JP2023043914A - Road shoulder stop permission/prohibition notification device - Google Patents

Abstract

To provide a display device that determines whether or not a work vehicle can be stopped on a road shoulder at the current position to display it to passengers of the work vehicle.SOLUTION: A road shoulder stop permission/prohibition notification device comprises: position measurement means 110 of measuring the current position of a GPS; a stop permission/prohibition section data memory 120 that stores rear end position data and front end position data in a longitudinal direction along a road in order of arrangement along the road as data representing a stop permission section or a stop prohibition section on a road shoulder; stop permission/prohibition section determination means 130 of determining whether the current position is in the stop permission section or the stop prohibition section of a stop permission/prohibition section in comparison with section data in the stop permission/prohibition section data memory 120; and display means of performing display as to whether a vehicle can be stopped or not from a result of determination made by the stop permission/prohibition section determination means 130.SELECTED DRAWING: Figure 1

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for informing whether or not a work vehicle can stop on the shoulder of a highway at its current position.

There are many prior applications for devices for road work and road management. For example, in Patent Document 1,
Based on the latitude and longitude information of the location where the road damage has occurred, identify the ID and kilometer post of the road closest to that latitude and longitude, and indicate that the damage has occurred on the corresponding road on the map. It displays a mark indicating the distance along with the value in kiloposts. By looking at the value of the kilometer post, it is easy for workers to intuitively grasp where the damage occurred on the road. In addition, even if there are multiple pieces of damage data collected from the site, if the kilometer post value is the same, it can be determined that there are duplicates and can be dealt with.・It has been used as a convenient thing for identification.
Recently, the move to create a dynamic map has become strange due to the movement towards automatic driving of cars.
Everything that exists along the road is captured by a camera and converted into a digital data map as a three-dimensional image. , displays, signals, everything that exists is piled up as digital data as it exists. Otherwise, it cannot be used as data for safe automatic driving, and its characteristic is that it consists of a huge amount of data. However, there are fields in which such a huge amount of data is not required and desired processing is desired with an extremely small amount of data. The target field of the above Patent Document 1 is one of them. In such a field, it is necessary to devise originality and ingenuity to minimize the amount of data to be handled and speed up processing. From such a point of view, the problems in the present application and the means therefor will be described below.

Patent No. 4305361

SUMMARY OF THE INVENTION An object of the present application is to provide a display device that determines whether or not a vehicle can stop on the shoulder of a road at the current position and displays the information to a passenger of a work vehicle.

The description will be made according to the claims below.
The invention according to claim 1 is a road shoulder stop availability notification device,
Determines whether the road shoulder corresponding to the current position of the work vehicle on the road is a section where the vehicle can stop or a section where the vehicle cannot stop, in accordance with the measured current position, and notifies the occupants of the work vehicle. Position measuring means for measuring the current position; Traveling direction determining means for determining whether the work vehicle is on the inbound line or the inbound line of the road; a stop permitted section data memory for storing at least the rear end position data and the front end position data in the longitudinal direction along the traveling direction of the road as stop permitted section data representing the stop prohibited section of (1) in the order of arrangement along the traveling direction of the road; a stop permission/prohibition section determination means for determining whether the current position is in the stop permission section or the stop prohibition section by comparing with the stop permission section data in the stop permission section data memory; and display means for displaying whether the vehicle can be stopped or not, based on the determination result of the vehicle stop possibility section determining means, so as to notify the passengers.

The invention according to claim 2 is the road shoulder stop propriety notification device according to claim 1,
The rear end position data and the front end position data of the stop permission/prohibition section data in the stop permission/prohibition section data memory are stored in a kilometer post kp distance display determined corresponding to the distance along the road in the longitudinal direction, further comprising a position-kp correspondence data memory for storing position-kp correspondence data used to convert the current position value into the kilopost kp distance representation determined corresponding to the distance along the road. and,
The vehicle stop permission/prohibition section determining means is configured to determine whether the current position is in the stop permission section or the stop prohibition section within the stop permission section, using the current position data and the rear end position. By judging the data and the front end position data based on the value of the kilometer post kp distance display, the data of the stop possible/impossible section can be reduced to correspond to the road properties.

