JP2002213970A - Drive support system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a drive support system capable of issuing a warning, etc., to a driver that the driver is driving in an area, such as a residential block, involving a high risk of encountering with dashing-out pedestrians or bicycles. SOLUTION: This system is equipped with a drive caution area determination means for judging whether or not the present position of an own vehicle is included in a drive caution area, (such as a residential block), where caution to pedestrians, etc., is especially important, and a processing means for outputting a warning message by display or sound when the present position of the vehicle is determined to be included in the drive caution area.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a driving support system, and more particularly, to a driving support system in which protection of a pedestrian is considered.

[0002]

2. Description of the Related Art As one of driving assistance systems for vehicles, a road map image is displayed so that road map information can be visually grasped, and is superimposed on the road map image and input by an occupant. There is a navigation device that displays a destination, a route to the destination, a vehicle position mark with respect to the current vehicle position, and the like, and provides occupants with information on road travel.

[0003] Providing information to the occupant by such a navigation device can contribute to understanding the running condition and running environment of the vehicle by the occupant and can reduce the burden on the driver. Reducing the burden on the driver can give the driver more time to drive, which in turn leads to a reduction in traffic accidents.

[0004]

Problems related to AVCSS (advanced vehicle control and safety system) in Japan include SSVS (Advanced Intelligent Vehicle Transportation System) of the former Ministry of International Trade and Industry and ASV (Advanced Safety Vehicle) of the former Ministry of Transport. There is. AS
Research item V includes pedestrian protection.

[0005] This is because the pedestrians account for 14% (1992) of the United States compared to 27.1% (1994) in Japan, among the fatalities of traffic accidents. It is in. By the way, the occupants account for 84% in the United States and 42.1% in Japan. in this way,
The protection of pedestrians has become an important issue in Japan, especially in the ASV research category.

For this reason, when a vehicle traveling on a road is traveling in an area where there is a high possibility of pedestrians or bicycles jumping out, such as a residential area or a downtown area, the driver of the vehicle is It is desirable to be able to obtain a warning through display, sound, or the like.

[0007] However, conventionally, it is possible to obtain a warning that a driver of a vehicle is traveling in an area where there is a high risk of encountering jumping of a pedestrian or a bicycle through a display or a sound. No compromised system is found.

[0008] The present invention has been made in view of the above-described problems, and instructs a driver that he / she is traveling in a high risk area where a pedestrian or a bicycle is likely to jump out, such as a residential area or a downtown area. It is an object of the present invention to provide a driving support system capable of giving a warning to the driver.

[0009]

Means for Solving the Problems and Their Effects To achieve the above object, a driving support system (1) according to the present invention.
Is a caution area determining means for determining whether or not the predetermined position is included in a caution area where attention to a pedestrian is particularly important, and the caution area determining means And processing means for performing a predetermined process when it is determined that the area is included in the caution area.

[0010] A driving support system (2) according to the present invention.
Is characterized in that in the driving support system (1), the predetermined position is a current position of the own vehicle or a position related to the current position.

A driving support system (3) according to the present invention.
Is the driving support system (1) or (2)
The area requiring caution is a residential area.

The above-described driving support systems (1) to (3)
According to any one of the above, when it is determined that the predetermined position (for example, the current position of the own vehicle or a position related to the current position) is included in the area of interest (for example, a residential area), Predetermined processing (for example, "Driving in a residential area.
Please be careful about pedestrians ". In addition, the position related to the current position of the own vehicle is 10
For example, a position where the vehicle travels 0 m.

For example, a warning message is issued when the vehicle enters a residential area (or the remaining area is 100 m from the residential area), so that the vehicle is traveling in an area where there is a high risk of encountering a pedestrian or bicycle jumping out. It is possible to notify the driver of something (or coming soon) to call attention. As a result, protection of pedestrians and the like is enhanced.

A driving support system (4) according to the present invention.
Comprises, in any one of the driving support systems (1) to (3), a road map data acquiring unit that acquires road map data of a predetermined area including the predetermined position, wherein the caution area determining unit includes: The number of road intersections existing in the predetermined area is calculated using the road map data obtained by the road map data obtaining unit, and the predetermined position is included in the area requiring caution based on the calculation result. Or not.

There are many road intersections in the caution area such as a residential area. In other words, an area having a large number of road intersections can be considered to be the caution area. According to the driving support system (4) described above, it is determined whether or not the predetermined area including the predetermined position is the caution area based on the number of road intersections existing in the predetermined area, It is determined whether the predetermined position is included in the caution area. This makes it possible to accurately determine whether or not the vehicle is traveling in the caution area.

A driving support system (5) according to the present invention.
Comprises, in any one of the driving support systems (1) to (3), a road map data acquisition unit that acquires road map data of a predetermined area including the predetermined position, wherein the road map data includes a road map data. The width information, and / or the distance information between roads, and wherein the area of interest determination means is included in the road map data acquired by the road map data acquisition means. Alternatively, it is characterized in that it is determined whether or not the predetermined position is included in the caution area using the interval information.

In the area requiring attention, such as a residential area, the width is narrow and the distance between roads is narrow. In other words, an area where there are many narrow roads and an area where there are many narrow portions can be considered to be the caution area. According to the driving support system (5) described above, the width information and / or the interval information are used to determine whether the predetermined area including the predetermined position is the caution area, It is determined whether a predetermined position is included in the caution area. This makes it possible to accurately determine whether or not the vehicle is traveling in the caution area.

