JP5700047B2 - Information processing apparatus for vehicle and database - Google Patents

Description

  The present invention relates to an information processing apparatus for a vehicle and a database, and more particularly to an information processing apparatus for a vehicle and a database that store a driving operation of a driver.

  There have been proposals for using the obtained data for various purposes by learning the driving operation of the driver. For example, Patent Document 1 discloses a driver operation change detection unit that detects a change in driver operation of a driver who drives the vehicle, and a vehicle such as latitude and longitude when the driver operation change detection unit detects a change in driver operation. Disclosed is a map information creating device comprising position information obtaining means for obtaining the position information, map information creating means for associating and storing a change in driver operation and position information when the driver operation has changed. ing.

JP 2009-103570 A

  By the way, in the technology as described above, latitude and longitude information is used as vehicle position information. However, if the position of the vehicle is directly detected by GPS (Global Positioning System) or the like, the error becomes large and the accuracy is low. There is. Here, it is conceivable to specify the position of the vehicle by using a specific facility such as an intersection. However, if there is little information about a specific facility on the road such as an intersection on the map database, there is a response. There is a drawback that it is difficult.

  The present invention has been made in consideration of such circumstances, and the purpose of the present invention is to provide vehicle information that allows the driver to learn the driver's operation with high accuracy at least when the information related to the specific facility is stored in the map database. To provide a processing device and a database.

  The present invention is an information processing apparatus for a vehicle including a storage unit that stores node information related to a node that specifies a point on a map by map data and driving operation of a driver of the vehicle in association with each other.

  According to this configuration, the storage unit stores the node information related to the node that specifies the point on the map by the map data and the driving operation of the driver of the vehicle in association with each other. For this reason, compared with the case where latitude / longitude is used as the position information, it is possible to prevent the error from increasing and to improve the accuracy. In addition, it is possible to cope with a case where there is little information on a specific facility on the road such as an intersection on the map database.

  In this case, the storage unit can store the node information regarding the node closest to the vehicle position at the end of the driver's deceleration operation as the node information of the deceleration end node serving as a reference for the termination of the driver's deceleration operation.

  According to this configuration, the storage unit stores the node information regarding the node closest to the vehicle position at the end of the driver's deceleration operation as the node information of the deceleration end node that is a reference for the end of the driver's deceleration operation. When learning the deceleration operation, the learning can be performed based on the termination of the deceleration operation that tends to be stable, and the nearest useful node as a reference for the termination of the deceleration operation of the driver can be stored as the deceleration termination node.

  In this case, when there is an already stored deceleration end node, the storage unit obtains the node information on the node closest to the opposite side of the vehicle traveling direction from the position of the vehicle when the driver starts the deceleration operation. It can be stored as node information of a deceleration start node as a reference.

  According to this configuration, when there is an already stored deceleration end node, the storage unit obtains the node information of the node closest to the opposite side of the vehicle traveling direction from the vehicle position when the driver starts the deceleration operation. Since it is stored as the node information of the deceleration start node that is the reference for starting the operation, the most useful node as the reference for starting the deceleration operation of the driver can be stored as the deceleration start node when learning the driving operation of the driver.

  In this case, the storage unit does not newly store the node information of the deceleration start node when the distance between the vehicle position at the end of the driver's deceleration operation and the already stored deceleration end node exceeds a threshold value. it can.

  According to this configuration, the storage unit newly stores the node information of the deceleration start node when the distance between the vehicle position at the end of the deceleration operation of the driver and the already stored deceleration end node exceeds a threshold value. do not do. As a result, the distance between the driver's deceleration operation end position and the already stored deceleration end node is longer than the threshold, and the current driver's deceleration operation is not related to the already stored deceleration end node. This makes it possible to learn the driver's deceleration operation more accurately.

  In addition, the storage unit can store the travel distance of the vehicle from the deceleration start node to the position of the vehicle when the driver starts the deceleration operation.

  According to this configuration, since the storage unit stores the travel distance of the vehicle from the deceleration start node to the vehicle position at the start of the driver's deceleration operation, the driver's deceleration operation can be learned more accurately. .

