JP2008071072A - Vehicle trajectory generation device, vehicle trajectory generation method, vehicle trajectory generation program and vehicle traveling support device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To solve the problem in which it is difficult for a vehicle to travel in a waste collection course without mistake to efficiently work. <P>SOLUTION: This device comprises an information acquisition means for acquiring vehicle state information containing all or a part of information for position, direction, speed and backward movement of the vehicle through predetermined measuring devices mounted on the vehicle at predetermined time intervals; and a trajectory information generation means for generating, based on the acquired vehicle state information, a trajectory which the vehicle has moved on and includes roads existing in preliminarily provided map information and routes other than the roads existing in the map information on the map information, further generating accessory information showing all or a part of U-turn position, backward movement section, stopping position and stopping direction of the vehicle on the trace, and generating vehicle trajectory information with the accessory information added to the trajectory. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a vehicle track generation device, a vehicle track generation method, a vehicle track generation program, and a vehicle travel support device.

  When a vehicle traveling on a predetermined course with a certain purpose, such as a truck for collecting waste that collects waste discharged from homes, stores, factories, etc. at each garbage storage (waste collection position), is assumed. It is desirable for such vehicles to collect waste at many collection locations in as short a time as possible. Conventionally, efficient driving of such a vehicle is often left to the memory and experience of the driver. In other words, the optimal driving course is one in which the driver memorizes and learns through a plurality of driving experiences while receiving the instruction from another experienced driver.

As a means for supporting efficient driving of a vehicle, there is a car navigation device that generally uses a GPS (Global Positioning System). In addition, as a conventional technique, an operation route recording device is provided in a car, and this device calculates the geographical position of the car via GPS at intervals of 5 seconds, and the digitized position coordinates are those of the location information. A technique is known in which data is stored in a storage medium together with the time of occurrence (time), and the stored data is saved at the end of operation (see Patent Document 1).
JP-T 9-506449

  There have been many problems when the efficient driving of the vehicle is left to the learning ability of the driver as in the past. In other words, in a waste collection operation, one driver may go to hundreds of collection locations (for example, a garbage store in a convenience store), and it is necessary to go depending on the collection day (day of the week). There was a distinction between places and places that do not need to be visited, and there were cases where the items of waste to be collected (combustible, non-combustible, etc.) were different. It has been extremely difficult to cause each driver to store such a complicated and large amount of information so that the vehicle travels. Furthermore, it is matched to the efficient collection order, the entrance / exit positions from the public roads to the store premises at each collection location, the location of the collection within the store premises, the direction in which the vehicle should be stopped, and the surrounding road conditions There is very detailed information such as an irregular driving method, and the efficiency of waste collection work is completely different depending on whether or not such detailed information is known.

  In a general car navigation system using GPS, an optimum route from the current location of the vehicle to one destination is selected and displayed each time from roads existing in map information prepared in advance. Since the user navigates the hand, each piece of information necessary to efficiently travel through the many collection places as described above has not been considered at all. As described above, Reference 1 does not take into account information necessary for efficiently traveling through a large number of collection locations.

  SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and is a vehicle trajectory generation that enables a driver to reliably run the course without depending on the driver's memory and experience when running a predetermined course with the vehicle. An object is to provide a device, a vehicle trajectory generation method, a vehicle trajectory generation program, and a vehicle travel support device.

  In order to achieve the above object, a vehicle trajectory generation device according to the present invention includes information acquisition means and trajectory information generation means. The information acquisition means acquires vehicle state information including all or part of the position, direction, speed, and forward / backward information of the vehicle at predetermined time intervals via a predetermined measurement device mounted on the vehicle. The predetermined measuring device includes a GPS receiver, a vehicle speed sensor, a gyro sensor, a back sensor, and the like. The information acquisition means acquires vehicle state information from the measuring device at predetermined time intervals while the vehicle is traveling. As a result, vehicle state information at a plurality of points on the vehicle movement trajectory is collected. The trajectory information generation means generates a trajectory on which a vehicle including a road other than the road existing in the map information and the road existing in the map information moves on the map information prepared in advance based on the acquired vehicle state information. To do. In other words, by developing a large number of vehicle state information on the map information, a very detailed movement trajectory of the vehicle can be obtained by using a route other than the road existing in the map information (for example, traveling on private land). Route). Further, the trajectory information generation means generates adjunct information indicating all or part of the U-turn position, reverse section, stop position, and stop direction of the vehicle on the recorded trajectory based on the acquired vehicle state information. To do. And what added additional information to the said locus | trajectory is made into vehicle locus | trajectory information, and this is memorize | stored in a predetermined memory | storage device.