A driving support system (6) according to the present invention.
Comprises, in any one of the driving support systems (1) to (3), a road map data obtaining means for obtaining road map data of a predetermined area including the predetermined position, wherein the road map data includes an urban area. Building polygon information used for display such as
It is characterized by using the building polygon information included in the road map data obtained by the road map data obtaining means to determine whether or not the predetermined position is included in the area of interest. And

A driving support system (7) according to the present invention.
In the driving support system (6), the caution area determination means determines whether the predetermined position is included in the caution area using a density of the building polygon information. It is characterized by being.

A driving support system (8) according to the present invention.
Is the driving support system (6) or (7)
The caution area determination means determines whether the predetermined position is included in the caution area using the size of the building polygon information.

In the area requiring attention, such as a residential area, there are many relatively small buildings and the buildings are dense. In other words, an area where many relatively small buildings exist or an area where buildings are densely packed can be considered as the caution area. Driving support system (6) mentioned above-
According to any one of (8) and (4), it is determined whether or not the predetermined area including the predetermined position is the caution area using the building polygon information, and the predetermined position is determined to be the caution area. It is determined whether or not it is included in the area. This makes it possible to accurately determine whether or not the vehicle is traveling in the caution area.

According to the driving support system (7), since the density of the building polygon information is used, whether or not the predetermined area is the caution area is determined based on the density of buildings in the predetermined area. Can be determined.

According to the driving support system (8), since the size of the building polygon information is used,
It can be determined from the size of the building existing in the predetermined area whether or not the predetermined area is the caution area.

A driving support system (9) according to the present invention.
In any one of the driving support systems (1) to (8), the road map data includes road speed limit information, and the caution area determination unit uses the speed limit information, It is characterized in that it is determined whether or not the predetermined position is included in the caution area based on a speed limit of a road passing through the predetermined position.

The driving support system (1) according to the present invention
0), in the driving support system (9), when the caution area determining means determines that the speed limit of a road passing through the predetermined position is equal to or higher than a first predetermined speed, It is characterized in that it is determined that it is not included in the caution area.

The driving support system (1) according to the present invention
1) The driving support system according to (9) or (10), wherein the caution area determining means determines that the speed limit of a road passing through the predetermined position is equal to or less than a second predetermined speed. Is determined to be included in the caution area.

If the speed limit on the road on which the vehicle is traveling is equal to or higher than a predetermined speed (for example, 60 km / h), the vehicle may be considered to be traveling on a relatively wide trunk road. Conversely, if the speed limit is equal to or lower than a predetermined speed (for example, 20 km / h), it can be considered that the vehicle is traveling on a branch road having a relatively small width.

That is, when the vehicle is traveling on a road having a speed limit of 20 km / h or less (for example, a branch road), it is better to consider that the vehicle is traveling in the area requiring caution. Roads that are 60 km or more (for example,
(Main road), it is not necessary to consider that the vehicle is traveling in the caution area.

The above-described driving support systems (9) to (1)
According to any one of 1), the speed limit information is used,
Based on the speed limit of the road passing through the predetermined position, it is determined whether the road passing through the predetermined position is the road of interest, and whether the predetermined position is included in the area of interest. Judge. This makes it possible to accurately determine whether or not the vehicle is traveling in the caution area.

According to the driving support system (10), when the speed limit of a road passing through the predetermined position is equal to or higher than a first predetermined speed (for example, 60 km / h), the predetermined position is set to the predetermined position. It can be determined that it is not included in the caution area.

According to the driving support system (11), when the speed limit of a road passing through the predetermined position is equal to or lower than a second predetermined speed (for example, 20 km / h), the predetermined position is determined. It can be determined that it is included in the caution area.

The driving support system (1) according to the present invention
2) In any one of the driving support systems (1) to (11), the predetermined position is a position related to a current position of the own vehicle, and the processing unit is configured to determine the caution area determination unit. Thereby, the predetermined position is determined to be included in the caution area, and a predetermined time has elapsed since the vehicle reached the position, or reached the position, or the vicinity of the position. Upon arrival, the predetermined process is performed.

According to the driving support system (12), a position related to the current position of the own vehicle (for example, a point traveling 100 m from the current position on the road) is included in the caution area. Even if it is determined that the vehicle does not perform the predetermined process immediately, the vehicle arrives at the position, or a predetermined time has elapsed since the vehicle reached the position, or the vehicle has reached the vicinity of the position. First, the predetermined processing is performed. Thus, a warning message can be sent to the driver at an appropriate timing.

The driving support system (1) according to the present invention
3) In any one of the driving support systems (1) to (12), the predetermined processing is to notify that the own vehicle is in a predetermined state.

The driving support system (1) according to the present invention
4) In the driving support system (13), the processing means performs the notification at predetermined time intervals.

The driving support system (1) according to the present invention
5) In the driving support system (13), the processing means performs the notification for each alley.

The above-described driving support systems (13) to (1)
According to any one of 5), when it is determined that the predetermined position (for example, the current position of the own vehicle or a position related to the current position) is included in the area of interest (for example, a residential area). The self-vehicle notifies a predetermined situation (for example, that the self-vehicle is running in the caution area, or that the self-vehicle will run in the caution area soon).

That is, a warning message or the like is issued when the vehicle enters the residential area (or the remaining area is 100 m away from the residential area), so that the vehicle is traveling in an area where there is a high risk of encountering a pedestrian or bicycle jumping out. (Or running shortly) can be alerted to the driver. As a result, the driver can remember to slow down and the like, so that protection of pedestrians and the like is enhanced.