The invention according to claim 3 is the road shoulder stop permission/prohibition informing device according to claim 1 or claim 2, wherein the stop permission/prohibition section data stored in the stop permission/prohibition section data memory is the stop permission section or the stop impossibility data memory. The feature is that the amount of stored data is reduced by using the data for one of the sections.

A fourth aspect of the present invention is directed to the road shoulder stop possibility informing device according to any one of the first to third aspects, wherein the current position is within the stop-prohibited section, and the display means indicates that the vehicle is stopped. When displaying impossibility, it is characterized by displaying also the distance to the front stop-possible section.

A fifth aspect of the present invention is directed to the road shoulder stop possibility informing device according to any one of the first to fourth aspects, wherein the current position is within the stoppable section, and the display means indicates that the vehicle is stopped. When displaying "Yes", the distance from the rear end position data and the front end position data of the stopable section where the current position exists to the current position, the rear end position, and the front end position is displayed. do.

With the configuration as described above, the road shoulder stop possibility notification device according to the present invention makes it possible to determine and notify whether the vehicle can stop on the road shoulder by extremely simple handling even in the case of complicated road properties.

BRIEF DESCRIPTION OF THE DRAWINGS It is a figure which shows one embodiment of a structure of the road-shoulder stop propriety informing apparatus concerning this invention. BRIEF DESCRIPTION OF THE DRAWINGS It is a figure which shows one embodiment about the handling of the road shoulder made into the object of the road shoulder stop possibility informing apparatus concerning this invention. It is a figure which shows one embodiment of the data of the stop propriety area data memory of the road shoulder stop propriety informing apparatus concerning this invention.

FIG. 1 is a diagram showing one embodiment of the configuration of a road shoulder stop permission/prohibition notification device according to the present invention.
The road shoulder stop possibility notification device judges whether the road shoulder corresponding to the current position of the work vehicle equipped with it is a stop possible section or a stop impossibility section according to the measured current position, and the work vehicle boarding The position measuring means 110 for measuring the current position such as GPS, and the rear end position in the longitudinal direction along the road as data representing the stopable section on the shoulder or the unstoppable section on the shoulder A stop possible/prohibited section data memory 120 that stores data and front end position data in order along the road, and compares the section data in the stop possible/prohibited section data memory 120 to see if the current position is in the stop possible section of the stop possible section. , a stop possibility section determining means 130 for determining whether the vehicle is in a stop prohibited section, a display means 140 for displaying whether the vehicle can stop or not based on the determination result of the stop possible section determining means 130, and the value of the measured current position. a position-kp correspondence data memory 150 for storing position-kp correspondence data used for converting the distance along the road into a distance (kilopost: kp) display determined corresponding to the distance; and a traveling direction determination means 160 , and
The stop permission/prohibition section in the stop permission/prohibition section data memory 120 is at least one of a section where the shoulder of the road is a section where the vehicle can stop or a section where the vehicle cannot be stopped, and at least the positions of the rear end and the front end of each section along the traveling direction of the road. The data for each section is stored in the stop permission section data memory 120 in order along the traveling direction of the road.
In addition to GPS, it is well known that inertial navigation means such as a direction sensor and a speedometer are available as means for measuring the current position.
More specifically, the position-kp correspondence data and the stop permission/prohibition section data are required for the up line and the down line. Using that data,
(1) When entering the highway,
(2) Measure the traveling direction of the vehicle and determine whether it is an inbound line or an inbound line (the traveling direction determination means 160 determines whether the vehicle is traveling on an inbound line or an inbound line). is judged)
(3) It is possible to select the corresponding data in the stop permission/prohibition section data memory.
If, for example, the current position and the current direction of travel are known as the traveling direction determining means 160, it is possible to determine whether the vehicle is on the up line or the down line on the road by considering the direction of the road. It is also possible to determine whether the vehicle is on the up line or the down line, depending on the change in position on the road up to the present time (for example, the change in position is from Hamamatsu to Nagoya).
Of course, the traveling direction may be determined artificially. Once the direction of travel is known, it is normal for highways and the like to maintain a fixed direction of travel without confusion of up and down lines.

