged / crossed that is located ahead of the traveling direction of the host vehicle 100 is specified. The road network data included in the road map data can identify a road network consisting of a number of links (roads) connected, and the current position and direction of travel automatically identify which link (road) in the road network. It can be determined whether the vehicle 100 is approaching. The road structure data included in the road map data can specify whether the approaching link (road) is a link that allows the host vehicle 100 to join or cross.

  In S <b> 2, the control unit 10 acquires the current position and road map data from the navigation device 2, and the approach of the host vehicle 100 to the road to be merged / crossed specified in S <b> 1 based on the acquired information. Is detected (approach detection means). That is, it is determined whether or not the distance from the host vehicle 100 to the road specified in S1 is within a predetermined distance, and only when the distance is within the predetermined distance is detected as approaching. If it is detected, the process proceeds to S3. If it is not detected, this process ends.

  In S3, the control part 10 specifies the road structure of the approaching road detected in S2 based on road map data (especially road structure data). The structure of the link (road) that is approaching, that is, the number of lanes and the width of the link (road), the presence or absence of the roadway, its type, and the width, etc. is specified by the road structure data included in the road map data. Yes, if you are approaching multiple links (roads) at the same time via a connection point, the connection form of those approaching links (roads) It is possible to specify the road structure such as the width, presence or absence of a section where the same object as the road along the road is running, although it is cut off by the road connected to the connection point.

  In subsequent S4, the control unit 10 determines, based on the road map data and the vehicle behavior condition information, which of the predetermined types of approach destination road structures matches the road structure specified in S3. Judgment (road structure coincidence judging means). Since the control unit 10 stores a plurality of predetermined approach road structures in association with the vehicle behavior condition information, the road structure of the approaching road is any of the approach road structures. Determine if they match. If they match, the process proceeds from S4 to S5, and if they do not match, this process ends.

  In S5, the control part 10 specifies each vehicle behavior condition corresponding to the approach destination road structure determined to correspond in S4 based on vehicle behavior condition information (vehicle behavior condition specification means). Here, in particular, each passing area (for example, each passing area in FIGS. 5, 7, and 9) corresponding to the approach road structure determined to match in S <b> 4, and vehicle behavior conditions (for example, FIG. 5, each vehicle behavior condition of FIG. 7, FIG. 9 is specified. Regarding the passing area, it is specified which area on the approach destination road structure specified in S4.

  In subsequent S6 to S11, when the control unit 10 passes the estimated passage route on the detected approaching road based on each vehicle behavior condition, current position, and road map data specified in S5. Is determined whether or not each vehicle behavior condition is satisfied (vehicle behavior determination means), and if it is determined that the corresponding vehicle behavior condition is not satisfied, the driver outputs a predetermined warning output unit 23 to the driver. A warning output is executed (warning output control means). In the present embodiment, the control unit 10 approaches the approaching road detected in S2 based on the passing area and vehicle behavior conditions specified in S5, the current position, and road map data.・ While approaching and completing the merge or crossing on the roadway, it is determined whether or not the corresponding vehicle behavior condition is satisfied when passing through each specified passing area, and the corresponding vehicle behavior condition is satisfied. If it is determined that the warning has not been made, the warning output unit 23 outputs a warning.

  Specifically, in S6, the control unit 10 advances the host vehicle 100 in the passing area specified in S5 based on the passing area specified in S5, the current position, and the road map data. It is determined whether or not the closest passing area in the direction has been reached. If it is determined that the passing area has been reached, the process proceeds to S7. Further, in S7, the control unit 10 determines the passing area and vehicle behavior conditions specified in S5. Based on the current position and the road map data, it is determined whether or not the vehicle behavior condition corresponding to the passing area determined to have been reached in S6 has been executed.