Further, the above-mentioned driving support system (14)
Alternatively, according to (15), the notification is performed at predetermined time intervals or at each alley (for example, immediately before passing through each intersection), so that the driver can be more surely alerted.

The driving support system (1) according to the present invention
6) In any one of the driving support systems (1) to (12), the predetermined processing is to turn on a lamp such as a headlamp.

According to the driving support system (16) described above, the predetermined position (for example, the current position of the own vehicle or a position related to the current position) is determined by the caution area (for example,
If it is determined that it is included in a residential area, a lamp such as a headlamp is turned on.

That is, when the vehicle is running in an area where there is a high risk of encountering jumping out of a pedestrian or a bicycle (or when the vehicle is about to run), a lamp such as a headlamp is turned on. It is possible to make a person or the like aware of the existence of the own vehicle.
As a result, protection of pedestrians and the like is enhanced.

The driving support system (1) according to the present invention
7) In any one of the driving support systems (1) to (12), the predetermined processing is to reduce a vehicle speed.

According to the driving support system (17), the predetermined position (for example, the current position of the own vehicle or a position related to the current position) is determined by the caution area (for example,
If it is determined that the vehicle is included in the residential area, the vehicle speed is reduced.

That is, if the vehicle is traveling in an area where there is a high risk of encountering a pedestrian or bicycle jumping out (or traveling soon), the vehicle speed decreases.
Protection of pedestrians and the like is strengthened.

The driving support system (1) according to the present invention
8) A caution is required in any one of the driving support systems (1) to (17) to determine whether or not a cautionary facility such as a school or a nursery school exists in a predetermined area including the predetermined position. It is characterized in that a facility presence / absence determining means is provided, and the processing means performs the predetermined processing in consideration of a result of the judgment from the facility requiring attention presence / absence determining means.

It is considered that it is better to give a different attention to the driver depending on whether a facility such as a school or a nursery school exists in the predetermined area including the predetermined position or not. Can be According to the driving assistance system (18) described above, the processing unit performs the predetermined process in consideration of the determination result from the cautionary facility presence / absence determination unit. When a facility such as a school or a nursery school exists in a predetermined area, the output volume of the warning message can be increased as compared with the case where the facility does not exist, and protection of pedestrians and the like is further enhanced.

The driving support system (1) according to the present invention
9) In any one of the driving support systems (1) to (18), the driving assistance system includes a time information acquiring unit that acquires time information, and the processing unit transmits the time information acquired by the time information acquiring unit. It is characterized in that the predetermined processing is performed in consideration of the above.

In the case of commuting / commuting time, it is conceivable that the risk of pedestrians jumping out becomes higher than usual. According to the driving support system (19) described above,
Since the processing means performs the predetermined processing in consideration of the time information, for example, in a commuting / commuting time zone in which the risk of jumping out of a pedestrian or the like becomes extremely high, a warning message is generated as compared with a normal time. Can be increased, and protection of pedestrians and the like can be further enhanced.

The driving support system (2) according to the present invention
0) In any one of the driving assistance systems (1) to (19), the driving assistance system further includes a calendar information acquisition unit that acquires calendar information, and the processing unit transmits the calendar information acquired by the calendar information acquisition unit. It is characterized in that the predetermined processing is performed in consideration of the above.

Even if facilities such as schools and nursery schools exist in the predetermined area including the predetermined location, depending on the day of the week, it is treated as if there are no facilities such as schools and nursery schools. Sometimes it's better. According to the driving support system (20) described above, the processing unit includes:
Since the predetermined process is performed in consideration of the calendar information, for example, even if a facility such as a school or a nursery school exists in the predetermined area including the predetermined position, school It can be treated as if there are no facilities such as schools and nursery schools, and a very convenient system can be realized.

The driving support system (2) according to the present invention
1) In any one of the above-mentioned driving support systems (1) to (20), there is provided a vehicle speed information acquisition unit for acquiring vehicle speed information, and the processing unit transmits the vehicle speed information acquired by the vehicle speed information acquisition unit. It is characterized in that the predetermined processing is performed in consideration of the above.

When the driver recognizes that the vehicle is traveling in a residential area or the like and has already started traveling at low speed, the driver need not be alerted. According to the driving support system (21) described above, the processing unit includes:
Since the predetermined processing is performed in consideration of the vehicle speed information, for example, when the driver has already started driving at low speed, a warning message can be prevented from being sent, and a very user-friendly system. Can be realized.

[0054]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a driving support system according to the present invention will be described below with reference to the drawings. FIG.
FIG. 2 is a block diagram schematically showing a main part of a navigation device employing the driving support system according to Embodiment (1).

In the navigation system shown in FIG. 1, a vehicle speed sensor 2 for calculating a traveling distance by calculating from a vehicle speed and a gyro sensor 3 for obtaining a traveling direction.
Are connected to the microcomputer 1, and the microcomputer 1 is configured to calculate the own vehicle position based on the calculated traveling distance and the traveling direction (autonomous navigation).

The GPS receiver 4 receives a GPS signal from a satellite via the antenna 5, and the microcomputer 1
, And the microcomputer 1 determines the position of the own vehicle based on the GPS signal (GPS navigation).

Also, a DV in which electronic map data and the like are stored
A DV capable of taking in electronic map data and the like from a D-ROM 7 (a large-capacity storage device such as a CD-ROM is also possible)
The D drive 6 is connected to the microcomputer 1, and the microcomputer 1 matches the determined vehicle position with the electronic map data (performs a so-called map matching process) to thereby provide a map in which the vehicle position is accurately indicated. Display panel 9b
To be displayed.