The following advantages can be obtained from the characteristics of this interval data. Since the section data is represented by the position data of the trailing end and the leading end, the data to be stored is small. Therefore, the comparison process (search) becomes simple. Since the data for each section are stored in order along the traveling direction of the road, the amount of comparison processing can be reduced.
Furthermore, considering that a section that is not a stop-allowed section is a stop-prohibited section, and vice versa, the data stored in the stop-permitted section data memory 120 may be either a stop-allowed section or a stop-prohibited section. As a result, the amount of data to be stored can be further reduced.

Furthermore, the position data is converted into kilometer values via the data in the position-kp correspondence data memory 150, and the position data of the rear and front ends of the stop possible/impossible section data memory 120 are also converted into kilometer values. If stored, it has the following additional benefits:
Whether the current position is inside or outside the stop possible section can be easily determined by the magnitude of the value of the kilometer post corresponding to the current position and the value of the kilometer post at the rear end and the front end of the stop possible section. For example, if the value of the kilometer post of the stop possibility section is 100.50 on the rear end side and 105.10 on the front end side, if the value of the kilometer post corresponding to the current position is 100.10, the current position is It can be easily determined that it is outside the interval and outside the trailing edge. If the value of the kilometer post corresponding to the current position is 100.80, it can be easily determined that the current position is inside the stop permission/prohibition section. If the data of the section where the vehicle can be stopped is displayed in the section where the vehicle can be stopped, the display output indicates that the vehicle can be stopped within the section and the display output that the vehicle cannot be stopped outside the section.

Furthermore, in judging whether the current position is inside or outside the stop possible section, if the stored position data of the rear end and the front end of each section are represented by coordinates, the judgment can be made only with the data of the rear end and the front end. Although it may be difficult, if it is expressed in terms of kiloposts, it is sufficient to make a judgment based only on the data of the rear end and the front end, and simple processing is possible, but this will be described in FIG. .
It should be noted that displaying whether the vehicle can stop or not in the section on the shoulder does not depend on whether or not the vehicle is on the shoulder. This is because it is troublesome to enter the shoulder one by one and judge whether the vehicle can stop or not on the nearby shoulder when the vehicle is traveling on a running route that is not on the shoulder. Therefore, the comparison with the rear end and the front end of the stop possibility section is sufficient. In particular, the display by the kilometer post is a numerical value along the direction of the road, and there is no distinction in the lateral direction perpendicular to this, so it is not necessary to judge after entering the shoulder. In addition to the advantage that the kilopost representation is often said to be convenient for recognizing and identifying positions, such as where it is when a worker sees it, this advantage and the advantages shown later in Fig. 2 can be found, and it can be said that the determination based on the kilopost value is consistent with the purpose of the present application.

When the current position is in the stop-prohibited section, the display means 140 not only displays that the vehicle cannot be stopped, but also indicates the distance to the next stop-prohibited section in the traveling direction. It is convenient as information. Also, when the current position is in the stoppable section, the display means 140 may indicate the distance from the current position to the rear end and the front end of the stoppable section. You can stop considering the length of the car. The rear end of the stop-allowed section is the same as the front end of the previous stop-prohibited section, and the front end of the stop-allowed section is the same as the rear end of the subsequent stop-prohibited section. are equivalent. Namely
The expression ``If the current position is in a stopable section, indicate the distance between the current position and the rear end and the front end of the stopable section'' is ``If the current position is in the stopable section, The distance from the front end of the preceding non-stop section to the rear end of the subsequent non-stop section is the same as the expression ". Therefore,
In claim 5, the former expression expresses the same gist.

