JP2008276590A - Warning device and warning method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a warning device and a warning method, by which when one's own vehicle is likely to run in an opposite direction of a traveling road, a driver can immediately avoid the risk of a collision accident with an oncoming vehicle running in the traveling direction of the traveling road. <P>SOLUTION: The device comprises a reverse run probability determination part 160 and a warning part 180. When the determination part 160 determines the probability of reverse run of the own vehicle in the traveling direction of the road, the warning part 180 guides a direction of the own vehicle for avoiding the reverse run to the driver, whereby guide information necessary for safely avoiding the reverse run is provided to the driver. Accordingly, the driver can accurately and immediately avoid the reverse run by driving the vehicle according to the guide, and the risk of the collision accident with the oncoming vehicle traveling along the traveling direction of the road can be avoided. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a warning guidance device and a warning guidance method, and is particularly suitable for use in a navigation device having a function of providing road guidance to a driver.

  In general, an in-vehicle navigation device detects the current position of a vehicle using a self-contained navigation sensor, a GPS (Global Positioning System) receiver, or the like, reads out map data in the vicinity thereof from a recording medium, and displays it on a screen. The vehicle position mark indicating the vehicle position is superimposed and displayed at a predetermined location on the screen so that the position where the vehicle is currently traveling can be known at a glance.

  Also, most recent navigation devices are equipped with a route guidance function. This route guidance function uses map data to automatically search for the route with the lowest cost from the current location to the destination, and uses the searched route as a guidance route to change the color on the map screen to be thicker. draw. Further, when the vehicle approaches within a certain distance of the guidance intersection on the guidance route, the driver is guided to the destination by displaying the enlarged intersection map and performing the intersection guidance. By setting a guidance route using this route guidance function and traveling according to the guidance, it is possible to reliably reach the destination without knowing the road.

  Also, in the above navigation device, for example, when the driver makes a wrong place to turn right or left and the vehicle deviates from the guidance route, a function called auto reroute that automatically searches for a route to return to the guidance route and displays it on the screen It has. In this type of in-vehicle navigation device, guidance information can be provided to the driver so that the vehicle returns to the original guidance route along the route searched by the auto-reroute function.

  By the way, looking at the situation of recent traffic accidents, if the vehicle is traveling on a one-way road, such as a highway or a road with a median, the vehicle is A vehicle that has run backward in the direction of road traffic on the traveling road due to a spin and accidentally reverse running in the road direction of the traveling road due to injury and mental sway received by the driver There have been many accidents involving collisions.

Thus, when a state occurs in which the vehicle runs backward in the road direction of the traveling road, the conventional navigation device re-searches the route returning to the original guidance route by determining that the vehicle has deviated from the guidance route, Guidance information is provided to the driver so that the vehicle returns to the guidance route along the searched route. In addition, when the vehicle is running backward on the guidance route, the text indicating that the vehicle is running backward on the guidance route is displayed on the display screen, and a voice output indicating that the vehicle is running backward on the guidance route is made. Technology also exists (see, for example, Patent Document 1).
JP-A-5-296775

  However, in the above-described conventional navigation device, when a situation occurs in which the host vehicle runs backward in the road traffic direction of the traveling road, guidance information for returning the host vehicle to the original guidance route by the re-searched guidance route, It only provided the driver with information indicating that he was traveling backward on the guidance route. For this reason, it is difficult for a driver who is spinning and upset to quickly avoid reverse running, and the risk of encountering a collision with an oncoming vehicle that has traveled along the road direction of the road is inevitable. There was a problem.

  The present invention has been made in order to solve such a problem, and when there is a risk that the vehicle may run backward in the road traffic direction of the traveling road due to the spin, the driver may The object is to promptly and accurately avoid the risk of encountering a collision with an oncoming vehicle traveling in the direction of traffic.

  In order to solve the above-described problem, in the present invention, when it is determined that the host vehicle may run backward in the road direction of the traveling road, the host vehicle may collide with another vehicle due to reverse running. In addition to warning the driver about this, the guidance direction of the host vehicle for avoiding the reverse running is guided to the driver.

  According to the present invention configured as described above, in the case where there is a risk that the driver may reversely drive in the reverse direction of the road on the road by mistaken driving operation, in order to safely avoid the reverse running Necessary guidance information will be provided to the driver. As a result, the driver can quickly and accurately avoid reverse running by traveling according to the guidance, and the risk of encountering a collision with an oncoming vehicle traveling in the road direction of the traveling road. Can be avoided.

  Hereinafter, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram illustrating a configuration example of the warning guidance device 100 according to the present embodiment. The warning guidance device 100 of the present embodiment is implemented by a navigation device having a function of providing road guidance to the driver.

