JP2003207348A - Navigation device and navigation system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a navigation device capable of assisting a driver in driving safely even in a place where no speed limit information is available by comparing the driver's own history information with moving speed at present and giving caution to the driver if the present moving speed is faster than the history information. <P>SOLUTION: The navigation device 1 has a position detecting means 2 for detecting the present position of a moving object, a speed detecting means 12 for detecting the moving speed of the moving object, a storing means 4 for storing moving speeds corresponding to present positions of the moving object as history information, a comparing means 5 for comparing a moving speed corresponding to a present position of the moving object with history information at the same position in the past, cautioning means 17 and 18, and a control means 9 for controlling the detecting means 2, the detecting means 12, the storing means 4, the comparing means 5, and the cautioning means 17 and 18. The control means 9 causes the cautioning means 17 and 18 to issue cautions when the moving speed of the moving object corresponding to the present position exceeds history information at the same position in the past. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a navigation device and a navigation system,
In particular, the present invention relates to a navigation device and a navigation system capable of measuring moving speed and utilizing history information in addition to position measurement of a moving body.

[0002]

2. Description of the Related Art As described in Japanese Examined Patent Publication No. 9-288797, when speed limit data of a moving route is recorded on an electronic map, the traveling speed is automatically controlled within a range not exceeding the speed limit. There is a technology to do so.

Further, Japanese Patent Laid-Open No. 11-149596,
As described in Japanese Unexamined Patent Publication No. 10-30933, the actual time of a route traveled in the past (time required for traveling) is stored and used as reference time when searching for a shortest route or required time to a destination. There is a technology to do so.

Further, as described in Japanese Patent Laid-Open No. 2000-18957, when a route that has been traveled in the past is stored and a candidate route that can reach the destination is searched for, the stored route is searched. There is a conventional technology for excluding and displaying.

[0005]

However, in the method disclosed in Japanese Patent Publication No. 9-288977, the speed limit information is displayed on the electronic map in order to warn that the moving speed exceeds the speed limit. Must be recorded.

Further, in the technique disclosed in Japanese Patent Laid-Open No. 11-149596 or Japanese Patent Laid-Open No. 10-30933, the actual time of the route traveled in the past (the time required for the travel) is stored, so that the speed is exceeded. No warning can be given.

In the case of the one disclosed in Japanese Unexamined Patent Publication No. 2000-18957, too, it is not possible to give a warning that the vehicle has exceeded the speed because it only stores the route that the vehicle has traveled in the past.

The present invention has been made in view of the above problems, and an object of the present invention is to compare the history information of the operator himself with the current moving speed, and when the current moving speed is faster than the history information. It is an object of the present invention to provide a navigation device and a navigation system, which can give a warning to a pilot and thereby help him or her to steer more safely even in a place where speed limit information is not available.

[0009]

Means for Solving the Problems and Effects of the Invention A navigation device according to the present invention includes a position detecting means for detecting a current position of a moving body, a speed detecting means for detecting a moving speed of the moving body, and a moving body. An accumulating unit that accumulates the moving speed corresponding to the current position as history information, a comparing unit that compares the moving speed corresponding to the current position with history information at the same past position, a warning unit, and the position detecting unit, And a control means for controlling the speed detection means, the storage means, the comparison means and the warning means, wherein the control means has a movement speed corresponding to the current position of the moving body exceeding history information at the same past position. The warning means is configured to give a warning.

The moving body is, for example, a car. The position detecting means measures the position by using, for example, GPS, and according to this, the latitude / longitude information of the current position can be obtained. Further, as the warning means, for example, a speaker or the like may be used for a voice warning, and a display or the like may be used for a display warning.

As described above, the navigation device of the present invention has the storage means capable of storing the current position of the moving body and the moving speed at that position as history information. It is possible to grasp how fast the vehicle has moved in the past at the same point as the current position.

Further, the navigation device of the present invention can compare the current moving speed and the past moving speed at the same position. Therefore, when the current moving speed exceeds the past moving speed, Can warn that it is overspeeding. As a result, the safety of maneuvering the moving body can be improved.

In the navigation device of the present invention, for example, a set of a plurality of consecutive positions is set as a section, and the control means warns the warning means when the current moving speed exceeds past history information in the same section. Then, the current moving speed is stored in the storage means as the maximum speed of the section.

According to the above construction, the past maximum speed in each section is accumulated in the accumulating means as history information, and when the current moving speed exceeds the past history information (maximum speed) in the same section, the speed is calculated. A warning to the effect that the vehicle is over can be issued, which can enhance the safety of maneuvering the mobile body in each section.

Further, by accumulating history information for a section which is a set of a plurality of continuous positions, and by accumulating only the maximum speed as history information of each section, the history information to be accumulated is reduced and the history information is accumulated. It is possible to save the capacity of the storage means for doing so.

In the above navigation apparatus, for example, when the current moving speed continuously exceeds the history information in the same section for a predetermined time or more,
The current moving speed is stored in the storage means as the maximum speed of the section.

According to the above configuration, the history information is not updated unless the current moving speed exceeds the history information continuously for a certain period of time or more, so that the history information is not updated in the case of instantaneous speed excess. Therefore, the history information is not updated when the speed is temporarily exceeded due to a sudden factor such as an action for avoiding an accident, and the reliability of the history information can be improved.

In the above navigation device, for example, the control means causes the warning means to warn when the current moving speed exceeds the history information in the same section for a predetermined time or more.

According to the above construction, the warning is not issued unless the current moving speed exceeds the history information continuously for a certain period of time or more. Therefore, if the speed is temporarily exceeded by a sudden factor as described above, No warning is given and unnecessary warnings can be prevented.

In the above navigation apparatus, for example, when the control means continues to exceed the history information for a certain period of time or more even after issuing a warning because the current traveling speed exceeds the history information of the same section, The current moving speed is stored in the storage means as the maximum speed of the section.

According to the above configuration, the history information can be updated when the past traveling speed has not reached the legal speed limit due to traffic conditions or the like.

In the above navigation device, for example, when the current moving speed does not exceed a certain set speed even if the current moving speed exceeds the history information of the same section,
The warning means is controlled not to give a warning.

According to the above configuration, the warning is issued only when the current moving speed exceeds a certain set speed (for example, 40 km / h or the like, which is normally not considered to be a speed violation). It is possible to prevent an unnecessary warning from being issued when the past traveling speed has not reached the legal speed limit due to traffic congestion or the like.

In the above navigation device, for example, the control means controls so that the history information is not stored in the storage means when the current moving speed does not exceed a certain set speed.

According to the above construction, it is possible to store the moving speed, which has not reached a certain set speed (for example, 10 km / h or the like, which is not usually considered as a speed violation), as history information in the storage means. And prevent unnecessary warnings.

In the above navigation device, for example, the control means sets a minimum speed as a moving speed to be stored as history information, and even if the current moving speed is equal to or lower than the minimum speed, the set minimum speed is recorded as a history. The information is stored in the storage means.

According to the above configuration, the minimum speed (for example, 10 km / h or the like, which is not usually considered as a speed violation)
Even if the current movement speed is set to the minimum speed or less, the history information that is accumulated will always be the minimum speed that is set and the unnecessary warning will be generated by accumulating the set minimum speed as history information. Can be prevented.

In the above navigation device, for example, electronic map information capable of discriminating the type of road is provided, and the control means sets the upper limit value of the traveling speed accumulated as history information according to the type of the road, and the present traveling speed. Is greater than or equal to the upper limit value, the set upper limit value is stored in the storage unit as the maximum speed.

According to the above configuration, the upper limit value of the traveling speed (legal speed limit: for example, 60 km / h on a general road and 100 km / h on an expressway) accumulated as history information in the accumulating means is set and Even if the moving speed of is above the upper limit,
By accumulating the upper limit value as the maximum speed in the accumulating means, it is possible to prevent the history information from being updated to the moving speed exceeding the legal speed limit, and to improve the reliability of the history information.

In the above navigation device, for example, the control means does not allow the speed detecting means to detect the moving speed until a predetermined time elapses after the moving body starts moving.

Since it is unlikely that the moving body will reach the violating speed for a while (for example, 10 seconds) after the moving body starts moving, according to the above configuration, the low moving speed is stored in the storage means as history information. You can prevent things from happening and prevent unnecessary warnings.

In the above navigation device, for example, the control means controls so as not to issue a warning for a certain period of time from the time when the moving body starts moving even when the moving speed exceeds the history information of the same section.

Since it is unlikely that the moving body will reach the violating speed for a while (for example, 10 seconds) after starting to move, according to the above configuration, the low moving speed is accumulated in the accumulating means as history information. Therefore, it is possible to prevent unnecessary warnings.

In the above navigation device, for example, electronic map information capable of discriminating the type of road is provided, and when the moving speed exceeds a certain set speed determined by the kind of road, the history information is recorded. Control to issue an alarm regardless.

According to the above configuration, the traveling speed is obviously a speed violation (speeds faster than 60 km / h on a general road, speeds higher than 100 km / h on a highway, etc., which are generally considered to be speed violations). In such a case, the warning can be issued regardless of the history information, so that the control process in the control means can be simplified.

In the above navigation device, for example, electronic map information capable of discriminating the type of road is provided, and the control means does not record or update the history information when the moving speed exceeds a certain set speed. To control.