FIG. 2 is a diagram showing one embodiment of the handling of the road shoulder targeted by the road shoulder stop permission/prohibition informing device according to the present invention.
In 2-A, in this figure, consecutive A section (stopping allowed), B section (stopping not allowed), and C section (stopping allowed) are shown as stopable sections. A stopable section can be defined as a section with a width greater than a stopable road shoulder width threshold, such as 2.5 m, such that a vehicle can stop sufficiently. Therefore, the B section in which the vehicle cannot be stopped is a section with a width smaller than the road shoulder width threshold at which the vehicle can be stopped. It should be noted that, depending on road conditions, there are cases where the stopable section and the non-stoppable section are determined irrespective of the shoulder width threshold value for which the vehicle can be stopped. For example, it is possible for road administrators to consider conditions unrelated to the shoulder width threshold for stopping, such as road shoulders with poor visibility in front of and behind tunnels, road shoulders near interchanges and service areas, and the like.
Each section is represented by a trailing end position and a leading end position, and is represented by a position or, preferably, by a value obtained by converting the position into a kilopost value. As described above, the data stored in the stop permission/prohibition section data memory 120 for the stop permission/prohibition section may be either the stop permission section or the stop prohibition section. For example, if the stored data is composed of sections where the vehicle can stop, there is no need to store the data for the section where the vehicle cannot stop. , the current position can be processed as being in a stop-prohibited section. In addition, since the stop-permitted section and the stop-disabled section are alternately arranged, the length (distance) is different, but the number is one even if it is different. Very convenient.

2-B is the case where the road has complicated properties such as bends and gradients. The E section does not bend like the section shown in 2-A, but the D section bends. When the D section is represented by only the rear end position d1 and the front end position d2 and by position coordinates, it is only possible to determine whether the current position is within the D section by comparing the two data d1 and d2. It's difficult. Difficulty and certainty of judgment decrease as the degree of flexion increases. In the present application, there is a great advantage in that the vehicle stop permission/prohibition section is represented by two data, the front end position and the rear end position. However, as shown in 2-C, when the data on the front and rear end positions and the data on the current position are converted into kilometer post values for the stop possible/prohibited section, the data along the road becomes a one-dimensional numerical value. It becomes data, and judgment can be made based on the size relationship, and the judgment is also certain, and other data is completely unnecessary. It offers enormous advantages. In 2-C, if the current position is kp200.40, it is definitely between the trailing end data d1 and the leading end data d2, so it can be determined to be in the D section. 2-D describes the explanation of the situation.

FIG. 3 is a diagram showing one embodiment of data in the stop permission/prohibition section data memory of the road shoulder stop permission/prohibition informing device according to the present invention.
An example of a road corresponding to the following stop permission/prohibition section data is shown in the lower part of FIG. 3 as a curve.
There, for example, there are eight sections I01 to I08 where the vehicle can be stopped (or where the vehicle cannot be stopped as described above) along the road.
As shown in the table, the stop permission/prohibition section data are arranged (columns of **1, **2, and **3) in order along the road (I01 to I08) in the stop permission/prohibition section data memory 120. . Two pieces of data, namely the rear end position and the front end position along the direction of the road, are displayed (columns **2 and **3) for each section where the vehicle can be stopped.
The stop permission/prohibition section data arranged in order along the road preferably has a stop permission/prohibition section identification symbol (I01 to I08 in this example) that identifies each stop permission/prohibition section. It has rear end position coordinates and front end position coordinates (**2) of the yes/no section.
Furthermore, for the reason explained in FIG. 2, most preferably, the rear end position Kp value and the front end position Kp value (**3 ) is stored as It is a very convenient advantage to be able to reliably handle only the rear end position Kp value and the front end position Kp value even in curved stop possible sections such as I04 and I05.
Using this data, for example, if I04 has a Kp value of (120.40) (122.20), the Kp value for the current position coordinates is (121.60). , it can be easily determined that the current position is within the I04 section.
Furthermore, it is preferable to store the data of the section length (**4) and the minimum road shoulder width (**5) for each individual stop possible section.

As described above, the apparatus for notifying whether or not a vehicle can stop on the shoulder of a road according to the present invention can judge and notify whether or not a vehicle can stop on the shoulder of a road in a very simple manner even if the road conditions are complicated. .

110 position measuring means 120 stop possible/impossible section data memory 130 stop possible/impossible section determining means 140 display means 150 position-kp corresponding data memory 160 traveling direction determining means

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for informing whether or not a work vehicle can stop on the shoulder of a highway at its current position.