  The storage unit has an already stored deceleration start node, and the driver starts a deceleration operation before the vehicle passes through the already stored deceleration start node, and the vehicle travel direction is greater than the already stored deceleration start node. When the distance between the node existing on the opposite side and the vehicle position at the start of the deceleration operation of the driver is less than the threshold, the node information related to the node existing on the opposite side in the vehicle traveling direction from the already stored deceleration start node It can be stored as node information of a new deceleration start node.

  According to this configuration, the storage unit has an already stored deceleration start node, and the driver starts a deceleration operation before the vehicle passes through the already stored deceleration start node. If the distance between the node existing on the opposite side of the vehicle traveling direction and the vehicle position at the start of the deceleration operation of the driver is less than the threshold, the node existing on the opposite side of the vehicle traveling direction from the already stored deceleration starting node Is stored as node information of a new deceleration start node. As a result, the deceleration start node can be updated in a direction far from the deceleration end node, and information can be provided earlier when the driver's learned deceleration operation is used to assist the driver in driving. It becomes possible to perform driving support.

  Further, the storage unit has an already stored deceleration start node, and after the vehicle has passed through the already stored deceleration start node and before the driver starts the deceleration operation, the storage unit has already stored the deceleration start node. When the vehicle passes through a node existing on the vehicle traveling direction side, node information relating to a node existing on the vehicle traveling direction side from the already stored deceleration starting node is stored as node information of a new deceleration starting node. it can.

  According to this configuration, the storage unit has an already stored deceleration start node, and the deceleration already stored after the vehicle has passed the already stored deceleration start node and before the driver starts the deceleration operation. When the vehicle passes a node existing on the vehicle travel direction side from the start node, the node information on the node existing on the vehicle travel direction side from the already stored deceleration start node is used as the new deceleration start node information. Remember. As a result, the deceleration start node can be updated in a direction closer to the deceleration end node, and the driver can use the learned driver's deceleration operation to assist the driver's driving. It is possible to avoid a situation in which the driver is made to perform another accelerator operation before the vehicle reaches the target.

  In this case, the storage unit updates the node information of the deceleration start node when the distance between the node that is closer to the vehicle travel direction than the already stored deceleration start node and the already stored deceleration start node is less than or equal to the threshold value. You can not remember.

  According to this configuration, when the distance between the node that is closer to the vehicle traveling direction than the already stored deceleration start node and the already stored deceleration start node is less than or equal to the threshold value, the storage unit Do not store new node information. Thereby, it is possible to prevent the deceleration start node from being frequently updated until the node existing in the vehicle traveling direction side is close to the already stored deceleration start node and there is no need to update the deceleration start node. it can.

  The storage unit stores node information regarding a node closest to the vehicle position when starting to return the steering angle of the driver to 0 as node information of a steering return starting node which is a reference for starting the driver's steering operation return. it can.

  According to this configuration, the storage unit uses the node information related to the node closest to the vehicle position when starting to return the driver's steering angle to 0 as the node information of the steering return start node serving as a reference for starting the driver's steering operation return. Therefore, when learning the steering operation of the driver, the learning can be performed based on the start of the steering operation return that tends to be stable, and the nearest useful node as the reference for the start of the steering return of the driver is started. It can be stored as a node.

  In this case, when there is an already stored steering return start node, the storage unit starts the steering operation of the driver by using the node information on the node closest to the opposite side of the vehicle traveling direction from the position of the vehicle at the start of the steering operation of the driver. It can be stored as node information of the steering start node serving as a reference for the above.

  According to this configuration, when there is a steering return start node that has already been stored, the storage unit displays the node information regarding the node closest to the opposite side of the vehicle traveling direction from the vehicle position at the start of the steering operation of the driver. Since it is stored as the node information of the steering start node that is the reference for starting the steering operation, when learning the driving operation of the driver, the most useful node as the reference for starting the steering operation of the driver can be stored as the steering start node. .

  In this case, the storage unit can store the travel distance of the vehicle from the steering start node to the vehicle position at the start of the driver's steering operation.

  According to this configuration, since the storage unit stores the travel distance of the vehicle from the steering start node to the position of the vehicle at the start of the driver's steering operation, the driver's steering operation can be learned more accurately. .

  On the other hand, the present invention is a database that stores node information related to nodes that specify points on a map by map data and driving operations of a driver of a vehicle in association with each other.