  In FIG. 1, the warning guidance device 100 includes a traveling state detection unit 120, a storage unit 140, a reverse running possibility determination unit 160, a warning guidance unit 180, an output unit 200, and a storage unit 390. The traveling state detection unit 120 detects the traveling state of the host vehicle. Details of this running state will be described later. The storage unit 140 stores map data used for searching for guidance routes and the like. This map data includes road information. In this embodiment, the memory | storage part 140 has memorize | stored the information of the shape of a road, road width, and traffic regulation (road traffic direction etc.) as road information.

  Based on the traveling state of the host vehicle detected by the traveling state detection unit 120 and the road information stored in the storage unit 140, the reverse traveling possibility determination unit 160 reverses the road direction of the traveling road. Determine if there is a possibility of running. Details of this determination will be described later.

  The warning guide unit 180, when the reverse vehicle possibility determination unit 160 determines that the host vehicle may run backward in the road direction of the traveling road, the host vehicle runs backward in the road direction of the road. Thus, the driver is warned that there is a possibility that the host vehicle will collide with the oncoming vehicle, and the driver is guided in the guidance traveling direction of the host vehicle for avoiding the reverse running. At this time, the warning guidance unit 180 generates guidance traveling direction information representing the guidance traveling direction of the host vehicle based on a request from the driver or a guidance route generated by the driver, and outputs the guidance traveling direction information to the output unit 200.

  The output unit 200 is, for example, a display. The output unit 200 displays information indicating the current position of the host vehicle and map information around the current position. Further, the output unit 200 displays the guidance traveling direction information output from the warning guide unit 180. Along with this guidance traveling direction information, a warning to the driver and a message to be notified can be displayed. Note that the output unit 200 may output the guidance traveling direction information, warning, message, and the like output by the warning guide unit 180 through a speaker attached thereto.

  Next, the internal configuration of the traveling state detection unit 120 will be described. As shown in FIG. 1, the running state detection unit 120 includes a spin detection unit 220, a stop state detection unit 240, a vehicle position traveling direction detection unit 260, an angular velocity detection unit 280, and a speed detection unit 300.

  The spin detection unit 220 detects the occurrence of spin in the host vehicle. The stop state detection unit 240 detects that the host vehicle is in a stop state. The vehicle position traveling direction detection unit 260 detects the current position of the host vehicle and the vehicle traveling direction. Angular velocity detector 280 detects the angular velocity of the host vehicle. In the present embodiment, the angular velocity detection unit 280 is a gyro sensor mounted on the host vehicle. The speed detection unit 300 detects the speed of the host vehicle. In the present embodiment, the speed detection unit 300 is a speed sensor mounted on the host vehicle.

  When the stop state detection unit 240 determines that the speed of the host vehicle detected by the speed detection unit 300 has become zero, the stop state detection unit 240 detects that the host vehicle is in a stop state. The vehicle position advancing direction detection unit 260 detects the current position and the advancing direction of the own vehicle based on output information of an autonomous navigation sensor, GPS (Global Positioning System) mounted on the own vehicle. Specifically, the autonomous navigation sensors are an angular velocity detection unit 280 and a velocity detection unit 300.

  For example, when the spin detection unit 220 monitors the value of the angular velocity detected by the angular velocity detection unit 280 while the vehicle is running, and determines that the detected angular velocity is greater than or equal to a predetermined value, Detection of vehicle spin generation (hereinafter referred to as pattern 1 spin generation detection method).

  Further, the spin detection unit 220 monitors the change amount per unit time of the speed detected by the speed detection unit 300, and determines that the change amount per unit time of the speed is equal to or greater than a predetermined value. Is detected (hereinafter referred to as pattern 2 spin generation detection method).

  The spin detection unit 220 monitors the value of the angular velocity detected by the angular velocity detection unit 280 after the stop state of the host vehicle is detected by the stop state detection unit 240, and determines that the angular velocity is equal to or greater than a predetermined value. At this time, the occurrence of spin in the host vehicle is detected (hereinafter referred to as the pattern 3 spin occurrence detection method).

  The detection of these spin generations will be described with reference to FIG. FIG. 2 shows changes in the speed, angular velocity, and movement of the host vehicle until the spin detection unit 220 detects the occurrence of spin in the host vehicle. 2A shows a change in the speed of the host vehicle, FIG. 2B shows a change in the angular speed, and FIG. 2C shows a movement of the host vehicle.

