JP2005063354A - Device for warning abnormal cruising - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a simply configured abnormal cruise warning device capable of detecting abnormal cruising of a vehicle and giving a warning to a driver. <P>SOLUTION: An ECU 8 removes error elements contained in the present position of a vehicle detected by a GPS receiver 2 and calculates the cruising position of the vehicle on the road for each fixed time, based on a carrier phase integral value received by a DMCA receiver 3. Furthermore, the cruising track of the vehicle is calculated, based on the cruising position of the vehicle on the road. When the cruising track of the vehicle deviates to the right and to the left beyond a predetermined range from a cruising lane, or when a maximum deviation in a direction perpendicular to the direction of the traffic lane of the road is beyond a predetermined distance, it is determined that there is abnormal cruising of the vehicle, and the driver is issued a warning. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to an abnormal running warning device that detects an abnormal running of a vehicle and performs a warning operation.

  Conventionally, for example, Patent Document 1 discloses an apparatus that detects abnormal running of a vehicle and warns a driver.

In this conventional apparatus, an image of the forward running road of the vehicle is taken by the in-vehicle camera when the vehicle is running. The captured image is subjected to image processing by an image processing device, and the lateral displacement of the vehicle in the travel lane, the rotational angular velocity of the vehicle, and the curve radius of the road on which the vehicle is traveling are calculated. Then, the appropriate steering angle of the vehicle is calculated from the calculated data and the traveling speed of the vehicle. Next, the steering angle of the vehicle is detected by the steering angle sensor and compared with the above-described appropriate steering angle. If the detected steering angle of the vehicle is significantly different from the calculated appropriate steering angle, it is judged that abnormal driving such as snoozing driving or side-viewing driving is being performed, and a warning sound is emitted from the buzzer. Warning the driver.
Japanese Patent Publication No. 8-1385

  As described above, in the conventional apparatus, an abnormal steering of the vehicle is detected by performing image processing on the image captured by the in-vehicle camera to calculate an appropriate steering angle and comparing it with the detected steering steering angle of the vehicle. However, in the conventional apparatus, an in-vehicle camera that captures an image of the front road of the vehicle and a control apparatus for controlling the in-vehicle camera are required. In addition, an image processing device for image processing of an image taken by the in-vehicle camera is necessary, and the structure of the device is complicated. In particular, the image processing apparatus has a complicated structure, which is not preferable in terms of design man-hours and costs.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide an abnormal running warning device capable of detecting abnormal running of a vehicle and giving a warning to a driver with a simple configuration.

  In order to achieve the above object, in the abnormal running warning device according to claim 1, detecting means for periodically detecting the traveling position of the vehicle on the road, and the traveling position of the vehicle detected by the detecting means are sequentially stored. A storage unit, a determination unit that calculates a travel locus of the vehicle on the road from the travel position of the vehicle stored in the storage unit, and determines whether or not the vehicle is traveling abnormally based on the travel locus; When it is determined that the vehicle is running abnormally, a warning means for performing a warning operation is provided.

  Thus, in the abnormal running warning device of the present invention, the running position of the vehicle on the road is periodically detected by the detecting means and sequentially stored in the storage means. The determination means calculates a travel locus of the vehicle on the road from the travel position of the vehicle stored in the storage means, and determines whether or not the vehicle is traveling abnormally based on this. If it is determined that the vehicle is running abnormally, the warning means performs a warning operation to warn the driver that the vehicle is running abnormally. As a result, the travel locus of the vehicle can be calculated from the travel position of the vehicle on the road, and based on this, it can be determined whether or not the vehicle is traveling abnormally. Therefore, when detecting abnormal running of the vehicle, an in-vehicle camera and an image processing device are not required, and it is possible to detect abnormal running of the vehicle with a simple configuration and to give a warning to the driver.

  According to a second aspect of the present invention, the determination means determines that the vehicle is traveling abnormally when the travel locus of the vehicle deviates from the predetermined range centered on the travel lane of the vehicle. It is desirable. When the traveling locus of the vehicle deviates from the predetermined range centering on the traveling lane of the vehicle, it means that the vehicle is traveling while meandering. In such a case, it is necessary to warn the driver and encourage the vehicle to travel properly.

  According to a third aspect of the present invention, when the maximum deviation in the direction perpendicular to the lane direction of the road of the traveling locus of the vehicle exceeds a predetermined distance, the determination unit determines that the vehicle is traveling abnormally. You may judge. When the maximum deviation of the vehicle travel locus in the direction perpendicular to the lane direction of the road exceeds a predetermined distance, it means that the vehicle is traveling while meandering. Therefore, it is desirable to warn the driver and encourage the vehicle to travel properly.

  According to a fourth aspect of the present invention, the determination means preferably determines that the vehicle is traveling abnormally when the traveling locus of the vehicle deviates from the roadway. This is because it is necessary to warn the driver and drive the vehicle to travel on the road when the vehicle's travel locus deviates from the road.

  As described in claim 5, in each lane of each road, there is provided database means for storing traffic information indicating whether or not the vehicle can pass, and the determination means is based on the traffic information stored in the database means, It is desirable to determine that the vehicle is traveling abnormally when the traveling locus of the vehicle deviates to a lane where traffic is prohibited. A warning to the driver if the vehicle's running trajectory on the road deviates from a lane that is prohibited due to road construction, etc., or a lane where general vehicles such as bus lanes are prohibited This is because it is necessary to prompt the driver to change the driving lane.

  According to a sixth aspect of the present invention, it is desirable that the detection means detects a traveling position of the vehicle on the road by a Real Time Kinetic GPS (RTK-GPS) method. The RTK-GPS method is a kind of position measurement method using GPS, and can detect a position with an error of about several centimeters. In addition, in the RTK-GPS system, the position of a moving object can be detected in real time. By performing position detection by the RTK-GPS method, it is possible to detect the traveling position of the vehicle on the road with high accuracy.

(First embodiment)
FIG. 1 is a block diagram showing the overall configuration of the abnormal running warning device in the first embodiment of the present invention. The abnormal running warning device 1 of this embodiment is mounted on a vehicle and operates.

  The GPS receiver 2 receives a GPS signal for position measurement transmitted from a GPS satellite (not shown) that is an artificial satellite, and detects the current position of the vehicle. The current position of the vehicle detected by the GPS receiver 2 includes an error of several meters due to its accuracy.

  The DMCA receiver 3 receives a carrier phase integrated value transmitted from a ground base station (not shown). This carrier phase integrated value is a value obtained by integrating the phase of the carrier contained in a GPS signal received from a GPS satellite (not shown) by the base station. A small general-purpose wireless device may be used for reception of the carrier phase integrated value.

  The map data input device 4 is composed of, for example, a hard disk, and stores map information including road information, building information, address information of each area, zip code information, and the like as map data. The map data may be stored in a CD-ROM or DVD-ROM.

  The display 5 is, for example, an in-vehicle small liquid crystal display, and displays a warning screen that warns that the vehicle is running abnormally. The warning screen may be displayed on the windshield of the vehicle by an in-vehicle head-up display.

  The speaker 6 is a small vehicle-mounted speaker, for example, and outputs a warning sound that warns that the vehicle is running abnormally. The warning sound may be output from an audio speaker mounted on the vehicle.

  The memory 7 is a DRAM, for example, and sequentially stores the traveling position of the vehicle on the road. These memories may be stored in a memory card or the like.

  The ECU 8 is composed of a known computer, and based on the carrier phase integrated value received by the DMCA receiver 3, removes an error component included in the current position of the vehicle detected by the GPS receiver 2, so that a more accurate vehicle The current position is calculated. This operation is performed at regular intervals, and the current position of the vehicle from which the error component has been removed is sequentially stored in the memory 7 as the traveling position of the vehicle on the road.

  The aforementioned error component is removed by the RTK-GPS method. Specifically, first, GPS signals transmitted from a plurality of GPS satellites (not shown) are received by the GPS receiver 2 mounted on the vehicle, and the carrier phase integrated value of each GPS signal is calculated. Next, the DMCA receiver 3 receives a carrier phase integrated value transmitted from a ground base station (not shown). The GPS receiver 2 calculates the double phase difference between the carrier phase integrated value calculated from each GPS signal received by the GPS receiver 2 and the carrier phase integrated value received by the DMCA receiver 3. An error component included in the detected current position of the vehicle is removed. The above-mentioned base station has an accurate latitude, longitude and altitude on the ground. In addition, the accurate orbit of each GPS satellite is determined from satellite orbit information such as almanac and ephemeris. Therefore, the error component included in the current position of the vehicle detected by the GPS receiver 2 can be removed by calculating the double phase difference based on the carrier phase integrated value transmitted from the base station. is there. Regarding the details of the RTK-GPS method, the Geospatial Information Authority of Japan A.1-No. 228, which is referred to.

  Further, the ECU 8 calculates a travel locus of the vehicle on the road from the travel position of the vehicle on the road stored in the memory 7 at every predetermined distance or every predetermined time. Further, when the calculated vehicle travel locus deviates from the predetermined range centered on the vehicle travel lane to the left and right, it is determined that the vehicle is traveling abnormally, and a warning screen is displayed on the display 5. And a warning sound is output from the speaker 6.

  FIG. 2 is a flowchart regarding a process in which the abnormal traveling warning device of the first embodiment detects abnormal traveling of the vehicle and warns the driver. The processing of this flowchart is executed at regular time intervals.

  In step 201, the ECU 8 acquires the current position of the vehicle detected by the GPS receiver 2. In step 202, the running position of the vehicle on the road is calculated by the RTK-GPS method from the current position of the vehicle detected in step 201. By using the RTK-GPS method, the traveling position of the vehicle on the road can be calculated with high accuracy.

  In step 203, the vehicle travel position calculated in step 202 is stored in the memory 7. In step 204, a travel locus on the road of the vehicle is calculated from the travel position of the vehicle stored in the memory 7.

  In step 205, whether or not the travel locus of the vehicle calculated in step 204 deviates from the predetermined range centered on the travel lane of the vehicle, that is, whether or not the vehicle is traveling while meandering. (Refer to FIG. 3: an example of a traveling locus of the vehicle on the road). If the calculated travel locus of the vehicle deviates from the predetermined range centered on the travel lane of the vehicle, it means that the vehicle is traveling while meandering. In such a case, it is necessary to warn the driver and encourage the vehicle to travel properly. If it is determined that the travel locus of the vehicle deviates from the predetermined range centered on the travel lane of the vehicle, the process proceeds to step 206. If not, the process ends.

  In step 206, a warning screen is displayed on the display 5 and a warning sound is output from the speaker 6 to warn the driver that the vehicle is running abnormally.

  As described above, in the abnormal travel warning device of the present embodiment, the travel position of the vehicle on the road is calculated at regular time intervals and is sequentially stored in the memory 7 to calculate the travel locus of the vehicle. When the calculated travel locus deviates from the predetermined range centered on the travel lane of the vehicle to the left and right, a warning screen is displayed on the display 5 and a warning sound is output from the speaker 6. Thereby, it is possible to detect abnormal running of the vehicle with a simple configuration and to give a warning to the driver.

  Next, a modification of this embodiment will be described.

  The ECU 8 according to the present modification calculates the maximum deviation in the direction perpendicular to the lane direction of the road from the travel locus of the vehicle calculated every predetermined travel distance or every predetermined time. If the maximum deviation is equal to or greater than the predetermined distance, it is determined that the vehicle is running abnormally, a warning screen is displayed on the display 5, and a warning sound is output from the speaker 6. Thus, even if the maximum deviation is used, it can be detected that the vehicle meanders.

  Other configurations and operations are the same as those in the above-described embodiment, and thus description thereof is omitted.

  FIG. 4 is a flowchart relating to a process in which the abnormal running warning device according to the present modification detects abnormal running of the vehicle and warns the driver. As shown in FIG. 4, this flowchart is provided with a step of calculating a maximum deviation in a direction perpendicular to the lane direction of the road from the calculated vehicle travel locus in the flowchart of FIG. 2 described above. Further, in place of determining whether the travel locus of the vehicle deviates left and right from a predetermined range centered on the travel lane of the vehicle, whether the aforementioned maximum deviation is a predetermined distance or more is determined. A determination step is provided. In other words, the processing of steps 401 to 404 and 407 is the same as the processing in the flowchart of FIG. 2 described above, and the description thereof is omitted. In addition, the process of this flowchart is performed for every fixed time.

  In step 405, the maximum deviation in the direction perpendicular to the lane direction of the road is calculated from the travel locus of the vehicle calculated in step 404 (see FIG. 5).

  In step 406, it is determined whether or not the maximum deviation calculated in step 405 is greater than or equal to a predetermined distance. If the calculated maximum deviation is greater than or equal to the predetermined distance, the process proceeds to step 407 to display a warning screen on the display 5 and output a warning sound from the speaker 6 to warn the driver that the vehicle is running abnormally. To do. If the maximum deviation in the direction perpendicular to the lane direction of the road on the road on the road exceeds a predetermined distance, it means that the vehicle is running while meandering. Therefore, it is necessary to give a warning to the driver and encourage the vehicle to travel properly. If the calculated maximum deviation is less than or equal to the predetermined distance, the process is terminated.

(Second Embodiment)
Next, the abnormal running warning device in the second embodiment of the present invention will be described.

  In addition to the functions of the first embodiment described above, the map data input device 4 of the present embodiment stores traffic information indicating whether or not a vehicle can pass through each lane of each road. Specifically, on each road, traffic information is prohibited for lanes that are under road construction and lanes for bus lanes, and traffic is allowed for other lanes.

  The ECU 8 according to the present embodiment determines that the vehicle is traveling abnormally when the calculated traveling locus of the vehicle deviates from the roadway, displays a warning screen on the display 5, and displays a warning sound from the speaker 6. Is output. Further, when the calculated vehicle travel path deviates from the traffic information described above to a lane where traffic is prohibited, it is determined that the vehicle is traveling abnormally and a warning screen is displayed on the display 5. The warning sound is output from the speaker 6.

  Other configurations and operations are the same as in the case of the first embodiment described above, and a description thereof will be omitted.

  FIG. 6 is a flowchart regarding a process in which the abnormal traveling warning device of the second embodiment detects abnormal traveling of the vehicle and warns the driver. As shown in FIG. 6, this flowchart shows whether or not the travel locus of the vehicle deviates from the predetermined range centered on the travel lane of the vehicle to the left and right in the flowchart of FIG. 2 in the first embodiment described above. In place of the step of determining whether or not the vehicle's travel locus deviates from the roadway of the road, and whether or not the vehicle's travel locus deviates to a lane where traffic is prohibited There is provided a step of determining whether or not. In other words, the processing in steps 601 to 604 and 607 is the same as the processing in the flowchart of FIG. 2 described above, and the description thereof is omitted. In addition, the process of this flowchart is performed for every fixed time.

  In step 605, it is determined whether or not the vehicle travel locus calculated in step 604 deviates from the roadway of the road (see FIG. 7A). If the travel locus of the vehicle deviates from the roadway of the road, the process proceeds to step 607 where a warning screen is displayed on the display 5 and a warning sound is output from the speaker 6 to cause the driver to run abnormally. Be warned. This is because when the vehicle travel locus deviates from the roadway, it is necessary to warn the driver and encourage the vehicle to travel along the roadway. When the traveling locus of the vehicle on the road does not deviate from the roadway of the road, the process proceeds to step 606.

  In step 606, it is determined whether or not the travel locus of the vehicle calculated in step 604 has deviated to a lane in which traffic is prohibited (see FIG. 7B). If the vehicle travel path deviates to a lane where traffic is prohibited, the process proceeds to step 607 where a warning screen is displayed on the display 5 and a warning sound is output from the speaker 6 to cause the driver to run abnormally. Warning that is being done. If the vehicle's travel trajectory deviates from a lane that is prohibited due to road construction, etc., or a lane where general vehicles such as bus lanes are prohibited, the driver is warned. This is because it is necessary to prompt the driver to change the driving lane. If the vehicle travel locus does not deviate to a lane in which traffic is prohibited, the process ends.

  As described above, the abnormal travel warning device according to the present embodiment warns the driver even when the travel locus of the vehicle deviates from the roadway or deviates to a lane where traffic is prohibited. The vehicle can be urged to travel properly.

  In each of the embodiments described above, the error component is removed from the current position of the vehicle detected by the GPS receiver 3 using the RTK-GPS method, and the traveling position of the vehicle on the road is calculated. However, the differential GPS (DGPS) method may be used to remove the error component from the current position of the vehicle detected by the GPS receiver 3 and calculate the traveling position of the vehicle on the road. Moreover, it is good also as using these together. As a result, the traveling position of the vehicle on the road can be calculated with high accuracy.

  Further, in each of the above-described embodiments, the GPS is used for calculating the traveling position of the vehicle on the road. However, the traveling speed of the vehicle and the steering angle may be measured at regular intervals and stored sequentially, and the traveling position of the vehicle on the road may be calculated based on this. Moreover, you may use together with GPS. As a result, the traveling position of the vehicle on the road can be calculated with higher accuracy.

It is a block diagram which shows the whole structure of the abnormal driving | running | working warning apparatus in 1st Embodiment of this invention. It is a flowchart regarding the process which the abnormal driving | running | working warning apparatus of 1st Embodiment detects the abnormal driving | running | working of a vehicle and warns a driver. It is a figure which shows an example of the driving | running | working locus | trajectory of the vehicle on the road with the case where the vehicle is drive | working normally, and the case where it is running meandering. It is a flowchart regarding the process which the abnormal driving | running | working warning apparatus in the modification of 1st Embodiment detects the abnormal driving | running | working of a vehicle and warns a driver. It is a figure which shows the relationship between the driving | running | working locus | trajectory of the vehicle on a road, and the maximum deviation in the direction perpendicular | vertical to the lane direction of the said road. It is a flowchart regarding the process which the abnormal driving | running warning apparatus of 2nd Embodiment detects the abnormal driving | running | working of a vehicle and warns a driver. It is a figure which shows an example of the driving | running | working locus | trajectory of a vehicle when the vehicle deviates from a roadway, and when deviates to a traffic prohibition lane.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Abnormal running warning apparatus 2 ... GPS receiver 3 ... DMCA receiver 4 ... Map data input device 5 ... Display 6 ... Speaker 7 ... Memory 8 ... ECU

Claims (6)

Detecting means for periodically detecting the traveling position of the vehicle on the road;
Storage means for sequentially storing the travel position of the vehicle detected by the detection means;
A determination unit that calculates a travel locus of the vehicle on the road from the travel position of the vehicle stored in the storage unit, and determines whether or not the vehicle is traveling abnormally based on the travel locus;
An abnormal travel warning device comprising: warning means for performing a warning operation when the determination means determines that the vehicle is running abnormally. The determination means includes
2. The vehicle according to claim 1, wherein the vehicle is determined to be traveling abnormally when a travel locus of the vehicle deviates left and right from a predetermined range centered on the travel lane of the vehicle. Abnormal driving warning device. The determination means includes
2. The vehicle is determined to be traveling abnormally when a maximum deviation of a travel locus of the vehicle in a direction perpendicular to a lane direction of the road exceeds a predetermined distance. The abnormal running warning device described. The determination means includes
The abnormal travel warning device according to claim 1, wherein when the travel locus of the vehicle deviates from the roadway of the road, it is determined that the vehicle is traveling abnormally. In each lane of each road, there is provided database means for storing traffic information indicating whether or not the vehicle can pass,
If the vehicle departs from the traffic information stored in the database unit to a lane in which the vehicle is not permitted to travel, the determination unit is abnormally running. The travel warning device according to claim 1, wherein the travel warning device is determined. 2. The abnormal traveling warning device according to claim 1, wherein the detecting means detects a traveling position of the vehicle on the road by a Real Time Kinetic GPS (RTK-GPS) method.

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