  According to this configuration, the database stores the node information related to the node that specifies the point on the map by the map data and the driving operation of the driver of the vehicle in association with each other. For this reason, by using the database at an information processing center or the like, it is possible to prevent the error from becoming large compared to the case where latitude / longitude is used as position information, and to improve accuracy. In addition, it is possible to cope with a case where there is little information on a specific facility on the road such as an intersection on the map database.

  According to the vehicle information processing apparatus and the database of the present invention, it becomes possible for the map database to learn the driving operation of the driver with high accuracy at least by information related to a specific facility.

It is a block diagram which shows the structure of the driving assistance device which concerns on 1st Embodiment. It is a flowchart which shows the operation | movement which extracts the deceleration end node candidate of the driving assistance device which concerns on 1st Embodiment. It is a figure which shows the position of the node at the time of extracting the deceleration end node candidate of the driving assistance device which concerns on 1st Embodiment, and the change of a vehicle speed. It is a flowchart which shows the operation | movement which extracts the reference node candidate of the driving assistance device which concerns on 1st Embodiment. It is a figure which shows the position of the node at the time of extracting the reference node candidate of the driving assistance device which concerns on 1st Embodiment, and the change of a vehicle speed. It is a flowchart which shows the operation | movement which learns the driving | running | working data of the driving assistance device which concerns on 1st Embodiment. It is a flowchart which shows the operation | movement which updates the reference | standard node which concerns on 2nd Embodiment to the near side further. It is a figure which shows the position of the node at the time of updating the reference | standard node which concerns on 2nd Embodiment to the near side, and the change of a vehicle speed. It is a flowchart which shows the operation | movement which updates the reference | standard node which concerns on 3rd Embodiment to the back side further. It is a figure which shows the position of the node at the time of updating the reference | standard node which concerns on 3rd Embodiment to the back | inner side, and the change of a vehicle speed. It is a figure which shows a mode that the steering operation which concerns on 4th Embodiment is learned. It is a block diagram which shows the structure of the information processing center which concerns on 5th Embodiment.

  Hereinafter, an information processing apparatus for a vehicle according to an embodiment of the present invention will be described with reference to the drawings. As shown in FIG. 1, the vehicle information processing apparatus according to the first embodiment of the present invention is configured as a driving support apparatus 10 mounted on a vehicle. The driving support device 10 of the present embodiment performs driving support such as inducing a driver's deceleration operation so that the engine brake is applied at an appropriate timing, for example, in order to improve fuel efficiency. It is a device for. The driving support device 10 of this embodiment includes a GPS 21, an in-vehicle camera 22, a millimeter wave radar 23, a communication device 24, a vehicle speed sensor 25, a display 26, an ACC switch 27, a PCS switch 28, an ECU 30, a DB 40, a car navigation system 51, a brake. An actuator 52, an accelerator actuator 53, and a speaker 54 are provided.

  The GPS 21 is for positioning the host vehicle by receiving a signal from GPS hygiene. The in-vehicle camera 22 is a camera that captures an image around the host vehicle in order to detect a situation around the host vehicle. The millimeter wave radar 23 is for detecting a situation around the host vehicle by detecting a reflected millimeter wave radiated around the host vehicle. The communication device 24 is for communicating with facilities such as other vehicles and an information processing center. The vehicle speed sensor 25 is a sensor that detects the vehicle speed of the host vehicle by detecting the rotational speed of the wheels of the host vehicle.

  The display 26 displays information related to a deceleration operation for applying the engine brake at an appropriate timing to the driver of the host vehicle. An ACC (Adaptive Cruse Control) switch 27 is a switch for operating an ACC system that monitors the distance to the vehicle ahead by the millimeter wave radar 23, controls the accelerator amount and the brake amount, and controls the vehicle speed and the inter-vehicle distance. It is. The PCS (Pre-Crash Safety) switch 28 is a switch for operating a PCS system that avoids collision with obstacles around the host vehicle and reduces damage at the time of collision.

  The ECU (Electronic Control Unit) 30 is for controlling the entire driving support apparatus 10 as will be described later. The ECU 30 is configured mainly by a CPU, for example, and includes a ROM, a RAM, an input signal circuit, an output signal circuit, a power supply circuit, and the like.

  The DB (Data Base) 40 associates information on the vehicle position at the start of the deceleration operation such as accelerator OFF of the driver of the host vehicle learned by the driving support device 10, the position of the vehicle at the end of the deceleration operation, and the node number. Remember.

  The car navigation system 51 provides route guidance to the driver of the host vehicle using the positioning information of the GPS 21.

  Based on the command signal from the ECU 30, the brake actuator 52 and the accelerator actuator 53 apply a reaction force to the brake pedal and the accelerator pedal so that the driver of the own vehicle applies an engine brake or the like at an appropriate timing, and guides the driving operation of the driver. To do. Further, the brake actuator 52 and the accelerator actuator 53 adjust the brake amount and the accelerator amount so that the host vehicle travels by applying an engine brake or the like at an appropriate timing. Further, the brake actuator 52 and the accelerator actuator 53 detect the brake depression amount and the accelerator depression amount with sensors, and send detection values to the ECU 30.

  The speaker 54 informs the driver of the host vehicle of information related to the deceleration operation for applying the engine brake at an appropriate timing.

  Hereinafter, operation | movement of the driving assistance device 10 of this embodiment is demonstrated. The driving support device 10 of the present embodiment is for accurately relating driving data and position in a system that learns driving data that a driver normally performs driving operation and performs driving support. As shown below, in this embodiment, in order to associate travel data with a position, a travel distance from a reference point is calculated. In the present embodiment, the node information related to the node that specifies the point on the map is acquired from the map database of the navigation system as the information related to the reference point. Further, in the present embodiment, link information related to a link for specifying a connection between nodes and information related to a GPS latitude and longitude area are also used.

Hereinafter, the learning operation of the deceleration action will be described. When learning the position of the deceleration action, the following process is performed.
(Step 1): A deceleration action suitable for learning, that is, an operation position relating to deceleration performed at the same place to some extent is extracted.
(Step 2): Learning the deceleration action in Step 1 and specifying a standard to be used in driving support. That is, the same deceleration end reference deceleration behavior is extracted, and the deceleration start criterion is calculated from these deceleration start positions.
(Step 3): Learning by associating the distance from the reference determined in Step 2 with the travel data. That is, the travel distance after passing through the node serving as the start reference is calculated, and the operation position of each driver such as the accelerator OFF is learned.

  First, (Step 1) will be described. As shown in FIG. 2, the ECU 30 of the driving support apparatus 10 uses the brake actuator 52, the accelerator actuator 53, or a shift position sensor mounted on the transmission, so that the driver steps on the brake pedal, releases the accelerator pedal, or transmits the transmission. It is determined whether or not a deceleration action such as lowering the shift position is started (S101).

As shown in FIGS. 2 and 3, when the deceleration action is started (S101), the ECU 30 defines the node number of the node N closest to the vehicle VM at that time as K1 (S102). When the vehicle VM passes through a node other than K1 (S103), the ECU 30 redefines the node number of the passed node as K1 (S104). The above operation is repeated until the deceleration action is completed (S105). When the deceleration action such as accelerator OFF is completed (S105), the ECU 30 calculates the distance d1 from the nearest node _NK1 before the deceleration action is completed to the deceleration action end position (S106).

That is, the ECU 30 determines whether the ID of the node or the link has been switched from the start of the deceleration action to the end of the deceleration action. When the node ID or the like is switched, the ECU 30 calculates the travel distance from that point, and extracts the closest node _NK1 until the end of the deceleration action. On the other hand, when the vehicle VM does not pass through a node other than K1 (S103), the ECU 30 defines d1 = 0 at the end of the deceleration action (S107) (S108).

When the node N _K2 other than the node N _{K1 of K1} passes (S109), the ECU 30 defines the node number of the node N _K2 as K2 (S110). The ECU 30 calculates the travel distance until the node closest to the vehicle VM switches from the node N _K1 to the node N _K2 after the deceleration action ends, that is, the distance d2 from the deceleration action end position to the node N _K2 (S111).

When d1 <d2 (S112), the ECU 30 registers the node NK1 of _K1 as a deceleration end node candidate in the DB 40 (S113). When d1 ≧ d2 (S112), the ECU 30 registers the node NK2 of _K2 in the DB 40 as a deceleration end node candidate (S114). ECU30, for the node _{N K1} or _{N K2} obtained in this way, the running data determined by the total travel data which has passed through the node _{N K1} or _{N K2,} the deceleration end node candidate node _{N K1} or _{N K2} if the number is more than a certain percentage, it registers the node _{N K1} or _{N K2} to DB40 as the deceleration end node _{N E.}

Next, (Step 2) will be described. As shown in FIGS. 4 and 5, ECU 30 includes (step 1) has extracted vehicle VM traveling direction deceleration end node _{N E} in, whether the vehicle VM has entered the area _{A D} of deceleration end node _{N E} Is determined (S201). This determination may be performed by determining whether there is a deceleration end node N _E within the traveling direction X [m] of the vehicle VM. When the traveling direction of the vehicle VM is decelerating end node _{N E} (S201), ECU30 is on the way the vehicle VM is directed to the deceleration end node _{N E,} it determines whether switched nearest node from the vehicle VM ( S202). When the node has been switched (S202), the ECU 30 continues to calculate the travel distance of the vehicle VM from the switched node (S203).

The ECU 30 executes S201 to S203 until the deceleration action is started (S204). If the driver has started the deceleration action (S204), ECU 30 registers the node _{N M} closest node number M from the vehicle VM in the vehicle traveling direction opposite before start of deceleration to the DB 40 (S205). ECU30 computes the travel distance d3 to the position of the deceleration action starting vehicle VM from the node _{N M} (S206).

The ECU 30 determines whether d3 is less than a threshold value (S207). When d3 is equal to or larger than the threshold, ECU 30 does not the node _{N M} and registered (S207). When d3 is less than the threshold value, ECU 30 will the node _{N M} and registered (S207).

When the deceleration action ends (S208), the ECU 30 determines whether or not the distance between the position of the vehicle VM at the end of the deceleration action and the deceleration end node NE is less than a threshold value (S209). When the distance between the deceleration end position and the deceleration end node NE is equal to or greater than the threshold value, the ECU 30 determines that the deceleration action is not for the deceleration end node NE and does not register the node NM as a registration target (S209). When the distance between the deceleration end position and the deceleration end node NE is less than the threshold (S209), the ECU 30 registers the node NM as a reference node candidate in the DB 40, assuming that the deceleration action is for the deceleration end node NE ( S210). The threshold value in this case may be the maximum distance between the deceleration end node NE learned so far and the deceleration end position.

ECU30 repeats the above-described steps S201~S210 whenever traveling the area _{A D} of deceleration end node _{N E,} to register the reference node candidate DB 40. ECU30, of the reference node candidates registered, for example, the most deceleration end node _N nodes _{N M} distance is large between the _E and the reference node _{N 0.}

Next, (Step 3) will be described. As shown in FIG. 6, ECU 30 determines whether the vehicle VM passes the reference node _{N 0} (S301). When the vehicle VM passes the reference node _{N 0} (S301), ECU30 starts calculating the travel distance from the reference node _{N 0} (S302). If a driving operation of the deceleration behavior of the driver (S303), ECU 30 records the distance traveled from the reference node _{N 0} to the DB 40 (S304). When the deceleration action is finished, the ECU 30 finishes learning (S305).

  According to the present embodiment, the ECU 30 and the DB 40 of the driving support device 10 store the node information related to the node that specifies the point on the map by the map data and the driving operation of the driver of the vehicle VM in association with each other. For this reason, compared with the case where latitude / longitude is used as the position information, it is possible to prevent the error from increasing and to improve the accuracy. In addition, it is possible to cope with a case where there is little information on a specific facility on the road such as an intersection on the map database.

Further, according to the present embodiment, the ECU 30 and the DB 40 of the driving support device 10 use the node information regarding the node closest to the position of the vehicle VM at the end of the driver's deceleration operation as a reference for the termination of the driver's deceleration operation. for storage as a node information of the N _E, when learning the decelerating operation of the driver, based on the deceleration operation ends that tend to stabilize can perform learning, closest useful as a reference for deceleration operation end of the driver it can store the node as the deceleration end node N _E.

Further, according to the present embodiment, the ECU30 and DB40 of the driving support device 10, if there is already a stored deceleration end node N _E, the running direction of the vehicle VM from the position of the vehicle VM in the deceleration operation start time of the driver Since the node information of the node closest to the opposite side is stored as the node information of the reference node N _{0 that} is the reference for starting the deceleration operation of the driver, when learning the driving operation of the driver, may store useful node as a reference node N _0.

According to this embodiment, when the ECU30 and DB40 of the driving support device 10, the distance between the deceleration end node N _E already stored the position of the vehicle VM in the decelerating operation at the end of the driver is equal to or greater than the threshold value, not newly store the node information of the reference node N _0. Thus, the distance between the deceleration end node N ₀ already stored a deceleration operation end position of the driver longer than the threshold, does not decelerating operation of this driver is already associated with the stored deceleration end node N _E Excluding such cases, the driver's deceleration operation can be learned more accurately.

According to the present embodiment, the ECU30 and DB40 of the driving support device 10, for storing the travel distance of the vehicle from the reference node N ₀ to the position of the vehicle VM during deceleration operation start of the driver, the deceleration operation of the driver more It becomes possible to learn with high accuracy.

Hereinafter, a second embodiment of the present invention will be described. In this embodiment, updates to a more distant position the reference node N ₀ set in (step 2) of the first embodiment from the end of deceleration node N _E.

As shown in FIGS. 7 and 8, ECU 30, there is the traveling direction to the deceleration end node _{N E} of the vehicle VM, it is determined whether the vehicle VM has entered the area _{A D} of the deceleration end node _{N E} (S401) . When the traveling direction of the vehicle VM is decelerating end node _{N E} (S401), ECU30 is on the way the vehicle VM is directed to the deceleration end node _{N E,} it determines whether switched nearest node from the vehicle VM ( S402). If the node has been switched (S402), the ECU 30 continues to calculate the travel distance of the vehicle VM from the switched node (S403).

When reference node _{N 0} has not been learned, ECU 30 executes S201 in (Step 2) of the first embodiment (S404). Reference node _{N 0} is learned (S404), when the reference node _{N 0} is the vehicle VM deceleration driver behavior was not initiated before the passing, ECU 30 is the first embodiment of (Step 3) S301 to S305 are executed (S405). Reference node N ₀ is learned (S404), when the reference node N ₀ is the deceleration behavior of driver before the vehicle VM passes is started, the ECU 30 of the vehicle in the vehicle traveling direction opposite before start of deceleration the node _{N M} closest node number M from the VM registers the DB 40 (S406).

ECU30 calculates the distance d4 from the switched node _{N M} to the position of the deceleration behavior starting the vehicle VM (S407). Further, ECU 30 calculates the distance d5 from the switched node _{N M} to the reference node _{N 0} (S408). If the deceleration action has been completed (S409), the distance between the deceleration end position and the deceleration end node N _E and a is equal to or larger than the threshold, and when the distance d4 is an effective reduction behavior and less than the threshold (S410), the node N _M is newly registered in the DB 40 as the reference node N ₀ (S411). Further, ECU 30 adds the d5 to the distance to the deceleration start position from the reference node _{N 0} you had been recorded in the DB 40 (S412).

According to the present embodiment, the ECU 30 and the DB 40 of the driving support device 10 have the reference node N ₀ that is already stored, and the driver starts the deceleration operation before the vehicle passes the already stored reference node N _0. , when the distance d4 between the position of the vehicle VM already during deceleration operation start node N _M and drivers that exist in the vehicle traveling direction opposite than the reference node N ₀ stored is less than the threshold value, already stored than the reference node N ₀ stores the node information on the node N _M present in the vehicle traveling direction opposite as the node information of the new reference node N _0. Thus, it is possible to update the reference node N ₀ from the deceleration end node N _E in the direction far, by utilizing the deceleration operation of the learned driver, in such a driving support for the driver, the information earlier It is possible to provide driving assistance such as

Hereinafter, a third embodiment of the present invention will be described. In this embodiment, updates closer to the position reference node N ₀ set in (step 2) of the first embodiment from the end of deceleration node N _E.

As shown in FIGS. 9 and 10, ECU 30 is a reference node _{N 0} determines whether the vehicle VM has passed (S501). When the reference node _{N 0} is the vehicle VM passes determines whether switched nearest node from (S501), the vehicle VM from the reference node _{N 0} (S502). Reference node _{N 0} from the nearest node is switched from the vehicle VM (S502), when the deceleration behavior of the driver is started (S503), ECU 30 is closest to the node from the vehicle VM in the vehicle traveling direction opposite before start of deceleration to register a node _{N M} of the number M to DB40 (S504).

ECU30 calculates the distance d6 from the switched node _{N M} to the position of the deceleration behavior starting the vehicle VM (S505). Further, ECU 30 calculates the distance d7 from the switched node _{N M} to the reference node _{N 0} (S506). In addition, the ECU 30 determines whether (d7-d6) exceeds a threshold value (S507). ECU30, the (d7-d6) when the following threshold also determines that no problem to calculate the travel distance of the reference node _{N 0} from the reference node _{N 0} of the vehicle VM, and the target register the node _{N M} No (S507).

(D7-d6) exceeds the threshold (S507), if the deceleration action has been completed (S508), when the distance between the deceleration end position and the deceleration end node _{N E} is an effective reduction behavior and above the threshold ( S509), ECU 30 is temporarily registered to DB40 to the node _{N M} as a reference node candidate (S510). When the ratio of the node N _M is temporarily registered in the node number M within the temporary registration node node N _M of the node number M as the number of times or a reference node candidate provisionally registered exceeds a threshold value (S511), ECU 30 is Then, it is newly registered in the DB 40 as the reference node N ₀ (S512). Further, ECU 30 is by far a distance from the reference node _{N 0} which has been recorded in the DB40 to the deceleration start position (S513).

According to the present embodiment, the ECU 30 and the DB 40 of the driving support device 10 have the reference node N ₀ already stored, and after the vehicle VM passes through the already stored reference node N ₀ , the driver performs a deceleration operation. when the vehicle nodes N _M already present in the vehicle traveling direction side of the reference node N ₀ stored before starting has passed through the already present in the vehicle traveling direction side of the reference node N ₀ stored storing node information about the node N _M as the node information of the new reference node N _0. This makes it possible to update the reference node N ₀ in a direction close to the end of deceleration node N _E, by utilizing the deceleration operation of the learned driver, in such a driving support for the driver, too early to the driver It is possible to avoid a situation where the driver is prompted to decelerate the vehicle and cause the driver to perform another accelerator operation before the vehicle reaches the target.

Further, according to this embodiment, the distance is ECU30 and DB40 of the driving support device 10, already a node N _M present in the vehicle traveling direction side of the reference node N ₀ stored already stored deceleration start node (d7-d6) when the following and close threshold, not newly store the node information of the reference node N _0. Thus, close to the reference node N ₀ to the node N _M has already been stored present in the vehicle traveling direction, until when necessary updating of the reference node N ₀ is not frequently the reference node N ₀ is updated Can be prevented.

  The fourth embodiment of the present invention will be described below. In the first to third embodiments, the driver's deceleration operation is learned. However, the present invention is also applicable to the driver's acceleration operation and steering operation. In this embodiment, the driver's steering operation is learned.

When learning the steering operation of the driver, the following process is performed.
(Step A): The ECU 30 learns a position (a point at which the steering operation amount is the largest) P2 at which the steering operation starts to return in FIG.
(Step B): In supporting the steering operation in step A, the ECU 30 determines a reference node from the tendency of the position P1 at which the steering operation in FIG. In this case, a deceleration operation may be included as the start of the steering operation. When the deceleration operation is included, the reference node is determined based on the tendency of the deceleration start position.
(Step C): Learning by associating the distance from the reference determined in Step B with the travel data. That is, the travel distance after passing through the node serving as the start reference is calculated, and the operation position such as the steering start of each driver is learned.

  According to the present embodiment, when the ECU 30 and the DB 40 of the driving support apparatus 10 start returning the steering angle of the driver to 0, the node information related to the node closest to the vehicle position P2 becomes a reference for starting the return of the steering operation of the driver. Since it is stored as node information of the steering operation area determination node, when learning the driver's steering operation, learning can be performed based on the steering operation return start that tends to be stable, and as a reference for the driver's steering return start The nearest useful node can be stored as a steering operation area determination node.

  In addition, according to the present embodiment, when the ECU 30 and the DB 40 of the driving support device 10 have a steering operation area determination node that is already stored, the vehicle travel direction is opposite from the vehicle position P1 when the driver's steering operation starts. The node information on the node closest to the side is stored as the node information of the reference node that is the reference for starting the steering operation of the driver. Therefore, when learning the driving operation of the driver, the most useful node as the reference for starting the steering operation of the driver Can be stored as a reference node.

  Further, according to the present embodiment, the ECU 30 and the DB 40 of the driving support device 10 store the vehicle travel distance from the reference node to the vehicle position P1 at the start of the driver's steering operation. It becomes possible to learn with high accuracy.

  The fifth embodiment of the present invention will be described below. As shown in FIG. 12, in the present embodiment, the vehicle information processing apparatus of the present invention is configured as an information processing center 100. In the information processing center 100, necessary data is received from a plurality of vehicles by the communication device 24, and the ECU 30 performs the same information processing as the in-vehicle driving support device 10 of the first to fourth embodiments, and the result is stored in the DB 40. To remember. Furthermore, the communication device 24 transmits information stored in the DB 40 to a plurality of vehicles.

  According to the present embodiment, the ECU 30 and the DB 40 of the information processing center 100 store the node information related to the node that specifies the point on the map by the map data and the driving operation of the driver of the vehicle in association with each other. For this reason, by using the database at an information processing center or the like, it is possible to prevent the error from becoming large compared to the case where latitude / longitude is used as position information, and to improve accuracy. In addition, it is possible to cope with a case where there is little information on a specific facility on the road such as an intersection on the map database.

  Although the embodiment of the present invention has been described above, the present invention is not limited to the above embodiment, and various modifications can be made.

  According to the vehicle information processing apparatus and the database of the present invention, it becomes possible for the map database to learn the driving operation of the driver with high accuracy at least by information related to a specific facility.

10 Driving support device 21 GPS
22 On-vehicle camera 23 Millimeter wave radar 24 Communication device 25 Vehicle speed sensor 26 Display 27 ACC switch 28 PCS switch 30 ECU
40 DB
51 Car Navigation System 52 Brake Actuator 53 Accelerator Actuator 54 Speaker 100 Information Processing Center

Claims (6)

A database,
An electronic control unit that associates and stores in the database node information relating to a node that identifies a point on the map with map data and the driving operation of the driver of the vehicle,
The electronic control unit is
Node information related to the node closest to the vehicle position at the end of the deceleration operation of the driver is stored in the database as node information of a deceleration end node serving as a reference for termination of the deceleration operation of the driver,
When there is an already stored deceleration end node, node information regarding the node closest to the opposite side of the vehicle traveling direction from the position of the vehicle when the driver starts the deceleration operation is used as a reference for the driver's deceleration operation start. is stored in the database as a node information of the deceleration start node comprising,
There is the already stored deceleration start node, and after the vehicle has passed through the already stored deceleration start node and before the driver starts the deceleration operation, the deceleration start node is already stored. When the vehicle passes through a node existing on the traveling direction side of the vehicle, the node information on the node existing on the traveling direction side of the vehicle from the already stored deceleration start node is stored as a new node of the deceleration start node. Store it in the database as information,
When the distance between the already stored deceleration start node and the already stored deceleration start node is less than a threshold, the node information of the deceleration start node is stored in the database. An information processing apparatus for a vehicle that is not newly stored. The electronic control unit stores the node information of the deceleration start node in the database when the distance between the vehicle position at the end of the deceleration operation of the driver and the already stored deceleration end node is equal to or greater than a threshold value. The vehicular information processing apparatus according to claim 1, which is not newly stored. The electronic control unit, from said deceleration start node makes storing the travel distance of the vehicle to the position of the vehicle during deceleration operation start of the driver in the database, the vehicle information processing apparatus according to claim 1 or 2 . The electronic control unit uses the node information related to the node closest to the vehicle position when starting to return the steering angle of the driver to 0 as the node information of the steering return starting node that is a reference for starting the steering operation of the driver. The vehicle information processing apparatus according to claim 1, which is stored in the database . When the electronic control unit has the stored steering return start node, the electronic control unit obtains node information regarding the node closest to the opposite side in the traveling direction of the vehicle from the position of the vehicle when the driver starts the steering operation. The vehicle information processing apparatus according to claim 4, wherein the information is stored in the database as node information of a steering start node serving as a reference for starting a steering operation. The electronic control unit, the travel distance of the vehicle from the steering start node to the position of the vehicle at the time of steering operation start of the driver causes stored in said database, the vehicle information processing apparatus according to Claim 5.

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