A switch signal output from a joystick 8a or a button switch 8b provided on the remote controller 8 or a button switch 9a provided on the display device 9
The switch signal output from is input to the microcomputer 1,
Processing according to these switch signals is performed by the microcomputer 1. For example, when the microcomputer 1 captures the information of the moving destination from these switches, the microcomputer 1 searches for an optimum route from the position of the vehicle to the destination, and displays the route along with a map on the display panel 9b as a guidance route. I have.

The microcomputer 1 is connected to a sound processing means 10 and a headlamp lighting means 12. The microcomputer 1 controls the sound processing means 10 to output a predetermined sound from the speaker 11 to the outside. By controlling the headlamp lighting means 12, the headlamp 13 can be turned on / off. Further, a lamp signal indicating whether the headlamp 13 is turned on is input to the microcomputer 1.

Next, a processing operation performed by the microcomputer 1 in the navigation device employing the driving support system according to the embodiment (1) will be described with reference to flowcharts shown in FIGS.

[0061] First, the vehicle M is caution area E _X (e.g., residential) flag f ₁ indicating whether the vehicle is traveling the it is determined whether or not 1 (step S1), the flag f ₁
But not 1 (i.e., the vehicle M was not traveling in the caution area E _X) When it is judged that, as step S3
Proceed to.

On the other hand, the flag f ₁ is 1 (ie,
When it is judged that the vehicle M has been traveling the caution area E _X), already at least once, the vehicle M is caution area E _X
Is performed to notify the driver that the vehicle is traveling (see steps S33 and S34 to be described later), so that the timer t indicating the elapsed time from the previous voice notification is performed.
(See step S35 described later) is time t ₁ (for example,
3 seconds) or not (step S2),
If the timer t determines that the time t _{1 has} elapsed (that is, the time t _{1 has} elapsed since the previous voice notification), the process proceeds to step S3. However, if it is judged that the timer t is not the time t ₁ has elapsed, and ends the processing operation.

In step S3, own vehicle position information (position P) calculated from a GPS signal or the like is obtained (step S3).
3) After that, the speed limit information (speed limit v _P ) of the road passing through the position P is acquired using the electronic map data (step S4), and the speed limit v _{P of the} road passing through the position _P becomes the speed v.
It is determined whether the speed is ₁ (for example, 60 km / h) or more (step S5).

If it is determined that the speed limit v _P is equal to or higher than the speed v ₁ (that is, the vehicle M is traveling on a trunk road having a relatively wide width), the routine proceeds to step 9. On the other hand, if it is determined that the speed limit v _P is not higher than the speed v ₁ , the speed limit v _P
Is determined to be less than or equal to the speed v ₂ (for example, 20 km / h) (step S6), and the speed limit v _P is less than or equal to the speed v ₂ (that is, the vehicle M travels along a relatively narrow branch road). if traveling to have) a decision, to the vehicle M is considered to be traveling caution area E _X, and outputs a warning message to that effect to the driver, step S21
Proceed to.

If it is determined in the determination processing in step S6 that the speed limit v _P is not lower than the speed v ₂ , a predetermined area E _P including the position P (for example, centering on the position P using the electronic map data). Then, the number of road intersections k _P existing in a 100 m square area is calculated (step S7), and it is determined whether or not the number of road intersections k _P is equal to or greater than k (for example, 9) (step S8).

[0066] road crossing number k _P is greater than or equal to k (i.e., the area E _P present numerous road crossing number) If it is determined that, considered as area E _P is the caution area E _X, Step S to output the warning message
Proceed to 21. On the other hand, if it is determined that the number of road intersections k _P is not equal to or greater than k, there is no need to output the warning message.
Here, if the predetermined area E _P determines whether the caution area E _X including the position P, the area E _P
Although using a road crossing number k _P present, in another embodiment, and width information of roads, and interval information to the road and the road, it may be used, such as a building polygon information.

[0067] In step S9, the flag f ₁ that the vehicle M indicates whether the vehicle is traveling a caution area E _X is judged whether or not 1 (step S9), and the flag f ₁ is not 1 (i.e., the vehicle M was not traveling in the caution area E _X) when it is judged that, in that case, also the own vehicle M had traveling caution area E _X, also a new principal since nor is entered into the Note area E _X, to end the processing operation.

On the other hand, the flag f ₁ is 1 (ie,
Although the vehicle M was traveling on a suspicious area E _X to earlier,
Just now, if it is determined that the vehicle M is out of the caution area E _X), it will be displayed in step S26, which will be described later, is traveling on a "residential area is displayed on the display panel 9b. Pedestrian Note that the message "Please note." Is erased from the screen (step S10), and a message such as "You have passed through a residential area."
It controls the audio processing unit 10 (step S11), and then the flag f ₁ to 0 (step S12).

[0069] In step S21, the flag f ₁ indicating that the vehicle M was traveling a caution area E _X is judged whether or not 1 (step S21), and the flag f ₁ is not 1 (i.e. , although none of the vehicle M to just traveling the caution area E _X, just now, when it is judged that the vehicle M has entered into caution area E _X), first on the basis of a ramp signal, the headlamp 13 It is determined whether or not is lit (step S22).