According to the above configuration, the speed is obviously a violation speed (for example, a speed faster than 60 km / h on a general road, a speed faster than 100 km / h on a highway, etc., which is generally considered to be a speed violation). By not recording or updating the possible moving speed as history information, it is possible to prevent history information exceeding the legal limit speed from being accumulated as history information, and to secure the reliability of history information.

In the above navigation device, for example, the control means controls so as to set the maximum speed recorded as history information in a fixed unit.

Normally, the legal speed limit is set in a fixed unit. For example, in Japan, the legal speed limit is usually set in units of 10 km / h. Therefore, according to the above configuration, by recording the maximum speed to be recorded as the history information in a constant unit (for example, 10 km / h unit), the reliability of the history information is improved and unnecessary warning is prevented. be able to.

In the navigation device of the present invention, for example, the control means controls so as not to issue an alarm even when the number of times of travel in the section is less than a certain number of times or when the vehicle is moving at a moving speed exceeding the history information. To do.

According to the above configuration, if the number of times of travel in the section is less than a certain number of times, the warning is not issued even when the vehicle is moving at a moving speed exceeding the history information. It is possible to prevent unnecessary warnings when the speed does not reach the legal speed limit due to traffic congestion or the like.

In the above navigation apparatus, for example, when the number of times that the current moving speed exceeds the history information of the same section has reached a certain number or more, the history information is set as the maximum speed of the section. To update.

According to the above configuration, by updating the history information based on the tendency of the moving speed, it is possible to prevent the history information from being updated due to a sudden factor such as an action for avoiding an accident, and to improve the reliability of the history information. It is possible to secure the sex.

In the above navigation device, for example, a map reference means capable of referring to information such as road width, length of straight line, curvature of curve, up / down, distance between traffic lights, urban area or suburb by electronic map. And has a function of estimating a moving speed at which a warning is issued based on the information.

According to the above configuration, by estimating the traveling speed at which the warning is issued based on the road information, when the legal speed limit is exceeded, the necessary warning is not given or the past traveling speed is It is possible to prevent unnecessary warnings when the legal speed limit is not reached due to traffic congestion or the like.

In the above navigation device, for example, a weather information detecting means capable of detecting weather information is provided,
It has a function to change the moving speed at which a warning is issued based on the information.

According to the above configuration, for example, rain, snow,
If the risk of an accident increases even if the speed is below the legal speed limit due to freezing or the like, the effect of reducing the possibility of an accident can be expected by setting the moving speed at which a warning is issued to be lower than usual.

In the above configuration, for example, a brightness detecting means capable of detecting the brightness of the surroundings is provided, and the moving speed at which the warning is issued is variable based on the information.

According to the above configuration, when the risk of an accident increases even at a speed lower than the legal limit, for example, at night or in a tunnel, by setting the moving speed at which the warning is issued to be lower than usual, there is a possibility of an accident. You can expect the effect of lowering.

In the above navigation device, for example, it has a headlight state detecting means capable of detecting ON / OFF of the headlight of the moving body, and has a function of changing the moving speed at which a warning is issued based on the information.

According to the above configuration, for example, when the headlights of the moving body are turned on, that is, when it can be estimated that the vehicle is moving in a place where the risk of accident increases even at speeds below the speed limit, such as at night or in tunnels Can be expected to have the effect of reducing the possibility of an accident by setting the moving speed at which a warning is issued to be lower than usual.

In the above navigation device, for example, the control means controls so that information from the outside can be rewritten into history information.

According to the above configuration, for example, when there is information such as legal speed limit information, the reliability of the history information can be improved by writing that information as history information.

In the above navigation device, for example, the control means controls such that the automatic update of the history information can be prohibited.

According to the above configuration, for example, when certain information such as legal speed limit information is written as history information, the automatic update of that information is prohibited to prevent overwriting by uncertain information. The reliability of history information can be improved.

In the above navigation device, for example, the control means controls so that the history information to be referred to can be arbitrarily switched.

According to the above construction, for example, when one moving body is used by a plurality of persons, it is possible to prepare and use history information according to the driving characteristics of each individual.

In the above navigation device, for example, the control means controls so that the history information to be referenced can be automatically switched.

According to the above configuration, for example, a warning based on the information is issued in a place where the legal speed limit is recorded on the electronic map, and a warning based on the history information is issued in other places. By switching, a warning can be issued even when a new road or a small road which is not recorded in the electronic map is run or when the range of the electronic map is exceeded.

In the navigation device described above, for example, the control means may move when the moving speed is extremely slow or stopped as compared with the preceding and following sections.
It is recorded in history information, and the sections that have the same tendency over a certain number of times in a row are stored as history sections in the history information, and a warning is issued when the section approaches that section. Control.

According to the above-mentioned configuration, even if a place where a large deceleration is required, such as a temporary stop or a sharp curve, is not recorded on the electronic map, a warning can be issued to call attention.

The navigation system according to the present invention comprises:
The present invention is characterized by including the navigation device and the current position measuring system.

The current position measuring system is, for example, GP
It is S.

According to the navigation system of the present invention, the same effect as in the above navigation device can be expected.

[0065]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Some embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is a block diagram showing the internal structure of a navigation device common to the respective embodiments.

As shown in FIG. 1, the navigation device (1) includes a current position detector (2) which is a position detection means, a clock function (3), and a history information storage device (route history / movement) which is a storage means. Speed history storage device) (4), arithmetic device (5) as a comparison means, display control unit (6), voice control unit (7), external input terminal (I / F) (8) and control unit (9) Is equipped with.

The external input terminal (8) has an external computer (10) provided outside the navigation device (1),
Electronic map (11), moving speed detector (1
2), headlight condition detector (13), exterior humidity detector (1
4), the vehicle exterior temperature detector (15) and the vehicle exterior brightness detector (16) are connected.

The current position detector (2) is a GPS (Global Pos)
itioning system) to measure the current position of a moving body such as a car, which can be measured by measuring the propagation time of radio waves from an artificial satellite.

The display control unit (6) includes a navigation device (1).
The display (1
7) is connected and the warning display such as speed overrun on the display (17) is controlled. The voice control unit (7) is connected to a speaker (18) which is a warning means provided outside the navigation device (1), and controls a voice warning from the speaker (18).

In the history information storage device (4), the moving speed corresponding to the current position of the moving body can be stored as history information, and the history information can be stored as a history information database. Also, history information storage device (4)
Can store moving speeds corresponding to sections, which are a set of a plurality of continuous positions, as a history information database.

The moving speed detector (12) is for detecting the moving speed of the moving body. For example, a piezoelectric vibrating gyro can be used, but the moving speed detector (12) is not limited thereto.

When the moving speed detector (12) is not connected to the external output terminal (8), the arithmetic unit (5) obtains the position information (latitude / latitude / position) of two points obtained from the current position detector (2). Longitude),
The moving speed when passing between the two points may be calculated from the moving time between the two points by the clock function (3).

In the electronic map (11), local road information and the like are stored. There are also electronic maps that have legal speed limits attached to each road.

The headlight state detector (13) detects the on / off state of the headlight (not shown) provided in the moving body, that is, whether the headlight is in the on state or the off state. It is a thing.

The arithmetic unit (5) can compare the moving speed corresponding to the present position with the history information at the same past position.

The control unit (9) includes a current position detector (2), a clock function (3), a history information storage device (4), an arithmetic unit (5), a display control unit (6) and a voice control unit (7). ) And the external input terminal (8) are controlled.

FIG. 2 shows an example of a history information database stored in the history information storage device (4). The current position detector (2) recognizes the current position of the moving body based on the latitude information and the longitude information. Then, the moving speed detector (12) detects the current moving speed of the moving body. The moving speed of the moving body and the current position are associated with each other and accumulated in the history information storage device (4). Further, when accumulating not the current position of the moving body but the section where the moving body is currently as position information, as shown in FIG. 3, a certain start point and an end point are provided, and a section between the start point and the end point is set as the section. The position of the section and the maximum moving speed of the moving body in the section are accumulated as history information of the moving speed.

FIG. 4 and FIG. 5 show an example of a method of monitoring the moving speed of the moving body and warning of overspeed in the navigation device (1). This example illustrates a case where a section is set and monitoring and warning are performed for each section.

In this case, as shown in FIGS. 4 and 5,
A section C is set between the intersection A and the intersection B. In the section C, a road sign (23) indicating that the legal speed limit is 50 km / h is installed, and when the vehicle (24) that is a moving body travels in the section C, the traveling speed is monitored and An overspeed warning is given.

FIG. 4 shows a state in which a vehicle (24) is traveling in the section C for the first time. The maximum speed when this car (24) passes the section C for the first time is as shown in FIG.
It is supposed to be 49 km / h. At this time, this section C is associated with the maximum speed 49 km / h for this section C,
It is stored in the history information storage device (4).

FIG. 5 shows a state in which the vehicle (24) is traveling in the same section C for the second time. When the moving speed of this car (24) when passing the section C for the second time is 50 km / h or more as shown in FIG. 5, that is, the maximum speed (49 km / h) up to the previous time is exceeded. Control unit (9)
Controls the display control unit (6) and the voice control unit (7) so as to give an overspeed warning. And display control unit (6)
Activates the display (17) to display a warning (25) indicating that the vehicle is over speed. Further, the voice control unit (7) has a speaker (1
Activate 8) and give a voice warning that the speed is over.