  In S8, the control unit 10 determines whether or not the vehicle has passed through the pass area determined to be reached in S6 based on the pass area specified in S5, the current position, and the road map data. If it is not determined that the vehicle has passed, the process repeats S7. If it is determined that the vehicle has passed, the process proceeds to S9. Based on the determination result in the latest S7, the corresponding vehicle behavior condition is determined in the passed region. Determine if you are satisfied. If it is determined that the vehicle behavior condition is not satisfied, the process proceeds to S10, a warning regarding that the vehicle behavior condition is not satisfied is output to the warning output unit 23 (warning output control means), and the process proceeds to S11. That is, when the vehicle behavior condition corresponding to the passage area is not satisfied when the control section 10 passes the passage area, the control section 10 immediately outputs a warning to the warning output section 23 upon completion of the passage of the passage area. Let Further, in the present embodiment, the content of the warning output is stored in the storage unit (warning content storage unit) in the control unit 10 for each passing area, and the vehicle corresponding to the passing area when passing through the passing area. When the behavior condition is not satisfied, a warning output of the contents (for example, the warning contents of FIGS. 5, 7, and 9) stored in correspondence with the passage area stored in the storage unit is output. The warning output unit 23 is caused to execute. On the other hand, if it is determined in S9 that the vehicle behavior condition is satisfied, the process proceeds to S11.

  In S11, based on the current position, the road map data, and the vehicle behavior condition information, the control unit 10 determines whether or not there is a passage area next to the passage area determined to have passed in S8 (whether there is a next passage area). Or not). In the vehicle behavior condition information in the present embodiment, each passage area is determined in the order of passage from the entry position, so that the next passage area can be easily specified based on the vehicle behavior condition information. In addition, when there are a plurality of estimated passage routes, there may be a case where there are a plurality of next passage regions or a case where there is a next passage region and a case where there is no next passage region. One estimated passage route that will pass is specified from the direction (traveling direction), and it is determined whether there is a next passage region on the specified estimated passage route. Alternatively, if a destination is set in the navigation device 2 and a route to the destination is being guided, an estimated passing route that matches the guiding route is identified from a plurality of estimated passing routes, and specified. It may be configured to determine whether or not a corresponding vehicle behavior condition is satisfied when each passing region on the estimated passing route is passed.

  If it is determined in S11 that there is no next passing area, the process ends. If there is a next passing area, the process returns to S6. This process is repeatedly executed at a predetermined cycle.

  Whether or not the vehicle behavior conditions such as slow running and temporary stop are satisfied can be determined from the detection result (vehicle speed information) of the vehicle speed sensor (vehicle speed detection means) 26 that detects the vehicle speed of the host vehicle 100. The vehicle behavior condition such as deceleration can also be determined based on the detection result (vehicle speed information) of the vehicle speed sensor 26. In the present embodiment, the vehicle speed sensor 26 functions as a vehicle behavior condition execution determination information acquisition unit that acquires vehicle speed information as vehicle behavior condition execution determination information. In S7, the control unit 10 starts from the control unit 20 of the navigation device 2. The vehicle behavior condition execution determination information is acquired, and based on this information, it is determined whether or not the vehicle behavior condition is satisfied. The vehicle speed information here may not be obtained from the vehicle speed sensor 26 of the navigation device 2 but may be obtained from other in-vehicle devices. However, in this embodiment, the vehicle speed information is completed only by cooperation between the control unit 10 and the navigation device 2. Since it is a system, there is an advantage that the configuration is simple.

  Further, in the vehicle behavior condition information in the present embodiment, as shown in FIGS. 5, 7, and 9, the host vehicle 100 is merged or crossed as one of the passing areas with respect to all approach road structures. A position immediately before entry to the roadway 201 to be entered is determined, and as a vehicle behavior condition to be satisfied at the position immediately before entry, a temporary stop (one-stop stop) of the host vehicle at the position immediately before entry is determined. It has been.

  Further, in the vehicle behavior condition information in the present embodiment, at least one of the approach road structures is located on the front side of the road 201 in the traveling direction of the host vehicle 100 and the direction of travel of the host vehicle 100. Road structures with roadside roads (roadside belts, sidewalks (including pedestrian crossings), bicycle paths) are included (in this embodiment, all of FIGS. 4, 6 and 8 are subject to entry) The vehicle behavior condition that should be satisfied at the position immediately before entering the vehicle road 202 or 203 is determined as one of the passing areas for the road structure. As described above, a temporary stop (one-end stop) of the host vehicle 100 at the position immediately before entering is defined.

  Furthermore, as shown in FIG. 6, the roadway side road 202 in the present embodiment is a roadway sideway even if the roadway 201 to be provided is divided by another roadway 201 branched from the roadway 201. Even if it seems that the roadway side road 202 is cut out and does not exist, it is determined that there is a roadway side road 202 connecting the cut sections, and the roadway side road When crossing the road 202, the position immediately before entering is defined as a passing area, and the temporary stop (one-stop stop) of the host vehicle 100 is defined as a vehicle behavior condition.