There are many prior applications for devices for road work and road management. For example, in Patent Document 1,
Based on the latitude and longitude information of the location where the road damage has occurred, identify the ID and kilometer post of the road closest to that latitude and longitude, and indicate that the damage has occurred on the corresponding road on the map. It displays a mark indicating the distance along with the value in kiloposts. By looking at the value of the kilometer post, it is easy for workers to intuitively grasp where the damage occurred on the road. In addition, even if there are multiple pieces of damage data collected from the site, if the kilometer post value is the same, it can be determined that there are duplicates and can be dealt with.・It has been used as a convenient thing for identification.
Recently, the move to create a dynamic map has become strange due to the movement towards automatic driving of cars.
Everything that exists along the road is captured by a camera and converted into a digital data map as a three-dimensional image. , displays, signals, everything that exists is piled up as digital data as it exists. Otherwise, it cannot be used as data for safe automatic driving, and its characteristic is that it consists of a huge amount of data. However, there are fields in which such a huge amount of data is not required and desired processing is desired with an extremely small amount of data. The target field of the above Patent Document 1 is one of them. In such a field, it is necessary to devise originality and ingenuity to minimize the amount of data to be handled and speed up processing. From such a point of view, the problems in the present application and the means therefor will be described below.

Patent No. 4305361

SUMMARY OF THE INVENTION An object of the present application is to provide a display device that determines whether or not a vehicle can stop on the shoulder of a road at the current position and displays the information to a passenger of a work vehicle.

The description will be made according to the claims below.
The invention according to claim 1 is a road shoulder stop availability notification device,
Determines whether the road shoulder corresponding to the current position of the work vehicle on the road is a section where the vehicle can stop or a section where the vehicle cannot stop, in accordance with the measured current position, and notifies the occupants of the work vehicle. Position measuring means for measuring the current position; Traveling direction determining means for determining whether the work vehicle is on the inbound line or the inbound line of the road; a stop permitted section data memory for storing at least the rear end position data and the front end position data in the longitudinal direction along the traveling direction of the road as stop permitted section data representing the stop prohibited section of (1) in the order of arrangement along the traveling direction of the road; a stop permission/prohibition section determination means for determining whether the current position is in the stop permission section or the stop prohibition section by comparing with the stop permission section data in the stop permission section data memory; and display means for displaying whether the vehicle can be stopped or not, based on the determination result of the vehicle stop possibility section determining means, so as to notify the passengers.

The invention according to claim 2 is the road shoulder stop propriety notification device according to claim 1,
The rear end position data and the front end position data of the stop permission/prohibition section data in the stop permission/prohibition section data memory are stored in a kilometer post kp distance display determined corresponding to the distance along the road in the longitudinal direction, further comprising a position-kp correspondence data memory for storing position-kp correspondence data used to convert the current position value into the kilopost kp distance representation determined corresponding to the distance along the road. and,
The vehicle stop permission/prohibition section determining means is configured to determine whether the current position is in the stop permission section or the stop prohibition section within the stop permission section, using the current position data and the rear end position. By judging the data and the front end position data based on the value of the kilometer post kp distance display, the data of the stop possible/impossible section can be reduced to correspond to the road properties.

The invention according to claim 3 is the road shoulder stop permission/prohibition informing device according to claim 1 or claim 2, wherein the stop permission/prohibition section data stored in the stop permission/prohibition section data memory is the stop permission section or the stop impossibility data memory. The feature is that the amount of stored data is reduced by using the data for one of the sections.

With the configuration as described above, the road shoulder stop possibility notification device according to the present invention makes it possible to determine and notify whether the vehicle can stop on the road shoulder by extremely simple handling even in the case of complicated road properties.

BRIEF DESCRIPTION OF THE DRAWINGS It is a figure which shows one embodiment of a structure of the road-shoulder stop propriety informing apparatus concerning this invention. BRIEF DESCRIPTION OF THE DRAWINGS It is a figure which shows one embodiment about the handling of the road shoulder made into the object of the road shoulder stop possibility informing apparatus concerning this invention. It is a figure which shows one embodiment of the data of the stop propriety area data memory of the road shoulder stop propriety informing apparatus concerning this invention.