In this way, the navigation device (1)
Is a vehicle (2
4) A warning can be given to the operator who is maneuvering.

Here, the car (24) is illustrated as the moving body, but the moving body is not limited to the car.

Next, some embodiments using the above navigation device (1) will be described with reference to FIGS. 6 to 39. In addition, in a plurality of flowcharts after FIG. 6, the same step number is given to the step performing the same process, and the description thereof is omitted.

[First Embodiment] FIG. 6 shows a first embodiment of the present invention. The first embodiment is an example of a case where a moving speed is monitored and an overspeed warning is issued for each position of a moving body.

In the first embodiment, when the current moving speed of the moving body at a certain position exceeds the past moving speed history at the same position, it is possible to give a warning that the speed is exceeded. FIG. 6 is a flowchart showing an example of processing in the control unit (9) in such a case. Next, the above processing will be described with reference to this flowchart.

In FIG. 6, first, the control section (9) measures the current position of the moving body by the current position detector (2) (S10). After that, the control unit (9) measures the moving speed of the moving body at the current position with the moving speed detector (12) (S20).

Next, the control unit (9) controls the history information storage device (4).
It is determined whether or not history information corresponding to the current position is stored in the history information database inside (S30). If the history information corresponding to the current position is not stored, the control unit
(9) stores the current position in the history information storage device (4) as a position history (S120), and stores the moving speed when the current position is passed as a moving speed history (S130). Then, the processing in the control unit (9) returns to S10.

In S30, when the history information corresponding to the current position is accumulated, the control section (9) reads the moving speed history (S40). After that, the control unit (9)
At (5), it is determined whether the current moving speed is faster than the moving speed history read from the history information storage device (4).
(S50).

In S50, when the current moving speed is equal to or lower than the read moving speed history, the process in the control section (9) returns to S10.

In S50, when the current moving speed is faster than the read moving speed history, the control unit (9) causes the display control unit (6) to operate, and the display (17) warns that the speed is exceeded. Is displayed (S60). Further, the control unit (9) operates the voice control unit (7) to give a voice warning from the speaker (18) to the operator that the speed is over (S70).

After issuing the warning in S60 and S70, the control section (9) again measures the current position and the moving speed.
(S80). Then, the control unit (9), in the arithmetic unit (5), determines whether the current moving speed is less than or equal to the new moving speed history read from the history information storage device (4) ( S9
0). At this time, the read history information uses information corresponding to the current position of the moving body and may be different from the previously read history information.

In S90, if the current moving speed is equal to or lower than the read moving speed history, the control unit (9) operates the display control unit (6) to notify that the speed of the display (18) is exceeded. The warning is deleted (S100). In addition, the control unit (9) operates the voice control unit (7) to erase the voice warning to the operator from the speaker (8) to the effect that the vehicle is over speed (S110). Then, the processing in the control unit (9) returns to S10.

In S90, when the current moving speed is faster than the read moving speed history, the process in the control section (9) returns to S60.

In this way, the control unit (9) accumulates history information for a plurality of positions, and compares the current moving speed at each position with the past moving speed history at the same position. The operator can be alerted if the current speed of movement of the vehicle at a position exceeds the past speed history of the same position.

In the first embodiment, when the current moving speed of the moving body at each position exceeds the past moving speed history at the same position, a warning to the effect of exceeding the speed is issued and the moving speed at that time is displayed. Therefore, the moving speed history of the position can be updated. By doing so, the past maximum speed at each position can be accumulated in the history information storage device (4) as a moving speed history of that position.

Second Embodiment FIGS. 7 to 23 show a second embodiment of the present invention. The second and subsequent embodiments are examples in which sections are set and monitoring and warning are performed for each section.

That is, in the second and subsequent embodiments, with respect to the information regarding the position, a plurality of consecutive positions are collected, measured as one section, and accumulated as a section history. Along with this, as for the moving speed, the maximum speed in the section is measured, and the maximum speed is stored as the moving speed history in the section.

In the second embodiment, when the current moving speed of the moving body in a certain section exceeds the past moving speed history (maximum speed) in the same section, it is possible to give a warning that the speed is exceeded. FIG. 7 is a flowchart showing an example of processing in the control unit (9) in such a case. Next, the above processing will be described with reference to this flowchart.

In FIG. 7, the control unit (9) first measures the current position of the moving body by the current position detector (2) (S10). After that, the control unit (9) measures the moving speed of the moving body at the current position with the moving speed detector (12) (S20).

Next, the control unit (9) controls the history information storage device (4).
It is determined whether or not history information corresponding to the section to which the current position belongs (current section) is stored in the history information database in (S30). When the history information corresponding to the current section is accumulated, the control unit (9) reads the moving speed history (S40). After that, the control unit (9) determines in the arithmetic unit (5) whether or not the current moving speed is faster than the moving speed history (maximum speed) read from the history information storage device (4). Yes (S51).

In S51, if the current moving speed is equal to or lower than the read moving speed history, the process in the control section (9) returns to S10.

In S51, if the current moving speed is faster than the read moving speed history, the control unit (9) causes the display control unit (6) to operate and warns the display (17) that the speed is excessive. Is displayed (S60). Further, the control unit (9) operates the voice control unit (7) to give a voice warning from the speaker (18) to the operator that the speed is over (S70).

After issuing the warning in S60 and S70, the control section (9) again measures the current position and the moving speed (S8).
0). Then, the control unit (9), in the arithmetic unit (5), whether the current moving speed is less than or equal to the new moving speed history (maximum speed) read from the history information storage device (4). Is determined (S90). At this time, the read history information uses information corresponding to the section where the mobile body is currently moving,
It may be different from the previously read history information.

In S90, when the current moving speed is faster than the read moving speed history, the processing in the control section (9) returns to S60.

In S90, if the current moving speed is equal to or lower than the read moving speed history, the control unit (9) operates the display control unit (6) to notify that the speed of the display (18) is exceeded. The warning is deleted (S100). In addition, the control unit (9) operates the voice control unit (7) to erase the voice warning to the operator from the speaker (8) to the effect that the vehicle is over speed (S110). Then, the processing in the control unit (9) returns to S10.

When the history information corresponding to the current section is not stored in S30, the control unit (9) stores the current position in the history information storage device (4) as a position history (S120),
The moving speed when passing the current position is accumulated as the moving speed history of the current section (S130).

Next, the control section (9) again measures the current position with the current position detector (2) (S140). And the control unit (9)
Determines whether the measured position is in the same section as the section in which the history information is accumulated in S120 and S130 (S150).

In S150, when the measured position is not the same section as the section in which the history information is stored in S120 and S130, the process in the control section (9) returns to S10. If they are the same, the control unit (9) measures the moving speed at that position with the moving speed detector (12) (S
160). Then, the control unit (9) determines whether or not the measured moving speed is faster than the moving speed history of the same section (S
170).

In S170, when the measured moving speed is faster than the moving speed history of the same section, the control section (9) stores the measured moving speed in the history information storage device (4) as a new moving speed history. And delete the moving speed history up to that point
(S180). Otherwise, that is, if the measured moving speed is less than or equal to the moving speed history of the same section, the control unit (9)
The process returns to S140.

In this way, the control unit (9) accumulates history information for a plurality of sections, and determines the current moving speed of the moving body in each section as a past moving speed history (maximum speed) in the same section. By comparing with, it is possible to give a warning to the operator when the current moving speed in each section exceeds the past maximum speed in the same section.

In the second embodiment, when the current moving speed of the moving body in each section exceeds the past moving speed history (maximum speed) in the same section continuously for a certain time or more, the moving speed at that time is set. Therefore, the moving speed history of the section can be updated. By doing so, the past maximum speed in each section can be accumulated in the history information storage device (4) as a moving speed history of the section. FIG. 8 is a flowchart showing an example of processing in the control unit (9) in such a case. Next, the above processing will be described with reference to this flowchart. In this case, the processing between S170 and S180 in FIG.
The processing after and S180 is as follows. The other processes are the same as in the case of FIG. 7, and thus detailed description will be omitted.

In S170 of FIG. 8, when the measured moving speed is faster than the moving speed history of the same section, the control section (9)
In the clock function (3), the timer for counting the time when the measured moving speed is continuously higher than the moving speed history is counted up (S171). First, S170 to S171
The timer has been cleared to 0 when proceeding to.
Then, the control unit (9) measures the moving speed of the moving body with the moving speed detector (12) (S172), and determines whether or not the measured moving speed is faster than the moving speed history of the same section ( S173).

In S173, when the measured moving speed is faster than the moving speed history of the same section, the control unit (9) counts the timer (time) counted up in S171.
It is determined whether or not is longer than a fixed time (for example, 1 minute) (S174).

In S174, if the count value is not equal to or longer than the fixed time, the process in the control section (9) returns to S171.
When the count value is equal to or longer than the fixed time, the control unit (9) stores the measured moving speed as a new moving speed history in the history information storage device (4) and deletes the moving speed history up to that time (S180). ). Then, the control unit (9) clears the count value of the timer to 0 (S181), and the process in the control unit (9) is S
Return to 140.

