JP6098445B2 - Slip prediction system, slip prediction method, and slip prediction program - Google Patents

Description

  The present invention relates to a slip prediction system, a slip prediction method, and a slip prediction program.

  Conventionally, as one technique for predicting that a vehicle slips on a road, probe information acquired from the vehicle in the past, which stores probe information related to a slip point where the vehicle slips, and the stored probe information A management server that calculates a slip threshold based on the acceleration included in the probe information relating to a predetermined slip point and the number of data of the probe information, and a slip that is located in front of the vehicle that is currently traveling from the management server A system including a navigation device that acquires a slip threshold value for a point and determines whether or not to support the slip point by comparing the acquired slip threshold value and the acceleration of the vehicle is proposed. (For example, refer to Patent Document 1). Here, regarding the calculation of the slip threshold, a confidence range is identified based on a distribution using the acceleration included in the probe information stored in the management server and the number of data of the probe information as parameters, and the identified confidence range Is calculated as the slip threshold.

JP 2009-80659 A

  However, in the above-described conventional technology, the feature of the topography at the slip point is not considered at all in the calculation of the slip threshold described above. For this reason, for example, even if there is a slip point where slip is likely to occur even if the acceleration is small according to the features of the terrain, the number of probe information data acquired at such a slip point is small. In some cases, the acceleration included in the probe information acquired at the slip point is not considered in the calculation of the slip threshold, and there is room for improvement in the accuracy of prediction of the slip point.

  The present invention has been made in view of the above, and provides a slip prediction system, a slip prediction method, and a slip prediction program capable of accurately predicting a point where a vehicle may slip. For the purpose.

  In order to solve the above-described problems and achieve the object, a slip prediction system according to claim 1 is a map information storage means for storing map information including terrain information, and a past vehicle that has slipped in a past run. Past vehicle information storage means for storing past vehicle information including past position information for identifying a position where the vehicle slips, and past traveling state information for identifying a traveling state of the past vehicle when the vehicle slips; Current vehicle information acquisition means for acquiring current vehicle information including current position information for specifying the current position, current driving situation information for specifying the driving situation of the vehicle, and the current acquired by the current vehicle information acquisition means Based on the position information, the traveling direction identifying means for identifying the traveling direction of the vehicle, the map information stored in the map information storage means, and the current vehicle information acquisition A position on a road within a predetermined range from the current position of the vehicle based on the current position information acquired at the stage and the traveling direction identified by the traveling direction identifying means; Slip prediction target position specifying means for specifying a position ahead of the current direction from the current position, or a current position of the vehicle and a position ahead of the travel direction as a slip prediction target position, and the slip prediction target position specifying means The terrain information related to the slip prediction target position is acquired from the map information storage unit based on the slip prediction target position specified in step S1, and the terrain related to the slip prediction target position is acquired based on the acquired terrain information. Based on the terrain characteristic specifying means for specifying the characteristics and the terrain characteristics specified by the terrain characteristic specifying means, the vehicle is Determination criterion setting means for setting a determination criterion serving as an index for determining whether or not there is a possibility of slipping at the prediction target position, the past vehicle information stored in the past vehicle information storage means, and the current vehicle information acquisition means And the vehicle information may be slipped at the slip prediction target position based on the comparison result and the determination criterion set by the determination criterion setting means. Determining means for determining whether or not there is a possibility that the vehicle slips at the slip prediction target position when the determination means determines that the vehicle may slip at the slip prediction target position; And a guiding means for guiding that there is sex.

  The slip prediction system according to claim 2 is the slip prediction system according to claim 1, wherein the determination criterion is a tolerance for a comparison result between the past vehicle information and the current vehicle information, and the determination unit includes: Whether the vehicle may slip at the slip prediction target position based on a comparison result between the past vehicle information and the current vehicle information and the tolerance set by the determination criterion setting unit. Determine whether or not.

  The slip prediction system according to claim 3 is the slip prediction system according to claim 1 or 2, wherein the past traveling state information and the current traveling state information include information on a plurality of items relating to a traveling state of the vehicle. And the determination means compares the information of a plurality of items in the past travel status information with the information of the plurality of items in the current travel status information for each item, and based on each comparison result and the determination criterion When the comparison result is digitized and the numeric value is equal to or greater than a threshold value, it is determined that the vehicle may slip at the slip prediction target position, and the numeric value is less than the threshold value. In this case, it is determined that there is no possibility that the vehicle slips at the slip prediction target position.

In the slip prediction method according to claim 4, the current vehicle information acquisition unit acquires current vehicle information including current position information for specifying the current position of the vehicle and current driving condition information for specifying the driving condition of the vehicle. A current vehicle information acquisition step, a travel direction specifying means for specifying a travel direction of the vehicle based on the current position information acquired in the current vehicle information acquisition step, and a slip prediction target position specification The means is map information stored in the map information storage means and includes map information including terrain information, the current position information acquired in the current vehicle information acquisition step, and the direction specified in the traveling direction specification step On the road within a predetermined range from the current position of the vehicle based on the traveling direction, Direction of the forward position, or the current position and the forward position of the traveling direction, and the slip prediction target position specifying step of specifying a slip prediction target position, terrain characteristic identifying means, said slip prediction target position specifying step of the vehicle The terrain information related to the slip prediction target position is acquired from the map information storage unit based on the slip prediction target position specified in step S3, and the terrain characteristic related to the slip prediction target position is acquired based on the acquired terrain information. and terrain characteristic identifying step of identifying, the criterion setting means, on the basis of the said terrain characteristics identified in topographical characteristic identifying step, when the vehicle is to determine the presence or absence of a possibility to slip at the slip prediction target position a criterion setting step of setting a criterion indicative of the determination means, Stores past vehicle information including past position information that identifies the position at which the past vehicle that slipped in the last run slipped, and past running status information that identifies the running status of the past vehicle when the slip occurred The past vehicle information stored in the past vehicle information storage means is compared with the current vehicle information acquired in the current vehicle information acquisition step, and the comparison result and the determination criterion set in the determination criterion setting step A determination step for determining whether or not the vehicle is likely to slip at the slip prediction target position, and a guide means that the vehicle may slip at the slip prediction target position in the determination step. If it is determined that the vehicle is likely to slip, the vehicle may slip at the slip prediction target position. And a guiding step.

The slip prediction program according to claim 5 is a past information that specifies a position at which a past vehicle, which is a vehicle slipped in a past run, slips in a computer, map information storage means for storing map information including terrain information , and the computer. Information, past vehicle information storage means for storing past vehicle information including past travel status information for specifying the travel status of the past vehicle at the time of the slip, current position information for specifying the current position of the vehicle, Based on the current vehicle information acquisition means for acquiring current vehicle information including current driving condition information for specifying the driving condition of the vehicle, and the current position information acquired by the current vehicle information acquisition means, the traveling direction of the vehicle A travel direction specifying means for specifying the current information, the map information stored in the map information storage means, and the current vehicle information acquisition means Based on the position information and the traveling direction identified by the traveling direction identifying means, the position is on the road within a predetermined range from the current position of the vehicle, and is more in the traveling direction than the current position of the vehicle. Slip prediction target position specifying means for specifying a forward position, or a current position of the vehicle and a forward position in the traveling direction as a slip prediction target position, and the slip prediction specified by the slip prediction target position specifying means Based on the target position, the terrain information relating to the slip prediction target position is acquired from the map information storage means, and based on the acquired terrain information, the terrain characteristic specifying means for specifying the terrain characteristic relating to the slip prediction target position And the vehicle slips at the slip prediction target position based on the terrain characteristic specified by the terrain characteristic specifying means. The determination criterion setting means for setting a determination criterion as an index for determining the presence or absence of possibility, the past vehicle information stored in the past vehicle information storage means, and the current vehicle information acquisition means The current vehicle information is compared, and it is determined whether or not the vehicle is likely to slip at the slip prediction target position based on the comparison result and the determination criterion set by the determination criterion setting means. And determining that the vehicle may slip at the slip prediction target position when it is determined by the determination means that the vehicle may slip at the slip prediction target position. And function as guide means.

  According to the slip prediction system according to claim 1, the slip prediction method according to claim 4, and the slip prediction program according to claim 5, the slip prediction target position specified by the slip prediction target position specifying means Based on the acquired terrain information from the map information storage means, and based on the acquired terrain information, the terrain characteristic specifying means for specifying the terrain characteristics related to the slip prediction target position, and the terrain characteristic specifying means Stored in a determination criterion setting means for setting a determination criterion as an index for determining whether or not a vehicle may slip at a slip prediction target position based on the terrain characteristics specified in the above, and a past vehicle information storage means. The past vehicle information and the current vehicle information acquired by the current vehicle information acquisition unit are compared, and the comparison result and the determination criterion setting unit are compared. Determination means for determining whether or not the vehicle is likely to slip at the slip prediction target position based on the set determination criterion. Prediction becomes possible, and accuracy of prediction can be improved as compared with the prior art.

  According to the slip prediction system of the second aspect, the determination unit is configured to predict the slip of the vehicle based on the comparison result between the past vehicle information and the current vehicle information and the tolerance set by the determination criterion setting unit. Since it is determined whether or not there is a possibility of slipping at the target position, for example, when the slip prediction target position is easy to slip, the tolerance is lowered, and the slip prediction target position is difficult to slip. In some cases, by increasing the tolerance, it is possible to adjust the speed and accuracy of prediction.

  According to the slip prediction system of the third aspect, the determination means compares the information of the plurality of items in the past traveling state information with the information of the plurality of items in the current traveling state information for each item, and each comparison result The comparison result is quantified based on the determination criteria, and if the quantified value is equal to or greater than the threshold, it is determined that the vehicle may slip at the slip prediction target position, and the quantified value is less than the threshold. Therefore, it is determined that there is no possibility that the vehicle will slip at the slip prediction target position. And integrated determination can be performed based on the numerical value, and the accuracy of prediction can be further improved.

It is a block diagram which illustrates the slip prediction system concerning an embodiment of the invention. It is a figure which shows the structural example of ABS operation record DB. It is a figure which shows the structural example of skid recording DB. It is a figure which shows the structural example of a topography characteristic table. It is a figure which shows the structural example of a tolerance table. It is a flowchart of an information collection process. It is a flowchart of a slip prediction process. It is the figure which illustrated the map containing the slip prediction object position made into the processing object of a slip prediction process. It is a flowchart of an ABS operation prediction process. It is a flowchart of a skid prediction process. It is the figure which illustrated the map containing the slip prediction object position made into the processing object of a slip prediction process. It is a figure which shows the structural example of a weighting table.

  Hereinafter, embodiments of a slip prediction system, a slip prediction method, and a slip prediction program according to the present invention will be described in detail with reference to the drawings. However, the present invention is not limited by this embodiment.