  Although one embodiment of the present invention has been described above, this is merely an example, and the present invention is not limited to this, and the knowledge of those skilled in the art can be used without departing from the spirit of the claims. Various modifications based on this are possible.

  For example, in the embodiment described above, the vehicle warning system is configured in such a manner that the navigation device 2 and the control unit 10 cooperate with each other, but the main control unit 10 is used as the control unit of the navigation device 2 as shown in FIG. The navigation device itself may be used as a vehicle warning system.

  Moreover, although the estimated passage route in the said embodiment has connected each passage area continuously and forms one route, it does not necessarily need to be connected, even if a passage region is not connected continuously, they are not connected. Any route may be used as long as the route is estimated in a connected form. That is, it is only necessary that a plurality of passage areas are defined for one intrusion destination road structure.

  In the above embodiment, with the completion of the passage of the passage area that did not satisfy the vehicle behavior condition, the warning output corresponding to the passage area is output by the warning output unit 23. A common buzzer sound may be output upon completion. Further, when there is a passing area that does not satisfy the vehicle behavior condition, a warning may be output after passing through all passing areas including the passing area, that is, after completing the estimated passing route. .

  In the embodiment described above, a warning is output when the vehicle passes through the passing region without satisfying the vehicle behavior condition, but before passing through the passing region, driving is performed so that the vehicle behavior condition is satisfied in the passing region. You may have the structure which notifies a person in advance.

  FIG. 11 is a block diagram showing a configuration of the vehicle warning system 1 capable of executing such advance notification. The control unit 10 stores a pre-notification output program (pre-notification output PG) for executing the pre-notification in its own storage unit, and executes the above-described pre-notification in the form of executing this program.

  In addition, although the above prior notification may be constantly performed when the passing area approaches, in that case, since the driver may feel annoying the prior notification, the corresponding vehicle behavior in each passing area. It is desirable to perform this advance notification only when approaching a passing area where the probability that the condition is satisfied is small.

  FIG. 12 shows an example of vehicle behavior condition information in the embodiment of FIG. However, for each passing area, not only the vehicle behavior condition and warning content, but also the probability that the vehicle behavior condition corresponding to the passing area is not satisfied, or a numerical value that can calculate the probability, that is, the condition determination result of the vehicle behavior condition Are associated with each other, and this portion can be said to be condition determination result information indicating a condition determination result of the vehicle behavior condition. In addition, in the case of FIG. 12, regarding all the approach destination road structures, the total number of passages so far and the corresponding vehicle behavior conditions are not satisfied with respect to each passing area defined for each approach destination road structure. The number of passages is stored, and the above establishment can be calculated.

  FIG. 13 shows an example of processing of the warning output program in the embodiment of FIG.

  S21 to S30 and S32 are the same as S1 to S12 in the process of FIG. However, after determining whether or not the vehicle behavior condition is satisfied (here, after the warning is output in S30), the control unit 10 stores the determination result as to whether or not the corresponding vehicle condition is satisfied in the passing area. ing. More specifically, the probability that the vehicle behavior condition was not satisfied in the passing region (or the probability that the vehicle behavior condition was satisfied) or a numerical value that can be calculated is updated, and then the process proceeds to S32 (similar to S12). move on. As a result, with the execution of the warning output process, the probability that the vehicle behavior condition corresponding to the passing area is not satisfied (or the probability that it is satisfied) or the numerical value that can calculate the probability is updated for each passing area. It will be done.

  On the other hand, FIG. 14 shows an example of processing of the prior notification output program for executing the prior notification in the embodiment of FIG.

  S41 to S45 are the same as S21 to S25 in FIG. In S46, unlike S26, the control unit 10 specifies the arrival of a predetermined timing before entering the estimated passage route or the passage region therein. Here, it is determined whether a passing area in the estimated passing path has reached a position immediately before reaching the passing area. Specifically, a position where the distance from the vehicle 100 to the next passing area is a predetermined distance is determined as a prior notification position, and arrival at the prior notification position is determined. If it has been reached, in S47, the control unit 10 calculates / acquires a probability (a dissatisfaction rate) that the corresponding vehicle behavior condition has not been satisfied in the past in the passing area ahead of the reached prior notification position. Then, it is determined whether or not it exceeds a predetermined rate (vehicle behavior condition satisfaction rate determination means).