FIG. 1 is a diagram showing one embodiment of the configuration of a road shoulder stop permission/prohibition notification device according to the present invention.
The road shoulder stop possibility notification device judges whether the road shoulder corresponding to the current position of the work vehicle equipped with it is a stop possible section or a stop impossibility section according to the measured current position, and the work vehicle boarding The position measuring means 110 for measuring the current position such as GPS, and the rear end position in the longitudinal direction along the road as data representing the stopable section on the shoulder or the unstoppable section on the shoulder A stop possible/prohibited section data memory 120 that stores data and front end position data in order along the road, and compares the section data in the stop possible/prohibited section data memory 120 to see if the current position is in the stop possible section of the stop possible section. , a stop possibility section determining means 130 for determining whether the vehicle is in a stop prohibited section, a display means 140 for displaying whether the vehicle can stop or not based on the determination result of the stop possible section determining means 130, and the value of the measured current position. a position-kp correspondence data memory 150 for storing position-kp correspondence data used for converting the distance along the road into a distance (kilopost: kp) display determined corresponding to the distance; and a traveling direction determination means 160 , and
The stop permission/prohibition section in the stop permission/prohibition section data memory 120 is at least one of a section where the shoulder of the road is a section where the vehicle can stop or a section where the vehicle cannot be stopped, and at least the positions of the rear end and the front end of each section along the traveling direction of the road. The data for each section is stored in the stop permission section data memory 120 in order along the traveling direction of the road.
In addition to GPS, it is well known that inertial navigation means such as a direction sensor and a speedometer are available as means for measuring the current position.
More specifically, the position-kp correspondence data and the stop permission/prohibition section data are required for the up line and the down line. Using that data,
(1) When entering the highway,
(2) Measure the traveling direction of the vehicle and determine whether it is an inbound line or an inbound line (the traveling direction determination means 160 determines whether the vehicle is traveling on an inbound line or an inbound line). is judged)
(3) It is possible to select the corresponding data in the stop permission/prohibition section data memory.
If, for example, the current position and the current direction of travel are known as the traveling direction determining means 160, it is possible to determine whether the vehicle is on the up line or the down line on the road by considering the direction of the road. It is also possible to determine whether the vehicle is on the up line or the down line, depending on the change in position on the road up to the present time (for example, the change in position is from Hamamatsu to Nagoya).
Of course, the traveling direction may be determined artificially. Once the direction of travel is known, it is normal for highways and the like to maintain a fixed direction of travel without confusion of up and down lines.

The following advantages can be obtained from the characteristics of this interval data. Since the section data is represented by the position data of the trailing end and the leading end, the data to be stored is small. Therefore, the comparison process (search) becomes simple. Since the data for each section are stored in order along the traveling direction of the road, the amount of comparison processing can be reduced.
Furthermore, considering that a section that is not a stop-allowed section is a stop-prohibited section, and vice versa, the data stored in the stop-permitted section data memory 120 may be either a stop-allowed section or a stop-prohibited section. As a result, the amount of data to be stored can be further reduced.

Furthermore, the position data is converted into kilometer values via the data in the position-kp correspondence data memory 150, and the position data of the rear and front ends of the stop possible/impossible section data memory 120 are also converted into kilometer values. If stored, it has the following additional benefits:
Whether the current position is inside or outside the stop possible section can be easily determined by the magnitude of the value of the kilometer post corresponding to the current position and the value of the kilometer post at the rear end and the front end of the stop possible section. For example, if the value of the kilometer post of the stop possibility section is 100.50 on the rear end side and 105.10 on the front end side, if the value of the kilometer post corresponding to the current position is 100.10, the current position is It can be easily determined that it is outside the interval and outside the trailing edge. If the value of the kilometer post corresponding to the current position is 100.80, it can be easily determined that the current position is inside the stop permission/prohibition section. If the data of the section where the vehicle can be stopped is displayed in the section where the vehicle can be stopped, the display output indicates that the vehicle can be stopped within the section and the display output that the vehicle cannot be stopped outside the section.