(Basic concept of the present embodiment)
First, the basic concept of this embodiment will be described. The present embodiment generally relates to a slip prediction system, a slip prediction method, and a slip prediction program that predict a point where a vehicle may slip.

  Here, “slip” means that the vehicle slips on the road surface. With respect to this “slip type”, for example, it slides substantially along the traveling direction of the vehicle (hereinafter referred to as “front-rear sliding”), and it slides along substantially the direction substantially perpendicular to the traveling direction of the vehicle (hereinafter referred to as “slip type”). And so on). Here, the “traveling direction” means the direction of the road.

(Specific contents of this embodiment)
Next, specific contents of the present embodiment will be described.

(Constitution)
First, the configuration of the slip prediction system according to the present embodiment will be described. FIG. 1 is a block diagram illustrating a slip prediction system according to an embodiment of the present invention. As shown in FIG. 1, the slip prediction system 1 is a system that predicts a point where a vehicle may slip. The slip prediction system 1 includes a terminal device 10 (for example, an in-vehicle navigation device) mounted on a vehicle (not shown) and a management server 30 provided in a base station (not shown). The device 10 and the management server 30 are connected to each other via the network 2 so that they can communicate with each other. Here, although only one terminal device 10 is shown in FIG. 1, the slip prediction system 1 is actually connected to the terminal device 10 mounted on each of a plurality of vehicles, and the plurality of terminal devices 10. A common management server 30 capable of communicating with the communication server 30 is provided. However, since the terminal devices 10 of the plurality of vehicles can be configured similarly to each other, the terminal device 10 mounted on one vehicle (hereinafter referred to as “own vehicle”) will be described below. The description will be omitted, and the description of the terminal device 10 mounted on another vehicle (hereinafter referred to as “another vehicle”) will be omitted. In addition, when it is not necessary to distinguish the own vehicle from other vehicles, these are simply collectively referred to as “vehicle”. The “vehicle” is a concept including a four-wheeled vehicle and the like.

(Configuration-terminal device)
Next, the configuration of the terminal device 10 will be described. The terminal device 10 is a device that outputs various types of information about the host vehicle to the management server 30 and performs various controls based on the information output from the management server 30. Specifically, as shown in FIG. 1, the terminal device 10 includes a current position acquisition unit 11, an ABS operation detector 12, a skid detector 13, an engine speed sensor 14, a wiper operation detector 15, a vehicle speed sensor 16, An operation unit 17, a communication unit 18, a display 19, a speaker 20, a control unit 21, and a data recording unit 22 are provided. In addition, since the terminal device 10 can be comprised by the well-known vehicle-mounted navigation apparatus etc. which were mounted in the own vehicle, the detailed description is abbreviate | omitted.

(Configuration-Terminal device-Current position acquisition unit)
The current position acquisition unit 11 is current position acquisition means for acquiring the current position of the host vehicle. Specifically, the current position acquisition unit 11 includes at least one of a GPS, a geomagnetic sensor, a distance sensor, and a gyro sensor (all of which are not shown), and the current position (coordinates), direction, and the like of the host vehicle are determined. Detection is performed by a known method.

(Configuration-Terminal device-ABS operation detector)
The ABS operation detector 12 is an ABS operation detection unit that detects an operation state of an ABS device (not shown) included in the host vehicle and outputs the detected value to the control unit 21. Here, the specific content of the “detected value” is arbitrary. For example, when the ABS device is activated by sliding back and forth of the host vehicle, the detected value is set to ON and the ABS device is not activated. The detection value may be set to OFF (the same applies to a detection value of a skid detector 13 described later and a detection value of a wiper operation detector 15 described later). The ABS operation detector 12 is configured using a known mechanism that detects the operating state of the ABS device, for example.

(Configuration-terminal device-skid detector)
The skid detector 13 is a skid detector that detects a skid state of the host vehicle and outputs the detected value to the control unit 21. The skid detector 13 is configured using a known mechanism including, for example, a yaw rate sensor.

(Configuration-Terminal device-Engine speed sensor)
The engine speed sensor 14 is an engine speed detection means that detects the speed of the engine of the host vehicle and outputs the detected value to the control unit 21. For example, the engine speed sensor 14 is configured by using a known engine speed sensor 14. Yes.

(Configuration-Terminal device-Wiper operation detector)
The wiper operation detector 15 is a wiper operation detection unit that detects an operation state of a wiper (not shown) included in the host vehicle and outputs the detected value to the control unit 21. For example, a known mechanism for detecting ON / OFF of a wiper switch is used. It is configured using.

(Configuration-Terminal device-Vehicle speed sensor)
The vehicle speed sensor 16 is a vehicle speed detection unit that detects the vehicle speed of the host vehicle, and outputs, for example, a vehicle speed pulse signal proportional to the rotational speed of the axle to the control unit 21. The vehicle speed sensor 16 is configured using, for example, a known vehicle speed sensor.

(Configuration-Terminal device-Operation unit)
The operation unit 17 is an operation unit that receives an operation input by a user of the host vehicle. As this operation part 17, well-known operation means, such as remote operation means, such as a touch panel and a remote controller, or a hard switch, can be used, for example.

(Configuration-Terminal device-Communication unit)
The communication unit 18 is a communication unit for communicating with the management server 30 via the network 2. Specifically, the communication unit 18 receives various types of information output from the management server 30 via the network 2 and transmits various types of information to the management server 30 via the network 2. As the communication unit 18, for example, a communication means for FM multiplexed VICS (registered trademark), a communication means for optical VICS (registered trademark), a communication means for DCM (Data Communication Module), or a mobile wireless communication network is used. It can comprise as a well-known communication means which communicates using.

(Configuration-Terminal device-Display)
The display 19 is a display unit that displays various images based on the control of the control unit 21. As the display 19, for example, a known flat panel display such as a liquid crystal display or an organic EL display can be used.

(Configuration-Terminal device-Speaker)
The speaker 20 is an output unit that outputs various sounds based on the control of the control unit 21. The specific form of the sound output from the speaker 20 is arbitrary, and it is possible to output a synthesized sound generated as necessary or a sound recorded in advance.

(Configuration-Terminal device-Control unit)
The control unit 21 is a control unit that controls the terminal device 10. Specifically, the control unit 21 is a CPU, various programs that are interpreted and executed on the CPU (a basic control program such as an OS, and a specific function that is activated on the OS. And an internal memory such as a RAM for storing the program and various data. In particular, the slip prediction program according to the present embodiment is substantially installed in the terminal device 10 via an arbitrary recording medium or the network 2, thereby substantially configuring each unit of the control unit 21 (a management server 30 described later). The same applies to the control unit 32 of FIG.

  Moreover, as shown in FIG. 1, this control part 21 is equipped with the vehicle information acquisition part 21a, the vehicle information transmission part 21b, and the guidance part 21c on the functional concept.

  The vehicle information acquisition unit 21a is a vehicle information acquisition unit for acquiring vehicle information of the host vehicle. Here, the “vehicle information” is information relating to the vehicle, for example, information including position information and traveling state information. Among these, “position information” is information for specifying the current position of the vehicle. The “running status information” is information that identifies the running status of the vehicle. For example, the date, the vehicle weight, the outside temperature, the ABS device operating state, the vehicle skidding state, the wiper operating state, and the engine speed The information is configured to include at least a part of information on a plurality of items related to the traveling state such as the vehicle speed (the same applies to current traveling state information and past traveling state information described later). In the present embodiment, the vehicle information acquisition unit 21a determines the current position of the host vehicle every predetermined time (for example, based on the detection value of the current position acquisition unit 11 when the host vehicle is traveling). It shall be acquired every second). The vehicle information transmission unit 21 b is vehicle information transmission means that causes the communication unit 18 to transmit vehicle information to the management server 30 via the network 2. The guide unit 21 c is a guide unit that guides predetermined information to the user of the host vehicle via the display 19 and the speaker 20. Details of processing executed by each component of the control unit 21 will be described later.

(Configuration-Terminal device-Data recording unit)
The data recording unit 22 includes a program and various data necessary for the operation of the terminal device 10 (for example, the vehicle weight of the host vehicle, a vehicle ID, which will be described later, and the vehicle information for each predetermined time acquired by the vehicle information acquisition unit 21a It is a recording means for recording the current position and the like. The data recording unit 22 is configured using, for example, a hard disk (not shown) as an external recording device. However, any other recording medium including a magnetic recording medium such as a magnetic disk or an optical recording medium such as a DVD or a Blu-ray disk can be used instead of or together with the hard disk (a management server 30 described later). The same applies to the data recording unit 33).

  The data recording unit 22 includes a map information database (hereinafter, the database is referred to as “DB”) 22a.

  The map information DB 22a is map information storage means for storing map information. Here, the “map information” is information necessary for specifying various positions including roads, road structures, facilities, etc. For example, node data relating to each node set on the road (for example, node number, Coordinates), link data related to each link set on the road (eg, link ID, link name, connection node number, road coordinates, road type, number of lanes, road curvature radius, etc.), feature data (eg, traffic light) , Road signs, guardrails, facilities, etc.), terrain data (for example, altitude, road attributes, etc.) (the same applies to the map information DB 33a of the management server 30 described later). Are attributes that can affect the possibility of vehicle slip, road attributes that increase the likelihood of vehicle slip, and roads that reduce the likelihood of vehicle slip. For example, in the former case, the attribute that specifies the state in which the coefficient of friction between the vehicle tire and the road surface is likely to fall is applicable, and more specifically, the bridge, tunnel entrance, west side of the mountain slope (In these cases, the road surface of the road is easily maintained in a frozen state, or the road surface of the road is easily maintained in a wet state due to rain, snow, or the like), or an unpaved road surface. Further, the latter corresponds to an attribute that specifies a state in which the friction coefficient between the vehicle tire and the road surface is difficult to decrease, and more specifically, a normal road surface, etc. Further, this map information includes the above-described map information. In addition to the various types of information, the map 19 includes map display data for displaying a map on the display 19 (however, this map display data is stored in a map information DB 33a of the management server 30 described later). Shall not included in the map information are). Incidentally, the terrain data is included in the map information that corresponds to the "topographical information" in claims.

(Configuration-Management server)
Next, the configuration of the management server 30 will be described. The management server 30 is a device that predicts a point where the vehicle may slip. Specifically, as illustrated in FIG. 1, the management server 30 includes a communication unit 31, a control unit 32, and a data recording unit 33.

(Configuration-Management server-Communication unit)
The communication unit 31 is a communication unit that communicates with the terminal device 10 via the network 2. For example, FM communication VICS (registered trademark), optical VICS (registered trademark), DCM (Data Communication Module), or It can be configured as a known communication unit that performs communication using a mobile wireless communication network.