  As a result, when it is determined that the probability exceeds the predetermined rate (S48: Yes), the control unit 10 determines in advance in S49 according to the determination (for example, the voice of FIG. 11). The output unit 23) causes the prior notification output to the driver of the vehicle behavior condition to be satisfied when passing through the estimated passage route or the passage region (prior notification control means). Here, if it is determined that the predetermined rate has been exceeded (S48: Yes), the advance notification output device corresponding to the passage area is output to the advance notification output device in S49. Here, the same content as the warning content shown in FIG. 12 is determined as the prior notification content. On the other hand, if it does not fall below the predetermined rate, S49 is skipped. Subsequent S50 is the same process as S28, and S51 is the same process as S32.

  That is, in the embodiment of FIG. 11, the advance notification output program is also executed at the same time as the warning output program, and the advance notification output and the warning output are configured as necessary for the passage area.

  In S47 to S49, the probability that the vehicle behavior condition has not been satisfied in the past (dissatisfaction rate) is calculated, and when it is determined that the probability has exceeded a predetermined rate, a prior notification output is executed. In addition, the probability (satisfaction rate) that the vehicle behavior condition has been satisfied in the past is calculated, and the prior notification output may be executed when it is determined that the probability falls below a predetermined rate. Considering the calculation process, it can be said that the configuration for calculating the dissatisfaction rate and the configuration for calculating the satisfaction rate are the same.

  In the embodiment of FIG. 11, mode setting (setting of warning output mode and advance notification output mode) is possible in the control unit (warning output control means and advance notification output control means) 10. That is, in the embodiment of FIG. 11, a first mode (warning execution mode and advance notification execution mode) that executes the warning output and executes the prior notification output, prohibits the warning output, and outputs the prior notification output. A second mode (warning prohibition mode and advance notice execution mode), a third mode (warning execution mode and advance notice prohibition mode) that executes the warning output and prohibits the advance notice output, and the warning. Either of the fourth modes (warning prohibition mode and advance notification prohibition mode) that prohibits output and prohibits the advance notification output can be set.

  The control unit 10 stores a mode setting program for setting these modes in its own storage unit and executes it. Then, according to the set mode, permission / prohibition of warning output and permission / prohibition of advance notification output are determined. More specifically, the warning output is permitted when the warning execution mode is set, so the warning output program is executed. When the warning prohibition mode is set, the warning output is prohibited, so the warning output program is not executed. . Furthermore, the advance notification output program is executed when the advance notification execution mode is set, so the advance notification output program is executed. When the advance notification prohibit mode is set, the advance notification output is prohibited, and thus the advance notification output program is not executed. Like that.

  FIG. 15 shows an example of processing of the mode setting program. This process is executed when the vehicle warning system 1 is started, here, when the power is turned on by turning on the ignition switch, and is finished when the vehicle warning system 1 is finished, here, the power is turned off by turning off the ignition switch.

  In S101, the control unit 10 determines whether or not there is a mode set at the end of the previous vehicle warning system 1. If there is a mode set at the end of the system 1, the process proceeds to S102, the mode is set, and the process proceeds to S103. On the other hand, if there is no mode set when the system 1 is terminated, the default mode is set. Here, the process proceeds to S107 and S108, the first mode is set as the default mode, and the process proceeds to S103.

  In S103, the control unit 10 determines whether or not there is a mode change operation by the user. In the present embodiment, the control unit 10 is connected to a mode setting operation unit 11 for setting / changing (switching) the mode. The control unit 10 accepts predetermined operations (warning output mode switching operation and prior notification output mode switching operation) by the user to the mode setting operation unit 11 (warning output mode switching operation reception means and prior notification output). Mode switching operation accepting means), and any one of the above four modes can be arbitrarily set based on the operation (warning output mode setting means and advance notification output mode setting means). For example, a mechanical switch corresponding to each mode may be provided as the mode setting operation unit 11 so that the mode corresponding to the operated switch is set. Further, the mode setting operation unit 11 is a touch operation unit arranged on the screen of the display device 22 of the navigation device 2, and the screen image is switched to the mode change screen, and button images corresponding to the displayed modes are displayed. By performing a touch operation, a mode corresponding to the touch-operated button image may be set.