  FIG. 2C shows a situation in which the host vehicle spins for some reason after passing through a normal curve (B to D in the figure) and then stops (near G to J in the figure). . In addition, according to the change in the speed of the host vehicle shown in FIG. 2A, the host vehicle moved with a relatively small speed change up to the point F in the figure, but a sudden speed change from the point G in the figure. Appears and stops at point J in the figure where the speed is zero.

  2 will be described in the light of the spin generation detection method of pattern 1 described above, according to the change in the angular velocity of the host vehicle shown in FIG. 2B, while the host vehicle is moving from point A to point F in the figure. Although there is no significant change in angular velocity, a sudden change in angular velocity appears in a short time from point G in the figure, and exceeds the upper threshold and the lower threshold at a certain point. When the spin detection unit 220 determines that the angular velocity of the host vehicle has exceeded the upper limit threshold value or the lower limit threshold value, the spin detection unit 220 detects the occurrence of spin in the host vehicle.

  2 will be described in the light of the spin generation detection method of the pattern 2 described above. According to the change in the speed of the own vehicle shown in FIG. 2A, the own vehicle is located at points F to G, I to J in the figure. While moving the point, a large change appears in the amount of change in speed per unit time. When the spin detection unit 220 determines that the amount of change in the speed of the host vehicle per unit time is equal to or greater than a predetermined value, the spin detection unit 220 detects the occurrence of spin in the host vehicle.

  2 will be described in light of the above-described spin generation detection method of pattern 3. According to the change in the angular velocity of the own vehicle shown in FIG. 2B, the own vehicle is shown in FIG. 2A. Despite stopping at point J and the speed becoming zero, the angular velocity still changes. When the speed of the host vehicle becomes 0 (stopped) as described above, the spin detection unit 220 determines that the speed of the host vehicle does not become zero (that is, a skid has occurred). Detect spin generation.

  Three methods have been described in which the spin detection unit 220 detects the occurrence of spin in the own vehicle. However, the spin detection unit 220 may detect the occurrence of spin in the own vehicle by using only one of them. The occurrence of spin in the host vehicle may be detected by a combination of two or three.

  Next, the internal configuration of the reverse running possibility determination unit 160 will be described. The reverse running possibility determination unit 160 includes an angle difference detection unit 320. The angle difference detection unit 320 checks the road traffic direction of the traveling road passing through the current position of the host vehicle detected by the vehicle position traveling direction detection unit 260 based on the road information stored in the storage unit 140. Then, the angle difference detection unit 320 detects the angle difference between the confirmed road passage direction of the traveling road and the vehicle traveling direction of the host vehicle detected by the vehicle position traveling direction detection unit 260. In the present embodiment, the angle difference detection unit 320 detects the above-described angle difference when the stop state of the host vehicle is detected by the stop state detection unit 240 after the spin detection unit 220 detects the spin of the host vehicle. To detect. Then, the reverse running possibility determination unit 160 determines whether the angle difference detected by the angle difference detection unit 320 is a predetermined value (for example, 90 °) or more, and the angle difference is a predetermined value or more. When it is determined, it is determined that there is a possibility that the own vehicle may run backward in the road traffic direction of the traveling road.

  Next, the determination operation of the angle difference detection unit 320 will be described with reference to FIG. FIG. 3 shows a situation in which the host vehicle indicated by the host vehicle position in the drawing is stopped at a position from the right with respect to the traveling road and facing diagonally left rear with respect to the road traffic direction of the traveling road. Yes. In FIG. 3, both ends of the road are indicated by solid lines on both the left and right sides, and the vehicle traveling direction of the host vehicle is indicated by the leading end direction of S. The angle difference detection unit 320 includes a road traveling direction of the traveling road passing through the vehicle position detected by the vehicle position traveling direction detection unit 260 and a vehicle traveling direction of the host vehicle detected by the vehicle position traveling direction detection unit 260. The angle difference θ is detected.

  Next, the internal configuration of the warning guide unit 180 will be described. The warning guide unit 180 includes a guidance route generation unit 340. The guidance route generation unit 340 generates a guidance route for guiding the host vehicle from the traveling direction of the vehicle to the road traffic direction of the traveling road. Based on the guidance route generated by the guidance route generation unit 340, the warning guide unit 180 drives the guidance traveling direction of the host vehicle to avoid running backward on the traveling road in the direction opposite to the road traffic direction. Guide the person.