If it is determined that the headlamp 13 is on, steps S23 to S25 are skipped and step S23 is skipped.
If it is determined that the headlamp 13 is not turned on, time information is acquired (step S23).
It is determined whether or not the current time is after time T (for example, 5:00 pm) (step S24). If it is determined that the current time is after time T, the headlamp 13 is turned on so that the headlamp 13 is turned on. By controlling the lighting means 12 (step S
25), and proceed to step S26. On the other hand, if it is determined that the current time is not after the time T, the headlamp 13 does not need to be turned on, and the process skips step S25 and proceeds to step S26.

In step S26, the display device 9 is controlled so that a message such as "running in a residential area. Be careful of pedestrians" is displayed on the display panel 9b (step S26), and the flag f _{1 is set.} To 1 (step S
27) Then, the process proceeds to step S28.

[0072] Incidentally, in the determination processing in step S21, the flag f ₁ is 1 (i.e., the vehicle M from the previous is a than was running the caution area E _X, just now, the caution area E _X If it is determined that the vehicle has just started traveling, it is not necessary to perform the processing operations of steps S22 to S27.
Skip to step S28 and proceed directly to step S28.

In step S28, the vehicle speed information (vehicle speed V) is acquired by using the signal from the vehicle speed sensor 2 (step S28), and the vehicle speed V becomes the speed limit v _P × a (for example, 0.
9) determining whether less or is (step S29), it is judged that the vehicle speed V is equal to or less than the speed limit V _P × a, the driver has already been operating with sufficiently consider the protection of pedestrians In step S3, steps S30 to S34 are skipped, and a voice notification for calling attention is not required.
5 and start the timer t by setting it to 0 (step S
35).

[0074] On the other hand, if it is determined that the vehicle speed V is the speed limit v _P × not a less, it is determined whether there is schools and nurseries in the electronic map data with area E in _P (step S
30), if it is determined that there is a school and nursery school in the area E _P, to get the calendar information (step S31),
Today it is determined whether or not a Sunday or a public holiday (step S32), today is not a public holiday, even Sunday (ie, there is a school and nursery school in the area E _P, a is yet weekday) If it is determined that It is necessary to further intensify the driver's attention to the protection of pedestrians, so the volume should be turned up and a message such as "You are driving in a residential area. The voice processing means 10 is controlled so as to output (step S3).
3), start the timer by setting the timer t to 0 (step S3)
5).

[0075] Further, in the determination processing in step S30, and if it is determined that no school nor nursery area E _P, in the determination processing in step S32, but there are schools and nurseries in the area E _P If it is determined that the day is a Sunday or a holiday, the process proceeds to step S34, and a message such as "Running in a residential area. Be careful of pedestrians" is output from the speaker 11 at a normal volume. By controlling the processing means 10 (step S3
4), the timer t is set to 0 and activated (Step S3)
5).

[0076] A drive assistance system according to the embodiment (1), the current position is suspect area of the vehicle M E _X
(For example, a residential area) (that is, the vehicle M
If but it is determined that the vehicle is traveling the caution area E _X),
A warning message such as "You are traveling in a residential area. Be careful of pedestrians" is displayed or output by voice, so you must be traveling in an area where there is a high risk of pedestrians or bicycles jumping out. Can be notified to the driver to call attention. As a result, protection of pedestrians and the like is enhanced.

Next, a navigation device employing the driving support system according to the embodiment (2) will be described. However, the configuration of the navigation device employing the driving support system according to the embodiment (2) is the same as the configuration of the navigation device shown in FIG. The description of the other components will be omitted here.

The processing operation performed by the microcomputer 1A in the navigation device employing the driving support system according to the embodiment (2) will be described with reference to the flowcharts shown in FIGS.

[0079] First, the flag f ₂ that the vehicle M indicates whether an approaching to the caution area E _X is judged whether or not 1 (step S41), the flag f ₂ is not 1 (i.e. , the vehicle M was not in the proximity to the caution area E _X)
If it is determined that the vehicle position information (position P) is calculated from the GPS signal or the like (step S42).

Next, it is determined whether or not the own vehicle M is running according to a guide route set by using a route search function, which is one of the functions of the navigation device (step S43). Is determined to be traveling according to the set guidance route, the position Q advanced by a distance S (for example, 100 m) according to the route using the electronic map data.
₁ is calculated (step S44), the calculated position Q ₁ as scheduled arrival position Q (step S45), then the process proceeds to step S48.

On the other hand, if it is determined that the vehicle M is not traveling according to the guidance route, a position Q ₂ which is a distance S along the road is calculated using the electronic map data (step S 4).
6), the calculated position Q ₂ as scheduled arrival position Q (step S47), then the process proceeds to step S48.

In step S48, speed limit information (speed limit v _Q ) of the road passing through the expected arrival position Q is obtained using the electronic map data (step S48), and the speed limit information of the road passing through the expected arrival position Q is obtained. It is determined whether or not v _Q is equal to or higher than the speed v ₁ (for example, 60 km / h) (step S).
49).

When it is determined that the speed limit v _Q is equal to or higher than the speed v ₁ (that is, the road passing through the expected arrival position Q is a trunk road having a relatively large width), the processing operation is terminated.
On the other hand, if it is determined that the speed limit v _Q is not higher than the speed v ₁ , the speed limit V _Q becomes the speed v ₂ (for example, 20 km / h).
It is determined whether or not the speed is below (step S50), and if it is determined that the speed limit v _Q is equal to or lower than the speed v ₂ (that is, the road passing through the expected arrival position Q is a branch road having a relatively small width). , the vehicle M is regarded as soon traveling caution area E _X, in order to output a warning message to that effect to the driver, the process proceeds to step 53.