  In S104, it is determined whether or not the mode setting change in S103 is a change to the first mode. If it is a change to the first mode (S104: Yes), the process proceeds to S107 and S108, and as a result, the first mode is set. If it is not a change to the first mode (S104: No), the process proceeds to S105.

  In S105, it is determined whether or not the mode setting change in S103 is a change to the second mode. If it is a change to the second mode (S105: Yes), the process proceeds to S109 and S110, and as a result, the second mode is set. If it is not a change to the second mode (S105: No), the process proceeds to S106.

  In S106, it is determined whether or not the mode setting change in S103 is a change to the third mode. If it is the change to the third mode (S106: Yes), the process proceeds to S111 and S112, and as a result, the third mode is set. If it is not a change to the third mode (S106: No), the process proceeds to S113 and S114, and as a result, the fourth mode is set.

  After setting to any one of the first to fourth modes in this way, the process returns to S103. Then, along with the termination of the vehicle warning system 1, the present process is forcibly terminated after the currently set mode is stored.

  In this embodiment, both the warning output mode and the advance notification output mode can be switched, but either one may be used.

  By the way, regarding the vehicle warning system 1 of FIG. 11 described here, the advance notification output as shown in FIG. 14 is executed, but this advance notification output may be performed in another form.

  Specifically, in the processing of the prior notification output described above, prior notification is performed when the probability that the corresponding vehicle behavior condition is satisfied in the passing region at a position immediately before reaching the passing region is lower than a predetermined rate. For example, in each passing area, the probability that the corresponding vehicle behavior condition is satisfied is calculated for each predetermined vehicle situation, and when reaching a position immediately before reaching a certain passing area, The vehicle situation at the time is specified, and the probability that the vehicle behavior condition corresponding to the passing area in the passing area and the current vehicle situation is satisfied (or the probability that the vehicle behavior condition is not satisfied) is obtained. If it is less than (when the probability is not satisfied, a predetermined rate is exceeded), prior notification may be performed. As a result, if the cause that the corresponding vehicle behavior condition is not satisfied in the passing area is caused by the vehicle situation at that time, for example, the time zone or the weather, the advance notice is given only in the cause vehicle situation. Thus, useless advance notification can be omitted by avoiding advance notification in a non-cause vehicle situation.

  FIGS. 16 to 18 are condition determination result information indicating the condition determination result of the vehicle behavior condition, and the number of vehicle behavior condition dissatisfaction (vehicle behavior condition determination result) for each passing region in various predetermined vehicle situations. It has been stored and accumulated. FIG. 16 shows the number of times of dissatisfaction of the corresponding vehicle behavior condition in each passing area defined for a certain destination road structure, by time zone (vehicle situation). FIG. 17 shows the number of times of dissatisfaction with the corresponding vehicle behavior condition in each passing area defined for a certain approach road structure, recorded by weather (vehicle condition). FIG. 18 shows the number of unsatisfied times of vehicle behavior conditions with respect to the estimated passage route at the time of right turn merge, left turn merge, and crossing for a certain approach road structure.

  FIG. 19 is an example of a warning output process that can update the condition determination result information of FIGS.

  S61 to S70 are the same as S21 to S30 in FIG. The control unit 10 determines whether or not the corresponding vehicle behavior condition is satisfied in the passing region determined to pass in S68 (S69), and when the determination result is obtained, the acquired time in S71 Based on the vehicle status specifying information, vehicle status specifying information capable of specifying a predetermined type of vehicle status for specifying the vehicle status of the host vehicle 100 at that time is acquired (vehicle status information acquiring means). And the control part 10 while specifying the present vehicle condition based on the acquired vehicle condition specific information (vehicle condition specific means). In S72, the determination result obtained in S69 is stored / updated in its own storage unit (vehicle behavior condition determination result storage unit) in association with the vehicle situation at the time of acquisition of the determination result (vehicle Behavior condition determination result storage means). Specifically, in S72, the control unit 10 corresponds to the specified vehicle situation among the probabilities that the vehicle behavior condition corresponding to the passage area determined to be passing is not satisfied (the probability may be satisfied). Calculate / acquire probability. Here, the number of times corresponding to the specified vehicle situation is updated among the number of times the vehicle behavior condition corresponding to the passing area is not satisfied. Subsequent S73 and S32 are similar processes.