  Next, the internal configuration of the guidance route generation unit 340 will be described. The guidance route generation unit 340 includes a distance detection unit 360 and a collision determination unit 380. The distance detection unit 360 detects the distance from the current position of the host vehicle to the left end of the traveling road (corresponding to the first distance of the present invention) and the distance to the right end of the traveling road (corresponding to the second distance of the present invention). To do. For example, as illustrated in FIG. 3, when the stop state of the host vehicle is detected by the stop state detection unit 240, the distance detection unit 340 positions the host vehicle based on road information stored in the storage unit 140. While confirming the shape and width of the road, using the current position of the host vehicle (the position of the host vehicle in the width direction on the road) detected by the vehicle position traveling direction detection unit 260, the distance to the left end of the traveling road And the distance to the right edge.

  In the present embodiment, when the guidance route generation unit 340 determines that the distance to the left end is longer than the distance to the right end based on the detection result of the distance detection unit 360, from the current position of the host vehicle to the left end of the traveling road. A guidance route through which the vehicle passes is generated. On the other hand, when it is determined that the distance to the right end is longer than the distance to the left end, the guidance route generation unit 340 generates a guidance route through which the host vehicle passes from the current position of the host vehicle to the right end of the traveling road.

  For example, as illustrated in FIG. 4, when the guidance route generation unit 340 determines that the distance to the left end is longer than the distance to the right end based on the detection result of the distance detection unit 360, the vehicle travels from the current position of the host vehicle. A guide route through which the vehicle passes through to the left end of the road is generated. Furthermore, the guidance route generation unit 340 turns the right side of the traveling road from the stop position of the own vehicle by making a right turn while the host vehicle stopped for a while runs backward with respect to the road traffic direction of the traveling road. A guidance route is generated that passes through to the left end and expands in the same direction as the road traffic direction while rotating as it is.

  The collision determination unit 380 includes the minimum rotation radius of the host vehicle stored as information in the second storage unit 390, the vehicle traveling direction detected by the vehicle position traveling direction detection unit 260, and the host vehicle detected by the distance detection unit. Taking into account the distance from the current position of the vehicle to the left edge of the road and the distance to the right edge of the road, a guide route that guides the vehicle from the vehicle traveling direction to the road direction of the road is on the left or right edge of the road. Determine if there is a collision. Specifically, the collision determination unit 380 compares the distance from the current position of the host vehicle to the left end of the traveling road and the distance to the right end. Then, the collision determination unit 380 compares the distance to the road end that is determined to be long and the length of the minimum turning radius of the host vehicle.

  If it is determined that the distance from the current position of the host vehicle to the left end of the traveling road or the distance to the right end is longer than the minimum turning radius of the host vehicle, the collision determination unit 380 moves the host vehicle from the traveling direction of the vehicle. It is determined that the guide route for guiding in the road traffic direction does not collide with the left end or the right end of the traveling road. On the other hand, when determining that the distance from the current position of the host vehicle to the left end of the traveling road or the distance to the right end is shorter than the minimum turning radius of the host vehicle, the collision determination unit 380 moves the host vehicle from the traveling direction of the vehicle. It is determined that the guide route for guiding in the road traffic direction collides with the left end or the right end of the traveling road. At this time, the guidance route generation unit 340 generates a guidance route including the backward movement of the host vehicle in order to avoid the collision.

  Next, the warning guidance operation by the warning guidance unit 180 will be specifically described. FIG. 5 shows a state where the host vehicle is spinning and is parked in a state of facing left rear with respect to the road traffic direction of the traveling road. In this case, in order for the own vehicle to return to the road traffic direction, while avoiding a collision with the oncoming vehicle traveling along the road traffic direction, along the arrow indicating the direction of travel of the own vehicle in FIG. It is necessary to move the vehicle. Therefore, when an event as shown in FIG. 5 occurs, the warning guide unit 180 displays the warning guide screen shown in FIG. 6 on the output unit 200 to alert the driver.

  FIG. 6 shows a warning guidance screen displayed on the output unit 200. As shown in FIG. 6, the warning guide unit 180 displays, on the output unit 200, an image representing the direction of the steering operation performed by the driver in an image obtained by looking forward from the driver's seat of the host vehicle. Specifically, the warning guide unit 180 calls attention to a collision from an oncoming vehicle by displaying a guidance message “Caution on a car from the front”. In addition, the guidance message “Please turn right and return to the direction of road traffic” is displayed, and the guidance direction arrow and the steering operation direction arrow are displayed. The traveling direction and the operation contents of the steering wheel to be performed by the driver are displayed on the output unit 200.

  In the present embodiment, the warning guide unit 180 is particularly concerned with items that the driver should pay attention to (message “Be careful about the car from the front!”) And operation details that the driver should perform (the direction of rotation of the driving handle). By flashing the display, the driver is further alerted. In addition, when the guidance route including the backward movement of the own vehicle is generated by the guidance route generation unit 340, a guidance message for guiding the backward movement of the own vehicle or an arrow in the guidance direction for moving the own vehicle backward And an arrow indicating the steering operation direction are displayed on the warning guidance screen.