(Configuration-Management server-Control unit)
The control unit 32 is a control unit that controls the management server 30. Specifically, as illustrated in FIG. 1, the collection unit 32a, the terrain characteristic specifying unit 32b, the current vehicle information acquisition unit 32c, A traveling direction specifying unit 32d, a slip prediction target position specifying unit 32e, a determination criterion setting unit 32f, a determination unit 32g, and a slip information transmission unit 32h are provided.

  The collection unit 32a stores vehicle information acquired from the terminal device 10 via the communication unit 31 in an ABS operation record DB 33b or a skid record DB 33c described later. In addition, this collection part 32a and the vehicle information transmission part 21b of the terminal device 10 comprise the "collection means" in a claim. The terrain characteristic specifying unit 32b is terrain characteristic means for specifying the terrain characteristic related to the predetermined position. Here, the “terrain characteristic” means the degree of slipperiness of the vehicle due to the road topography, and in this embodiment, it is classified into five stages from A to E in order of slippery. And Note that the number of divisions of the topographic characteristics is arbitrary. For example, the number of divisions may be increased more than the number of divisions of the present embodiment, or may be reduced than the number of divisions of the present embodiment. The current vehicle information acquisition unit 32c acquires current vehicle information. Here, “current vehicle information” means vehicle information related to a vehicle that is currently traveling among vehicle information used in slip prediction processing described later. For example, the current vehicle information is current position information that identifies the current position of the vehicle. This is information configured to include position information and current travel status information that is travel status information for specifying the travel status of the vehicle. The current vehicle information acquisition unit 32c and the vehicle information transmission unit 21b of the terminal device 10 constitute "current vehicle information acquisition means" in the claims. The traveling direction specifying unit 32d is a traveling direction specifying unit that specifies the traveling direction of the vehicle. The slip prediction target position specifying unit 32e is slip target position specifying means for specifying the slip prediction target position. Here, the “slip prediction target position” means a position that is a target of slip prediction processing described later. In this embodiment, the “slip prediction target position” is a position on the road within a predetermined range from the current position of the vehicle, and a position ahead of the current position of the vehicle in the traveling direction (for example, the current position of the vehicle). However, the present invention is not limited to this. For example, the current position of the vehicle and the position ahead of the current direction of the vehicle may be used. . The determination criterion setting unit 32f is determination criterion setting means for setting a determination criterion. Here, the “determination criterion” is an index for determining whether or not the vehicle may slip at the slip prediction target position. In the present embodiment, this determination criterion is an allowance used in slip prediction processing described later, and will be described as an allowance for a comparison result between current vehicle information and past vehicle information described later. For example, the weighting is used in slip prediction processing described later, and may be weighting when comparing current vehicle information with past vehicle information described later. The determination unit 32g is a determination unit that determines whether or not the vehicle may slip at the slip prediction target position. The slip information transmission unit 32 h is a slip information transmission unit that causes the communication unit 31 to transmit information related to slip to the terminal device 10 via the network 2. Here, the “information about slip” is information indicating that the vehicle may slip, for example, information indicating that the ABS device may operate due to forward and backward slip of the vehicle, Applicable to information that indicates the possibility of Details of processing executed by each component of the control unit 32 will be described later.

(Configuration-Management server-Data recording unit)
The data recording unit 33 is a recording unit that records a program and various data necessary for the operation of the management server 30. Specifically, as shown in FIG. 1, a map information DB 33a, an ABS operation recording DB 33b, a skid recording A DB 33c, a terrain characteristic table 33d, and a tolerance table 33e are provided. In addition, since map information DB33a is substantially the same as map information DB22a with which the data recording part 22 of the terminal device 10 is provided, description is abbreviate | omitted.

(Configuration-Management server-Data recording unit-ABS operation record DB)
In the ABS operation record DB 33b, when the past vehicle (including the host vehicle and other vehicles) slips back and forth in the past vehicle information, the ABS device of the past vehicle is activated. This is an ABS operation recording means for recording past vehicle information. Here, “past vehicle information” means vehicle information related to a past vehicle among vehicle information used in slip prediction processing to be described later. For example, a past position which is position information for specifying a position where a past vehicle slips. It is the information comprised including the information and the past driving | running state information which is the driving | running state information which specifies the driving | running state of the said past vehicle at the time of the said slip.

  FIG. 2 is a diagram illustrating a configuration example of the ABS operation record DB 33b. As shown in FIG. 2, the ABS operation record DB 33b includes an item “date”, an item “point”, an item “vehicle weight”, an item “outside temperature”, an item “wiper”, an item “vehicle speed”, an item The “engine speed”, the item “terrain characteristics”, and information corresponding to each item are associated with each other.

  Here, the information corresponding to the item “date” is information for specifying the date when the ABS device is operated. The information corresponding to the item “point” is past position information for specifying the current position of the past vehicle when the ABS device is operated, specifically, the coordinates of the current position, and the item “latitude” The latitude of the current position, which is information stored correspondingly, and the longitude of the current position, which is information stored corresponding to the item “longitude”, are configured. The information corresponding to the item “vehicle weight” is information specifying the vehicle weight of the past vehicle on which the ABS device has been operated. Information corresponding to the item “outside air temperature” is information for specifying the outside air temperature at the current position when the ABS device is activated. The information corresponding to the item “wiper” is information specifying the operating state of the wiper when the ABS device is operated. The information corresponding to the item “vehicle speed” is information for specifying the vehicle speed when the ABS device is activated. The information corresponding to the item “engine speed” is information for specifying the engine speed when the ABS device is operated. The information corresponding to the item “terrain characteristic” is information for specifying the terrain characteristic at the current position when the ABS device is operated.

(Configuration-management server-data recording unit-skid recording DB)
The skid recording DB 33c is skid recording means for recording past vehicle information when the past vehicle skids among past vehicle information. FIG. 3 is a diagram illustrating a configuration example of the skid recording DB 33c. As shown in FIG. 3, the skid record DB 33 c includes an item “date”, an item “point”, an item “vehicle weight”, an item “outside temperature”, an item “wiper”, an item “vehicle speed”, and an item “ The engine speed, the item “terrain characteristics”, and information corresponding to each item are associated with each other. The ABS operation record DB 33b and the skid record DB 33c constitute "past vehicle information storage means" in the claims.

  Here, the information corresponding to the item “date” is information specifying the date when the past vehicle skids. The information corresponding to the item “point” is past position information for specifying the current position of the past vehicle when the past vehicle skids, specifically, the coordinates of the current position, and the item “latitude” The latitude of the current position, which is information stored corresponding to the item “L”, and the longitude of the current position, which is information stored corresponding to the item “longitude”. The information corresponding to the item “vehicle weight” is information for specifying the vehicle weight of a past vehicle that has slipped. The information corresponding to the item “outside temperature” is information for specifying the outside temperature at the current position when the past vehicle skids. The information corresponding to the item “wiper” is information specifying the operating state of the wiper when the past vehicle skids. The information corresponding to the item “vehicle speed” is information for specifying the vehicle speed when the past vehicle skids. The information corresponding to the item “engine speed” is information specifying the engine speed when a past vehicle skids. The information corresponding to the item “terrain characteristic” is information for specifying the terrain characteristic of the current position when a past vehicle skids.

(Configuration-Management server-Data recording unit-Topographic characteristics table)
The terrain characteristic table 33d is terrain characteristic storage means for storing information relating to terrain characteristics. FIG. 4 is a diagram illustrating a configuration example of the terrain characteristic table 33d. As shown in FIG. 4, the terrain characteristic table 33d includes an item “curvature radius”, an item “level difference”, an item “road attribute”, an item “terrain characteristic”, and information corresponding to each item. Configured in association.

  Here, the information corresponding to the item “curvature radius” is information for specifying the curvature radius of the road. Information corresponding to the item “level difference” is information for specifying the level difference of the road. “Road level difference” means an altitude (or current vehicle information acquisition unit 32c) corresponding to position information included in vehicle information acquired by the collection unit 32a from an altitude corresponding to a previous current position described later. It means a value obtained by subtracting the altitude corresponding to the current position information included in the acquired current vehicle information. The information corresponding to the item “road attribute” is information specifying the attribute of the road. The information corresponding to the item “terrain characteristics” is information specifying the terrain characteristics.

  The tolerance table 33e is a tolerance storage unit that stores information on tolerance. FIG. 5 is a diagram illustrating a configuration example of the tolerance table 33e. As shown in FIG. 5, the tolerance table 33e is configured by associating the item “terrain” and the item “tolerance” with information corresponding to each item. In addition, the item “tolerance” further includes items relating to tolerance, the item “date”, the item “point”, the item “vehicle weight”, the item “outside temperature”, the item “vehicle speed”, and the item “engine speed”. Etc. are configured. The information stored corresponding to the item “terrain” is the same as the information stored corresponding to the same item name in the terrain characteristic table 33d in FIG.

  Here, the information corresponding to the item “tolerance” is information for specifying the tolerance. Among these, the information corresponding to the item “date” is information specifying the tolerance of the date. Further, the information corresponding to the item “point” is information specifying the tolerance of the point. Further, the information corresponding to the item “vehicle weight” is information specifying the tolerance of the vehicle weight. Further, the information corresponding to the item “outside temperature” is information specifying the tolerance of the outside temperature. Further, the information corresponding to the item “vehicle speed” is information specifying the tolerance of the vehicle speed. Further, the information corresponding to the item “engine speed” is information for specifying the tolerance of the engine speed.

  The various tolerances can be set arbitrarily. For example, the various tolerances are preferably set on the safe side. Here, “safe side” means a side on which current vehicle information (or terrain characteristics corresponding to current vehicle information) is easily determined to match past vehicle information (or terrain characteristics corresponding to past vehicle information). To do. Specifically, as shown in FIG. 5, regarding date tolerance, if the date included in the current vehicle information and the date of the past vehicle information are within a predetermined time difference, the dates of the two match. (In the example of FIG. 5, when the terrain characteristic = A, the date tolerance = 0 minutes to 30 minutes, etc.). Further, the tolerance of the point is set so that the points are considered to coincide when the position included in the current vehicle information and the position of the past vehicle information are a predetermined distance difference (FIG. 5). In the example, when the terrain characteristic = A, the tolerance of the point = 0 m to 100 m). In addition, regarding the vehicle weight tolerance, when the vehicle weight included in the current vehicle information is lighter than the vehicle weight of the past vehicle information by a predetermined value, the vehicle weight included in the current vehicle information is considered to be heavier. (In the example of FIG. 5, when the terrain characteristic = A, the vehicle weight tolerance = −0.5t to 0t, etc.). In addition, regarding the tolerance of the outside air temperature, when the outside air temperature included in the current vehicle information is higher than the outside air temperature of the past vehicle information by a predetermined value, the outside air temperature included in the current vehicle information is considered to be lower. (In the example of FIG. 5, when the terrain characteristic = A, the tolerance of the outside air temperature = 0 ° C. to 2.0 ° C., etc.). The vehicle speed tolerance is set so that the vehicle speed included in the current vehicle information is considered to be faster when the vehicle speed included in the current vehicle information is slower than the vehicle speed of the past vehicle information by a predetermined value. (In the example of FIG. 5, when the terrain characteristic = A, the vehicle speed tolerance = −20 km / h to 0 km / h, etc.). In addition, regarding the engine speed tolerance, when the engine speed included in the current vehicle information is slower than the engine speed of the past vehicle information by a predetermined value, the engine speed included in the current vehicle information. It is set so that the number is considered to be larger (in the example of FIG. 5, when the terrain characteristic = A, the engine speed tolerance = −300 times to 0 times, etc.).