  FIG. 20 shows the probability corresponding to the specified vehicle situation among the probabilities of not satisfying the vehicle behavior condition corresponding to the passing passage area (may be the probability of satisfying) as shown in FIG. An example of a prior notification output process for causing a prior notification output device (for example, the audio output unit 23 in FIG. 11) to perform prior notification output at a position immediately before the passage area when the probability (dissatisfaction rate) exceeds a predetermined rate. Is.

  S81 to S86 are the same as S41 to S46 of FIG. However, in S87, the control unit 10 specifies a predetermined type of vehicle situation among the current vehicle situations in a state in which the control unit 10 has reached the position immediately before the passing area. In S88, the control unit 10 relates to the identified vehicle situation. Then, the unsatisfactory rate of the vehicle behavior condition corresponding to the vehicle area approaching immediately before is read, and in S89, it is determined whether or not this unsatisfactory rate exceeds a predetermined rate. When the dissatisfaction rate exceeds a predetermined rate, in S90, the prior notification output device is made to output the prior notification content corresponding to the vehicle area approaching immediately before. The subsequent processes of S91 and S92 are the same as S50 and S51.

  In addition, as a vehicle condition of the own vehicle 100, the weather (sunny, cloudy, rain, snow, etc.), the temperature outside a vehicle, etc. can be illustrated as a condition outside a vehicle, for example. In the case of weather, the auto wiper device that drives the wiper in response to rain is the in-vehicle device 4 in FIG. Thus, the control unit 10 can acquire weather information indicating rainfall / snowfall as vehicle status information from the control unit 40 of the auto wiper device 4 via the in-vehicle LAN 5. In addition, the car air conditioner is the in-vehicle device 4 of FIG. The weather information shown can be acquired as vehicle status information. In addition, when the car air conditioner is the in-vehicle device 4 in FIG. 11, the predetermined vehicle status information acquisition unit 41 connected to the control unit 40 can be an outside air temperature sensor or an inside air temperature sensor. Via the in-vehicle LAN 5, temperature information indicating the outside temperature and the inside temperature can be acquired as vehicle status information. In addition, if the control unit 10 has time information or the navigation device 2 acquires time information (for example, acquires time information from a GPS reception signal), the time information is used as vehicle status information. Can be obtained as Further, if the steering device is the in-vehicle device 4 in FIG. 11, the predetermined vehicle situation information acquisition unit 41 connected to the control unit 40 is used as a steering angle detection sensor of the steering wheel, so It is possible to detect straight traveling, and as the vehicle status of the host vehicle 100, it is possible to acquire, as the vehicle status information, traveling direction information that can identify right turn merge, left turn merge, and crossing. Further, if the direction indicator is the in-vehicle device 4 in FIG. 11, the predetermined vehicle situation information acquisition unit 41 connected to the control unit 40 is used as the operation detection unit of the direction instruction operation unit, so that the host vehicle 100 is scheduled to travel. It is possible to detect the direction, and as the vehicle status of the host vehicle 100, it is possible to acquire the planned travel direction information that can specify the right turn plan, the left turn plan, and the straight ahead plan as the vehicle status information.

  As described above, by using the above-described vehicle-mounted device 4 mounted on a general vehicle in recent years, it is possible to specify the vehicle situation as described above, and the condition determination result information of FIGS. Can be obtained. Thereby, for example, when the vehicle behavior condition tends to be not satisfied on a rainy day in a certain estimated passage route, a prior notice output can be made only on a rainy day in the estimated passage route. In addition, when there is a tendency that the vehicle behavior condition is difficult to be satisfied in a part of the passage area in a certain time zone, a prior notice output can be made only in that time zone in the passage area. Also, for example, in a certain road structure, when there is a tendency that the vehicle behavior condition is difficult to be satisfied in the estimated passage route that merges in the form of a right turn, the direction indicator (blinker) indicates and displays the right side in the estimated passage route. Advance notification output can be made only when In the case of FIGS. 16 to 18, the dissatisfaction rate of the vehicle behavior condition exceeds a predetermined rate in the vehicle situation and the passing region highlighted by dots, and the advance notification output is performed at these times.

  Further, in the configuration in which the advance notification output is performed together with the warning output as in the embodiment, the advance notification output is performed based on a dissatisfaction rate of a vehicle behavior condition according to a vehicle situation, and a vehicle The mode to be performed based on the unsatisfactory rate of the vehicle behavior condition unrelated to the situation may be switched by a mode switching operation by the user. These mode switching may be incorporated into the mode setting according to FIG.