Furthermore, in judging whether the current position is inside or outside the stop possible section, if the stored position data of the rear end and the front end of each section are represented by coordinates, the judgment can be made only with the data of the rear end and the front end. Although it may be difficult, if it is expressed in terms of kiloposts, it is sufficient to make a judgment based only on the data of the rear end and the front end, and simple processing is possible, but this will be described in FIG. .
It should be noted that displaying whether the vehicle can stop or not in the section on the shoulder does not depend on whether or not the vehicle is on the shoulder. This is because it is troublesome to enter the shoulder one by one and judge whether the vehicle can stop or not on the nearby shoulder when the vehicle is traveling on a running route that is not on the shoulder. Therefore, the comparison with the rear end and the front end of the stop possibility section is sufficient. In particular, the display by the kilometer post is a numerical value along the direction of the road, and there is no distinction in the lateral direction perpendicular to this, so it is not necessary to judge after entering the shoulder. In addition to the advantage that the kilopost representation is often said to be convenient for recognizing and identifying positions, such as where it is when a worker sees it, this advantage and the advantages shown later in Fig. 2 can be found, and it can be said that the determination based on the kilopost value is consistent with the purpose of the present application.

When the current position is in the stop-prohibited section, the display means 140 not only displays that the vehicle cannot be stopped, but also indicates the distance to the next stop-prohibited section in the traveling direction. It is convenient as information. Also, when the current position is in the stoppable section, the display means 140 may indicate the distance from the current position to the rear end and the front end of the stoppable section. You can stop considering the length of the car. The rear end of the stop-allowed section is the same as the front end of the previous stop-prohibited section, and the front end of the stop-allowed section is the same as the rear end of the subsequent stop-prohibited section. are equivalent. Namely
The expression ``If the current position is in a stopable section, indicate the distance between the current position and the rear end and the front end of the stopable section'' is ``If the current position is in the stopable section, The distance from the front end of the preceding non-stop section to the rear end of the subsequent non-stop section is the same as the expression ". Therefore,
In claim 5, the former expression expresses the same gist.

FIG. 2 is a diagram showing one embodiment of the handling of the road shoulder targeted by the road shoulder stop permission/prohibition informing device according to the present invention.
In 2-A, in this figure, consecutive A section (stopping allowed), B section (stopping not allowed), and C section (stopping allowed) are shown as stopable sections. A stopable section can be defined as a section with a width greater than a stopable road shoulder width threshold, such as 2.5 m, such that a vehicle can stop sufficiently. Therefore, the B section in which the vehicle cannot be stopped is a section with a width smaller than the road shoulder width threshold at which the vehicle can be stopped. It should be noted that, depending on road conditions, there are cases where the stopable section and the non-stoppable section are determined irrespective of the shoulder width threshold value for which the vehicle can be stopped. For example, it is possible for road administrators to consider conditions unrelated to the shoulder width threshold for stopping, such as road shoulders with poor visibility in front of and behind tunnels, road shoulders near interchanges and service areas, and the like.
Each section is represented by a trailing end position and a leading end position, and is represented by a position or, preferably, by a value obtained by converting the position into a kilopost value. As described above, the data stored in the stop permission/prohibition section data memory 120 for the stop permission/prohibition section may be either the stop permission section or the stop prohibition section. For example, if the stored data is composed of sections where the vehicle can stop, there is no need to store the data for the section where the vehicle cannot stop. , the current position can be processed as being in a stop-prohibited section. In addition, since the stop-permitted section and the stop-disabled section are alternately arranged, the length (distance) is different, but the number is one even if it is different. Very convenient.

2-B is the case where the road has complicated properties such as bends and gradients. The E section does not bend like the section shown in 2-A, but the D section bends. If the D section is represented by only the rear end position d1 and the front end position d2 and by position coordinates, it is only possible to determine whether the current position is within the D section by comparing the two data d1 and d2. It's difficult. Difficulty and certainty of judgment decrease as the degree of flexion increases. In the present application, there is a great advantage in that the vehicle stop permission/prohibition section is represented by two data, the front end position and the rear end position. However, as in 2-C, when the data on the front and rear end positions and the data on the current position are converted into kilometer post values for the stop possible/prohibited section, the data along the road becomes a one-dimensional numerical value. It becomes data, it is possible to make a judgment based on the size relationship, and the judgment is also certain, and other data is completely unnecessary. It offers enormous advantages. In 2-C, if the current position is kp200.40, it is definitely between the trailing end data d1 and the leading end data d2, so it can be determined to be in the D section. 2-D describes the explanation of the situation.