  In addition, the various tolerances may be set so that the above-described various tolerances become safer values as the terrain characteristics are more slippery. Specifically, as shown in FIG. 5, various tolerances corresponding to slippery characteristics among the terrain characteristics are set to be higher than various tolerances corresponding to slippery characteristics (FIG. 5). In the example of 5, when the terrain characteristic = E, the date tolerance = 0 minutes to 5 minutes, whereas when the terrain characteristic = A, the date tolerance = 0 minutes to 30 minutes, etc.) . Thus, for example, when the slip prediction target position is easy to slip, the tolerance is lowered, and when the slip prediction target position is difficult to slip, the tolerance is increased, so that the prediction can be performed quickly. Can be adjusted.

(processing)
Next, processing executed by the slip prediction system 1 configured as described above will be described. The processing executed by the slip prediction system 1 is broadly classified into information collection processing for collecting vehicle information from the terminal device 10 and slip prediction processing for predicting a point where the vehicle may slip. Hereinafter, each of the information collection process and the slip prediction process will be described.

(Processing-Information collection processing)
First, the information collection process will be described. FIG. 6 is a flowchart of the information collection process (steps are abbreviated as “S” in the description of each process below). The information collection process is started after the terminal device 10 and the management server 30 are powered on, for example.

  When the information collection process is started, as shown in FIG. 6, the control unit 21 of the terminal device 10 acquires the vehicle information when the ABS device is activated or the vehicle information when the own vehicle skids. , SA1 to SA4 are performed.

  First, the control unit 21 of the terminal device 10 determines whether or not the ABS device of the host vehicle has been operated based on the detection value output from the ABS operation detector 12 (SA1).

  Here, when it is determined that the ABS device is not operating (SA1, No), the control unit 21 of the terminal device 10 determines whether the host vehicle skids based on the detection value output from the skid detector 13. It is determined whether or not (SA2).

  Here, when it is determined that the host vehicle is not skidding (SA2, No), the control unit 21 of the terminal device 10 proceeds to SA1, and it is determined that the ABS device has been operated in SA1, or SA2 The processes of SA1 and SA2 are repeated until it is determined that the host vehicle has skid.

  On the other hand, when it is determined that the ABS device is activated in SA1 (SA1, Yes), or when it is determined that the host vehicle is skidding in SA2 (SA2, Yes), the vehicle information acquisition unit 21a of the terminal device 10 is performed. Acquires vehicle information (SA3).

  Here, regarding the acquisition of vehicle information, specifically, the detection value of the current position acquisition unit 11, the detection value of the ABS operation detector 12, the detection value of the skid detector 13, the detection value of the engine speed sensor 14, Based on the detected value of the wiper operation detector 15 and the vehicle speed pulse signal of the vehicle speed sensor 16, the current position of the host vehicle, the operating state of the ABS device, the skidding state of the host vehicle, the operating state of the wiper, the vehicle speed, and the rotation of the engine The number is acquired (the same applies to SB3 of slip prediction processing described later). Further, the date is acquired based on the standard time information received from the GPS satellite through the current position acquisition unit 11 (or the date is acquired based on a clock (not shown) provided in the host vehicle. The same applies to SB3 of slip prediction processing described later). Further, the vehicle weight of the host vehicle is acquired from the data recording unit 22. Moreover, based on the weather information received from the predetermined external server via the communication unit 18 and the detected value of the current position acquisition unit 11, the outside air temperature is acquired (or a temperature sensor (illustrated) provided in the host vehicle. The outside air temperature may be acquired based on (omitted), and the same applies to SB3 of slip prediction processing described later).

  Next, the vehicle information transmission unit 21b of the terminal device 10 causes the communication unit 18 to transmit the vehicle information acquired in SA3 to the management server 30 (SA4). At the same time, the vehicle information transmission unit 21b of the terminal device 10 uses the current position of the host vehicle acquired in SA3 among the current positions of the host vehicle stored in the data recording unit 22 of the terminal device 10. Also, the current position of the host vehicle (hereinafter referred to as “previous current position”) before a predetermined time (for example, 3 seconds before) is specified, and the specified previous current position is also transmitted to the management server 30 by the communication unit 18. (SA4).

  After the process of SA4, in order to collect vehicle information from the terminal device 10, the control unit 32 of the management server 30 performs processes of SA5 to SA7.

  First, the collection unit 32a of the management server 30 waits until the vehicle information transmitted from the terminal device 10 at SA4 and the previous current position are acquired via the communication unit 31 (SA5, No).

  If the vehicle information and the previous current position are acquired (SA5, Yes), the terrain characteristic specifying unit 32b of the management server 30 is included in the vehicle information acquired in SA5 while referring to the terrain characteristic table 33d. Based on the position information (that is, the current position of the host vehicle) and the previous current position, and the map information stored in the map information DB 32a, the terrain characteristic of the current position of the host vehicle is specified (SA6).

  Here, regarding the specification of the terrain characteristic, specifically, the curvature radius of the road is specified based on the current position of the host vehicle and the link data (especially the road coordinates and the curvature radius of the road) of the map information. Further, the height difference of the road is specified based on the current position of the host vehicle and the previous current position, the link data (especially road coordinates) and the terrain data (particularly altitude) of the map information. More specifically, a value obtained by subtracting the altitude corresponding to the current position of the host vehicle from the altitude corresponding to the previous current position is specified as the height difference of the road. Further, the attribute of the road is specified based on the current position of the host vehicle, the link data (especially road coordinates) of the map information, and the terrain data (especially the attribute of the road). Then, from the terrain characteristics stored in the terrain characteristic table 33d, the terrain characteristics of the current position of the host vehicle are specified based on the specified curvature radius of the road, the height difference of the road, and the attribute of the road. . For example, when the radius of curvature of the road related to the current position of the host vehicle = 250 m, the height difference of the road = −53 m, and the attribute of the road = bridge, the terrain characteristic = B of the current position of the host vehicle is specified.

  Next, the collection unit 32a of the management server 30 stores the vehicle information acquired in SA5 and the terrain characteristics specified in SA6 in the ABS operation record DB 33b or the skid record DB 33c of the management server 30 (SA7). Specifically, the collection unit 32a of the management server 30 includes the vehicle information and the vehicle information when the operation state of the ABS device is ON among the vehicle traveling state information included in the vehicle information acquired in SA5. The terrain characteristic is stored in the ABS operation record DB 33b, and when the skid state is ON in the vehicle running state information included in the vehicle information acquired in SA5, the vehicle information and the terrain characteristic are stored in the skid record DB 33c. To store. This completes the information collection process. In the slip prediction process, the vehicle information stored in SA7 is used as past vehicle information.

  Thereafter, by repeating such processing, the latest past vehicle information is always stored in the ABS operation record DB 33b or the skid record DB 33c of the management server 30. For this reason, the slip prediction system 1 can perform a slip prediction process based on this latest past vehicle information.

(Processing-slip prediction processing)
Next, the slip prediction process will be described. FIG. 7 is a flowchart of slip prediction processing. FIG. 8 is a diagram illustrating a map including a slip prediction target position that is a processing target of the slip prediction processing. Moreover, this slip prediction process is started, for example, after the terminal device 10 and the management server 30 are turned on, and is executed in parallel with the above-described information collection process.

  When the slip prediction process is activated, as shown in FIG. 7, the control unit 21 of the terminal device 10 performs the processes from SB1 to SB3 in order to acquire the vehicle information of the traveling vehicle.

  First, the control unit 21 of the terminal device 10 monitors whether or not a predetermined timing at which vehicle information should be acquired has arrived (SB1, No). Specifically, the control unit 21 of the terminal device 10 includes a position of the host vehicle, a vehicle state such as a vehicle speed, a predetermined instruction received by the user via the operation unit 17, or a publicly known device provided in the host vehicle. It is determined whether or not a predetermined timing has arrived based on a time measured by a timer (not shown). For example, it is determined that a predetermined timing has arrived every time a known timer (e.g., 5 seconds) elapses.

  When the predetermined timing has arrived (SB1, Yes), the vehicle information acquisition unit 21a of the terminal device 10 acquires vehicle information in the same manner as SA3 (SB2).

  Next, the vehicle information transmitting unit 21b of the terminal device 10 causes the management server 30 to transmit the vehicle information acquired in SB2 to the management server 30 by the communication unit 18 as in SA4, and the previous current position is also transmitted to the management server 30 by the communication unit 18. (SB3).

  After the process of SB3, in order to acquire vehicle information from the terminal device 10, and to specify various information used for the ABS operation prediction process described later and the side slip prediction process described later, the control unit 32 of the management server 30 starts from SB4. The process of SB7 is performed.

  First, the current vehicle information acquisition unit 32c of the management server 30 stands by until the vehicle information transmitted from the terminal device 10 and the previous current position in SB3 are acquired via the communication unit 31 as in SA5 ( SB4, No). It is assumed that the vehicle information acquired by the current vehicle information acquisition unit 32c is handled as current vehicle information thereafter.

  When the current vehicle information and the previous current position are acquired (SB4, Yes), the traveling direction specifying unit 32d of the management server 30 includes the current position information (that is, the current vehicle information acquired in SB4) Based on the current position of the host vehicle, the traveling direction of the host vehicle is specified (SB5).

  Here, although the direction of travel of the host vehicle is arbitrary, for example, based on the current position of the host vehicle and the previous current position, the host vehicle per unit distance within a predetermined time (for example, within 3 seconds) Identify the direction of travel. Alternatively, for example, based on the current position of the host vehicle acquired in the current slip prediction process and the current position of the host vehicle acquired in the previous slip prediction process, for example, within a predetermined time ( For example, the traveling direction of the host vehicle per unit distance within 5 seconds may be specified. Specifically, in the previous slip prediction process, the current position of the host vehicle acquired from the terminal device 10 and the vehicle ID that uniquely identifies the host vehicle (more specifically, the vehicle ID stored in the data recording unit 22). ) Are stored in the data recording unit 33 of the management server 30 in association with each other. In the current slip prediction process, when the vehicle ID acquired from the terminal device 10 matches the vehicle ID stored in the data recording unit 33, the current position of the host vehicle stored in the data recording unit 33 is used. The traveling direction of the host vehicle up to the current position of the host vehicle acquired in the current slip prediction process is specified.