  As for the direction indicator, if there are a plurality of estimated passage paths in the approached approach road structure, if there is a user operation to the direction instruction operation unit, the plurality of estimated passage paths The route in the direction that matches the direction indicated by the direction indicator is determined as the destination, and the next passage region on the estimated passage that is the destination is specified as the next passage region. Good. When the vehicle travels in a direction different from the direction in which the direction indicator is supported, the driver may be warned to that effect.

  In addition, as a method of specifying one route as a destination among a plurality of estimated passing routes, for example, when the navigation device 2 performs route guidance, an estimated passing route that matches the route being guided is selected. It can also be defined as a destination.

DESCRIPTION OF SYMBOLS 1 Vehicle warning system 10 Control part 2 Navigation apparatus 20 Control part 21 Position detector 23 Audio | voice output apparatus 25 Memory | storage device 26 Vehicle speed sensor 100 Own vehicle 200 Road 201 Roadway 202 Sidewalk 203 Crosswalk 204 Bicycle road

Claims (12)

Current position detection means for detecting the current position of the host vehicle, a road map data storage unit for storing road map data that can specify a road network and a road structure, and a route to a set destination in the road map data A vehicle warning system that is configured as a vehicle navigation device itself, or that is configured to cooperate with the vehicle navigation device, comprising:
With respect to roads that can be entered in the form of merges or crossings, if the road structure of the road that is determined based on the entry position is used as the road structure of the destination road, it is possible to use multiple types of road structures that are different from each other. Estimated passage routes approaching and entering from the reference approach position are determined for merging or crossing the road that is the target of entry, respectively, and are satisfied for safe driving when the estimated passage route passes. A vehicle behavior condition information storage unit that stores vehicle behavior condition information that defines a vehicle behavior condition to be
Based on the current position and the road map data, an approach detection means for detecting the approach of the host vehicle to a road that can be entered in the form of merging or crossing;
Based on the road map data and the vehicle behavior condition information, it is determined whether or not the road structure of the detected approaching road matches any of the plurality of types of approach destination road structures. A determination means;
Vehicle behavior condition specifying means for specifying each vehicle behavior condition corresponding to the approach road structure determined to match based on the vehicle behavior condition information;
Based on each identified vehicle behavior condition, the current position, and the road map data, each vehicle behavior condition is satisfied when the host vehicle passes the estimated passage route on the detected approaching road. Vehicle behavior determining means for determining whether or not
Warning output control means for causing a predetermined warning output unit to execute warning output to the driver when it is determined that the corresponding vehicle behavior condition is not satisfied;
A vehicle warning system comprising: In the vehicle behavior condition information, the estimated passage route defined for each approach road structure is defined by a plurality of passage regions on the estimated passage route, and the vehicle behavior condition is defined for each passage region. And
The vehicle behavior condition specifying means, based on the vehicle behavior condition information, each passing area corresponding to the approach road structure determined to be matched by the road structure matching judging means, and the vehicle behavior condition in these passing areas, Identify
The vehicle behavior determination means is configured to cause the host vehicle to approach the approaching road detected by the approach detection means based on the specified passing area and vehicle behavior conditions, the current position, and the road map data. -Determine whether or not the corresponding vehicle behavior conditions have been satisfied when passing through each specified passing area until entering and completing the merge or crossing on the roadway,
2. The vehicle warning system according to claim 1, wherein the warning output control unit causes the warning output unit to execute the warning output when it is determined that the corresponding vehicle behavior condition is not satisfied. 3.   The warning output control means is configured to cause the warning output unit to execute a warning output upon completion of passing through the passing area when a vehicle behavior condition corresponding to the passing area is not satisfied. The vehicle warning system according to claim 2. A warning content storage unit that defines the content of the warning output for each passage area,