  As described above, according to the present invention, the vehicle trajectory includes a road existing in the map information and a route other than the road present in the map information, and the vehicle's U-turn position, reverse section, stop position, Information on the vehicle trajectory information indicating the stop direction or the like, which is a very detailed movement / trajectory of the vehicle when traveling on a certain course, can be acquired as information. As a result, by referring to the vehicle trajectory information generated in this way during subsequent travel, even the driver who has never traveled the course can travel the same as the vehicle when the vehicle trajectory information is generated. It becomes possible and efficient driving is realized.

  Here, when the purpose is to generate a waste collection course by a vehicle, there are a plurality of waste collection positions on the course. Therefore, the vehicle trajectory generation apparatus may further include an accepting unit that accepts an instruction signal for instructing a waste collection position on the movement trajectory of the vehicle. Then, the trajectory information generation means generates collection position specifying information indicating the waste collection position on the trajectory in response to the instruction signal, and uses this collection position specifying information as part of the attached information. In other words, in addition to the high-accuracy trajectory of the vehicle as described above, the waste collection position on the trajectory is also generated in addition to the vehicle trajectory information, so that the driver who has never traveled the waste collection course at all Even if it exists, by referring to the vehicle trajectory information during traveling, the same traveling as the vehicle when the vehicle trajectory information is generated can be performed, and efficient waste collection can be realized.

  Further, the reception unit may receive collection position attribute information indicating a name, a collection item, a collection order, and a collection date for each waste collection position. The trajectory information generation means associates the collection position attribute information with the corresponding waste collection position and makes it part of the attached information. In other words, the vehicle trajectory information includes the name, collection item, collection order, collection date, etc. for each waste collection position on the trajectory. By referring to the trajectory information at the time of traveling, it is possible to collect waste without any mistake.

  So far, an apparatus for generating vehicle trajectory information has been described. However, an apparatus that utilizes vehicle trajectory information generated by such an apparatus can also be grasped as one invention. That is, means for inputting the vehicle trajectory information generated by any one of the vehicle trajectory generation devices, vehicle position acquisition means for acquiring the vehicle position at a predetermined time interval via a predetermined measurement device mounted on the vehicle, A vehicle travel support device comprising: display means for displaying the current vehicle position and attached information related to the locus and each point of the locus on map information prepared in advance based on the vehicle locus information and the vehicle position. Can be captured. If the vehicle travel support device is mounted on any vehicle, the current vehicle position and vehicle trajectory information can be displayed via the display means, and the same travel as the vehicle when the vehicle trajectory information is generated can be ensured. Can be made.

  Needless to say, it is possible to grasp the invention of a method including steps corresponding to the respective means of the vehicle trajectory generation device and the vehicle travel support device described above, and the invention of a program for causing a computer to execute a function corresponding to each means. Yes.

In the following order, an example of an embodiment of the present invention will be described with reference to the drawings.
(1) Schematic Configuration for Realizing the Present Invention (2) Vehicle Trajectory Information Generation Processing (3) Travel Support Based on Vehicle Trajectory Information (4) Summary (5) Other Embodiments

(1) Schematic Configuration for Realizing the Present Invention FIG. 1 shows a vehicle 10 and a server computer 20 (hereinafter referred to as a server 20) to which the present invention is applied. The vehicle 10 is a truck for collecting waste discarded from a predetermined place such as a home, a store, or a factory, and a part of the vehicle trajectory generation device and a vehicle travel support device are mounted inside. As an example, the vehicle 10 includes an information acquisition unit 11, a vehicle position acquisition unit 12, and a display unit 13 described in the claims. The server 20 includes a display device 50, a keyboard 51, and a mouse 52. The server 20 is a computer for managing and managing the traveling of the plurality of vehicles 10, and serves as a part of the vehicle trajectory generation device. For example, the server 20 is installed in a business office of a person who performs a waste collection business using a plurality of vehicles 10. Further, as an example, the server 20 includes a trajectory information generation unit 21 and a reception unit 22 described in the claims. The vehicle 10 can exchange information with the server 20 by performing communication using a mobile communication function or using a predetermined removable memory as a medium.