  For example, when the current position of the host vehicle = latitude: 35.166, longitude: 136.877 and the previous current position = latitude: 35.165, longitude: 136.877 are acquired, the traveling direction of the host vehicle = The right direction on the map is specified.

  Next, the slip prediction target position specifying unit 32e of the management server 30 includes the map information stored in the map information DB 32a, the current position information acquired in SB4, and the traveling direction of the host vehicle specified in SB5. The slip prediction target position is specified based on (SB6). Specifically, the slip prediction target position specifying unit 32e of the management server 30 specifies a position 300 m away from the current position of the host vehicle in the traveling direction of the host vehicle as the slip prediction target position. For example, when the current position of the host vehicle = latitude: 35.166 and longitude: 136.877 is acquired, the slip prediction target position = latitude: 35.170 and longitude: 136.880 are specified.

  Next, the terrain characteristic specifying unit 32b of the management server 30 stores the current position information acquired in SB4, the slip prediction target position specified in SB6, and the map information DB 32a while referring to the terrain characteristic table 33d. Based on the map information that has been set, the terrain characteristic of the slip prediction target position is specified (SB7).

  Here, the topographic characteristics are specified by the same method as SA6, but the road height difference is specified as shown below. Specifically, the height difference of the road is specified based on the current position of the host vehicle, the position to be predicted for slip, the link data (especially road coordinates) and the terrain data (especially altitude) of the map information. More specifically, a value obtained by subtracting the altitude corresponding to the slip prediction target position from the altitude corresponding to the current position of the host vehicle is specified as the road level difference. Or it is not restricted to this, For example, based on the advancing direction of the own vehicle specified in SB5, a slip prediction target position, link data (especially road coordinates) and map data (especially altitude) of map information, You may identify the height difference of a road. Specifically, a position away from the slip prediction target position by a predetermined distance (for example, 100 m) behind the traveling direction of the host vehicle is specified, and the altitude corresponding to the slip prediction target position is determined from the altitude corresponding to the specified position. The subtracted value is specified as a road level difference.

  For example, when slip prediction target position = latitude: 35.170 and longitude: 136.880 are specified, road curvature radius = 220 m, road height difference = −55 m, road attribute = west side of mountain slope In this case, the terrain characteristic = B of the slip prediction target position is specified.

  Subsequently, the determination criterion setting unit 32f of the management server 30 sets the tolerance based on the terrain characteristics specified in SB7 while referring to the tolerance table 33e (SB8). And the control part 32 of the management server 30 starts ABS operation | movement prediction process (SB9) and skid prediction process (SB10) one by one.

(Processing-slip prediction process-ABS operation prediction process)
First, the ABS operation prediction process will be described. FIG. 9 is a flowchart of the ABS operation prediction process. The ABS operation prediction process is a process for predicting whether or not there is a possibility that the ABS device will be operated due to the vehicle slipping back and forth at the slip prediction target position.

  As shown in FIG. 9, first, the control unit 32 of the management server 30 initializes variables used for subsequent processing (SC1). Specifically, the control unit 32 of the management server 30 sets the initial number N = 0 as the number of matches between the current vehicle information and the past vehicle information when the ABS device is activated (hereinafter referred to as “first match number”). Turn into.

  Next, the control unit 32 of the management server 30 sequentially performs the processes of SC3 and SC4 on the past vehicle information stored in the ABS operation record DB 33b of the management server 30 in the loop between SC2 and SC5. Hereinafter, the past vehicle information to be processed is referred to as “target past vehicle information”.

  In this loop, first, the determination unit 32g of the management server 30 determines whether or not the current vehicle information acquired in SB4 matches the target past vehicle information (SC3).

  Specifically, the determination unit 32g of the management server 30 determines the slip prediction target position acquired in SB6 and the past position information included in the target past vehicle information (that is, the current position of the past vehicle when the ABS device is operated). ) And compare the information of the plurality of items in the current traveling state information included in the current vehicle information acquired in SB4 with the information of the plurality of items in the past traveling state information included in the target past vehicle information. In addition, the terrain characteristic acquired in SB7 and the terrain characteristic corresponding to the target past vehicle information are compared, and the comparison result is digitized based on each comparison result and the tolerance set in SB8. And the determination part 32g of the management server 30 determines whether the said numerical value is more than a threshold value (for example, threshold = 6), and when the said numerical value is more than a threshold value, it is present vehicle information. And the target past vehicle information are determined to match, and if the numerical value is less than the threshold value, it is determined that the current vehicle information and the target past vehicle information do not match (also for SD3 of the skid prediction process described later) The same shall apply).

  For example, when the topographic characteristic of the slip prediction target position = B is specified, the date when the current vehicle information is acquired = AM 11:30 on January 11, 2013, and the date when the ABS device is operated = Heisei In the case of 10:30 AM on January 10, 2013, both dates do not match even when considering the tolerance of the date corresponding to the topographic characteristics = 0 minutes to 20 minutes. It is determined that the ABS device is difficult to operate (hereinafter referred to as “non-operating environment”). Further, when the slip prediction target position = latitude: 35.170, longitude: 136.880, and the current position of the past vehicle when the ABS device is operated = latitude: 35.171, longitude: 136.882. In consideration of the tolerance of the point corresponding to the topographic characteristics = 0 m to 80 m, it is considered that the positions of the two coincide with each other. Therefore, the comparison result is an environment in which the ABS device is easy to operate (hereinafter referred to as “operating environment”). ). Further, when the vehicle weight of the host vehicle is 1.0 t and the vehicle weight of the past vehicle is 1.5 t, the tolerance of the vehicle corresponding to the terrain characteristic = −0.4 t to 0 t is taken into consideration. However, since the vehicle weight of the own vehicle is lighter, the comparison result is determined to be a non-operating environment. In addition, when the outside air temperature at the current position of the host vehicle = 0 ° C. and the outside air temperature at the current position of the past vehicle when the ABS device is operated = −1 ° C., the outside air temperature corresponding to the topographic characteristic is Considering tolerance = 0 ° C. to 1.5 ° C., it is considered that the outside air temperature at the current position of the host vehicle is lower, so that the comparison result is determined to be an operating environment. Further, when the operation state of the wiper of the host vehicle is ON and the operation state of the wiper when the ABS device is operated is ON, the operation state of both wipers coincides. It is judged that. Further, when the vehicle speed of the host vehicle is 40 km / h and the vehicle speed when the ABS device is operated is 45 km / h, the tolerance of the vehicle speed corresponding to the terrain characteristics = -15 km / h to 0 km / h Is taken into consideration, the vehicle speed of the host vehicle is considered to be faster, so the comparison result is determined to be an operating environment. Further, when the number of revolutions of the engine of the own vehicle = 2100 and the number of revolutions of the engine when the ABS device is activated = 1800, the number of revolutions of the engine of the own vehicle is larger. Is determined to be an operating environment. In addition, when the terrain characteristic of the slip prediction target position = B and the terrain characteristic of the current position of the past vehicle when the ABS device is operated = B, the terrain characteristics of both coincide with each other. It is determined that the operating environment. Of these comparison results, the number of comparison results determined to be the operating environment = 6. Therefore, since the number of comparison results is equal to or greater than the threshold, the current vehicle information and the target past vehicle information are It is determined that they match. This makes it possible to make a detailed determination as to whether or not the current vehicle information and the target past vehicle information match based on the number of comparison results determined to be the operating environment, and the prediction accuracy can be improved. (The same applies to the SD3 process of the skid prediction process described later).

  Here, in SC3, when it is determined that the current vehicle information and the target past vehicle information match (SC3, Yes), the determination unit 32g of the management server 30 increments the first match number N by one. The first match number N is updated (SC4). For example, when the first match number N = 0, the first match number N = 0 + 1 = 1 is updated. And the control part 32 of the management server 30 repeats the process of SC3 and SC4 again by making other past vehicle information into object past vehicle information.

  On the other hand, when it is determined that the current vehicle information and the target past vehicle information do not match (SC3, No), the control unit 32 of the management server 30 sets the other past vehicle information as the target past vehicle information, and sets the SC3 and SC4. Repeat the process again.

  As described above, in the loop of SC2 and SC5, after the processing of SC3 and SC4 is sequentially performed on all past vehicle information stored in the ABS operation record DB 33b of the management server 30, the control unit of the management server 30 32 ends the ABS operation prediction process.

(Processing-slip prediction process-skid prediction process)
Next, the skid prediction process will be described. FIG. 10 is a flowchart of the skid prediction process. The skid prediction process is a process for predicting whether or not there is a possibility that the vehicle skids at the slip prediction target position.

  As shown in FIG. 10, first, the control unit 32 of the management server 30 initializes variables used for the subsequent processing (SD1). Specifically, the control unit 32 of the management server 30 sets the initial number of matches between the current vehicle information and the past vehicle information when the host vehicle skids (hereinafter referred to as “second match number”) M = 0. Turn into.

  Next, in the loop between SD2 and SD5, the control unit 32 of the management server 30 sequentially performs the processes of SD3 and SD4 for the past vehicle information stored in the skid recording DB 33c of the management server 30.

  In this loop, first, the determination unit 32g of the management server 30 determines whether or not the current vehicle information acquired in SB4 matches the target past vehicle information (SD3).

  For example, when the terrain characteristic = B of the slip prediction target position is specified, the date when the current vehicle information is acquired = AM 11:30 on January 11, 2013, and the date when the own vehicle skids = Heisei If the date is January 10, 2013, PM11: 45, both dates do not match even when the date tolerance corresponding to the topographic characteristics is taken into account, so the comparison result shows that the vehicle is less likely to skid. (Hereinafter referred to as “non-slip environment”). Further, when the slip prediction target position = latitude: 35.170, longitude: 136.880, and the current position of the past vehicle when the host vehicle skids = latitude: 35.174, longitude: 136.884 Since the positions of the two do not match even when the tolerance of the point corresponding to the terrain characteristic is considered, it is determined that the comparison result is a non-sliding environment. Further, when the vehicle weight of the own vehicle is 1.0 t and the vehicle weight of the past vehicle is 1.2 t, the vehicle weight of the own vehicle can be determined by considering the vehicle tolerance corresponding to the terrain characteristics. Therefore, the comparison result is determined to be an environment in which the host vehicle is likely to skid (hereinafter referred to as “side skidding environment”). Further, when the outside temperature at the current position of the own vehicle = 0 ° C. and the outside temperature at the current position of the past vehicle when the own vehicle skids = 2 ° C., the outside temperature at the current position of the own vehicle is more Since it is low, it is determined that the comparison result is a skid environment. In addition, when the operation state of the wiper of the host vehicle is ON and the operation state of the wiper when the host vehicle skids is ON, the comparison result is determined to be a skid environment. When the vehicle speed of the host vehicle is 40 km / h and the vehicle speed of the past vehicle is 45 km / h, the comparison result is determined to be a skid environment. Further, when the engine speed of the host vehicle is 2100 times and the engine speed of the past vehicle is 2400 times, the tolerance of the engine speed corresponding to the terrain characteristic = −200 times to 0 times Even if the number of revolutions is taken into consideration, the engine speed of the host vehicle is smaller, so that the comparison result is determined to be a non-sliding environment. Further, when the terrain characteristic of the slip prediction target position = B and the terrain characteristic of the current position of the past vehicle when the ABS device is operated = C, the terrain characteristic of the slip prediction target position is more slippery, The comparison result is determined to be a skid environment. Of these comparison results, the number of comparison results determined to be a skid environment = 5. Therefore, since the number of comparison results is less than the threshold, the current vehicle information and the target past vehicle information are It is determined that they do not match.

  Here, in SD3, when it is determined that the current vehicle information and the target past vehicle information match (SD3, Yes), the determination unit 32g of the management server 30 increments the second match number M by one. The first match number M is updated (SC4). And the control part 32 of the management server 30 repeats the process of SD3 and SD4 again by making other past vehicle information into object past vehicle information.

  On the other hand, when it is not determined that the current vehicle information and the target past vehicle information match (SD3, No), the control unit 32 of the management server 30 sets the other past vehicle information as the target past vehicle information, and sets SD3 and SD4. Repeat the process again.

  As described above, in the loop of SD2 and SD5, the processing of SD3 and SD4 is sequentially performed on all past vehicle information stored in the skid recording DB 33c of the management server 30, and then the control unit 32 of the management server 30 Ends the skid prediction process.

  Returning to FIG. 7, the determination unit 32 g of the management server 30 determines whether there is a possibility that the ABS device operates or the own vehicle skids at the slip prediction target position based on the processing results of SB9 and SB10. (SB11).

  Specifically, the determination unit 32g of the management server 30 operates based on the first match number N updated in SC4 and the second match number M updated in SD4. It is determined whether or not the vehicle is likely to skid. Then, the determination unit 32g of the management server 30 determines that the ABS device may operate when the first match number N is equal to or greater than a threshold (for example, threshold = 1), and the first match number N Is less than the threshold value, it is determined that there is no possibility that the ABS device operates. Further, the determination unit 32g of the management server 30 determines that the host vehicle may skid when the second match number M is equal to or greater than a threshold (for example, threshold = 1), and the second match number M Is less than the threshold value, it is determined that there is no possibility that the host vehicle skids. For example, when the slip prediction target position = latitude: 35.170 and longitude: 136.880, the first match number N = 5 and the second match number M = 0. At the slip prediction target position, it is determined that there is a possibility that the ABS device will operate, while it is determined that there is no possibility that the host vehicle will skid. Accordingly, the ABS device may operate at the slip prediction target position based on the first match number N (or the second match number M) (or the host vehicle may skid at the slip prediction target position). ) Can be converted into numerical values from the multifaceted comparison results in SC3 (or SD3), and integrated determination can be made based on the numerical values, further improving the accuracy of prediction. Can be made.

  Here, when it is determined that there is no possibility that the ABS device operates or the host vehicle slips (SB11, No), the control unit 32 of the management server 30 performs the slip prediction process without performing the process of SB12. finish.

  On the other hand, when it is determined that there is a possibility that the ABS device operates or the host vehicle skids (SB11, Yes), the slip information transmission unit 32h of the management server 30 is used to notify the user of the host vehicle to that effect. The information about slip is transmitted to the terminal device 10 by the communication unit 31 (SB12).

  After the process of SB12, in order to guide the information regarding the slip transmitted from the management server 30, the control unit 21 of the terminal device 10 performs the processes of SB13 and SB14.

  First, the control unit 21 of the terminal device 10 stands by until information related to the slip transmitted from the terminal device 10 in SB12 is received via the communication unit 18 (SB13, No).

  And when the information regarding a slip is received (SB13, Yes), the guidance part 21c of the terminal device 10 guides the information regarding the slip received in SB12 (SB14).

  Here, a specific method of guiding information related to slip is arbitrary, but a method of displaying information related to slip on the display 19 or outputting sound through the speaker 20 is applicable. In particular, with respect to a method for displaying information related to slip on the display 19, for example, in order to improve the visibility of information related to slip, it is preferable to display the information related to the slip prediction target position. Specifically, information regarding slip may be displayed at a position near the slip prediction target position, or may be displayed at a position overlapping the slip prediction target position. For example, as shown in FIG. 8, when the slip prediction target position = latitude: 35.170 and longitude: 136.880, the information related to the slip = the ABS device may be operated due to the forward / backward slip of the vehicle. In the case of the information indicating that, a notification area (for example, a pop-up image or the like) indicating that is displayed in the vicinity of the predicted slip target position. Thereby, the user of the own vehicle can grasp that the ABS device may operate at the slip prediction target position or that the own vehicle may skid.

  Further, it is preferable that the timing for guiding information related to slip is guided before the host vehicle passes the slip prediction target position. Moreover, when displaying the information regarding a slip on the display 19, it is preferable to delete about the timing which deletes the information regarding the said slip, after the own vehicle passes a slip prediction object position. This completes the slip prediction process.

  In addition to this, the slip prediction processing can be performed with any slip prediction target position as a processing target. FIG. 11 is a diagram illustrating a map including a slip prediction target position that is a processing target of the slip prediction processing. In the example shown in FIG. 11, the description of the processes other than SB9 to SB11 and SB14 is almost the same as that described with reference to FIG. 8, and therefore, only the processes from SB9 to SB11 and SB14 will be described here.

  For example, in the process of SB9, in SC3, whether the current vehicle information acquired in SB4 matches the target past vehicle information is determined as follows.

  That is, when the topographic characteristic of the slip prediction target position = B is specified, the date when the current vehicle information was acquired = AM11: 11 on January 11, 2013, and the date when the ABS device was activated = Heisei In the case of AM 10:30 on January 10, 2013, both dates do not match even if the date tolerance corresponding to the topographic characteristics is taken into account, so the comparison result is a non-operating environment. To be judged. Further, when the slip prediction target position = latitude: 35.173, longitude: 136.883, and the current position of the past vehicle when the ABS device is operated = latitude: 35.171, longitude: 136.882. Even if the tolerance of the point corresponding to the topographic characteristic is taken into consideration, the positions of the two do not match, so that the comparison result is determined to be a non-operating environment. When the vehicle weight of the host vehicle is 1.0 t and the vehicle weight of the past vehicle is 1.5 t, it is determined that the comparison result is a non-operating environment. Further, when the outside air temperature at the current position of the host vehicle = 1 ° C. and the outside air temperature at the current position of the past vehicle when the ABS device is operated = −1 ° C., the outside air temperature corresponding to the topographic characteristic is Even if the allowance is taken into account, the outside temperature at the current position of the host vehicle is higher, so that the comparison result is determined to be a non-operating environment. Further, when the operation state of the wiper of the host vehicle is ON and the operation state of the wiper when the ABS device is operated is ON, the comparison result is determined to be an operation environment. Further, when the vehicle speed of the host vehicle is 40 km / h and the vehicle speed when the ABS device is activated = 45 km / h, the comparison result is determined to be an operating environment. Further, when the number of revolutions of the engine of the own vehicle = 2300 and the number of revolutions of the engine when the ABS device is activated = 1800, the number of revolutions of the engine of the own vehicle is larger. Is determined to be an operating environment. Further, when the terrain characteristic of the slip prediction target position = B and the terrain characteristic of the current position of the past vehicle when the ABS device is operated = B, the comparison result is determined to be the operating environment. Of these comparison results, the number of comparison results determined to be the operating environment = 4. Therefore, since the number of comparison results is less than the threshold, the current vehicle information and the target past vehicle information are It is determined that they do not match.

  Further, in the process of SB10, in SD3, whether the current vehicle information acquired in SB4 matches the target past vehicle information is determined as follows.

  For example, when the terrain characteristic of the slip prediction target position = B is specified, the date when the current vehicle information is acquired = AM 11:35 on January 11, 2013, and the date when the host vehicle skids = Heisei If the date was January 10, 2013, PM11: 45, both dates did not match even when considering the tolerance of the date corresponding to the above-mentioned topographic characteristics, so the comparison result was judged to be a non-sliding environment. Is done. Further, when the slip prediction target position = latitude: 35.173, longitude: 136.883, and the current position of the past vehicle when the host vehicle skids = latitude: 35.174, longitude: 136.884 Since the two positions match if the tolerance of the point corresponding to the topographic characteristic is taken into consideration, the comparison result is determined to be a skid environment. When the vehicle weight of the host vehicle is 1.0 t and the vehicle weight of the past vehicle is 1.2 t, the comparison result is determined to be a skid environment. Also, when the outside temperature at the current position of the host vehicle = 1 ° C. and the outside temperature at the current position of the past vehicle when the own vehicle slips = 2 ° C., the outside temperature at the current position of the own vehicle is more Since it is low, it is determined that the comparison result is a skid environment. In addition, when the operation state of the wiper of the host vehicle is ON and the operation state of the wiper when the host vehicle skids is ON, the comparison result is determined to be a skid environment. When the vehicle speed of the host vehicle is 40 km / h and the vehicle speed of the past vehicle is 45 km / h, the comparison result is determined to be a skid environment. Further, when the engine speed of the own vehicle is 2300 and the engine speed of the past vehicle is 2400, if the tolerance of the engine speed corresponding to the terrain characteristics is considered, Since the engine speed of the vehicle is considered to be higher, the comparison result is determined to be a skid environment. Further, when the terrain characteristic of the slip prediction target position = B and the terrain characteristic of the current position of the past vehicle when the ABS device is operated = C, the comparison result is determined to be a skid environment. Of these comparison results, the number of comparison results determined to be a skid environment = 7. Since the number of comparison results is equal to or greater than the threshold, the current vehicle information and the target past vehicle information are It is determined that they do not match.

  In SB11, when the slip prediction target position = latitude: 35.173 and longitude: 136.883, the first match number N = 0 and the second match number M = 3 In addition, it is determined that there is no possibility that the ABS device operates at the slip prediction target position, while it is determined that there is a possibility that the host vehicle skids.

  Further, in SB14, when the slip prediction target position = latitude: 35.173 and longitude: 136.883, information regarding slip = information indicating that the vehicle may slip sideways. As shown in FIG. 11, a notification area indicating that is displayed in the vicinity of the predicted slip target position.

(effect)
Thus, according to the present embodiment, based on the slip prediction target position specified by the slip prediction target position specifying unit 32e, the terrain information related to the slip prediction target position is acquired from the map information DB 33a, and the acquired Based on the terrain information, the terrain characteristic specifying unit 32b for specifying the terrain characteristic regarding the slip prediction target position, and the own vehicle may slip at the slip prediction target position based on the terrain characteristic specified by the terrain characteristic specifying unit 32b. Acquired by the determination reference setting unit 32f for setting a determination reference serving as an index for determining the presence or absence of sex, the past vehicle information stored in the ABS operation record DB 33b or the skid record DB 33c, and the current vehicle information acquisition unit 32c The current vehicle information is compared, and based on the comparison result and the criterion set by the criterion setting unit 32f, And a determination unit 32g that determines whether or not there is a possibility of both slipping at the slip prediction target position, so that it is possible to predict a point where the host vehicle slips based on the terrain characteristics. Prediction accuracy can be improved compared to technology.

  Further, the determination unit 32g may cause the host vehicle to slip at the slip prediction target position based on the comparison result between the past vehicle information and the current vehicle information and the tolerance set by the determination reference setting unit 32f. For example, if the slip prediction target position is easy to slip, the tolerance is lowered, and if the slip prediction target position is difficult to slip, the tolerance is increased. Thus, it is possible to adjust the speed and accuracy of prediction.

  In addition, the determination unit 32g compares information on a plurality of items in the past traveling situation information with information on a plurality of items in the current traveling situation information for each item, and compares the comparison result based on the comparison results and the determination criteria. When the numerical value is equal to or greater than the threshold value, it is determined that the host vehicle may slip at the slip prediction target position, and when the numerical value is less than the threshold value, the host vehicle slips. Since it is determined that there is no possibility of slipping at the prediction target position, each of the above-mentioned various comparison results is digitized and whether or not the own vehicle may slip at the slip prediction target position. Based on this, an integrated determination can be made, and the accuracy of prediction can be further improved.

[Modifications to Embodiment]
Although the embodiments of the present invention have been described above, the specific configuration and means of the present invention can be arbitrarily modified and improved within the scope of the technical idea of each invention described in the claims. Can do. Hereinafter, such a modification will be described.

(About problems to be solved and effects of the invention)
First, the problems to be solved by the invention and the effects of the invention are not limited to the above contents, and may vary depending on the implementation environment and details of the configuration of the invention. May be solved, or only some of the effects described above may be achieved. For example, even when the determination unit 32g cannot determine whether or not the vehicle may slip at the slip prediction target position more accurately than in the past, the determination can be achieved in the same manner as in the past by using a technique different from the conventional one. In this case, the problem of the present invention is solved.

(About distribution and integration)
Further, each of the electrical components described above is functionally conceptual and does not necessarily need to be physically configured as illustrated. In other words, the specific forms of distribution and integration of each unit are not limited to those shown in the drawings, and all or a part thereof may be functionally or physically distributed or integrated in arbitrary units according to various loads or usage conditions. Can be configured. For example, all the components of the slip prediction system 1 may be incorporated in the terminal device 10 or the management server 30. Further, the terminal device 10 and the management server 30 may be distributed among a plurality of devices.

(Vehicle)
In the above embodiment, the vehicle has been described as a four-wheeled vehicle. However, the present invention is not limited to this. For example, the concept may include a two-wheeled vehicle equipped with an ABS device or a wiper.

(About the number of slip prediction target positions)
In the above embodiment, the number of slip prediction target positions has been described as being singular. However, for example, a plurality of slip prediction target positions may be used (however, positions other than the current position of the vehicle).

(About identification of level difference of road)
In the above embodiment, as for the road height difference, it has been described that the value obtained by subtracting the height corresponding to the current position of the vehicle from the height corresponding to the previous current position is specified as the road height difference. Not limited. For example, when a road level difference is stored in the link data of the map information, the road level corresponding to the current position of the host vehicle is referred to based on the current position of the host vehicle with reference to the link data. Differences may be identified.

(About information collection processing)
In the above embodiment, it has been described that the information collection process is performed, but may be omitted. In this case, the collection unit 32a of the management server 30 can be omitted.

(About slip prediction processing)
In the above embodiment, it has been described that the processes of SB9 and SB10 are performed. However, for example, the process of either SB9 or SB10 may be omitted.

  In the above-described embodiment, it has been described that the tolerance is set in SB8. For example, weighting may be set instead of the tolerance. Specifically, the weighting table shown in FIG. 12 is weighted based on the terrain characteristics specified in SB7 while referring to the weighting table that stores the terrain characteristics and information related to weighting in association with each other. Is set.

  In this case, in the process of SC3 of the ABS operation prediction process, the determination unit 32g of the management server 30 weights corresponding to each comparison result between the current vehicle information and the past vehicle information and the terrain characteristic of the slip prediction target position. Based on the above, the comparison result is digitized. Then, the determination unit 32g of the management server 30 determines whether or not the numerical value is equal to or greater than a threshold, and if the numerical value is equal to or greater than the threshold (for example, threshold = 7 points or more) When it is determined that the vehicle information matches the target past vehicle information, and the above-described numerical value is less than the threshold, it is determined that the current vehicle information does not match the target past vehicle information (Note that SD3 of the skid prediction process) The same shall apply to For example, when the terrain characteristic = B of the slip prediction target position is specified, the weight corresponding to the terrain characteristic = 2.5, and the number of comparison results determined to be the operating environment = 3. , Total points = weight corresponding to topographic characteristics × number of comparison results determined to be operating environment = 2.5 × 3 = 7.5 points, and since the total points are equal to or greater than a threshold, current vehicle information Is determined to match the target past vehicle information. The weighting may be a uniform value for each comparison result as shown in FIG. 12, or may be a different value depending on each comparison result.

(ABS operation prediction process or skid prediction process)
In the above embodiment, it has been described that in the loop of SC2 and SC5 in the ABS operation prediction process, the processes of SC3 and SC4 are sequentially performed on all past vehicle information stored in the ABS operation record DB 33b of the management server 30. However, it is not limited to this. For example, among the past vehicle information stored in the ABS operation record DB 33b, the same terrain characteristic as the terrain characteristic specified in SB7, or past vehicle information corresponding to a terrain characteristic that is more slippery than the terrain characteristic, is targeted. The processes of SC3 and SC4 may be performed sequentially (the same applies to the SD2 and SD5 loops in the skid prediction process). Alternatively, among past vehicle information stored in the ABS operation record DB 33b, for past vehicle information stored within a predetermined time (for example, within 2 hours) most recently from the date acquired at SB4, SC3 and SC4 The processing may be performed sequentially (the same applies to the SD2 and SD5 loops in the skid prediction processing).

  In the above embodiment, the slip prediction target position acquired in SB6 and the past position information are compared in the process of SC3 of the ABS operation prediction process, and a plurality of pieces of information in the current traveling state information acquired in SB4 are compared. It has been explained that the item information is compared with the information of a plurality of items in the past driving situation information, and the terrain characteristic acquired in SB7 is compared with the terrain characteristic corresponding to the target past vehicle information. For example, the information of a plurality of items in the current traveling state information may be simply compared with the information of the plurality of items in the past traveling state information (the same applies to SD3 of the skid prediction process). In addition, it has been described that all the information of the plurality of items in the current driving situation information is compared with all of the information of the plurality of items in the past driving situation information, but also part of the information of the plurality of items in the current driving situation information May be compared with some of the information of a plurality of items in the past travel status information (the same applies to SD3 of the skid prediction process).

(Appendix)
The slip prediction system according to attachment 1 includes a map information storage unit that stores map information including terrain information, past position information that identifies a position where a past vehicle that has slipped in a past run has slipped, Past vehicle information storage means for storing past vehicle information including past travel status information for specifying the travel status of the past vehicle when slipping, current position information for specifying the current position of the vehicle, and the travel status of the vehicle Current vehicle information acquisition means for acquiring current vehicle information including current travel status information for specifying the vehicle, and progress for specifying the traveling direction of the vehicle based on the current position information acquired by the current vehicle information acquisition means Direction identification means, the map information stored in the map information storage means, the current position information acquired by the current vehicle information acquisition means, and the progress Based on the traveling direction identified by the direction identifying means, a position on the road within a predetermined range from the current position of the vehicle, and a position ahead of the traveling direction from the current position of the vehicle, or Based on the slip prediction target position specifying means for specifying the current position of the vehicle and the forward position in the traveling direction as the slip prediction target position, and the slip prediction target position specified by the slip prediction target position specifying means, The terrain information relating to the slip prediction target position is acquired from the map information storage means, and based on the acquired terrain information, the terrain characteristic specifying means for specifying the terrain characteristic relating to the slip prediction target position; and the terrain characteristic specifying Based on the terrain characteristics specified by the means, it is determined whether or not the vehicle may slip at the slip prediction target position. A determination criterion setting means for setting a determination criterion as an index when the past vehicle information is stored, and the past vehicle information stored in the past vehicle information storage means is compared with the current vehicle information acquired by the current vehicle information acquisition means. And determining means for determining whether or not the vehicle is likely to slip at the slip prediction target position based on the comparison result and the determination criterion set by the determination criterion setting means; Guidance means for guiding that the vehicle may slip at the slip prediction target position when the determination means determines that the vehicle may slip at the slip prediction target position; I have.

  In the slip prediction system according to attachment 2, in the slip prediction system according to attachment 1, the determination criterion is a tolerance for a comparison result between the past vehicle information and the current vehicle information, and the determination means includes Whether there is a possibility that the vehicle slips at the slip prediction target position based on the comparison result between the past vehicle information and the current vehicle information and the tolerance set by the determination criterion setting unit. Determine.

  The slip prediction system according to attachment 3 is the slip prediction system according to attachment 1 or 2, wherein the past traveling state information and the current traveling state information include information on a plurality of items relating to the traveling state of the vehicle. The determination means compares the information of a plurality of items in the past travel status information with the information of the plurality of items in the current travel status information for each item, and based on each comparison result and the determination criterion, When the comparison result is digitized and the numeric value is equal to or greater than a threshold value, it is determined that the vehicle may slip at the slip prediction target position, and the numeric value is less than the threshold value It is determined that there is no possibility that the vehicle will slip at the slip prediction target position.