The warning output control means, when the vehicle behavior condition corresponding to the passage through the passage area is not satisfied, the warning output of the content determined for the passage area stored in the warning content storage unit The vehicle warning system according to claim 3, wherein the warning output unit is configured to execute.   In the vehicle behavior condition information, a position immediately before entering the vehicle road on which the own vehicle enters in a form of joining or crossing is defined as one of the passing areas for all the approach destination road structures. The vehicle warning according to any one of claims 2 to 4, wherein, as the vehicle behavior condition to be satisfied at the position immediately before entering, the vehicle is temporarily stopped at the position immediately before entering. system.   In the vehicle behavior condition information, at least one of the approach destination road structures, a roadway to which the own vehicle is to enter, and a position on the front side of the roadway in the traveling direction of the own vehicle, which is determined in advance other than the automobile Road structures with various roadways (roadside belts, sidewalks (including pedestrian crossings), bicycle paths) that are partitioned so that they can only be used for traffic. On the other hand, as one of the passage areas, a position immediately before entering the roadway side road is determined, and as the vehicle behavior condition to be satisfied at the position immediately before entering, the vehicle is temporarily stopped at the position immediately before entering. The vehicle warning system according to any one of claims 2 to 5, wherein the vehicle warning system is provided.   The vehicle warning system according to claim 6, wherein the roadway side road is determined so that the divided road is also regarded as the roadway side road even if the roadway attached thereto is divided by a roadway branched from the roadway. .   The vehicle behavior condition information includes, as the destination road structure, a road structure in which there are a plurality of estimated passage routes having different merging directions or crossing directions to the roadway to which the host vehicle enters, and the road structure The vehicle warning according to any one of claims 2 to 7, wherein the passage area is defined in each of the estimated passage paths, and the vehicle behavior condition in the passage area is defined. system. A warning output predetermined by the user for switching a warning output mode set in the warning output control means between a warning execution mode for executing the warning output and a warning prohibiting mode for prohibiting the warning output. A warning output mode switching operation receiving means for receiving a mode switching operation;
Warning output mode setting means for setting the warning output mode in the warning output control means based on the warning output mode switching operation;
The warning output control means permits the warning output when the warning execution mode is set, and prohibits the warning output when the warning prohibition mode is set. The vehicle warning system described. Vehicle behavior condition determination result storage means for storing / accumulating the determination result by the vehicle behavior determination means in a vehicle behavior condition determination result storage unit;
Based on past determination results stored and accumulated in the vehicle behavior condition determination result storage unit at a predetermined timing before entering the estimated passage route, the vehicle behavior condition corresponding to the estimated passage route is not satisfied. Vehicle behavior condition satisfaction rate determination means for determining whether or not the probability exceeds a predetermined rate;
A prior notification output for causing the predetermined prior notification output unit to execute a prior notification output to the driver of the vehicle behavior condition to be satisfied when passing through the estimated passage route as it is determined that the probability exceeds the predetermined rate Control means;
The vehicle warning system according to any one of claims 1 to 9, further comprising: Vehicle status information acquisition means for acquiring predetermined information among the information indicating the status of the host vehicle as vehicle status specifying information, and vehicle status specifying for specifying the current vehicle status based on the acquired vehicle status specifying information Means, and
The vehicle behavior condition determination result storage means specifies the vehicle situation at the time of the determination result acquisition based on the vehicle situation identification information acquired by the vehicle situation information acquisition means when the determination result by the vehicle behavior determination means is obtained. And storing the determination result in the vehicle behavior condition determination result storage unit in association with the specified vehicle situation,
The vehicle behavior condition satisfaction rate determination means, when the predetermined timing before entering the estimated passage route, the timing among the past determination results stored and accumulated in the vehicle behavior condition determination result storage unit. And calculating the probability that the vehicle behavior condition corresponding to the estimated passage route was not satisfied in the vehicle situation based on the determination result associated with the vehicle situation specified by the vehicle situation specifying means Is determined to exceed the predetermined rate,
The prior notification output control means preliminarily informs the driver of a vehicle behavior condition to be satisfied when the estimated passage route passes, in accordance with the determination that the probability exceeds a predetermined rate. The vehicle warning system according to claim 10, wherein notification is output. For switching the advance notification output mode set in the advance notification output control means between the advance notification execution mode for executing the advance notification output and the advance notification prohibiting mode for prohibiting the advance notification output. A prior notification output mode switching operation accepting means for accepting a predetermined prior notification output mode switching operation by a user;
Prior notification output mode setting means for setting the prior notification output mode based on the prior notification output mode switching operation;
The advance notification output control means permits the advance notification output when the advance notification execution mode is set, and prohibits the advance notification output when the advance notification prohibit mode is set. Or the warning system for vehicles of Claim 11.

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