FIG. 3 is a diagram showing one embodiment of data in the stop permission/prohibition section data memory of the road shoulder stop permission/prohibition informing device according to the present invention.
An example of a road corresponding to the following stop permission/prohibition section data is shown in the lower part of FIG. 3 as a curve.
There, for example, there are eight sections I01 to I08 where the vehicle can be stopped (or where the vehicle cannot be stopped as described above) along the road.
As shown in the table, the stop permission/prohibition section data are arranged (columns of **1, **2, and **3) in order along the road (I01 to I08) in the stop permission/prohibition section data memory 120. . Two pieces of data, namely the rear end position and the front end position along the direction of the road, are displayed (columns **2 and **3) for each section where the vehicle can be stopped.
The stop permission/prohibition section data arranged in order along the road preferably has a stop permission/prohibition section identification symbol (I01 to I08 in this example) that identifies each stop permission/prohibition section. It has rear end position coordinates and front end position coordinates (**2) of the yes/no section.
Furthermore, for the reason explained in FIG. 2, most preferably, the rear end position Kp value and the front end position Kp value (**3 ) is stored as It is a very convenient advantage to be able to reliably handle only the rear end position Kp value and the front end position Kp value even in curved stop possible sections such as I04 and I05.
Using this data, for example, if I04 has a Kp value of (120.40) (122.20), the Kp value for the current position coordinates is (121.60). , it can be easily determined that the current position is within the I04 section.
Furthermore, it is preferable to store the data of the section length (**4) and the minimum road shoulder width (**5) for each individual stop possible section.

As described above, the apparatus for notifying whether or not a vehicle can stop on the shoulder of a road according to the present invention can judge and notify whether or not a vehicle can stop on the shoulder of a road in a very simple manner even if the road conditions are complicated. .

110 position measuring means 120 stop possible/impossible section data memory 130 stop possible/impossible section determining means 140 display means 150 position-kp corresponding data memory 160 traveling direction determining means

Claims (5)

Determines whether the road shoulder corresponding to the current position of the work vehicle on the road is a section where the vehicle can stop or a section where the vehicle cannot stop, in accordance with the measured current position, and notifies the occupants of the work vehicle. Position measuring means for measuring the current position; Traveling direction determining means for determining whether the work vehicle is on the inbound line or the inbound line of the road; a stop permitted section data memory for storing at least the rear end position data and the front end position data in the longitudinal direction along the traveling direction of the road as stop permitted section data representing the stop prohibited section of (1) in the order of arrangement along the traveling direction of the road; a stop permission/prohibition section determination means for determining whether the current position is in the stop permission section or the stop prohibition section by comparing with the stop permission section data in the stop permission section data memory; , and display means for displaying whether the vehicle can be stopped or not, based on the determination result of the stop possibility section determination means, to notify the passenger. The rear end position data and the front end position data of the stop permission/prohibition section data in the stop permission/prohibition section data memory are stored in a kilometer post kp distance display determined corresponding to the distance along the road in the longitudinal direction, further comprising a position-kp correspondence data memory for storing position-kp correspondence data used to convert the current position value into the kilopost kp distance representation determined corresponding to the distance along the road. and,
The vehicle stop permission/prohibition section determining means is configured to determine whether the current position is in the stop permission section or the stop prohibition section within the stop permission section, using the current position data and the rear end position. 2. The road shoulder stop propriety according to claim 1, characterized in that by judging the data and the front end position data based on the value of the kilometer post kp distance display, the stop propriety section data is reduced to correspond to road characteristics. Notification device. 2. The amount of stored data is reduced by using either the stop permitted section or the stop prohibited section as the stop permitted section data stored in the stop permitted section data memory. 3. A road shoulder stop availability reporting device according to claim 2. When the current position is within the stop-prohibited section and the display means displays that the vehicle cannot be stopped, the distance to the preceding stop-prohibited section is also displayed. The road shoulder stop propriety reporting device according to any one of the above. When the current position is within the stoppable section and the display means displays that the vehicle can be stopped, the rear end position data and the front end position data of the stoppable section in which the current position exists are used to determine the 5. A road shoulder stop permission/prohibition informing device according to claim 1, wherein distances to the current position, the rear end position, and the front end position are displayed.

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