During the above counting process, in S173,
When the measured moving speed becomes equal to or lower than the moving speed history of the same section, the process in the control unit (9) proceeds to S181.

In the second embodiment, when the current moving speed of the moving body in each section exceeds the past moving speed history (maximum speed) in the same section continuously for a certain period of time or more, a warning to the effect of exceeding the speed is issued. Can be done. FIG. 9 is a flowchart showing an example of processing in the control unit (9) in such a case. Next, the above processing will be described with reference to this flowchart. In this case, the processing between S51 and S60 in FIG.
The processing after is as follows. The other processes are the same as in the case of FIG. 7, and thus detailed description will be omitted.

In S51 of FIG. 9, when the current moving speed is faster than the read moving speed history, the control section (9)
With the clock function (3), the timer for counting the time when the measured moving speed is continuously higher than the moving speed history is counted up (S52). The timer for counting the time faster than the history is counted up (S171).
The timer is cleared to 0 when the process first proceeds from S51 to S52. Then, the control unit (9) measures the moving speed of the moving body with the moving speed detector (12) (S53), and determines whether or not the measured moving speed is faster than the moving speed history of the same section ( S54).

In S54, when the measured moving speed is faster than the moving speed history of the same section, the control unit (9) determines that the count value (time) of the timer counted up in S52 is a fixed time (for example, 1 minute). ) Judge whether or not the above
(S55).

In S55, when the count value is not equal to or longer than the fixed time, the process in the control section (9) returns to S52. If the count value is equal to or longer than the fixed time, the process in the control unit (9) proceeds to S60. Then, after the processing in S110 ends, the control unit (9) clears the count value of the timer to 0 (S111), and the processing in the control unit (9) returns to S10.

During the counting process in S52 to S55, if the measured moving speed becomes equal to or lower than the moving speed history of the same section in S54, the process in the control section (9) proceeds to S111.

In the second embodiment, when the current traveling speed exceeds the traveling speed history of the same section and the traveling speed exceeding the traveling speed history continues for a certain time even after the warning is issued, The moving speed at this time is set as the maximum speed, and the moving speed history of the section can be updated with the maximum speed. FIG. 10 is a flowchart showing an example of processing in the control unit (9) in such a case. Next, the above processing will be described with reference to this flowchart. In this case, S7 in FIG.
The processing between 0 and S100 and the processing after S110 are performed as follows. The other processes are the same as in the case of FIG. 7, and thus detailed description will be omitted.

In S70 of FIG. 10, after a warning is issued to the operator by voice, the control unit (9) uses the clock function (3) for a time period in which the measured moving speed is continuously higher than the moving speed history. Count up the timer for counting
(S71). The timer is cleared to 0 when the program first proceeds from S51 to S71 through S60 and S70. Then, the control unit (9) measures the moving speed of the moving body with the moving speed detector (12) (S72), and determines whether or not the measured moving speed is faster than the moving speed history of the same section ( S73).

In S73, when the measured moving speed is faster than the moving speed history of the same section, the control unit (9) determines that the count value (time) of the timer counted up in S71 is a fixed time (for example, 1 minute). ) Judge whether or not the above
(S74).

In S74, if the count value is not equal to or longer than the fixed time, the process in the control section (9) returns to S71. When the count value is equal to or longer than a certain time, the control unit (9) stores the measured moving speed as a new moving speed history in the history information storage device (4) and deletes the moving speed history up to that point.
(S75). After that, the process in the control unit (9) proceeds to S100. Then, after the processing in S110 ends, the control unit
(9) clears the count value of the timer to 0 (S111),
The process in the control unit (9) returns to S10.

During the counting process in S71 to S74, if the measured moving speed becomes equal to or lower than the moving speed history of the same section in S73, the process in the control section (9) advances to S111.

In the second embodiment, if the current moving speed exceeds the moving speed history of the same section but does not exceed a certain set speed, an alarm can be not issued. FIG. 11 is a flowchart showing an example of processing in the control unit (9) in such a case. Next, the above processing will be described with reference to this flowchart. In this case, the processing between S30 and S40 in FIG. 7 is performed as follows. The other processes are the same as in the case of FIG. 7, and thus detailed description will be omitted.

In S30 of FIG. 11, when the history information corresponding to the current section is accumulated, the control section (9) sets the current moving speed to a preset value (for example, 40
It is determined whether the speed is faster than (km / h) (S31). Then, if the current moving speed is faster than the set value, the process in the control section (9) proceeds to S40. If not, the process returns to S10.

In the second embodiment, if the current moving speed has not reached a certain set speed, the history information may not be stored. FIG. 12 is a flowchart showing an example of processing in the control unit (9) in such a case. Next, the above processing will be described with reference to this flowchart. In this case, the processing between S30 and S120 in FIG. 7 is performed as follows. The other processes are the same as in the case of FIG. 7, and thus detailed description will be omitted.

In S30 of FIG. 12, when the history information corresponding to the current section is not accumulated, the control unit (9) sets the current moving speed to a preset value (for example, 1
It is determined whether the speed is faster than 0 km / h) (S32). And
If the current speed is faster than the set value, the process in the control unit (9) proceeds to S120. If not, the process returns to S10.

In the second embodiment, a minimum speed is set for the moving speed accumulated as history information, and even if the current moving speed is less than or equal to the minimum speed, the set minimum speed is used as the moving speed history to store the history information storage device ( 4) can be accumulated. FIG. 13 shows a control unit in such a case.
It is a flow chart which shows an example of processing in (9).
Next, the above processing will be described with reference to this flowchart. In this case, the processing between S30 and S120 in FIG. 7 is performed as follows. The other processes are the same as in the case of FIG. 7, and thus detailed description will be omitted.

In S30 of FIG. 13, when the history information corresponding to the current section is not accumulated, the control unit (9) sets the current moving speed to a preset value (minimum speed:
For example, it is judged whether it is faster than 10 km / h (S3
2). Then, if the current moving speed is faster than the set value, the process in the control unit (9) proceeds to S120. If not, that is, if the current movement speed is slower than the set value,
The control unit (9) changes the current moving speed to the set value (S33),
The process in the control unit (9) proceeds to S120.

In the second embodiment, an upper limit value is set for the moving speed to be stored as history information, and if the current moving speed is faster than the upper limit value, the set upper limit value is used as the moving speed history (maximum speed). It can be stored in the storage device (4). FIG. 14 is a flowchart showing an example of processing in the control unit (9) in such a case. Next, the above processing will be described with reference to this flowchart. In this case, S30 and S12 in FIG.
The processing between 0 is as follows. The other processes are the same as in the case of FIG. 7, and thus detailed description will be omitted.

In S30 of FIG. 14, when the history information corresponding to the current section is not accumulated, the control unit (9) sets the current moving speed to the first set value (first
Upper limit value: for example, 100 km / h) is determined (S34). If the current moving speed is faster than the preset value, the control unit (9) changes the current moving speed to the first set value, and the process in the control unit (9) is performed in the next step. And proceed to S36.

In S34, if the current moving speed is slower than the first set value, the processing in the control section (9) is
Proceed to 36. Then, the control unit (9) refers to the electronic map information using the electronic map (11) (S36), and determines whether or not the current section is an expressway (S37). S if it is a highway
Continue to 120. If it is not an expressway, the control unit (9) determines whether or not the current moving speed is faster than a preset second preset value (second upper limit value: 60 km / h, for example).
(S38). When the current moving speed is faster than the second set value, the control unit (9) changes the current moving speed to the second set value (S39), and the processing in the control unit (9) is performed as follows. Proceed to step S120.

In S38, when the current moving speed is slower than the second set value, the processing in the control section (9) is performed in S38.
Continue to 120.

In the second embodiment, it is possible to prevent the moving speed from being detected by the moving speed detector (12) until a fixed time has elapsed since the moving body started moving. FIG. 15 is a flowchart showing an example of processing in the control unit (9) in such a case. Next, the above processing will be described with reference to this flowchart.
In this case, the process before S10 in FIG. 7 is performed as follows. The other processes are the same as in the case of FIG. 7, and thus detailed description will be omitted.

In FIG. 15, the control unit (9) waits until the moving body starts moving (S1), and then the control unit (9) sets the count value of the timer for counting the elapsed time from the start of moving to 0. Clear to (S4).

Thereafter, the control unit (9) uses the clock function (3) to
The timer is counted up (S2), and it is determined whether or not the count value (elapsed time) of the timer has exceeded a certain time (for example, 10 seconds) (S3). Then, if the fixed time has not been reached, the process in the control unit (9) returns to S2, and if the fixed time has been reached, the process proceeds to S10.

In the second embodiment, the warning is not issued even if the current moving speed exceeds the moving speed history of the same section until a fixed time elapses after the moving body starts moving. be able to. FIG. 16 is a flowchart showing an example of processing in the control unit (9) in such a case. Next, the above processing will be described with reference to this flowchart. In this case, S1 in FIG.
The processing before 0 and the processing between S51 and S60 are as follows. The other processes are the same as in the case of FIG. 7, and thus detailed description will be omitted.