  In addition, as the own vehicle starts traveling according to the guidance and the direction in which the oncoming vehicle enters the own vehicle as viewed from the driver's seat of the own vehicle gradually changes, the warning guide unit 180 changes the approach direction of the oncoming vehicle. Continue to warn while changing according to the vehicle progress. FIG. 7 is a screen displayed on the output unit 200 while the host vehicle departs from the stop position and is rotating in the right direction. Here, a display screen is shown when the approach direction of an oncoming vehicle with a possibility of collision is changed from the front at the beginning of the start to the left rear. At this time, the warning guide unit 180 changes the content of the guidance message displayed on the output unit 200 as the host vehicle moves. Further, guidance guidance by voice output is continued at an appropriate timing determined in advance.

  The warning guidance unit 180 continues to provide warning guidance until the angle difference θ detected by the angle difference detection unit 320 becomes smaller than a predetermined value. If the angle difference θ between the vehicle traveling direction of the host vehicle and the road traveling direction of the traveling road becomes smaller than a predetermined value, the warning guide unit 180 ends the warning guidance that has continued after the occurrence of the spin. FIG. 8 shows a screen display example when the angle difference θ becomes smaller than a predetermined value and the own vehicle returns to the road passage direction of the traveling road by the warning guidance operation of the warning guidance unit 180.

  Next, the operation of the warning guidance device 100 according to the present embodiment will be described. FIG. 9 is a flowchart showing an overall flow of the warning guidance method in the warning guidance device 100 of the present embodiment. In the warning guidance process in FIG. 9, for example, when a situation occurs in which the host vehicle runs backward in the road traffic direction of the traveling road, the driver guides the driver in the guidance traveling direction of the host vehicle to avoid the backward running. The processing contents at the time are shown.

  First, the spin detection unit 220 detects the occurrence of spin in the host vehicle (step S100). If spin generation in the host vehicle is not detected by spin detection unit 220 (NO in step S120), the determination process in step S100 is repeated until spin generation in the host vehicle is detected by spin detection unit 220. On the other hand, when spin generation of the host vehicle is detected by spin detection unit 220 (YES in step S120), traveling state detection unit 120 indicates that the generation of spin of the host vehicle has been detected and reverse running possibility determination unit 160. (Step S140).

  Next, reverse running possibility determination unit 160 detects angle difference θ between the vehicle traveling direction of the host vehicle and the road traffic direction of the traveling road by angle difference detection unit 320 (step S160). If the angle difference θ detected in step S160 is less than the predetermined threshold (NO in step S180), the warning guide device 100 ends the process in FIG. On the other hand, if the angle difference θ detected in step S160 is greater than or equal to a predetermined threshold (YES in step S180), reverse running possibility determination unit 160 notifies warning guide unit 180 that the host vehicle is likely to reverse running. Notification is made (step S200).

  Next, the distance detection unit 360 detects the distance from the current position of the host vehicle to the left end of the traveling road and the distance to the right end of the traveling road (step S200). Next, the guidance route generation unit 340 determines the angle difference θ between the vehicle traveling direction of the host vehicle and the road direction of the traveling road, the distance from the current position of the host vehicle to both ends of the road on the traveling road, and the minimum rotation of the host vehicle. Taking a radius or the like into consideration, a guidance route that does not include a backward movement is generated (step S220).

  Next, the collision determination unit 380 is detected by the minimum rotation radius of the host vehicle stored in the second storage unit 390, the vehicle traveling direction detected by the vehicle position traveling direction detection unit 260, and the distance detection unit 360. Taking into account the distance from the current position of the host vehicle to the left end of the road and the distance from the right end of the road, the distance from the host vehicle to the left or right end of the road and the minimum turning radius of the host vehicle Are compared (step S240). If the collision determination unit 380 determines that the distance from the host vehicle to the left end or the right end of the traveling road is longer than the minimum turning radius of the host vehicle (NO in step S260), the process proceeds to step S300. On the other hand, when the collision determination unit 380 determines that the distance from the own vehicle to the left end or the right end of the traveling road is shorter than the minimum turning radius of the own vehicle (YES in step S260), the guidance route generation unit 340 In order to avoid a collision with the road edge, a guidance route including the backward movement of the host vehicle is generated (step S280).

  Finally, the warning guidance unit 180 gives the driver the guidance traveling direction of the host vehicle that returns the host vehicle in the road traffic direction based on the guidance route generated by the guidance route generation unit 340 in step S220 or step S280. Guidance is then provided (step S300). Thereby, the warning guidance apparatus 100 complete | finishes the process in FIG.

  As described above in detail, according to the present embodiment, the vehicle spins due to a driver's mistake in driving operation, and the road direction of the traveling road is mistaken due to the injury and mental sway received at that time. If there is a risk of reverse running, information indicating the guidance traveling direction of the host vehicle necessary for safely avoiding the reverse running is provided to the driver via the warning guidance screen. As a result, the driver can avoid the reverse running accurately and promptly by traveling according to the information indicating the guidance traveling direction of the own vehicle, and the driver proceeds along the road traffic direction of the traveling road. The risk of encountering a collision with a vehicle can be avoided.

  Further, according to the present embodiment, the warning guide unit 180 adjusts the direction in which an oncoming vehicle with a possibility of collision when entering from the driver's seat of the own vehicle enters the own vehicle according to the vehicle progress status of the own vehicle. I keep warning. As a result, the driver needs to pay attention to the specific direction warned by the warning guide unit 180 and drive his / her vehicle. Therefore, the driver should be alerted to avoid the risk of an accident. Can do.

  Further, according to the present embodiment, the collision determination unit 380 determines that there is a possibility of collision with the left end or the right end of the traveling road when a guidance route for guiding the host vehicle from the traveling direction of the vehicle to the road traffic direction of the traveling road is drawn. When it is, the guidance route generation unit 340 generates a guidance route including the backward movement of the host vehicle in order to avoid a collision with the left end or the right end of the traveling road. Thereby, it is possible to guide the vehicle in the direction of traffic on the traveling road without causing the host vehicle to collide with the end of the traveling road.

  Further, according to the present embodiment, the warning guide unit 180 displays an image representing the steering operation direction by the driver on the output unit 200. Thereby, the driver can more intuitively understand the operation direction of the steering wheel necessary for avoiding reverse running.

  Note that the warning guidance device may include a selection screen display unit 420 and a failure detection unit 440, as shown in FIG. FIG. 10 is a diagram illustrating a modified configuration example of the warning guidance device 400 according to the present embodiment. The selection screen display unit 420 displays on the output unit 200 a selection screen that allows the driver to select whether or not to perform a warning guidance operation by the warning guidance unit 180. FIG. 11 shows an example of a screen that guides the driver with a display message that the vehicle is in a dangerous state due to spinning.

  As shown in FIG. 11, by making the driver the guidance “I stopped in a dangerous direction”, the current situation is shown to the driver who is mentally upset, and “to the safe direction” By guiding “Do you want to guide?”, The warning guide unit 180 confirms with the driver the necessity of guiding the vehicle in the direction of traffic on the road. If the driver returns by himself / herself in the road traffic direction of the traveling road, the driver presses the “No” button on the screen or ignores the confirmation screen and performs the return driving. On the other hand, when the driver returns to the road traffic direction with the assistance of the warning guide unit 180, the driver presses the “Yes” button on the screen. The warning guidance unit 180 starts warning guidance for the driver to return to the road direction of the traveling road only when the “Yes” button on the screen is pressed by the driver.

  In the present embodiment, on the side close to the driver's seat of the selection screen displayed on the output unit 200 by the selection screen display unit 420, a “Yes” button for instructing execution of the warning guidance operation by the warning guidance unit 180 is arranged. Has been. For example, when the driver's seat is on the right side, a “Yes” button is arranged on the right side on the screen, and when the driver's seat is on the left side, a “Yes” button is arranged on the left side on the screen. This makes it easy for the driver to easily issue a warning guidance execution instruction by the warning guidance unit 180.

  In this way, by inquiring the driver about the necessity of the warning guidance before starting the warning guidance by the warning guidance unit 180, the driver himself or herself without any extra warning guidance if necessary. The host vehicle can be returned in the road traffic direction. In addition, on the screen that asks the driver whether or not there is a need for warning guidance before starting the warning guidance, a button for instructing execution of the warning guidance is displayed on the side close to the driver's seat, so that the warning guidance section Warning guidance by 180 can be easily received.

  The failure detection unit 440 detects a failure of a device provided in the host vehicle that may occur as a result of the host vehicle spinning and colliding with an obstacle. Then, when a failure of the device is detected by the failure detection unit 440, the warning guide unit 180 notifies the driver that the device has failed via the warning guide screen. In the present embodiment, the failure detection unit 440 uses a CAN (Controller Area Network) that provides the driver with various types of vehicle information mounted on the host vehicle, for example, causing a failure of a device such as a direction indicator. Detect that. And the warning guidance part 180 displays on the output part 200 that the said direction indicator cannot be used, or notifies a driver | operator by audio | voice output.

  In this way, by notifying the driver of an abnormality of a safety device such as a direction indicator that has been damaged due to the spinning of the host vehicle, for example, the blinker should blink on the right to move the guidance route However, it is possible to avoid the occurrence of a collision accident with the oncoming vehicle due to the fact that it was not actually flashing due to breakage.

  In this embodiment, the warning guidance screens shown in FIGS. 6 and 7 warn the driver that the host vehicle may collide with other vehicles due to reverse running, and the reverse running is also performed. Although the example in which the guidance traveling direction of the own vehicle for avoidance is guided to the driver has been described, the guidance traveling direction of the own vehicle for avoiding reverse running is guided to the driver by the screen shown in FIG. 4 or FIG. May be.

  In addition, each of the above-described embodiments is merely an example of implementation in carrying out the present invention, and the technical scope of the present invention should not be construed in a limited manner. In other words, the present invention can be implemented in various forms without departing from the spirit or main features thereof.

It is a figure which shows the structural example of the warning guidance apparatus by this embodiment. It is a figure which shows the example of a transition of the vehicle speed of the own vehicle, a vehicle angular velocity, and the motion of a vehicle. It is a figure which shows the example of the present position and the vehicle advancing direction of the own vehicle with respect to a traveling road. It is a figure which shows the example of the guidance route produced | generated by the guidance route production | generation part. It is a figure which shows the example of the guidance advancing direction of the vehicle for avoiding reverse running in the road traffic direction of a driving road when the own vehicle spins. It is a figure which shows the example of the warning guidance screen by a warning guidance part. It is a figure which shows the example of the warning guidance screen by a warning guidance part. It is a figure which shows the example of a display screen when the own vehicle returns in the road traffic direction. It is a flowchart which shows the whole flow of the warning guidance operation | movement of the warning guidance apparatus by this embodiment. It is a figure which shows the modification structural example of the warning guidance apparatus by this embodiment. It is a figure which shows the example of a display screen which performs execution confirmation of the warning guidance operation | movement by a warning guidance part.

Explanation of symbols

DESCRIPTION OF SYMBOLS 100,400 Warning guidance apparatus 120 Running state detection part 140 Storage part 160 Reverse running possibility determination part 180 Warning guidance part 200 Output part 220 Spin detection part 240 Stop state detection part 260 Vehicle position advancing direction detection part 280 Angular velocity detection part 300 Speed Detection unit 320 Angle difference detection unit 340 Guidance path generation unit 360 Distance detection unit 380 Collision determination unit 390 Second storage unit 420 Selection screen display unit 440 Failure detection unit

Claims (15)

A running state detector for detecting the running state of the host vehicle;
A storage unit for storing road information indicating a road traffic direction;
Based on the traveling state detected by the traveling state detection unit and the road information stored in the storage unit, it is determined whether or not the host vehicle is likely to run backward in the road direction of the traveling road. Reverse running possibility determination unit,
When it is determined by the reverse running possibility determination unit that the host vehicle may run backward in the road traffic direction of the traveling road, the host vehicle runs backward in the road traffic direction of the traveling road. A warning guide unit that warns the driver that the host vehicle may collide with an oncoming vehicle, and guides the driver in the guide traveling direction of the host vehicle for avoiding the reverse running; Warning guidance device characterized by. The warning guidance device according to claim 1,
The travel state detection unit includes a spin detection unit that detects spin of the host vehicle, a stop state detection unit that detects a stop state of the host vehicle, and a vehicle position that detects a current position and a vehicle traveling direction of the host vehicle. A traveling direction detection unit,
The reverse running possibility determination unit is configured to detect the vehicle traveling direction of the traveling road passing through the current position of the host vehicle detected by the vehicle position traveling direction detection unit and the host vehicle detected by the vehicle position traveling direction detection unit. An angle difference detection unit that detects an angle difference between the vehicle traveling direction and the spin detection unit detects a spin of the host vehicle, and the stop state detection unit detects a stop state of the host vehicle. When the angle difference detected by the angle difference detection unit is compared with a predetermined value and it is determined that the angle difference is greater than or equal to a predetermined value, the host vehicle can run backward in the road direction of the traveling road. A warning guidance device characterized in that it is determined to be peculiar. In the warning guidance device according to claim 2,
The traveling state detection unit includes an angular velocity detection unit that detects an angular velocity of the host vehicle, and the spin detection unit compares an absolute value of the angular velocity detected by the angular velocity detection unit with a predetermined value, and calculates the angular velocity. A warning guidance device that detects the occurrence of spin in the host vehicle when it is determined that the absolute value is greater than or equal to a predetermined value. In the warning guidance device according to claim 2,
The traveling state detection unit includes a speed detection unit that detects the speed of the host vehicle,
When the spin detection unit compares the change amount per unit time of the speed detected by the speed detection unit with a predetermined value and determines that the change amount of the speed per unit time is equal to or greater than a predetermined value, A warning guidance device for detecting the occurrence of spin in the host vehicle. In the warning guidance device according to claim 2,
The traveling state detection unit includes an angular velocity detection unit that detects an angular velocity of the host vehicle, and the spin detection unit detects the stop state of the host vehicle when the stop state detection unit detects the stop state of the host vehicle. A warning guide device, wherein the detected angular velocity is compared with a predetermined value, and when it is determined that the angular velocity is greater than or equal to a predetermined value, occurrence of spin in the host vehicle is detected. In the warning guidance device according to any one of claims 1 to 5,
The warning guidance unit includes a guidance route generation unit that generates a guidance route for guiding the host vehicle from the vehicle traveling direction to the road traffic direction of the traveling road, and the guidance route generated by the guidance route generation unit Based on the above, the warning guidance device which guides the driver in the guidance traveling direction of the host vehicle for avoiding the reverse running. In the warning guidance device according to claim 6,
The storage unit stores road width information representing a road width of the traveling road,
The guidance route generation unit calculates a first distance from the road width information stored in the storage unit and the current position of the host vehicle to a left end of the traveling road and a second distance to the right end of the traveling road. It has a distance detector to detect,
When the first distance is longer than the second distance based on the detection result of the distance detection unit, the guidance route generation unit is configured to detect the vehicle from the current position of the host vehicle to the left end of the traveling road. A guidance route through which the vehicle passes is generated, and when the second distance is longer than the first distance, a guidance route through which the host vehicle passes from the current position of the host vehicle to the right end of the traveling road is generated. A warning guidance device characterized by: In the warning guidance device according to claim 7,
A second storage unit that stores minimum turning radius information representing the minimum turning radius of the host vehicle;
The guidance route generation unit is detected by the minimum rotation radius of the host vehicle stored in the second storage unit, the vehicle traveling direction detected by the vehicle position traveling direction detection unit, and the distance detection unit. A collision that determines a collision with the left end or the right end of the traveling road of a guide route that guides the host vehicle from the traveling direction of the vehicle to the road passage direction of the traveling road in consideration of the first distance and the second distance. A determination unit, and when the collision determination unit determines that the guidance route collides with a left end or a right end of the traveling road, a guidance route including a reverse of the host vehicle is generated to avoid the collision. A warning guidance device characterized by that. In the warning guidance device according to any one of claims 1 to 8,
The warning guide unit displays an image showing a steering operation direction by the driver. In the warning guidance device according to any one of claims 1 to 9,
The warning guide device continues to warn the direction in which the oncoming vehicle enters the host vehicle as viewed from the driver's seat of the host vehicle in accordance with the traveling state of the host vehicle. In the warning guidance device according to any one of claims 1 to 10,
A selection screen display unit that displays a selection screen that allows the driver to select whether or not to perform a warning guidance operation by the warning guidance unit;
The warning guide device performs the warning guidance operation when an operation indicating that the warning guidance operation is performed by the driver is performed on the selection screen. In the warning guidance device according to claim 11,
A warning guidance device, wherein an execution button for executing a warning guidance operation by the warning guidance unit is arranged on a side closer to the driver's seat on the selection screen displayed by the selection screen display unit. In the warning guidance device according to any one of claims 1 to 12,
A failure detection unit for detecting a failure of the vehicle equipment provided in the host vehicle,
The warning guidance device is configured to notify the driver that the vehicle equipment has failed when the failure detection unit detects a failure of the vehicle equipment. The warning guidance device according to claim 13,
The warning device according to claim 1, wherein the vehicle device is a direction indicator. A first step of detecting a traveling state of the host vehicle;
Based on the driving state detected in the first step and the road information indicating the road direction stored in the storage unit, the host vehicle may run backward in the road direction of the road. A second step of determining whether or not
When it is determined in the second step that the host vehicle may run backward in the road direction of the traveling road, the host vehicle runs backward in the road direction of the running road. A third step of warning the driver that the host vehicle may collide with an oncoming vehicle, and guiding the driver in the guide traveling direction of the host vehicle for avoiding the reverse running. Warning guidance method characterized by