FIG. 2 is a block diagram showing the in-vehicle device 30 mounted on the vehicle 10.
The in-vehicle device 30 generally includes a control unit 31, a GPS receiver 32, a gyro sensor 33, a vehicle speed sensor 34, a back sensor 35, a mobile communication unit 36, a memory connection terminal 37, a storage unit 38, a display unit 39, an operation unit 40, and the like. Prepare. The control unit 31 includes a CPU, a ROM, and a RAM, and the CPU executes processing based on a program recorded in the ROM using the RAM as a work area. The control unit 31 serves to control the entire vehicle-mounted device 30 by connecting to each unit constituting the vehicle-mounted device 30. Each measuring device such as the GPS receiver 32, the gyro sensor 33, the vehicle speed sensor 34, and the back sensor 35 has the gyro sensor 33, the vehicle speed sensor 34, and the back sensor 35 connected to the GPS receiver 32 and receives GPS signals. The machine 32 is connected to the control unit 31 via a predetermined interface and outputs a predetermined output to the control unit 31.

The GPS receiver 32 outputs longitude, latitude, altitude, moving speed, moving direction, time (time acquired from the satellite), and the like to the control unit 31 based on a predetermined communication specification such as NMEA.
The gyro sensor 33 is a sensor that detects and outputs the direction of the vehicle 10, and the vehicle speed sensor 34 is a sensor that calculates and outputs the distance traveled by the vehicle 10 based on the vehicle speed pulse. The GPS receiver 32 calculates the position and azimuth of the vehicle 10 based on the output signals from the gyro sensor 33 and the vehicle speed sensor 34 when a signal from a satellite such as in a tunnel cannot be obtained, and outputs the calculated position and direction to the control unit 31.
The back sensor 35 is connected to a back signal line (connection to a backward ramp line, connection to a back signal line such as a fuse box, etc.) to thereby provide information on the backward movement of the vehicle 10 (that the vehicle 10 is backward. Information) is output to the control unit 31 via the GPS receiver 32.

  The mobile communication unit 36 is a device for performing wireless data communication with each system including the server 20, and also supports an E-mail system. The memory connection terminal 37 is a terminal corresponding to attachment / detachment of a predetermined removable memory (for example, USB memory). The storage unit 38 is a storage device composed of a hard disk drive (HDD) or the like, and stores map information used for navigation of the vehicle 10, vehicle trajectory information described later, and the like. The display device 39 is configured by a liquid crystal panel, a CRT, or the like, and displays map information and vehicle trajectory information on the screen under the control of the control unit 31. The operation unit 40 receives an input operation from the outside, and includes a keyboard, a touch panel, and the like. The control unit 31 executes processing according to the input signal from the operation unit 40. The display device 39 and the operation unit 40 are installed in the vicinity of the driver's seat of the vehicle 10.

(2) Vehicle Track Information Generation Processing Vehicle track information generation processing using the in-vehicle device 30 and the server 20 will be described.
FIG. 3 is a flowchart showing processing contents executed by the in-vehicle device 30 according to a predetermined program.
In step S (hereinafter, description of steps is omitted) 100, the control unit 31 determines whether or not a start instruction signal instructing that the generation process of the vehicle trajectory information should be started is input from the operation unit 40. If input, the processing from S110 is started. That is, the process is started when the driver of the vehicle 10 operates the operation unit 40 and instructs the control unit 31 to start the generation process of the vehicle trajectory information.

  When the driver operates the operation unit 40 as described above, the driver starts traveling and collecting waste by the vehicle 10 on the arbitrarily selected waste collection course. The selected waste collection course is a course arbitrarily selected from a plurality of courses in which the collection date, collection place, collection item, etc. of the waste are determined in advance. Specifically, a course for collecting combustibles and recyclable waste from a plurality of contracted convenience stores scattered in a certain district in order of a predetermined store every Monday is assumed as an example. . When the vehicle 10 is traveled for the generation processing of the vehicle trajectory information, the driver travels the selected waste collection course according to his / her own memory or vehicle trajectory information generated in the past.

In S110, based on a built-in clock, the control unit 31 has passed a predetermined period (for example, 0.5 to 1.0 seconds) after the start instruction signal is input or the vehicle state information is acquired most recently. If it is determined that the period has elapsed, the process proceeds to S120. If it is determined that the period has not elapsed, the process waits for the period to elapse.
In S120, the control unit 31 receives the output from each measuring device and performs predetermined calculations as necessary, and acquires the position, direction, speed, reverse information, etc. (vehicle state information) of the vehicle 10 To do.
In S130, the control unit 31 stores the vehicle state information in the storage unit 38 in association with the acquired time.

  In S140, the control unit 31 determines whether or not an end instruction signal instructing that the acquisition of the vehicle state information should be ended is input from the operation unit 40. If the end instruction signal is input, the process proceeds to S150. That is, when the driver of the vehicle 10 operates the operation unit 40 to instruct the control unit 31 that the acquisition of the vehicle state information should be ended, the processes of S110 to 130 are ended. Specifically, when the driver completes the collection work at all the waste collection positions to be visited in the selected waste collection course and returns to a predetermined return place, the operation unit 40 To complete the acquisition of the vehicle state information. On the other hand, while the end instruction signal is not recognized, the control unit 31 repeats the processes of S110 to S130.

  As a result, for example, when vehicle state information is detected at intervals of 1 second and it takes 8 hours to travel on the waste collection course, 3600 × 8 = 28800 times of vehicle state information is obtained in time series. It is stored in the storage unit 38.

In S150, the control part 31 performs the output process to the exterior of the vehicle state information memorize | stored in the memory | storage part 38 by the process to S140. The output processing of the vehicle state information here is not particularly limited, but when the mobile communication unit 36 is used for transmission to the server 20 or when a removable memory is connected to the memory connection terminal 37, the removable processing is performed. Applies to writing to memory.
According to the above-described content, it can be said that the in-vehicle device 30 includes the information acquisition unit 11 in that it has a program or a specific unit for executing the processes of S100 to S150.

Next, FIG. 4 is a flowchart showing the processing contents executed by the server 20 in accordance with a predetermined program. This process is also a part of the generation process of the vehicle trajectory information.
First, in S200, the server 20 inputs vehicle state information acquired by the in-vehicle device 30 from the outside. The server 20 receives the transmission when the vehicle state information stored in the storage unit 38 of the in-vehicle device 30 is transmitted by the mobile communication unit 36, and the removable memory in which the vehicle state information is written is stored in the server 20. When the vehicle is connected to a predetermined connection terminal, the vehicle state information written in the removable memory is read out. The removable memory is connected to the server 20 by being removed from the in-vehicle device 30 after the driver of the vehicle 10 has finished traveling on the waste collection course and brought back to the office.

  In S210, the server 20 stores in advance a map stored in a predetermined storage device (for example, an HDD included in the server 20) based on the input vehicle state information for a plurality of time points (for example, 28800 times as described above). A trajectory of the vehicle 10 is generated on the information. Since the vehicle state information includes information for specifying the position of the vehicle 10 at each time point, the position of the vehicle 10 is developed on the map information in time series to specify the position at each time point, and this specified map The trajectory of the vehicle 10 is generated by connecting the above points. Hereinafter, image data for displaying the locus on the map information is referred to as locus data. It is assumed that the map information provided in advance in the server 20 and the map information stored in the storage unit 38 by the in-vehicle device 30 have the same content.

  FIG. 5 shows the map information 60a and the locus (part of the locus) R that the server 20 displays on the display device 50 during the locus generation processing in S210. In the figure, the locus R is indicated by a chain line. The map information 60a itself is map display data used in normal car navigation, and various areas 62a (parks and private land) other than the road 61a are displayed together with the road 61a recorded in the map information 60a. In the present embodiment, the trajectory R recorded on the map information 60a includes both the road 61a and a route other than the road 61a. In other words, in the middle of the waste collection course, there is naturally a case where the vehicle travels in the premises of a store or a factory for collecting waste. Therefore, a part of the vehicle state information acquired by the in-vehicle device 30 is on the road 61a. The locus R generated based on the vehicle state information may include a route deviated from the road 61a.

In S220, based on the vehicle state information, the server 20 travels the vehicle 10 on the trajectory generated in S210, such as a U-turn position, a turn-back position, a reverse section (hereinafter also referred to as a U-turn position, etc.). Detailed driving information (attached information) specifying the details of the vehicle is generated. In the present embodiment, since the vehicle state information is detected at very fine intervals such as about 0.5 to 1 second, it is possible to generate the detailed travel information as described above.
For example, when the azimuth of the vehicle 10 changes by approximately 180 degrees within a range narrower than a predetermined area on map information set in advance, the server 20 makes a U-turn on the locus portion where the azimuth changes. Specify as location. In addition, even if the trajectory portion has changed by approximately 180 degrees within a range narrower than the predetermined area as described above, the change in the vehicle position before and after the change of the azimuth of approximately 180 degrees is a turning movement more than the U-turn. When it is determined that the position is close to the server 20, the server 20 specifies the locus portion as the turn-back position.