Further, in the judgment processing in step S50,
Speed limit v_Q Is the speed v_Two If it is judged that it is not below,
A predetermined area including the expected arrival position Q using the map data
A E _Q (For example, 100 m around the expected arrival position Q)
Number of road intersections existing in four areas)_Q Is calculated (step
S51), the number of road intersections k_Q Is more than k (for example, 9)
Is determined (step S52).

[0085] road crossing number k _Q is equal to or larger than k (i.e., the area E _Q present numerous road crossing number) If it is determined that, considered as area E _Q is a caution area E _X, Step S to output the warning message
Go to 53. On the other hand, if it is determined that the number of road intersections k _Q is not equal to or greater than k, there is no need to output the warning message, so the process does not proceed to step S53, and the processing operation ends.

In step S53, the display device 9 displays a message such as "Enter the residential area soon. Be careful of pedestrians" on the display panel 9b.
(Step S53), and the voice processing means 10 is controlled to output a message such as "I will enter a residential area soon. Be careful of pedestrians" from the speaker 11 (step S54). Thereafter, the flag f ₂ to 1 (step S55), starts the timer t is set to 0 (step S56).

[0087] Incidentally, in the determination processing in step S41, the flag f ₂ that the vehicle M indicates whether an approaching to the caution area E _X is 1 (i.e., the vehicle M is caution area E _X The vehicle M
There flag f ₃ indicating whether the vehicle is traveling a caution area E _X is equal to or a 1 (step S61).

The flag f ₃ is not 1 (that is, the own vehicle M
If determined but was not traveling in the caution area E _X) and obtains the vehicle position information calculated from the GPS signals (position P) (step S62), the vehicle M reaches predetermined position Q ( that is, it is determined whether the host vehicle has reached to the caution area entrance to E _X) (step S63), it is judged that the vehicle M does not reach to the scheduled arrival position Q, planned vehicle M reaches It is determined whether the vehicle is still approaching the position Q (step S64).

If it is determined that the vehicle M is not approaching the expected arrival position Q, it means that the vehicle M has deviated from the guidance route or is not traveling along the road. since no longer enter the E _X, the flag f
_{2 is set} to 0 (step S68), and the processing operation ends.

On the other hand, if it is determined that the vehicle M is approaching the expected arrival position Q, the timer t indicating the elapsed time from the previous voice announcement (see step S54) is set to the time t ₁ (for example, 3 seconds). It is determined whether or not the time has elapsed (step S6).
5), the timer t is time t ₁ elapsed (ie, if it is determined that from the previous voice announcement is time t ₁ elapsed), again "soon to enter the residential area. Attention to the pedestrian The voice processing means 10 is controlled to output a message such as "Please." From the speaker 11 (step S66), and then the timer t is set to 0 and activated (step S67). On the other hand, if the timer t determines that the time t ₁ has not elapsed, the processing operation ends.

[0091] Further, in the determination processing in step S63, the vehicle M reaches the scheduled arrival position Q (i.e., just now, the vehicle M has entered into caution area E _X) When it is judged that, first ramp signal Based on this, it is determined whether or not the headlamp 13 is lit (step S69).

If it is determined that the headlamp 13 is lit, steps S70 to S72 are skipped and step S70 is skipped.
Proceeding to 73, on the other hand, if it is determined that the headlamp 13 is not lit, time information is acquired (step S70),
It is determined whether or not the current time is after time T (for example, 5:00 pm) (step S71). If it is determined that the current time is after time T, the headlamp is turned on so that the headlamp 13 is turned on. By controlling the lighting means 12 (step S
72), and proceed to step S73. On the other hand, if it is determined that the current time is not after the time T, it is not necessary to turn on the headlamp 13, so that the process skips step S72 and proceeds to step S73.

In step S73, a message such as "I will enter a residential area soon. Be careful of pedestrians" is deleted, and a new message "Running in residential area. Be careful of pedestrians.""controls the display unit 9 to display a message on the display panel 9b such (step S73), the flag f ₃ to 1 (step S74),
Thereafter, the process proceeds to step S83.

[0094] Incidentally, in the determination processing in step S61, the flag f ₃ that the vehicle M indicates whether the vehicle is traveling a caution area E _X is 1 (i.e., the vehicle M is caution area E _X if it is determined that the was traveling), already at least once, voice announcements to inform the driver that the vehicle M is traveling a caution area E _X (see steps S93, S94 to be described later) Is performed, it is determined whether or not a timer t (see step S95 described later) indicating an elapsed time from the previous voice notification has elapsed time t ₁ (for example, 3 seconds) (step S81). t is the time t ₁ has elapsed (i.e., the last being the time t ₁ elapses from the audio announcement) if and the process proceeds to step S82. However, if it is judged that the timer t is not the time t ₁ has elapsed, and ends the processing operation.

In step S82, own vehicle position information (position P) calculated from a GPS signal or the like is obtained (step S82), and thereafter, speed limit information (restriction) of a road passing through position P using electronic map data is obtained. The speed v _P ) is obtained (step S83), and the speed limit v _{P of the} road passing through the position P is obtained.
Is greater than or equal to the speed v ₁ (for example, 60 km / h) (step S84).