In FIG. 16, the control unit (9) waits until the mobile unit starts to move (S1), and then the control unit (9) sets the count value of the timer for counting the elapsed time from the start of movement to 0. Clear to (S4). After that, the control unit (9)
Causes the timer function (3) to count up the timer (S2), and the processing in the control unit (9) proceeds to S10.

In S51, if the current moving speed is faster than the read moving speed history, the control section (9)
It is determined whether or not the count value (time) of the timer counted in 2 has exceeded a certain time (S5
6). If the fixed time or more has elapsed, the process in the control unit (9) proceeds to S60, and if not, the process returns to S10.

The detection of the start of the movement of the moving body in S1 of FIGS. 15 and 16 can be performed, for example, by detecting the moving speed of the moving body.
It is also possible for the operator to start the engine (driving source) of the moving body and determine that the moving body has started moving when the engine starts.

In the second embodiment, when the moving speed is faster than a fixed set speed, an alarm can be issued regardless of the moving speed history of the history information. 17 and 18 are flowcharts showing an example of the processing in the control unit (9) in such a case. Next, the above processing will be described with reference to this flowchart.
In this case, the processing between S20 and S30 in FIG. 7 is performed as follows. The other processes are the same as in the case of FIG. 7, and thus detailed description will be omitted.

In S20 of FIG. 18, after measuring the current moving speed of the moving body, the control section (9) sets the measured current moving speed to a preset constant speed (first set speed: For example, it is judged whether it is faster than 100 km / h (S
twenty one). When the current moving speed is equal to or lower than the first set speed, the control unit (9) then sets the current moving speed to a preset constant speed (second set speed: 60 km, for example).
/ h) is faster (S22). Here, the first set speed is the maximum legal speed limit on expressways, and the second set speed is the maximum legal speed limit on general roads, but the maximum legal speed limit differs depending on the road. The numerical value is not limited to the above 100 km / h or 60 km / h.

In S22, if the current moving speed is faster than the second set speed, the control section (9) refers to the electronic map information (S23), and determines whether the current position is a highway. Judge (S24).

In S21, if the current moving speed is faster than the first set speed, the control unit (9) operates the display control unit (6) and displays a warning to the effect that the speed is exceeded on the display (17). Yes (S191). Further, the control unit (9) operates the voice control unit (7) to give a voice warning from the speaker (18) to the operator that the speed is over (S192).

After issuing the warning in S191 and S192,
The control unit (9) again measures the current moving speed (S19
3). Then, the control unit (9) determines whether or not the current moving speed is faster than the first set speed (S194).

In S194, when the current moving speed is equal to or lower than the first set speed, the control unit (9) operates the display control unit (6) to warn the display (17) that the speed is exceeded. Erase (S195). Further, the control unit (9) operates the voice control unit (7) to erase the voice warning to the operator from the speaker (18) to the effect that the vehicle is over speed (S196). Then, the processing in the control unit (9) returns to S10.

In S194, if the current moving speed is faster than the first set speed, the processing in the control section (9) is S191.
Return to.

In S24, if the current position is not on the expressway, the control unit (9) operates the display control unit (6) to display a warning that the measure is exceeded on the display (17) (S201).
In addition, the control unit (9) operates the voice control unit (7) to give a voice warning from the speaker (18) to the operator that the measure is exceeded.
(S202).

After issuing the warning in S201 and S202,
The control unit (9) again measures the current moving speed (S20
3). Then, the control unit (9) determines whether or not the current moving speed is faster than the second set speed (S204).

In S204, if the current moving speed is equal to or lower than the second constant speed, the control unit (9) operates the display control unit (6) to warn the display (17) that the speed is exceeded. Erase (S205). Further, the control unit (9) operates the voice control unit (7), and erases the voice warning to the operator from the speaker (18) to the effect that the vehicle is over speed (S206). Then, the processing in the control unit (9) returns to S10.

In S204, if the current moving speed is faster than the second set speed, the processing in the control section (9) is S201.
Return to.

If the current moving speed is equal to or lower than the second set speed in S22, or if the current position is the highway in S24, the process in the control section (9) proceeds to S30.

In the second embodiment, the history information can be prevented from being recorded or updated when the moving speed is equal to or higher than a certain set speed. FIG. 19 is a flowchart showing an example of processing in the control unit (9) in such a case. Next, with reference to this flowchart,
The above processing will be described. In this case, in FIG.
The processing between S30 and S120 is as follows. The other processes are the same as in the case of FIG. 7, and thus detailed description will be omitted.

In S30 of FIG. 19, when the history information corresponding to the current section is not accumulated, the control unit (9) determines that the current moving speed is a preset constant speed (first set speed: It is determined whether the speed is faster than 100 km / h) (S112). When the current moving speed is less than or equal to the first set speed, the control unit (9) then sets the second constant speed (second set speed: 60 km / h) It is judged whether or not it is faster (S113). FIG. 17
As in the case of FIG. 18 and FIG. 18, the first setting is the maximum legal speed limit for highways and the second setting is the maximum legal speed limit for general roads.

In S113, if the current movement speed is faster than the second set speed speed, the control unit (9) refers to the electronic map information (S114) and determines whether the current position is a highway. Is determined (S115).

If the current moving speed is faster than the first set speed in S112, or if the current position is not the highway in S115, the process in the control section (9) returns to S10.

If the current moving speed is equal to or lower than the second set speed in S113, or if the current position is the highway in S115, the process in the control section (9) proceeds to S120. .

In the second embodiment, the moving speed history (maximum speed) to be stored as history information can be set in a fixed unit (for example, 10 km / h unit).
FIG. 20 is a flowchart showing an example of processing in the control unit (9) in such a case. Next, the above processing will be described with reference to this flowchart. In this case, the processing between S30 and S120 in FIG. 7 is performed as follows. The other processes are the same as in the case of FIG. 7, and thus detailed description will be omitted.

In S30 of FIG. 20, when the history information corresponding to the current section is not accumulated, the control unit (9) advances the current moving speed by 10 km / h to the history information storage device (4). It is accumulated (S116). Then, the processing in the control unit (9) proceeds to the next S120.

In the second embodiment, when the number of times of travel in the section is less than a certain number of times, it is possible to prevent the warning from being issued even when the vehicle is moving at a speed exceeding the history information. FIG. 21 is a flowchart showing an example of processing in the control unit (9) in such a case. Next, the above processing will be described with reference to this flowchart. In this case, the processing between S40 and S51 in FIG.
Do the following: The other processes are the same as in the case of FIG. 7, and thus detailed description will be omitted.

In this case, in the history information database stored in the history information storage device (4), as shown in FIG. 22, in addition to the information in FIG. 5, the number of times of traveling in a certain section is also stored. Has been done.

In S40 of FIG. 21, when the moving speed history corresponding to the current section is read, the control section (9) increments the number of times the vehicle traveled in the current section of the history information by one (S41). Then, the control unit (9), the number of times of travel in the same section,
It is determined whether or not it is larger than a preset value (for example, 5 times) (S42). This set value can be arbitrarily changed. In S42, when the number of travels in the same section is larger than the set value, the process in the control section (9) proceeds to S51. If not, the process returns to S10.

In the second embodiment, when the number of times that the current moving speed exceeds the moving speed history of the same section reaches a certain set number of times or more, the moving speed at that time is set as the maximum speed of the section, and the movement is performed. The speed history can be updated. FIG. 23 is a flowchart showing an example of processing in the control unit (9) in such a case. next,
The above processing will be described with reference to this flowchart. In this case, the processing between S51 and S60 in FIG. 7 is performed as follows. The other processes are the same as in the case of FIG. 7, and thus detailed description will be omitted.

In this case, in the history information database accumulated in the history information storage device (4), as shown in FIG. 24, in addition to the information in FIG. The number of times it has been exceeded is also accumulated.

In S51 of FIG. 23, if the current moving speed is faster than the read moving speed history, the control unit (9)
Reads out the number of times the moving speed history is exceeded in the section from the history information storage device (4) and increments it by 1 (S57). Then, the control unit (9) sets a preset value (for example, 5
It is determined whether the number is larger than the number of times (S58). This set value can be arbitrarily changed.

In S58, when the number of times the movement speed history is exceeded is larger than the set value, the control unit (9) sets the current movement speed as a new movement speed history and stores the history information database in the history information storage device (4). And the moving speed history is updated (S59). After that, the control unit (9) resets the number of times the movement speed history is exceeded to 0 in the section (S63), and the process in the control unit (9) returns to S10. .

If the number of times the movement speed history is exceeded is smaller than the set value in S58, the process in the control section (9) proceeds to S60.

In the example of FIG. 23, even if the current moving speed exceeds the moving speed history of the section, the moving speed history is not immediately updated, and the number of times the moving speed history is exceeded is counted up. It will be uploaded and accumulated.

[Third Embodiment] FIGS. 25 and 26 show
3 shows a third embodiment of the present invention. The third embodiment is
This is an example of a case in which there is a function of estimating a moving speed (speed limit) serving as a reference for issuing a warning, depending on road conditions.

That is, in the third embodiment, the electronic map (1
By 1) etc., it has a map reference means that can refer to information such as road width, straight line length, curve curvature, up / down, distance between traffic lights, urban area or suburbs (building information density, etc.),
Based on this information, the speed limit is estimated, and if the current moving speed exceeds the moving speed history, it is further determined whether to issue a warning based on the estimated speed limit. There is.

FIG. 25 is a control section in the third embodiment.
It is a flow chart which shows an example of processing of (9). next,
The above processing will be described with reference to this flowchart. In this case, S30 and S in FIG. 7 of the second embodiment
The processing between 40 and the processing between S51 and S60 are as follows. The other processes are the same as in the case of FIG. 7, and thus detailed description will be omitted.

In S30 of FIG. 25, when the history information corresponding to the current position is accumulated, the control section (9) determines whether or not the electronic map (11) has information near the current section. (S28).

In S28, if the electronic map (11) has information in the vicinity of the current section, the speed limit estimation subroutine is operated to calculate the estimated speed limit (S29), and the processing in the control unit (9) is Go to S40. This speed limit estimation subroutine will be described later. In S28, if the electronic map (11) does not have information near the current section, the control unit (9)
The process in step S40 proceeds to step S40.

Next, in S51, when the current moving speed is faster than the read moving speed history, the control section (9)
It is determined whether there is an estimated speed limit calculated in the speed limit estimation subroutine (S61). In S51, if the current moving speed is less than or equal to the read moving speed history, the control unit
The process in (9) returns to S10.

In S61, when there is no estimated speed limit,
The process in the control unit (9) proceeds to S60. If the estimated speed limit is present, the control unit (9) determines whether or not the estimated speed limit is faster than the moving speed history in the same section (S62).

In S62, if the estimated speed limit is faster than the moving speed history in the same section, the process in the control section (9) returns to S10. When the estimated speed limit is equal to or lower than the moving speed history in the same section, the processing in the control unit (9) proceeds to S60.

FIG. 26 shows an example of processing in the speed limit estimation subroutine described above.

In FIG. 26, first, the control section (9) judges whether or not the current section is an expressway from the information of the electronic map (11) (S210).

If the current section is a highway in S210, the control unit (9) sets the estimated speed limit to 100 km / h (S220).

Next, the control section (9) determines whether or not the current section is more than one lane on one side (S230). If there are two or more lanes on each side, the processing in the control unit (9) proceeds to S250. Also,
If it is not more than two lanes on one side, that is, one lane on one side, the control unit (9) updates the estimated speed limit to 80 km / h (S2
The process in the control unit (9) proceeds to S250.

Next, the control section (9) determines whether or not the current section is before the tollgate (S250). In S250, if it is before the toll gate, the control unit (9) sets the estimated speed limit to 40 km / h.
(S260), the processing in the subroutine is ended, and the process proceeds to S40 in FIG. If it is not before the toll gate in S250, the process in the subroutine is ended, and the process proceeds to S40 in FIG.

If the current section is not a highway in S210, the control unit (9) sets the estimated speed limit to 60 km / h (S270).

Next, the control section (9) judges whether or not the current section is more than one lane on one side (S280). If there are two or more lanes on each side, the process in the control unit (9) proceeds to S300. Also,
When the number of lanes is not two or more on one side, that is, one lane on one side, the control unit (9) updates the estimated speed limit to 50 km / h which is 10 km / h slower than 60 km / h set in S270 (S
290) and the processing in the control unit (9) proceed to S300.

Next, the control section (9) judges whether or not the straight line in the traveling section continues for a certain distance or more (S300).

In S300, when the straight line of the traveling section continues for a certain distance or more, the process in the control unit (9) is S340.
Proceed to. When the straight line in the traveling section does not continue for a certain distance or more, the control unit (9) lowers the estimated speed limit by 10 km / h from the estimated speed limit set so far (S310), the control unit.
The process in (9) proceeds to S320.

Next, the control unit (9) determines that the curvature of the curve is R100.
It is determined whether or not the above (S320).

In S320, if the curvature of the curve is less than R100, the control unit (9) lowers the estimated speed limit by 10 km / h from the estimated speed limit set so far (S330), and the control unit ( The process in 9) proceeds to S340. If the curvature of the curve is R100 or more, the processing in the control unit (9) is S
Proceed to 340.

Next, the control section (9) judges whether or not the current section is an urban area, that is, whether or not building information is dense (S340).

In S340, when the current section is an urban area (building information is dense), the control unit (9) sets the estimated speed limit to 10 km / h from the estimated speed limit set so far. Lowering (S350), ending the processing in the subroutine, and proceeding to S40 in FIG. If it is not in the urban area in S340, the processing in the subroutine is ended, and the processing in FIG.
Go to S40 of 5.

Here, the estimated speed limit is set to the above value, but the present invention is not limited to this.

[Fourth Embodiment] FIGS. 27 to 29 show a fourth embodiment of the present invention. The fourth embodiment is an example of a case in which there is a function of changing a moving speed (speed limit) that is a reference for issuing a warning in accordance with a weather condition, brightness, and the like of a traveling section.

In the fourth embodiment, weather information (temperature,
It has a weather information detecting means capable of detecting humidity and the like, and the moving speed at which a warning is issued can be varied based on the weather information. FIG. 27 is a flowchart showing an example of processing in the control unit (9) in such a case. next,
The above processing will be described with reference to this flowchart. In this case, S40 and S in FIG. 7 of the second embodiment
The processing between 51 and the processing after S110 are performed as follows. The other processes are the same as in the case of FIG. 7, and thus detailed description will be omitted.

In FIG. 27, after the moving speed history of the same section is read out in S40, the control unit (9) displays the outside temperature detector (1
5) is controlled to determine whether or not the temperature outside the vehicle is lower than 0 degrees (S360).

In S360, when the temperature outside the vehicle is lower than 0 degrees, the control unit (9) lowers the movement speed history of the same section read in S40 by a constant speed (for example, 5 km / h) (S370), and the control unit
The process in (9) proceeds to S380. When the temperature outside the vehicle is 0 degree or higher, the process in the control unit (9) proceeds to S380.

Next, the control section (9) has an outdoor humidity detector (14).
Is controlled to determine whether the humidity outside the vehicle is 95% or more (S380).

In S380, when the outdoor humidity is 95% or more, the control unit (9) lowers the moving speed history of the same section read in S40 by a constant speed (for example, 5 km / h) (S390), and the control unit The process in (9) proceeds to S51. Outdoor humidity is 95
If it is lower than%, the process in the control unit (9) proceeds to S51.

After performing the processing from S51 to S110, the control unit (9) returns the moving speed history of the same section to the original value read in S40 (S117), and the processing in the control unit (9) is Return to S10.

In the above example, it is determined in S360 whether the temperature outside the vehicle is lower than 0 degrees, and in S380 whether the humidity outside the vehicle is 95% or more. The value can be set arbitrarily and is not limited to the above values.

The value for lowering the moving speed history (5 km / h in the above example) is not limited to the above value.

In the fourth embodiment, the brightness detecting means capable of detecting the brightness of the surroundings is provided, and the moving speed at which the warning is issued can be varied based on the information. FIG. 28
3 is a flowchart showing an example of processing in the control unit (9) in such a case. Next, the above processing will be described with reference to this flowchart. in this case,
The processing between S40 and S51 in FIG. 7 of the second embodiment and the processing after S110 may be performed as follows. The other processes are the same as in the case of FIG. 7, and thus detailed description will be omitted.

In FIG. 28, after the moving speed history of the same section is read out in S40, the control unit (9) sets the outside lightness detector (1
6) is controlled to determine whether the brightness outside the vehicle is higher than a preset value (S400).

In S400, when the brightness outside the vehicle is higher than the set value, the process in the control section (9) proceeds to S51. If the brightness outside the vehicle is less than or equal to the set value, lower the moving speed history of the same section read in S40 by a certain speed (for example, 5 km / h) (S
The process in 410) and the control unit (9) proceeds to S51.

After performing the processing from S51 to S110, the control unit (9) restores the moving speed history of the same section to the original value read in S40 (S116), and the processing in the control unit (9) is Return to S10.

The set value of the brightness in S400 can be set arbitrarily. Also, the value for lowering the moving speed history (5 km / h in the above example) is not limited to the above value.

In the fourth embodiment, the headlight state detecting means capable of detecting the on / off state of the headlight of the moving body is provided, and the moving speed at which the warning is issued can be made variable based on the information. FIG. 29 is a flowchart showing an example of processing in the control unit (9) in such a case. Next, the above processing will be described with reference to this flowchart. In this case, the processing between S40 and S51 in FIG. 7 of the second embodiment and the processing after S110 may be performed as follows. The other processes are the same as in the case of FIG. 7, and thus detailed description will be omitted.

In FIG. 29, after the moving speed history of the same section is read out in S40, the control unit (9) controls the headlight state detector (13) to determine whether or not the vehicle headlight is turned on. Is determined (S420).

[0211] In S420, if the vehicle headlight is not turned on, the process in the control section (9) proceeds to S51. Also, if the car headlights are on, S4
The moving speed history of the same section read out at 0 is lowered by a constant speed (for example, 5 km / h) (S430), and the processing in the control unit (9) is S
Continue to 51.

After performing the processing from S51 to S110, the control unit (9) restores the moving speed history of the same section to the original value read in S40 (S116), and the processing in the control unit (9) is Return to S10.

A value for lowering the moving speed history (5 in the above example)
km / h) is not limited to the above values.

[Fifth Embodiment] FIGS. 30 to 39 show a fifth embodiment of the present invention. The fifth embodiment is an example of a case in which history information is rewritten based on information from the outside or arbitrary history information can be selected from a plurality of history information.

In the fifth embodiment, external information can be rewritten as history information. Further, a plurality of history information can be stored, and the operator can arbitrarily switch and use the plurality of history information.

When rewriting external information as history information and when switching a plurality of history information, FIG.
A history information selection screen as shown in is displayed on the display (17).

At this time, a history information selection message is displayed on the history information selection screen of the display (17), and options are displayed at the bottom of the screen. The options are an electronic map, history information 1, history information 2, history information 3 and external data download. The operator can switch a plurality of pieces of history information and download external data by selecting the above option.

FIG. 31 is a flow chart showing an example of processing in the control unit (9) when rewriting information from the outside as history information. Next, the above processing will be described with reference to this flowchart.

In FIG. 31, first, the control section (9) displays a history information selection screen on the display (17) (S50
0). Then, the control unit (9) determines whether or not the external data download is selected by the operator (S510). If external data download is not selected, control unit
The process in (9) moves to S10 in the flowchart of FIG. When the external data download is selected, the control unit (9) downloads the external data via the external input terminal (8) (S520). Then, the control unit (9) rewrites or adds the external data as history information (S53
0), the processing in the control unit (9) shifts to S10 in the flowchart of FIG.

In the present embodiment, the external history information may be, for example, other person's history information or information such as speed limit information and is not particularly limited.

In the fifth embodiment, it is possible to adopt a configuration in which automatic update of history information can be prohibited.

For example, when external data such as speed limit information is rewritten as history information, the history information complies with the legal speed limit and does not need to be newly rewritten.
In such a case, automatic update of history information is prohibited. In that case, when rewriting external data such as speed limit information as history information, as shown in FIG. 32, information as to whether or not the data is rewritable is written in the history information database in the history information storage device (4). Be done. Then, the non-rewritable history information is not newly rewritten even if the moving speed exceeds the moving speed history.

FIG. 33 is a flow chart showing an example of the processing in the control unit (9) when the automatic update of the history information is prohibited. Next, the above processing will be described with reference to this flowchart.

In FIG. 33, first, the control section (9) displays a history information selection screen on the display (17) (S50
0). Then, the control unit (9) determines whether or not the external data download is selected by the operator (S510). If external data download is not selected, control unit
The process in (9) moves to S10 in the flowchart of FIG. When the external data download is selected, the control unit (9) downloads the external data via the external input terminal (8) (S520). After that, the control unit (9) determines whether or not the data accumulated in the history information can be rewritten (S525). If rewritable, the control unit (9) rewrites history information (S530), and the process in the control unit (9) is S54.
Go to 0. If it is not rewritable, the history information is not rewritten and the process in the control unit (9) proceeds to S540.
Then, the control unit (9) determines whether or not the download of the external data is completed (S540), and if the download is completed, the control unit (9)
The processing in (9) moves to S10 in the flowchart of FIG. 7, and if not completed, returns to S520.

FIG. 34 is a flow chart showing an example of processing in the control unit (9) when the history information to be referred to can be arbitrarily switched. Next, the above processing will be described with reference to this flowchart.

In FIG. 34, first, the control section (9) displays a history information selection screen on the display (17) (S50
0).

Next, the control section (9) determines whether or not the electronic map is selected as the history information (S502). When the electronic map is selected as the history information, the control unit (9) sets the history information in the electronic map (S506), and the processing in the control unit (9) shifts to S10 in the flowchart of FIG. 7.

When the electronic map is not selected as the history information in S502, the control section (9) determines whether or not the history information 1 is selected as the history information (S503). When the history information 1 is selected as the history information, the control unit (9) sets the history information to the history information 1 (S507), and the processing in the control unit (9) shifts to S10 in the flowchart of FIG. .

[0229] In S503, history information 1 as history information
If is not selected, the control unit (9) determines whether history information 2 is selected as history information (S504). When history information 2 is selected as history information, the control unit (9)
The history information is set to history information 2 (S508), and the processing in the control unit (9) shifts to S10 in the flowchart of FIG.

[0230] In S504, history information 2 is used as history information.
If is not selected, the control unit (9) determines whether history information 3 is selected as history information (S505). When history information 3 is selected as history information, the control unit (9)
The history information is set in the history information 3 (S509), and the processing in the control unit (9) shifts to S10 in the flowchart of FIG.

In S505, history information 3 is used as history information.
If is not selected, the control unit (9) determines whether or not external data download is selected (S510). When the external data download is not selected, the process in the control unit (9) returns to S502. When the external data download is selected, the control unit (9) is connected via the external input terminal (8).
Download external data (S520). And the control unit
(9) rewrites or adds the external data as history information (S530), and the processing in the control unit (9) is as shown in FIG.
The process moves to S10 in the flowchart.

In the fifth embodiment, the history information to be referenced can be automatically switched. 35 and 36 show the control unit in such a case.
An example of the processing in (9) is shown. Next, the above processing will be described with reference to this flowchart.
In this case, the processing between S20 and S30 in FIG. 7 of the second embodiment is performed as follows. For other processing, see FIG.
Since it is the same as the case of 1, the detailed description is omitted.

In S20 of FIG. 35, after the moving speed of the current section is measured, the control section (9) determines whether or not there is speed limit data of the same section on the electronic map (11) (S550). . If there is no speed limit data for the same section on the electronic map, the control unit
The process in (9) proceeds to S30. In S550, if the electronic map (11) has speed limit data for the same section, the control unit
(9) reads the information (S560). After that, the control unit (9)
Indicates that the current speed of movement is displayed on the electronic map (1
It is determined whether or not it is faster than the speed limit data read from 1) (S570).

If the current moving speed is equal to or lower than the read speed limit data in S570, the process in the control section (9) returns to S10.

In S570, if the current moving speed is faster than the read speed limit data, the control unit (9) causes the display control unit (6) to operate, and the display (17) warns that the speed is exceeded. Is displayed (S580). In addition, the control unit (9) operates the voice control unit (7) to give a voice warning from the speaker (18) to the operator to the effect that the speed is over (S590).

After performing the warning in S580 and S590,
The control unit (9) again measures the current section and the moving speed (S600). Then, the control unit (9) makes the arithmetic unit (5) determine whether or not the current movement speed is faster than the new speed limit data read from the electronic map (11) (S610). At this time, the read speed limit data uses the information corresponding to the section where the moving body is currently moving, and may be different from the speed limit data read previously.

In S610, if the current moving speed is equal to or lower than the read speed limit data, the control unit (9) operates the display control unit (6) to indicate that the display (17) has exceeded the speed limit. The warning is deleted (S620). Further, the control unit (9) operates the voice control unit (7), and erases the voice warning to the operator from the speaker (18) to the effect that the vehicle is overspeeding (S630). Then, the processing in the control unit (9) returns to S10. In S610, when the current moving speed is faster than the read speed limit data, the processing in the control unit (9) returns to S580.

In the fifth embodiment, when the moving speed is extremely slow or stopped as compared with the preceding and succeeding sections, it is recorded in the history information, and after that, the same tendency is continuously given a certain number of times or more. The history information may be stored as a caution section as a caution section, and a warning may be issued to warn the user when approaching the section.

Next, an example of the above configuration will be described by taking as an example a case where the mobile body passes through a section having a road sign of "stop" in the traveling direction of the mobile body. Figure 37 is a car
(24) shows the case where the vehicle is currently traveling in the section 11 and the section 12 in the traveling direction of the vehicle (24) is provided with the road sign (28) of “stop”. In such cases, "stop"
When the vehicle (24) passes through the section 11 in front of the section 12 having the road sign, the warning display (29) is displayed on the display (17). That is, when there is a significant decrease in speed in the traveling direction of the moving body, the control unit (9) gives a warning to the operator before this section.

Although the vehicle (24) is also illustrated as the moving body here, it is not limited thereto.

In the above case, as shown in FIG. 38, the history information database in the history information storage device (4) stores the number of times that the speed is lower than the predetermined speed. This indicates the number of times that the moving speed of the moving body in the preceding section in the traveling direction of the moving body was previously lower than a preset set value.

FIG. 39 shows an example of processing in the control unit (9) in the above case. Next, the above processing will be described with reference to this flowchart. in this case,
Between S20 and S60 in FIG. 7 of the second embodiment, and S7
The processing between 0 and S100 is as follows. The other processes are the same as in the case of FIG. 7, and thus detailed description will be omitted.

In S20 of FIG. 39, after the moving speed of the current section is measured, the control section (9) sets the history information recording device (4).
It is determined whether or not there is history information of the moving direction of the moving body in the history information database (S700). If there is no history information of the moving direction of the moving body, the process in the control unit (9) proceeds to S120.

In S700, when there is history information of the moving direction of the moving body, the control unit (9) determines that the moving speed history (maximum speed) of the preceding section is a preset value (for example, 10 km / h). ) Is determined (S640).

In S640, if the history information of the moving speed in the preceding section is faster than the set value, the control section (9) sets the number of times that the moving speed in the preceding section is lower than the set value to 0. (S670), and the process of the control unit (9) returns to S10.

In S640, if the history information of the moving speed in the previous section is equal to or less than the set value, the control section (9) reads the number of times the speed is below a certain speed, and adds 1 to the number (S650). . Then, the control unit (9) determines whether or not the number-of-times data read in S650 is larger than a preset set value (for example, 5 times) (S660). If the number of times data is larger than the set value, the process in the control section (9) proceeds to S60, and if not, to S10.

In S70, after a voice warning,
The control unit (9) measures the current section (S680). Then, the control unit (9) determines whether or not the deceleration point has been passed (S690). If the vehicle has passed the deceleration point, the process in the control unit (9) proceeds to S100. If the vehicle has not passed, the process in the control unit (9) returns to S60.

[Brief description of drawings]

FIG. 1 is a block diagram of a navigation device showing an embodiment of the present invention.

FIG. 2 is an explanatory diagram showing an example of monitoring of the moving speed of a moving body and warning of overspeed in FIG. 3;

FIG. 3 is an explanatory diagram showing an example of monitoring of the moving speed of the moving body and warning of the speed excess in FIG. 2;

FIG. 4 is an explanatory diagram showing an example of a history information database accumulated in a history information storage device.

FIG. 5 is an explanatory diagram showing another example of a history information database accumulated in a history information storage device.

FIG. 6 is a flowchart showing an example of processing in the first embodiment.

FIG. 7 is a flowchart showing an example of processing in the second embodiment.

FIG. 8 is a flowchart showing another example of processing in the second embodiment.

FIG. 9 is a flowchart showing still another example of the processing in the second embodiment.

FIG. 10 is a flowchart showing still another example of the processing in the second embodiment.

FIG. 11 is a flowchart showing still another example of the processing in the second embodiment.

FIG. 12 is a flowchart showing still another example of the processing in the second embodiment.

FIG. 13 is a flowchart showing still another example of the processing in the second embodiment.

FIG. 14 is a flowchart showing still another example of the processing in the second embodiment.

FIG. 15 is a flowchart showing yet another example of processing in the second embodiment.

FIG. 16 is a flowchart showing still another example of the processing in the second embodiment.

FIG. 17 is a flowchart showing still another example of the processing in the second embodiment with FIG. 18.

FIG. 18 is a flowchart showing still another example of the processing in the second embodiment with FIG. 17.

FIG. 19 is a flowchart showing yet another example of processing in the second embodiment.

FIG. 20 is a flowchart showing still another example of the processing in the second embodiment.

FIG. 21 is a flowchart showing still another example of the processing in the second embodiment.

FIG. 22 is an explanatory diagram showing still another example of the history information database accumulated in the history information storage device.

FIG. 23 is a flowchart showing still another example of the processing in the second embodiment.

FIG. 24 is an explanatory diagram showing still another example of the history information database stored in the history information storage device.

FIG. 25 is a flowchart showing an example of processing in the third embodiment.

FIG. 26 is a flowchart showing another example of processing in the third embodiment.

FIG. 27 is a flowchart showing an example of processing in the fourth embodiment.

FIG. 28 is a flowchart showing another example of the processing in the fourth embodiment.

FIG. 29 is a flowchart showing still another example of the processing in the fourth embodiment.

FIG. 30 is an explanatory diagram showing an example of a history information selection screen on the display.

FIG. 31 is a flowchart showing an example of processing in the fifth embodiment.

FIG. 32 is an explanatory diagram showing still another example of the history information database accumulated in the history information storage device.

FIG. 33 is a flowchart showing another example of the processing in the fifth embodiment.

FIG. 34 is a flowchart showing yet another example of the processing in the fifth embodiment.

FIG. 35 is a flowchart showing still another example of the processing in the fifth embodiment with FIG. 36.

FIG. 36 is a flowchart showing still another example of the processing in the fifth embodiment with FIG. 35.

FIG. 37 is an explanatory diagram showing an example of a warning in a caution section.

FIG. 38 is an explanatory diagram showing still another example of the history information database accumulated in the history information storage device.

FIG. 39 is a flowchart showing yet another example of the processing in the fifth embodiment.

[Explanation of symbols]

(1) Navigation device (2) Current position detector (3) Clock function (4) Path history / moving speed storage device (5) Computing device (6) Display control unit (7) Voice control unit (11) Electronic map (12) Moving speed detector (13) Headlight status detector (14) External humidity detector (15) Outside temperature detector (16) Exterior lightness detector

Claims (26)

[Claims] 1. A position detecting means for detecting a current position of a moving body, a speed detecting means for detecting a moving speed of the moving body, and a storage for storing a moving speed corresponding to the current position of the moving body as history information. Means, comparing means for comparing the moving speed corresponding to the current position with history information at the same past position, warning means, and controlling the position detecting means, speed detecting means, accumulating means, comparing means and warning means. And a control means, wherein the control means causes the warning means to warn when the moving speed corresponding to the current position of the moving body exceeds the history information at the same past position. Navigation device. 2. A set of a plurality of continuous positions is set as a section, and the control means causes the warning means to warn when the current moving speed exceeds past history information in the same section,
The navigation device according to claim 1, wherein the current moving speed is stored in the storage means as the maximum speed of the section. 3. The control means, when the current moving speed continuously exceeds the history information in the same section for a predetermined time or more, stores the current moving speed in the storage means as the maximum speed of the section. The navigation device according to claim 2, which is characterized in that. 4. The control means, when the current moving speed exceeds history information in the same section for a predetermined time or more,
4. The navigation device according to claim 3, wherein the warning means is configured to give a warning. 5. The control means, if the current moving speed exceeds the history information of the same section and continues to exceed the history information for a certain period of time after the warning is issued, the current moving speed The navigation device according to claim 2, wherein the maximum speed of the section is stored in the storage means. 6. The control means controls the warning means so as not to issue a warning if the current moving speed does not exceed a predetermined set speed even if the current moving speed exceeds the history information of the same section. The navigation device according to claim 2. 7. The navigation device according to claim 2, wherein the control means controls so that the history information is not stored in the storage means when the current moving speed does not exceed a certain set speed. 8. The control means sets a minimum speed as a moving speed to be stored as history information, and stores the set minimum speed in the storing means as history information even when the current moving speed is less than or equal to the minimum speed. 3. The method according to claim 2, wherein
Navigation device. 9. An electronic map information capable of discriminating a road type is provided, and the control means sets an upper limit value of a moving speed accumulated as history information according to the road type, and the current moving speed is equal to or higher than the upper limit value. In this case, the navigation device according to claim 2, wherein the set upper limit value is stored in the storage means as the maximum speed. 10. The navigation device according to claim 2, wherein the control means does not allow the speed detecting means to detect the moving speed until a predetermined time elapses after the moving body starts moving. 11. The control means controls so as not to issue a warning for a certain period of time from the start of the movement of the moving body even when the moving speed exceeds the history information of the same section. 2 navigation devices. 12. An electronic map information capable of discriminating the type of road is provided, and the control means issues an alarm regardless of history information when the traveling speed exceeds a certain set speed determined by the type of road. 3. The control according to claim 2,
Navigation device. 13. An electronic map information capable of discriminating the type of road is provided, and the control means controls not to record or update the history information when the moving speed exceeds a certain set speed. The navigation device according to claim 2. 14. The navigation device according to claim 2, wherein the control means controls the maximum speed recorded as history information so as to be set in a fixed unit. 15. The control means controls so as not to issue a warning even when the number of times of travel in the section is less than a certain number of times or when the vehicle is moving at a moving speed exceeding the history information. Item 2. Navigation device. 16. The control means, when the number of times that the current moving speed exceeds the history information of the same section reaches a certain number of times or more, updates the history information with the speed as the maximum speed of the section. The navigation device according to claim 2. 17. Road width, straight line length, curve curvature, up / down, distance between traffic lights, etc.
3. The navigation device according to claim 2, further comprising a map reference means capable of referring to information such as whether it is an urban area or a suburb, and having a function of estimating a traveling speed at which a warning is issued based on the information. 18. The navigation device according to claim 2, further comprising weather information detecting means capable of detecting weather information, and having a function of changing a moving speed at which a warning is issued based on the information. 19. The navigation device according to claim 2, further comprising a brightness detection unit capable of detecting ambient brightness, and having a function of changing a moving speed at which a warning is issued based on the information. 20. A headlight state detecting means capable of detecting ON / OFF of a headlight of a moving body, and having a function of changing a moving speed at which a warning is issued based on the information. 2 navigation devices. 21. The navigation device according to claim 2, wherein said control means controls so that information from the outside can be rewritten into history information. 22. The navigation device according to claim 2, wherein said control means controls such that automatic update of history information can be prohibited. 23. The navigation device according to claim 2, wherein the control means controls so that the history information to be referred to can be arbitrarily switched. 24. The navigation device according to claim 2, wherein said control means controls so that history information to be referred to can be automatically switched. 25. When the moving speed is extremely slow or stopped as compared with the preceding and succeeding sections, the control means records it in the history information, and after that, the same is repeated a certain number of times or more. 3. The navigation device according to claim 2, wherein a section having a tendency is stored in the history information as a caution section, and is controlled so as to issue a warning that calls attention when approaching the section. 26. A navigation system comprising the navigation device according to any one of claims 1 to 25 and a current position measuring system.