  With respect to the backward section, for example, when there is a section on the trajectory that is continuously acquired for a certain distance (or a certain period of time) longer than a certain distance, this section is specified as the backward section. In addition, if the movement of the vehicle 10 is not limited to the U-turn position, the turn-back position, and the reverse section, and the vehicle 10 moves on a trajectory that can be captured based on the vehicle state information, the server 20 It is possible to specify the position or section and make it a part of the detailed travel information.

  In S230, the server 20 receives information specifying a large number (for example, about 100) of waste collection positions on the trajectory based on an input operation from the outside. Specifically, the server 20 displays map information and a trajectory on the display device 50 and receives information specifying a number of waste collection positions input by the operator via the keyboard 51 and the mouse 52. At this time, the server 20 specifies and displays all the stop positions on the trajectory based on the vehicle state information, and selects the stop position selected by the operator by clicking on the screen from the displayed stop positions. It may be recognized as a waste collection position.

  In other words, the stop positions in the waste collection course include not only the waste collection position where the vehicle 10 stopped, but also a stop by waiting for a signal or a restaurant where the driver stopped for a meal. Therefore, the operator designates the waste collection position from the stop positions on the trajectory. Note that each stop position on the track is specified and displayed when there is a point on the track where the vehicle speed is 0 km or less than a predetermined speed close to the speed of 0 km for a certain period of time. It can be executed by considering it as a position.

  In S240, the server 20 receives attribute information regarding each waste collection position by an input operation from the outside. The attribute information includes the name of the waste collection location (for example, convenience store AAA store), the collected items (for example, combustibles and recyclable garbage), the collection order (nth), the collection date (for example, Monday), etc. Some are possible. Also, it is possible to accept precautions for each waste collection position, for example, information that the engine of the vehicle must be stopped or information that a key is necessary because the waste storage is locked as attribute information. good. That is, the operator designates each waste collection position in S230 and inputs attribute information for each designated waste collection position in S240, and the server 20 receives these pieces of information.

In S250, the server 20 collects the position information (latitude and longitude) of each waste collection position on the trajectory based on the information specifying the waste collection position received in S230. ) Is generated. Further, in the collection position specifying information, the stop direction of the vehicle 10 at each waste collection position is recorded in association with the position information. The stop direction at each waste collection position is specified based on the vehicle state information. Further, in the collection position specifying information, attribute information is recorded in association with the position information of each waste collection position. The collection position specifying information generated in this way is stored in a predetermined storage device together with the trajectory data and the travel detail information.
FIG. 6 shows an example of the collection position specifying information as a table 80. Various attribute information is recorded in the table 80 together with the position of each waste collection position and the stop direction.

  In S260, the server 20 stores the trajectory data relating to the trajectory generated as described above, the travel detail information, and the collection position specifying information as vehicle trajectory information in a predetermined storage device. The travel detail information is information for clearly indicating the U-turn position on the trajectory when the server 20 or the in-vehicle device 30 displays the trajectory on the map information on the display device. It is also possible to include data defining a specific mode (display color, message, symbol, etc.) at the time of performing. Similarly, the collection position specifying information is information for clearly indicating the waste collection position on the locus when the server 20 or the vehicle-mounted device 30 displays the locus on the map information on the display device. It is also possible to include data defining a specific mode when performing the display.

According to the contents described above, it can be said that the server 20 includes the trajectory information generation means 21 in that it has a program or means for executing the processes of S200 to 260, and the processes of S230 and 240 are executed. It can be said that the receiving means 22 is provided.
As described above, as a result of the processing by the in-vehicle device 30 and the server 20 shown in FIGS. 3 and 4, together with trajectory data that faithfully shows the trajectory when a certain driver selects a waste collection course and travels by the vehicle 10. The vehicle trajectory information recording the U-turn position on the trajectory, the waste collection position, etc. is completed.

(3) Travel support by vehicle trajectory information The vehicle trajectory information generated as described above and stored in the storage device of the server 20 is used for navigation during travel of the waste collection course.
First, the vehicle trajectory information is distributed wirelessly from the server 20 to the in-vehicle device 30 of the vehicle 10, or read from the server 20 to the removable memory and connected to the memory connection terminal 37 of the in-vehicle device 30. Is stored in the storage unit 38 of the in-vehicle device 30.

  Next, the driver of the vehicle 10 equipped with the in-vehicle device 30 storing the vehicle trajectory information in the storage unit 38 operates the operation unit 40 and stores it in the storage unit 38 to the display device 39 when starting the waste collection work. The control part 31 is made to perform the process which makes the display based on the map information and vehicle locus information currently performed, and it drive | works according to the navigation using vehicle locus information. That is, the vehicle-mounted device 30 functions as a vehicle travel support device during navigation travel using the vehicle trajectory information.

FIG. 7 illustrates a part of the navigation screen that the control unit 31 displays on the display device 39.
Map information 60b is displayed on the screen. On the map, the current position of the vehicle 10 is displayed (black triangle) in the same manner as a normal car navigation system. That is, the control unit 31 calculates and acquires the current location of the vehicle 10 by continuously detecting the output from each measuring device at predetermined time intervals, and displays the map information around the current location and the current location on the display device 39. ing. Further, the control unit 31 displays the trajectory R on the currently displayed map based on the vehicle trajectory information including the trajectory data. In this sense, it can be said that the in-vehicle device 30 includes the vehicle position acquisition unit 12 and the display unit 13.

When displaying the trajectory R, the control unit 31 causes various displays based on the travel detail information and the collection position specifying information.
In the figure, the locus R is indicated by a solid line and a one-dot chain line in addition to the chain line. In this embodiment, as an example, the forward section of the vehicle 10 is displayed with a chain line, the U-turn position is displayed with a solid line, and the reverse section is displayed with a one-dot chain line. The control unit 31 determines whether or not there is a U-turn position or a backward section on the trajectory R by referring to the travel detail information, and if these exist, the corresponding position or section is not a chain line. A solid line indicating the U-turn position and a one-dot chain line indicating the reverse travel section are displayed. Of course, in addition to the above example, the distinction of forward section, reverse section, U-turn position, etc., can be distinguished by color, or a specific symbol or "Back section" or "U-turn" for each section / position It may be realized by displaying characters such as “”. In addition to the U-turn position and the reverse travel section, the control unit 31 can instruct various travel modes such as a turn-back position and a hatched line change position based on the travel detail information.

  Further, the control unit 31 refers to the collection position specifying information to display the waste collection positions scattered on the trajectory R (stars in the figure) and the stop direction of the vehicle 10 at the waste collection position (vehicles). Can be displayed (arrow in the figure). In the figure, a waste collection position exists at a predetermined position in the area 62b1 (assuming that it is in the convenience store site) among the areas 62b that are not roads 61b, and the stop direction of the vehicle 10 is westward. The case is illustrated.

  In this case, if the driver of the vehicle 10 traveling on the road 61b from the left to the right in the map sees the display based on the vehicle trajectory information, he / she makes a U-turn at the intersection 61b1 and first makes a U-turn. It is only necessary to enter the area 62b1 in the back from the place E2 where entry / exit is possible to the area 62b1, proceed to the waste collection position by back, and stop westward with the rear side of the vehicle 10 facing the waste collection position. Easy to understand. Further, after the waste collection work is completed, if the site in the area 62b1 is advanced, the vehicle turns to the right, and exits the road 61b from the entry / exitable point E1 that is different from when entering the area 62b1, and travels westward. You can easily understand the good. In other words, for a new driver who has little work experience, the waste collection position in the region 62b1, the optimal stop direction, the driving route in the site, and further, any passable places E1 to E3 from the road 61b are passed. Then, it is very difficult to drive by memorizing detailed information such as whether to enter the site and exit from the site through any of the possible entry points E1 to E3. However, according to the display based on the vehicle trajectory information as in the present invention, even a new driver can travel as efficiently as an experienced driver.

  Further, the control unit 31 refers to the attribute information for each waste collection position specified in the collection position specifying information, and the name of the waste collection position (target position) that should be headed first from the present time, the collection date, Information such as collection items to be collected on the collection date and collection order among all collection positions may be displayed as a sub-screen 39a at a predetermined position on the screen. Specifically, the control unit 31 displays the child scene 39a when the current position of the vehicle 10 is a position within a predetermined distance range centered on the target position.

FIG. 8 shows an example of a display mode of the sub-screen 39a.
For example, the control unit 31 displays the name of the target position, the collection date (day of the week), the collection order, the distance from the current position to the target position, and the like as the first stage display (a) on the sub-screen 39a. Next, when the vehicle 10 further approaches (or arrives) at the target position, the precautions at the target position are displayed as the second stage display (b) of the sub-screen 39a. Then, in a state where the vehicle is stopped at the target position, as the third stage display (c) of the sub-screen 39a, the collection item at the target position, the input column of the collection results, the skip button, etc. are displayed. The collection result input column is a screen for inputting the amount of waste collected by the driver at the target position. In the case where the vehicle 10 includes an automatic waste meter, the measurement result output from the automatic meter may be automatically input as a recovery record. The skip button is a touch panel that is pressed when the driver wants to postpone the collection operation at the target position for some reason.

By performing the display of the sub-screen 39a as described above each time it arrives at each waste collection position, the driver can correctly recognize the characteristics of the waste collection position to be headed by seeing such display, At that time, the items to be collected can be definitely collected.
However, various display modes on the screen are conceivable, and the control unit 31 may display the target position and the collection position to be followed next. In addition, the control unit 31 tabulates whether or not the skip button is pressed at each waste collection position, and displays a list of whether the waste is collected or not collected at each waste collection position. The child screen may be appropriately displayed while the vehicle 10 is traveling.

(4) Summary As described above, in the present invention, the vehicle state information of the vehicle 10 is acquired at a short interval such as once every 0.5 to 1 second while actually driving the vehicle 10 through a predetermined waste collection course. Based on the vehicle state information acquired during the course travel, vehicle trajectory information including trajectory data, travel detail information, and collection position specifying information is generated. Then, during the subsequent travel of the predetermined waste collection course, the display device 39 of the in-vehicle device 30 mounted on the vehicle 10 displays the locus R based on the vehicle locus information together with the map information.

In other words, rather than simply selecting and instructing the course from the current position to the vicinity of the target position from among the roads recorded in the map information as in normal car navigation, veteran driving a waste collection course in the past The driving trajectory when a hand travels is displayed faithfully. Further, in the display of the trajectory according to the present invention, the detailed travel mode on the trajectory such as the U-turn position and the reverse section, the waste collection position, and the stop direction at the position are displayed.
Therefore, even if it is a new driver who does not have various information necessary for efficiently performing the waste collection work by the vehicle 10, it is only necessary to travel by looking at the display according to the vehicle trajectory information. Just like a veteran driver with various information about the collection course, it is possible to run without waste, and it is possible to go around each waste collection point scattered on the course in a short time on the correct route. It becomes.

In addition, the waste collection position is often located not on public roads but on private land such as the site of each store or factory. For efficient collection, the vehicle 10 Is as close as possible to the waste collection position (the rear side of the vehicle with the waste inlet is close to the waste collection position). However, in general car navigation systems, it is only necessary to select a road suitable for driving from the current position to the vicinity of the target position from among the roads recorded in the map information. The driver who searches for the method of approaching the target position through trial and error or stops the vehicle at a location somewhat away from the target position.
The trajectory in the present invention includes a road recorded in map information and a route in an area other than the road. Therefore, when traveling according to the trajectory in the present invention, the traveling route in the private land where the waste collection position exists can be surely understood, and the vehicle 10 can be brought as close as possible to the waste collection position. Compared with the conventional method, the efficiency of waste collection work is dramatically improved.

  Further, in the display of the trajectory based on the vehicle trajectory information according to the present invention, the attribute information such as the name of the waste collection position and the collected item is displayed, so the driver can make an error by looking at the display of the attribute information. Collection work can be executed, and the work efficiency of the whole waste collection work is further improved.

(5) Other Embodiments In the above description, the generation process of the vehicle trajectory information has been described as being executed by the in-vehicle device 30 and the server 20 mounted on the vehicle 10, but the generation processing may be performed only by the in-vehicle device 30. Good. That is, the in-vehicle device 30 may also have the trajectory information generation unit 21 and the reception unit 22, and may realize the vehicle trajectory generation device by itself. In this case, based on an external input operation obtained by the control unit 31 via the operation unit 40, the processing of S210 to 260 in FIG. 4 is executed while appropriately using the storage unit 38 and the display device 39. The map information is stored in the storage unit 38 as described above.

  Furthermore, the operation of inputting information for designating a number of waste collection positions on the trajectory (the operation performed by the operator in S230) is a tour of the waste collection course in the vehicle 10 for collecting vehicle state information. The driver himself may go while he is. In this case, each time the vehicle 10 arrives at each waste collection position, the driver performs an input action such as pressing a specific button (corresponding to the receiving means 22) provided in the operation unit 40. When detecting the input action, the control unit 31 stores the position of the vehicle 10 obtained from the measurement device at that time in the storage unit 38 as a waste collection position. As a result, the information on each waste collection position is stored in the storage unit 38 together with the vehicle state information. Therefore, using this information, the server 20 or the in-vehicle device 30 subsequently performs the generation process of the vehicle trajectory information.

The figure which showed the vehicle and server used as the application object of this invention. The block diagram which showed the vehicle-mounted apparatus. The flowchart which showed the processing content which a vehicle-mounted apparatus performs. The flowchart which showed the processing content which a server performs. The figure which showed the locus | trajectory on map information. The figure which showed an example of the collection position specific information. The figure which showed an example of the screen displayed based on map information and vehicle locus information. The figure which showed an example of the display mode of a subscreen.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 10 ... Vehicle, 11 ... Information acquisition means, 12 ... Vehicle position acquisition means, 13 ... Display means, 20 ... Server, 21 ... Trajectory information generation means, 22 ... Reception means, 30 ... In-vehicle device, 31 ... Control part, 32 ... GPS receiver, 33 ... gyro sensor, 34 ... vehicle speed sensor, 35 ... back sensor, 36 ... mobile communication unit, 37 ... memory connection terminal. 38 ... Storage unit, 39 ... Display device, 39a ... Sub-screen, 40 ... Operation unit, 50 ... Display device, 51 ... Keyboard, 52 ... Mouse, 60a, 60b ... Map information, 61a, 61b ... Road, 62a, 62b, 62b1 ... Area other than road

Claims (6)

Information acquisition means for acquiring vehicle state information including all or part of the position, direction, speed, and reverse information of the vehicle at predetermined time intervals via a predetermined measurement device mounted on the vehicle;
Based on the acquired vehicle state information, a trajectory in which a vehicle including a road existing in the map information and a route other than the road existing in the map information is generated on the map information prepared in advance is generated. Trajectory information generating means for generating adjunct information indicating all or part of the U-turn position, reverse section, stop position, and stop direction of the vehicle in the vehicle, and generating vehicle trajectory information obtained by adding the adjunct information to the trajectory. A vehicle trajectory generation device comprising:   The apparatus further comprises receiving means for receiving an instruction signal for instructing a waste collection position on the movement trajectory of the vehicle from the outside, and the trajectory information generation means indicates a collection position indicating the waste collection position on the trajectory according to the instruction signal. 2. The vehicle trajectory generating apparatus according to claim 1, wherein specific information is generated, and the collected position specifying information is made a part of the attached information.   The accepting means accepts the collection position attribute information indicating the name, the collection item, the collection order, and the collection date for each waste collection position, and the trajectory information generating means corresponds to the collection position attribute information. The vehicle trajectory generation apparatus according to claim 2, wherein the vehicle trajectory generation apparatus is associated with a waste collection position to be a part of attached information. An information acquisition step of acquiring vehicle state information including all or part of the position, direction, speed, and reverse information of the vehicle at predetermined time intervals via a predetermined measurement device mounted on the vehicle;
Based on the acquired vehicle state information, a trajectory in which a vehicle including a road existing in the map information and a route other than the road existing in the map information is generated on the map information prepared in advance is generated. A trajectory information generation step of generating adjunct information indicating all or part of the U-turn position, reverse section, stop position, and stop direction of the vehicle and generating vehicle trajectory information with the adjunct information added to the trajectory. A vehicle trajectory generation method comprising: An information acquisition function for acquiring vehicle state information including all or part of the position, direction, speed, and reverse information of the vehicle at predetermined time intervals via a predetermined measurement device mounted on the vehicle;
Based on the acquired vehicle state information, a trajectory in which a vehicle including a road existing in the map information and a route other than the road existing in the map information is generated on the map information prepared in advance is generated. A trajectory information generation function for generating adjunct information indicating all or part of the U-turn position, reverse section, stop position, and stop direction of the vehicle in the vehicle, and generating vehicle trajectory information with the adjunct information added to the trajectory; A vehicle trajectory generation program that is executed by a computer. Means for inputting the vehicle trajectory information generated by the vehicle trajectory generation device according to any one of claims 1 to 3;
Vehicle position acquisition means for acquiring the vehicle position at predetermined time intervals via a predetermined measuring device mounted on the vehicle;
Display means for displaying on the map information prepared in advance based on the vehicle trajectory information and the vehicle position, the current vehicle position and the associated information related to the trajectory and each point of the trajectory. A vehicle travel support device.

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