If it is determined that the speed limit v _P is equal to or higher than the speed v ₁ (that is, the vehicle M is traveling on a trunk road having a relatively wide width), the routine proceeds to step 96. On the other hand, if it is determined that the speed limit v _P is not higher than the speed v ₁ , the speed limit v
It is determined whether _P is equal to or lower than the speed v ₂ (for example, 20 km / h) (step S85), and the speed limit v _P is set to the speed v.
₂ or less (i.e., the vehicle M is traveling relatively narrow width feeder roads) When it is judged that, considered that the vehicle M is traveling caution area E _X, that effect To output a warning message notifying the driver of the
Go to 88.

Further, in the determination processing in step S85,
If it is determined that the speed limit v _P is not lower than the speed v ₂ , a predetermined area E _P including the position P using the electronic map data.
(E.g., 100 m square region centering position P) calculates a road crossing number k _P present (step S86),
It is determined whether or not the number of road intersections k _P is equal to or greater than k (for example, 9) (step S87).

[0098] road crossing number k _P is greater than or equal to k (i.e., the area E _P present numerous road crossing number) If it is determined that, considered as area E _P is the caution area E _X, Step S to output the warning message
Go to 88. On the other hand, if it is determined that the number of road intersections k _P is not equal to or greater than k, there is no need to output the warning message, so the process does not proceed to step S88, but proceeds to step S96.

In step S88, the vehicle speed information (vehicle speed V) is obtained by using the signal from the vehicle speed sensor 2 (step S88), and the vehicle speed V becomes equal to the speed limit v _P × a (for example, 0.
9) determining whether less or is (step S89), it is judged that the vehicle speed V is equal to or less than the speed limit V _P × a, the driver has already been operating with sufficiently consider the protection of pedestrians In step S9, steps S90 to S94 are skipped.
5 and start the timer t by setting it to 0 (step S
95).

[0100] On the other hand, if it is determined that the vehicle speed V is the speed limit v _P × not a less, it is determined whether there is schools and nurseries in the electronic map data with area E in _P (step S
90), if it is determined that there is a school and nursery school in the area E _P, to get the calendar information (step S91),
Today it is determined whether or not a Sunday or a public holiday (step S92), today is not a public holiday, even Sunday (ie, there is a school and nursery school in the area E _P, a is yet weekday) If it is determined that Since the driver needs to be more strongly urged to pay attention to pedestrian protection, the speaker 11 outputs a message such as “I am driving in a residential area. The voice processing means 10 is controlled so as to output (step S9).
3) The timer t is set to 0 and activated (step S9)
5).

[0101] In addition, in the determination processing in step S90, and if it is determined that there is no school nor nursery school in the area E _P, in the determination processing in step S92, but there are schools and day care centers in the area E _P If it is determined that the current day is Sunday or a holiday, the process proceeds to step S94, and a message such as "Running in a residential area. Be careful of pedestrians." By controlling the processing means 10 (step S9
4), start by setting the timer t to 0 (step S9)
5).

In the determination processing in step S84, when it is determined that the speed limit v _P is equal to or higher than the speed v ₁ (that is, the vehicle M is traveling on a trunk road having a relatively wide width), or in step S87. in the determination processing, if the road crossing number k _P is determined to not more than k (i.e., the vehicle M to earlier has had traveling caution area E _X, just now, the vehicle M from the caution area E _X Off)
The display device 9 is controlled so that a message such as “Running in a residential area. Be careful of pedestrians” displayed on the display panel 9b is deleted from the screen (step S96), The voice processing means 10 is controlled to output a message such as "You have passed through the city." From the speaker 11 (step S97).
The flag f _2, f ₃ to 0 (step S98).

[0103] A drive assistance system according to the embodiment (2), the current position is suspect area of the vehicle M E _X
(For example, a residential area) (that is, the vehicle M
If but it is determined that the vehicle is traveling the caution area E _X),
A warning message such as "You are traveling in a residential area. Be careful of pedestrians" is displayed or output by voice, so you must be traveling in an area where there is a high risk of pedestrians or bicycles jumping out. Can be notified to the driver to call attention. As a result, protection of pedestrians and the like is enhanced.

Further, the own vehicle M will soon be in the caution area E.
_If it is determined that the vehicle will enter _X , a message such as "You will soon enter a residential area. Be careful of pedestrians." Is displayed or sounded, so that protection of pedestrians and the like is further enhanced.

In the driving support system according to the above embodiment (1) or (2), the position P (the expected arrival position Q)
Whether but when determining whether included in the caution area E _X, or the position P (scheduled arrival position Q) a predetermined area E _P containing (Area E _Q) is caution area E _X In another embodiment, for example, a DVD
Etc. -ROM7, position P if the information such as contained in the caution area E _X is stored is may be adopted that information also travels from the outside "Current If information such as "a point is a residential area" can be taken in, that information may be adopted.

[0106] In the driving support system according to the embodiment (1) or (2), the vehicle M is caution area E _X
When entering into, and outputs a warning message, but the timing of the output is not limited thereto, for example, the vehicle M from enters the caution area E _X, predetermined or elapsed time, or may be the after predetermined distance travel, or may be an immediately before going into the caution area E _X.

Further, in the driving support system according to the embodiment (1) or (2), a predetermined time (for example, 3
Although the message is output every second), in another embodiment, the message is output every time the vehicle travels a predetermined distance, or the message is output every alley (for example, immediately before passing through each intersection). You may make it output.

[0108] In the driving support system according to the embodiment (1) or (2), the vehicle M is caution area E _X
When entering the vehicle, a warning message is output or the headlamp 13 is turned on. However, in another embodiment, a signal for adjusting the throttle valve opening and the like is output so that the vehicle speed is reduced. May be decelerated.