  The slip prediction method according to appendix 4 includes a current vehicle information acquisition step of acquiring current vehicle information including current position information for specifying a current position of the vehicle and current driving status information for specifying a driving status of the vehicle, Based on the current position information acquired in the current vehicle information acquisition step, a travel direction specifying step for specifying the travel direction of the vehicle, map information stored in the map information storage means, and in the current vehicle information acquisition step Based on the acquired current position information and the traveling direction identified in the traveling direction identifying step, a position on the road within a predetermined range from the current position of the vehicle, which is more than the current position of the vehicle The forward position in the traveling direction, or the current position of the vehicle and the forward position in the traveling direction are specified as slip prediction target positions. Based on the slip prediction target position specified in the lip prediction target position specifying step and the slip prediction target position specifying step, the terrain information related to the slip prediction target position is acquired from the map information storage unit, and the acquired Based on the terrain information, the terrain characteristic specifying step for specifying the terrain characteristic regarding the slip prediction target position, and the vehicle slips at the slip prediction target position based on the terrain characteristic specified in the terrain characteristic specifying step. A determination reference setting step for setting a determination reference serving as an index for determining whether or not there is a possibility of performing the past, past position information for specifying a position where a past vehicle that has slipped in the past travel has slipped, and the slip Past driving situation information for identifying the driving situation of the past vehicle when The past vehicle information stored in the past vehicle information storage means for storing the past vehicle information is compared with the current vehicle information acquired in the current vehicle information acquisition step, and the comparison result and the determination criterion setting step are compared. A determination step for determining whether or not the vehicle may slip at the slip prediction target position based on the set determination criterion; and the vehicle slips at the slip prediction target position in the determination step. A guidance step for guiding that the vehicle may slip at the slip prediction target position when it is determined that there is a possibility that the vehicle will slip.

  The slip prediction program described in Appendix 5 is a slip prediction program for causing a computer to execute the method described in Appendix 4.

(Additional effects)
According to the slip prediction system according to appendix 1, the slip prediction method according to appendix 4, and the slip prediction program according to appendix 5, based on the slip prediction target position specified by the slip prediction target position specifying means, The terrain information relating to the slip prediction target position is acquired from the map information storage means, and based on the acquired terrain information, the terrain characteristic specifying means for specifying the terrain characteristic relating to the slip prediction target position and the terrain characteristic specifying means are specified. A determination reference setting means for setting a determination reference serving as an index for determining whether or not the vehicle may slip at a slip prediction target position based on the topographic characteristics, and a past vehicle stored in the past vehicle information storage means The information is compared with the current vehicle information acquired by the current vehicle information acquisition means, and the comparison result and the determination criterion setting means are set. And determining means for determining whether or not the vehicle is likely to slip at the slip prediction target position based on the determined determination criteria, so that the point where the vehicle slips is predicted based on the terrain characteristics Thus, the accuracy of prediction can be improved as compared with the prior art.

  According to the slip prediction system described in appendix 2, the determination unit determines whether the vehicle is a slip prediction target based on the comparison result between the past vehicle information and the current vehicle information and the tolerance set by the determination criterion setting unit. For example, if the slip prediction target position is a terrain characteristic that easily slips, the tolerance is lowered, and the slip prediction target position is a terrain characteristic that is difficult to slip. By increasing the tolerance, it is possible to adjust the speed and accuracy of prediction.

  According to the slip prediction system described in Supplementary Note 3, the determination unit compares the information of the plurality of items in the past traveling state information with the information of the plurality of items in the current traveling state information for each item, The comparison result is quantified based on the determination criterion, and when the quantified value is equal to or greater than the threshold, it is determined that the vehicle may slip at the slip prediction target position, and the quantified value is less than the threshold. In some cases, since it is determined that there is no possibility that the vehicle will slip at the slip prediction target position, each of the above-mentioned multiple comparison results is quantified as to whether or not the vehicle may slip at the slip prediction target position. Integral determination can be performed based on the numerical value, and the accuracy of prediction can be further improved.

DESCRIPTION OF SYMBOLS 1 Slip prediction system 2 Network 10 Terminal apparatus 11 Current position acquisition part 12 ABS operation detector 13 Side slip detector 14 Engine speed sensor 15 Wiper action detector 16 Vehicle speed sensor 17 Operation part 18 Communication part 19 Display 20 Speaker 21 Control part 21a Vehicle information acquisition unit 21b Vehicle information transmission unit 21c Guide unit 22 Data recording unit 22a Map information DB
DESCRIPTION OF SYMBOLS 30 Management server 31 Communication part 32 Control part 32a Collection part 32b Terrain characteristic specific | specification part 32c Current vehicle information acquisition part 32d Travel direction specific | specification part 32e Slip prediction object position specific | specification part 32f Determination reference | standard setting part 32g Determination part 32h Slip information transmission part 33 Data Recorder 33a Map information DB
33b ABS operation record DB
33c Sideslip record DB
33d Terrain characteristics table 33e Tolerance table

Claims (5)

Map information storage means for storing map information including terrain information;
Stores past vehicle information including past position information that identifies a position where a past vehicle that has slipped in the past travel has slipped, and past travel state information that identifies a travel state of the past vehicle at the time of the slip. Past vehicle information storage means,
Current vehicle information acquisition means for acquiring current vehicle information including current position information for specifying the current position of the vehicle and current driving status information for specifying the driving status of the vehicle;
Based on the current position information acquired by the current vehicle information acquisition means, a traveling direction specifying means for specifying the traveling direction of the vehicle;
Based on the map information stored in the map information storage means, the current position information acquired by the current vehicle information acquisition means, and the traveling direction specified by the traveling direction specifying means, A position on the road within a predetermined range from the current position of the vehicle and a position ahead of the current position of the vehicle in the traveling direction, or a current position of the vehicle and a position ahead of the traveling direction is subject to slip prediction. Slip prediction target position specifying means for specifying the position;
Based on the slip prediction target position specified by the slip prediction target position specifying means, the terrain information related to the slip prediction target position is acquired from the map information storage means, and based on the acquired terrain information, Terrain characteristic specifying means for specifying terrain characteristics relating to the slip prediction target position;
Determination criterion setting means for setting a determination criterion serving as an index for determining whether or not the vehicle may slip at the slip prediction target position based on the terrain characteristic specified by the terrain characteristic specifying means; ,
The past vehicle information stored in the past vehicle information storage unit is compared with the current vehicle information acquired by the current vehicle information acquisition unit, and the comparison result and the determination criterion setting unit set Determination means for determining whether or not the vehicle may slip at the slip prediction target position based on a determination criterion;
Guidance means for guiding that the vehicle may slip at the slip prediction target position when the determination means determines that the vehicle may slip at the slip prediction target position;
Slip prediction system with The determination criterion is a tolerance for a comparison result between the past vehicle information and the current vehicle information,
The determination means includes
Whether the vehicle may slip at the slip prediction target position based on a comparison result between the past vehicle information and the current vehicle information and the tolerance set by the determination criterion setting unit To determine,
The slip prediction system according to claim 1. The past traveling state information and the current traveling state information include information on a plurality of items related to the traveling state of the vehicle,
The determination means includes
The information of a plurality of items in the past driving situation information and the information of a plurality of items in the current driving situation information are compared for each item, and the comparison result is quantified based on each comparison result and the determination criterion,
When the numerical value is equal to or greater than a threshold, it is determined that the vehicle may slip at the slip prediction target position,
When the numerical value is less than a threshold value, it is determined that the vehicle is not likely to slip at the slip prediction target position.
The slip prediction system according to claim 1 or 2. Current vehicle information acquisition means acquires current vehicle information including current position information for specifying the current position of the vehicle and current driving status information for specifying the driving status of the vehicle;
A traveling direction identifying step for identifying a traveling direction of the vehicle based on the current position information acquired in the current vehicle information acquiring step;
The slip prediction target position specifying means is the map information stored in the map information storage means and including the terrain information, the current position information acquired in the current vehicle information acquisition step, and the traveling direction specifying step The position on the road within a predetermined range from the current position of the vehicle based on the travel direction specified in step 1, and a position ahead of the current position of the vehicle in the travel direction, or the current position of the vehicle And a slip prediction target position specifying step for specifying a position ahead in the traveling direction as a slip prediction target position;
Based on the slip prediction target position specified in the slip prediction target position specifying step, the terrain characteristic specifying means acquires the terrain information related to the slip prediction target position from the map information storage means, and the acquired topography Based on the information, a terrain characteristic specifying step for specifying a terrain characteristic related to the slip prediction target position;
A determination criterion setting unit sets a determination criterion that serves as an index when determining whether or not the vehicle may slip at the slip prediction target position based on the terrain characteristic specified in the terrain characteristic specifying step. A criterion setting step;
Determining means, past the last vehicle is a vehicle that slips past the running comprise a past position information specifying the position the slips, and a past driving status information for identifying a driving situation of the past vehicle upon the slip The past vehicle information stored in the past vehicle information storage means for storing vehicle information is compared with the current vehicle information acquired in the current vehicle information acquisition step, and the comparison result and the determination criterion setting step are set. A determination step of determining whether or not the vehicle is likely to slip at the slip prediction target position based on the determination criterion;
Guidance means for guiding that the vehicle may slip at the slip prediction target position when it is determined in the determination step that the vehicle may slip at the slip prediction target position. Steps,
Slip prediction method including: Computer
Map information storage means for storing map information including terrain information;
Stores past vehicle information including past position information that identifies a position where a past vehicle that has slipped in the past travel has slipped, and past travel state information that identifies a travel state of the past vehicle at the time of the slip. Past vehicle information storage means,
Current vehicle information acquisition means for acquiring current vehicle information including current position information for specifying the current position of the vehicle and current driving status information for specifying the driving status of the vehicle;
Based on the current position information acquired by the current vehicle information acquisition means, a traveling direction specifying means for specifying the traveling direction of the vehicle;
Based on the map information stored in the map information storage means, the current position information acquired by the current vehicle information acquisition means, and the traveling direction specified by the traveling direction specifying means, A position on the road within a predetermined range from the current position of the vehicle and a position ahead of the current position of the vehicle in the traveling direction, or a current position of the vehicle and a position ahead of the traveling direction is subject to slip prediction. Slip prediction target position specifying means for specifying the position;
Based on the slip prediction target position specified by the slip prediction target position specifying means, the terrain information related to the slip prediction target position is acquired from the map information storage means, and based on the acquired terrain information, Terrain characteristic specifying means for specifying terrain characteristics relating to the slip prediction target position;
Determination criterion setting means for setting a determination criterion serving as an index for determining whether or not the vehicle may slip at the slip prediction target position based on the terrain characteristic specified by the terrain characteristic specifying means; ,
The past vehicle information stored in the past vehicle information storage unit is compared with the current vehicle information acquired by the current vehicle information acquisition unit, and the comparison result and the determination criterion setting unit set Determination means for determining whether or not the vehicle may slip at the slip prediction target position based on a determination criterion;
Guidance means for guiding that the vehicle may slip at the slip prediction target position when the determination means determines that the vehicle may slip at the slip prediction target position;
Slip prediction program to function as.

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