[Brief description of the drawings]

FIG. 1 is a block diagram schematically showing a main part of a navigation device employing a driving assistance system according to a first embodiment of the present invention.

FIG. 2 is a flowchart showing a processing operation performed by a microcomputer in the navigation device employing the driving support system according to the embodiment (1).

FIG. 3 is a flowchart showing a processing operation performed by a microcomputer in the navigation device employing the driving support system according to the embodiment (1).

FIG. 4 is a flowchart showing a processing operation performed by a microcomputer in the navigation device employing the driving support system according to the embodiment (2).

FIG. 5 is a flowchart showing a processing operation performed by a microcomputer in the navigation device employing the driving support system according to the embodiment (2).

FIG. 6 is a flowchart showing a processing operation performed by a microcomputer in the navigation device employing the driving support system according to the embodiment (2).

[Explanation of symbols]

 1, 1A microcomputer 2 vehicle speed sensor 3 gyro sensor 4 GPS receiver 9 display device 10 voice processing means 11 speaker 12 headlamp lighting means 13 headlamp

Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat II (Reference) G08G 1/16 G08G 1/16 D

Claims (21)

[Claims] 1. A caution area determining means for determining whether or not a predetermined position is included in a caution area in which attention to a pedestrian or the like is particularly important; A driving means for performing a predetermined process when it is determined that the position is included in the caution area. 2. The driving support system according to claim 1, wherein the predetermined position is a current position of the own vehicle or a position related to the current position. 3. The driving support system according to claim 1, wherein the caution area is a residential area. 4. A road map data acquisition unit for acquiring road map data of a predetermined area including the predetermined position, wherein the area-of-attention determination unit determines the road map acquired by the road map data acquisition unit. Calculating the number of road intersections existing in the predetermined area using data, and determining whether or not the predetermined position is included in the caution area based on the calculation result. The driving support system according to any one of claims 1 to 3, 5. A road map data obtaining means for obtaining road map data of a predetermined area including the predetermined position, wherein the road map data includes width information of a road and / or an interval between roads. Information is included, and the caution area determination unit is included in the road map data acquired by the road map data acquisition unit.
4. The apparatus according to claim 1, wherein it is determined whether or not the predetermined position is included in the area of interest using the width information and / or the interval information. 5. A driving support system according to item 1. 6. A road map data obtaining means for obtaining road map data of a predetermined area including the predetermined position, wherein the road map data includes building polygon information used for displaying an urban area or the like, The caution area determination means is included in the road map data acquired by the road map data acquisition means,
The driving support system according to any one of claims 1 to 3, wherein it is determined whether or not the predetermined position is included in the caution area using the building polygon information. . 7. The attention required area determination means determines whether or not the predetermined position is included in the required attention area by using the density of the building polygon information. The driving support system according to claim 6, wherein 8. The sensitive area determining means determines whether the predetermined position is included in the sensitive area by using the size of the building polygon information. The driving support system according to claim 6 or 7, wherein: 9. The road map data includes road speed limit information, and the caution area determination unit uses the speed limit information to determine a speed limit of a road passing through the predetermined position. ,
The apparatus according to claim 1, wherein it is determined whether the predetermined position is included in the caution area.
The driving support system according to any one of the above items. 10. When the speed limit of a road passing through the predetermined position is equal to or higher than a first predetermined speed, the predetermined area is not included in the required area. The driving support system according to claim 9, wherein the driving assistance system is determined. 11. The cautious area determining means, if the speed limit of a road passing through the predetermined position is equal to or less than a second predetermined speed, the predetermined position is included in the caution area. The driving support system according to claim 9 or 10, wherein the driving assistance system is determined. 12. The cautious area, wherein the predetermined position is a position related to a current position of the own vehicle, and the processing means includes the cautious area by the caution area determining means. And that the predetermined process is performed when the vehicle reaches the position, or when a predetermined time has elapsed since the vehicle reached the position, or when the vehicle has reached the vicinity of the position. The driving support system according to any one of claims 1 to 11, wherein 13. The driving support system according to claim 1, wherein the predetermined processing is to notify that the vehicle is in a predetermined state. 14. The driving support system according to claim 13, wherein said processing means performs said notification at predetermined time intervals. 15. The driving support system according to claim 13, wherein said processing means performs the notification for each alley. 16. The driving support system according to claim 1, wherein the predetermined processing is to turn on a lamp such as a headlamp. 17. The driving support system according to claim 1, wherein the predetermined processing is to reduce a vehicle speed. 18. A cautionary facility presence / absence determining means for determining whether or not a cautionary facility such as a school or a nursery school is present in a predetermined area including the predetermined position, wherein the processing means includes The driving support system according to any one of claims 1 to 17, wherein the predetermined process is performed in consideration of a determination result from a facility presence / absence determination unit. 19. A time information obtaining means for obtaining time information, wherein the processing means performs the predetermined processing in consideration of the time information obtained by the time information obtaining means. The driving support system according to any one of claims 1 to 18, wherein: 20. A system comprising: calendar information obtaining means for obtaining calendar information; wherein the processing means performs the predetermined processing in consideration of the calendar information obtained by the calendar information obtaining means. Claims 1 to 19
The driving support system according to any one of the above items. 21. A vehicle control apparatus comprising: vehicle speed information acquiring means for acquiring vehicle speed information, wherein the processing means performs the predetermined processing in consideration of the vehicle speed information acquired by the vehicle speed information acquiring means. The driving support system according to any one of claims 1 to 20, wherein: