JP2009301132A - Driving support device, driving support method, and program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a driving support device, a driving support method and a program for supporting safe passing traveling under the consideration of post-passing circumstances. <P>SOLUTION: When a lighting instruction signal is input from a direction instruction switch 51, and it is necessary for an own vehicle return to a traveling traffic lane on which it is traveling at present after changing a traffic lane for passing, a CPU 41 sets a return requirement spot based on the next route changing spot ahead the own vehicle on a guidance route. The CPU 41 calculates the return spot where the own vehicle returns to an inter-vehicle space where the own vehicle can enter after passing traveling from the current own vehicle location, and when the restoration spot is not before the restoration requirement spot, it is decided that it is not possible for the own vehicle to safely change the route at the route changing spot after passing traveling. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a driving support device, a driving support method, and a program that support driving of a vehicle.

Conventionally, various techniques for supporting driving of a vehicle have been proposed.
For example, when an emergency stop situation occurs due to sudden deceleration of the preceding vehicle, the estimated time of the preceding vehicle, the distance between the vehicles, and the speed of the host vehicle are used to estimate the time until the vehicle collides with the preceding vehicle. There is a vehicle guidance device that estimates the time required to move in a lateral direction to a position where the vehicle can pass, and supports appropriate overtaking of the preceding vehicle from these estimated times (see, for example, Patent Document 1). ).
JP 2002-92795 A (paragraphs (0012) to (0072), FIGS. 1 to 9)

  However, in the vehicle guidance device described in Patent Document 1 described above, the vehicle ahead can be safely overtaken, but no consideration is given to the situation after overtaking. The situation after overtaking must be returned to the original lane again, for example, there is a route change point in front of the host vehicle on the guidance route, and the route is returned to the original lane again for changing the route at that point. There are situations that need to be considered, and these situations need to be considered in order to provide support for safe overtaking.

  Therefore, the present invention has been made to solve the above-described problems, and provides a driving support device, a driving support method, and a program that can support safe overtaking in consideration of the situation after overtaking. The purpose is to provide.

  In order to achieve the object, the driving support apparatus according to claim 1 includes vehicle information acquisition means (13) for acquiring vehicle position information and speed information of the host vehicle and other vehicles around the host vehicle, and the vehicle position information. And a space determination means (13) for determining whether there is an inter-vehicle space where the host vehicle can enter between other vehicles in front of the host vehicle on the traveling lane of the host vehicle, and between the other vehicles in front of the host vehicle. If it is determined that there is an inter-vehicle space where the host vehicle can enter, a point where the host vehicle enters the inter-vehicle space is set on the travel lane based on the vehicle position information and the speed information. Return point calculation means (13) for calculating as a return point to return, and point determination means (13) for determining whether or not the return point is in front of the return required point ahead of the host vehicle. Characterized by

  According to a second aspect of the present invention, there is provided a driving support device according to the first aspect of the present invention, wherein the driving support device according to the first aspect is a map information storage means (25) for storing map information, A route search means (13) for searching for a route, a lighting instruction input means (51) for inputting a lighting instruction for a direction indicator, and a lane change corresponding to the input lighting instruction direction when the lighting instruction is input The return determination means (13) determines whether or not it is necessary to return to the travel lane for a route change at a route change point within a predetermined distance ahead of the host vehicle on the route. And a required return point setting means (13) for setting the required return point before the route change point when it is determined that it is necessary to return to the travel lane. Features.

  In addition, the driving support method according to claim 3 includes a vehicle information acquisition step of acquiring vehicle position information and speed information of each of the host vehicle and other vehicles around the host vehicle, and the vehicle position information acquired in the vehicle information acquisition step. A space determination step for determining whether there is an inter-vehicle space where the host vehicle can enter between other vehicles in front of the host vehicle on the traveling lane of the host vehicle, and the other in front of the host vehicle in the space determination step. If it is determined that there is an inter-vehicle space where the host vehicle can enter between the vehicles, the host vehicle enters the inter-vehicle space based on the vehicle position information and speed information acquired in the vehicle information acquisition step. A return point calculation step for calculating a return point to return to the travel lane, and whether or not the return point calculated in the return point calculation step is in front of the return required point in front of the host vehicle. Characterized by comprising a point determination step of constant, the.

  Furthermore, the program according to claim 4 includes a vehicle information acquisition step of acquiring, in a computer, vehicle position information and speed information of the host vehicle and other vehicles around the host vehicle, and the vehicle position acquired in the vehicle information acquisition step. A space determination step for determining whether there is an inter-vehicle space in which the host vehicle can enter between other vehicles in front of the host vehicle on the traveling lane of the host vehicle based on the information; When it is determined that there is an inter-vehicle space where the own vehicle can enter between other vehicles, the own vehicle is included in the inter-vehicle space based on the vehicle position information and speed information acquired in the vehicle information acquisition step. A return point calculation step for calculating the entry point as a return point for returning to the travel lane, and the return point calculated in the return point calculation step is in front of the required return point in front of the host vehicle. And whether the determining point determination step there is a program for execution.

  In the driving support device according to claim 1 having the above-described configuration, the situation after overtaking is considered in order to determine whether or not the return point is before the return necessary point on the traveling lane of the host vehicle after overtaking. It is possible to support safe overtaking.

  In the driving support device according to claim 2, after changing the lane corresponding to the input lighting instruction direction, for changing the course at a course changing point within a predetermined distance ahead of the host vehicle on the route. When it is determined that it is necessary to return to the original travel lane, a return required point is set before the route change point. As a result, it is possible to reliably support overtaking in a situation where it is necessary to return to the original lane again in order to change the course, and it is possible to accurately set the front required return point.

  Further, in the driving support method according to claim 3, in order to determine whether or not the return point is in front of the return required point on the traveling lane of the own vehicle after overtaking, it is safe to consider the situation after overtaking. It becomes possible to support overtaking driving.

  Furthermore, in the program according to claim 4, the computer reads the program to determine whether the return point is in front of the return required point on the traveling lane of the own vehicle after overtaking. Therefore, it is possible to support safe overtaking in consideration of the situation.

  Hereinafter, a driving support device, a driving support method, and a program according to the present invention will be described in detail with reference to the drawings based on an embodiment in which a navigation device is embodied.

[Schematic configuration of navigation device]
First, a schematic configuration of the navigation device according to the present embodiment will be described with reference to FIG. FIG. 1 is a block diagram showing a navigation device 1 according to the present embodiment.
As shown in FIG. 1, the navigation apparatus 1 according to the present embodiment includes a current location detection processing unit 11 that detects the current position of the vehicle, a data recording unit 12 that records various data, and input information. Based on this, the navigation control unit 13 for performing various arithmetic processes, the operation unit 14 for receiving operations from the operator, the liquid crystal display 15 for displaying information such as a map to the operator, and voice guidance for route guidance and the like. Communicate with each other via a mobile phone network or the like between the speaker 16 for outputting the information and the navigation device 1 mounted on an information center such as a road traffic information center or a map information distribution center (not shown) and other nearby vehicles. And a communication device 17 for performing the above.

  The navigation control unit 13 is connected to a vehicle speed sensor 21 that detects the traveling speed of the vehicle. In addition, the navigation control unit 13 is instructed to turn on a left direction indicator (not shown) for notifying other vehicles of steering to the left and a right direction indicator (not shown) for notifying of steering to the right. A direction indicating switch 51 capable of inputting a turn-on instruction signal and a turn-off instruction signal for turning off the light is connected. Therefore, the driver can select either a left direction indicator or a right direction indicator (not shown) by operating this direction indication switch 51 to turn on or off.

  Hereinafter, each component constituting the navigation device 1 will be described. The current position detection processing unit 11 includes a GPS 31, a direction sensor 32, a distance sensor 33, and the like, and detects the current position, direction, travel distance, and the like of the own vehicle. It is possible to do.

  The data recording unit 12 reads out an external storage device and a hard disk (not shown) as a recording medium, a map information database (map information DB) 25 stored in the hard disk, a predetermined program, etc. And a recording head (not shown) which is a driver for writing data.

The map information DB 25 stores navigation map information 26 used for travel guidance and route search of the navigation device 1. Here, the navigation map information 26 is composed of various information necessary for route guidance and map display. For example, new road information for specifying each new road, map display data for displaying a map, To search intersection data relating to intersections, node data relating to node points, link data relating to roads (links), search data for searching for routes, store data relating to POI (Point of Interest) such as stores that are a type of facility, and points Search data and the like. Further, as store data, data on POIs such as hotels, hospitals, gas stations, parking lots, stations, airports, ferry landings, etc. in each region are stored together with IDs for identifying POIs.
The contents of the map information DB 25 are updated by downloading update information distributed from a map information distribution center (not shown) via the communication device 17.

  Here, the map display data is divided into 4 divisions (length 1/2), 16 divisions (1/4), and 64 divisions (1/8) based on a secondary mesh partitioned by about 10 km × 10 km. Each unit is set so that the data amount of each unit is approximately the same level. The smallest 64 division size unit is about 1.25 km square. Each secondary mesh (hereinafter referred to as “mesh”) partitioned by about 10 km × 10 km is assigned a mesh ID for identifying each mesh.

  Also, as link data, the link ID for identifying each link constituting the road, the width of the road to which the link belongs, the gradient, the cant, the bank, the road surface state, the number of lanes of the road, the location where the number of lanes decreases, The data indicating the narrowing of the width, the level crossing, etc., the data regarding the corner, the radius of curvature, the intersection, the T-junction, the entrance and the exit of the corner, the data indicating the downhill road, the uphill road, etc. regarding the road attribute With respect to the road type, in addition to ordinary roads such as national roads, prefectural roads, narrow streets, etc., data indicating toll roads such as national highways, urban highways, general toll roads, toll bridges, and speed limits are recorded. Furthermore, regarding toll roads, data relating to entrance roads (rampways), toll gates (interchanges) and the like of toll roads are recorded.

  As shown in FIG. 1, the navigation control unit 13 constituting the navigation device 1 is a working device that controls the entire navigation device 1, the CPU 41 as the control device, and the CPU 41 performs various types of arithmetic processing. In addition to being used as a memory, the RAM 42 that stores route data when a route is searched, a control program, and the route can be changed safely at a route change point ahead of the host vehicle, which will be described later. And an internal storage device such as a flash memory 44 for storing a program read from the ROM 43, a timer 45 for measuring time, and the like.

  Furthermore, the navigation control unit 13 is electrically connected to peripheral devices (actuators) of the operation unit 14, the liquid crystal display 15, the speaker 16, and the communication device 17.

  The operation unit 14 is operated when correcting the current location at the start of traveling, inputting a departure point as a guidance start point and a destination as a guidance end point, or searching for information about facilities, etc. Consists of keys and multiple operation switches. The navigation control unit 13 performs control to execute various corresponding operations based on switch signals output by pressing the switches. Further, a touch panel is provided on the front surface of the liquid crystal display 15 so that various instruction commands can be input by pressing a button displayed on the screen or a map.

  In addition, the liquid crystal display 15 includes map information, operation guidance, operation menu, key guidance, recommended route from the current location to the destination, guidance information along the recommended route, traffic information, news, weather forecast, Time, mail, TV program, etc. are displayed.

  In addition, the speaker 16 outputs voice guidance or the like for guiding traveling along the recommended route based on an instruction from the navigation control unit 13. Here, examples of the voice guidance to be guided include “200m ahead, right at XX intersection” and “It will be an unreasonable interruption”.

  The communication device 17 is a communication means such as a mobile phone network that communicates with the map information distribution center, and transmits / receives the latest version of updated map information and the like to / from the map information distribution center. Further, in addition to the map information distribution center, the communication device 17 receives traffic information composed of information such as traffic congestion information transmitted from the road traffic information center and the like and congestion status of the service area. In addition, the communication device 17 acquires vehicle information such as the current position, vehicle speed, vehicle length, and traveling direction of each other vehicle from the surrounding other vehicle via the mobile phone network.

  Next, a “passing guidance process” which is a process executed by the CPU 41 of the navigation apparatus 1 configured as described above, and which can change the course safely at the course change point ahead of the host vehicle, is shown in FIG. It demonstrates based on thru | or FIG.

FIG. 2 is a main flowchart showing the overtaking guidance process that is executed by the CPU 41 of the navigation device 1 according to the present embodiment and that can change the course safely at the course change point ahead of the host vehicle. Here, the overtaking guidance process is executed when a destination is already input by the operation unit 14, a guidance route to the destination is searched by the navigation control unit 13, and guidance along the guidance route is performed. Process.
2 is stored in the ROM 43 provided in the navigation control unit 13 of the navigation device 1, and is executed by the CPU 41 every predetermined time (for example, every about 10 milliseconds to 100 milliseconds). Yes.)

As shown in FIG. 2, first, in step (hereinafter abbreviated as “S”) 11, the CPU 41 determines whether or not a lighting instruction signal for the left direction indicator or the right direction indicator is input via the direction indication switch 51. A determination process for determining
And when the lighting instruction | indication signal of the left direction indicator or the right direction indicator is not input via the direction indicator switch 51 (S11: NO), CPU41 complete | finishes the said process.

  On the other hand, when the lighting instruction signal of the left direction indicator or the right direction indicator is input via the direction indication switch 51 (S11: NO), the CPU 41 proceeds to the process of S12. In S12, the CPU 41 detects the own vehicle position via the current position detection processing unit 11 and stores it in the RAM 42, and at the next right turn point or left turn point ahead of the own vehicle on the guidance route, that is, the next route change point. Are read out from the navigation map information 26 and stored in the RAM 42. And CPU41 performs the determination process which determines whether the distance from the own vehicle position to the next course change point ahead of the own vehicle on a guidance route is less than predetermined distance (for example, within about 2 km). .

And when the distance from the own vehicle position to the next course change point ahead of the own vehicle on the guidance route is more than a predetermined distance (S12: NO), CPU41 complete | finishes the said process.
On the other hand, when the distance from the vehicle position to the next route change point ahead of the vehicle on the guidance route is within a predetermined distance (S11: YES), the CPU 41 proceeds to the process of S13. In S13, the CPU 41 reads from the navigation map information 26 the link data related to the currently traveling link from the navigation map information 26, and executes a determination process for determining whether or not the lane change is possible for the currently traveling road.

If it is determined that the lane cannot be changed on the currently traveling road (S13: NO), the CPU 41 ends the process.
For example, if the currently running lane is an overtaking prohibited lane or the currently running road is a one-lane road, the CPU 41 determines that the currently running road cannot be changed. In other words, the CPU 41 receives a lighting instruction signal input via the direction instruction switch 51 as a lighting instruction for informing another vehicle of a course change to the next course changing point ahead of the host vehicle, or a course change outside the guidance path. Is determined to be a lighting instruction informing other vehicles.

On the other hand, when it is determined that the lane change is possible for the road that is currently running (S13: YES), the CPU 41 proceeds to the process of S14.
For example, when the road that is currently traveling is a road that can be overtaken by one lane on one side or a road that is two or more lanes on one side, the CPU 41 determines that the lane can be changed on the currently traveling road. That is, the CPU 41 determines that the lighting instruction signal input via the direction instruction switch 51 is a lighting instruction that informs other vehicles of a lane change for overtaking.

  In S <b> 14, the CPU 41 changes the lane corresponding to the direction of the lighting instruction input via the direction indication switch 51, and then changes the course at a course change point within a predetermined distance ahead of the host vehicle on the guidance route. Therefore, a determination process for determining whether or not it is necessary to return to the traveling lane in which the host vehicle is currently traveling is executed. For example, in a situation where the host vehicle is present in the leftmost lane on the road on which the host vehicle is currently traveling, when a right lighting instruction is input via the direction switch 51 for overtaking, a predetermined distance ahead of the host vehicle If there is a left turn point within the lane and the left lane where the vehicle can make a left turn is the leftmost lane in which the vehicle is currently driving, the vehicle returns to the driving lane in which the vehicle is currently driving Judge that it is necessary to do.

  Then, after changing the lane for overtaking, if it is not necessary to return to the traveling lane in which the host vehicle is currently traveling (S14: NO), the CPU 41 moves on the guidance route after overtaking. Since it is possible to change the course safely at the next course change point, the processing is terminated.

On the other hand, after the lane change for overtaking is performed, if it is necessary to return to the traveling lane in which the host vehicle is currently traveling (S14: YES), the CPU 41 proceeds to the process of S15. .
In S <b> 15, the CPU 41 sets a return required point based on the course change point, and stores the coordinate position of the return required point in the RAM 42. For example, the CPU 41 needs to return to a travel lane in which the host vehicle is currently traveling in order to change the course at the course change point at a point a predetermined distance (for example, 500 m) before the course change point. It is set as a return required point, and the coordinate position of this return required point is stored in the RAM 42. This predetermined distance may be determined by the road type or speed limit of the road on which the host vehicle is traveling. For example, it can be 700 m for a highway and 300 m for a general road.
Thereafter, in S16, the CPU 41 proceeds to the process of S17 after executing the sub-process of “return point calculation process”.

  Here, the sub-process of the “return point calculation process” executed by the CPU 41 in S16 will be described with reference to FIGS. FIG. 3 is a sub-flowchart showing a sub-process of the “return point calculation process” in FIG. FIG. 4 is a plan view showing an example of the vicinity of the vehicle when a lighting signal is input from the direction indicating switch.

  As shown in FIG. 3, first, in S <b> 111, the CPU 41 via the communication device 17 detects the position of each other vehicle from the other vehicle traveling around the host vehicle (for example, within a radius of about 1 km). For example, it is latitude and longitude.) Vehicle information such as vehicle speed and vehicle length is acquired by inter-vehicle communication and stored in the RAM 42. Further, the CPU 41 acquires the own vehicle position through the current position detection processing unit 11 and stores it in the RAM 42, and acquires the current vehicle speed through the vehicle speed sensor 21 and stores it in the RAM 42.

  In S112, the CPU 41 again reads out the position and the vehicle length of each other vehicle around the host vehicle from the RAM 42, calculates the inter-vehicle distance in the space between the vehicles in front of the host vehicle and on the host vehicle traveling lane. And stored in the RAM 42. Note that the inter-vehicle distance of the inter-vehicle space is calculated assuming that the position of each other vehicle is the center position in the vehicle length direction of each vehicle.

For example, as shown in FIG. 4, the CPU 41 of the navigation device 1 mounted on the host vehicle 2 transmits each position, vehicle speed, vehicle from each other vehicle 51, 52, 53 that travels forward via the communication device 17. Vehicle information such as length is acquired by inter-vehicle communication and stored in the RAM 42.
And CPU41 reads the position and vehicle length of each other vehicle 51,52,53 from RAM42, the inter-vehicle space 61 between the other vehicle 51 ahead of the own vehicle, and the other vehicle 52, the other vehicle 52, and another vehicle. The inter-vehicle distance from the inter-vehicle space 62 to 53 is calculated and stored in the RAM 42.

  Subsequently, as shown in FIG. 3, in S113, the CPU 41 sequentially reads the inter-vehicle distances of the inter-vehicle spaces ahead of the host vehicle from the RAM 42, and whether or not there is an inter-vehicle space where the host vehicle can enter after overtaking. A determination process for determining

  Specifically, the CPU 41 acquires the speed limit of the road on which the host vehicle is traveling from the link data of the navigation map information 26, reads the necessary inter-vehicle distance corresponding to the speed limit, and stores it in the RAM 42. Here, the required distance between the vehicles is stored in advance in the ROM 43 for each speed limit. For example, the required inter-vehicle distance is stored as a speed limit of 80 m at 40 km / h, 120 m at 60 km / h, and 160 m at 80 km / h.

  Then, the CPU 41 sequentially reads the inter-vehicle distance of each inter-vehicle space in front of the host vehicle, and determines that it is an inter-vehicle space where the host vehicle can enter after overtaking if the inter-vehicle distance is equal to or greater than the necessary inter-vehicle distance.

When it is determined that there is no inter-vehicle space where the host vehicle can enter after overtaking in front of the host vehicle (S113: NO), the CPU 41 reads the return point flag from the RAM 42, and sets the return point flag to “ After setting to “OFF” and storing again in the RAM 42, the sub-process is terminated and the process returns to the main flowchart, and the process proceeds to S 17.
When the navigation device 1 is activated, the return point flag is set to “OFF” and stored in the RAM 42.

On the other hand, when it is determined that there is an inter-vehicle space where the host vehicle can enter after overtaking in front of the host vehicle (S113: NO), the CPU 41 reads the return point flag from the RAM 42, and sets the return point flag to “ After “ON” is set and stored in the RAM 42 again, the process proceeds to S114.
In S <b> 114, the CPU 41 selects the closest inter-vehicle space among the inter-vehicle spaces in which the host vehicle ahead of the host vehicle can enter, and reads the vehicle speeds of the other vehicles before and after the inter-vehicle space from the RAM 42. .

Subsequently, in S115, the CPU 41 determines whether or not the vehicle speed of the other vehicle on the front side in the traveling direction constituting the inter-vehicle space is faster than the vehicle speed of the other vehicle on the rear side in the traveling direction constituting the inter-vehicle space. Execute the determination process.
When the vehicle speed of the other vehicle on the front side in the traveling direction constituting the inter-vehicle space is slower than the vehicle speed of the other vehicle on the rear side in the traveling direction constituting the inter-vehicle space (S115: NO), the CPU 41 The process proceeds to S116.

In S116, the CPU 41 selects the next inter-vehicle space among the inter-vehicle spaces in which the host vehicle ahead of the host vehicle can enter, and determines the vehicle speeds of the other vehicles before and after the inter-vehicle space from the RAM 42. After reading, the processing from S115 is executed again.
On the other hand, when the vehicle speed of the other vehicle on the front side in the traveling direction constituting the inter-vehicle space is faster than the vehicle speed of the other vehicle on the rear side in the traveling direction constituting the inter-vehicle space (S115: YES), the CPU 41 The process proceeds to S117.

  For example, as shown in FIG. 4, when the inter-vehicle space 61 in front of the host vehicle 2 is less than the required inter-vehicle distance and the front inter-vehicle space 62 is greater than the necessary inter-vehicle distance, the CPU 41 The vehicle speeds of the other vehicles 52 and 53 before and after the interspace 62 are read from the RAM 42. And when the vehicle speed of the other vehicle 53 is faster than the vehicle speed of the other vehicle 52 (S115: YES), CPU41 transfers to the process of S117.

In S117, the CPU 41 reads again the position and the vehicle length of each other vehicle around the host vehicle from the RAM 42, and in the adjacent lane in front of the host vehicle to the rear end of the inter-vehicle space, the other vehicle having a slower vehicle speed than the host vehicle. A determination process for determining whether or not the vehicle is traveling is executed.
When another vehicle having a vehicle speed slower than that of the host vehicle is traveling in the adjacent lane to the rear end of the inter-vehicle space in front of the host vehicle (S117: YES), the CPU 41 reads the return point flag from the RAM 42. , The return point flag is set to “OFF” and stored again in the RAM 42, the sub-process is terminated, the process returns to the main flowchart, and the process proceeds to S17.

On the other hand, when another vehicle having a vehicle speed slower than that of the host vehicle is not traveling in the adjacent lane in front of the host vehicle up to the rear end of the inter-vehicle space (S117: NO), the CPU 41 proceeds to the process of S118. To do.
In S118, the CPU 41 acquires the position of the other vehicle before and after the vehicle and the vehicle position from the RAM 42, and determines the center of the vehicle space from the vehicle from the acquired position of the other vehicle and the vehicle position. Is calculated and stored in the RAM.

  In S119, the CPU 41 obtains the speed limit of the road on which the host vehicle is traveling from the link data of the navigation map information 26, and the vehicle speeds of the other vehicles before and after the inter-vehicle space and the current speed of the host vehicle. Is read from the RAM 42. Then, an average vehicle speed (hereinafter referred to as “average vehicle speed A”) of the speed limit and the current vehicle speed of the host vehicle is calculated, and an average vehicle speed (hereinafter referred to as “average vehicle speed B”) of other vehicles before and after this is calculated. The relative speed of the average vehicle speed A with respect to the average vehicle speed B is calculated, and each calculated value is stored in the RAM 42. Here, the average vehicle speed A, that is, the average vehicle speed of the speed limit and the current vehicle speed of the host vehicle is actually calculated from the current vehicle speed to the speed limit at the time of overtaking. This is to take into account that the vehicle decelerates and returns to the current travel lane.

  Subsequently, the CPU 41 reads the relative speed of the average vehicle speed A with respect to the average vehicle speed B and the distance from the own vehicle to the center of the space between the vehicles from the RAM 42, and calculates the distance from the own vehicle to the center of the space between the vehicles as the average vehicle speed A. Is divided by the relative speed with respect to the average vehicle speed B, and the time required to enter the center of the inter-vehicle space is calculated.

  Then, as shown in FIG. 4, the CPU 41 reads the average vehicle speed A from the RAM 42, calculates a value obtained by multiplying the average vehicle speed A by the calculated required time, and stores it in the RAM 42 as the overtaking required distance 63. Similarly to the above, the average vehicle speed A, that is, the average vehicle speed of the speed limit and the current vehicle speed of the host vehicle is actually calculated from the current vehicle speed to the speed limit when overtaking. This is to consider decelerating from the speed limit and returning to the current lane.

  Further, the CPU 41 reads the link data of the navigation map information 26, specifies the coordinate position of the point of returning to the currently traveling lane 71 again from the overtaking required distance 63 and the link data, and uses the RAM 42 as the return point 65. Then, the sub-process is terminated and the process returns to the main flowchart, and the process proceeds to S17.

Subsequently, as shown in FIG. 2, in S <b> 17, the CPU 41 reads out the return point flag from the RAM 42 and executes a determination process for determining whether or not “ON” is set.
When the return point flag is set to “OFF” (S17: NO), the CPU 41 ends the process.
On the other hand, when the return point flag is set to “ON” (S17: YES), the CPU 41 proceeds to the process of S18.

In S18, the CPU 41 reads out the coordinate positions of the return required point stored in the RAM 42 in S15 and the return point stored in the RAM 42 in S16, and whether or not this return point is in front of the return required point in front of the host vehicle. A determination process for determining
If the return point is before the return required point in front of the host vehicle (S18: YES), the route can be changed safely at the next route change point, so the CPU 41 performs the process. finish.

  For example, as shown in FIG. 5, the CPU 41 reads from the RAM 42 the coordinate positions of the return point 66 and the return required point 75 that return to the inter-vehicle space between the other vehicles 55 and 56 of the host vehicle 2. If the return point 66 is in front of the return required point 75 (S18: YES), after overtaking the other vehicle 55, it is possible to safely turn left at the left turn point 82. The process ends.

On the other hand, when the return point is not in front of the return required point in front of the own vehicle, that is, when the return point is further forward than the return required point in front of the own vehicle (S18: NO), the CPU 41 performs S19. Move on to processing.
In S19, the CPU 41 informs the driver that the next route change point ahead of the host vehicle on the guidance route, that is, the next right turn point or left turn point, cannot be changed safely, and then ends the process.

  For example, as shown in FIG. 6, the CPU 41 reads from the RAM 42 the coordinate positions of the return point 67 and the return required point 75 that return to the inter-vehicle space between the other vehicles 55 and 56 of the host vehicle 2. And when the said return point 67 turns into a point further ahead of the return required point 75 (S18: NO), CPU41 is in the next left turn point 82 on the guidance path | route 81 currently displayed on the liquid crystal display 15. FIG. A red circle blinks. At the same time, the CPU 41 gives voice guidance such as “Please refrain from changing lanes. There is a possibility that you cannot turn left at the intersection ahead of ○○ m.” After notifying that it is not possible to safely turn left, the process ends.

  As described above in detail, in the navigation device 1 according to the present embodiment, when the lighting instruction signal is input from the direction instruction switch 51, the CPU 41 further changes the lane for overtaking and then further When it is necessary to return to the travel lane in which the vehicle is currently traveling, a return required point is set based on the next route change point ahead of the host vehicle on the guidance route. As a result, the CPU 41 can accurately set a return required point in front of the host vehicle in a situation where it is necessary to return to the original lane again to change the course after overtaking.

  In addition, the CPU 41 calculates a return point that returns to the inter-vehicle space where the host vehicle can enter after overtaking from the current host vehicle position. If the return point is not in front of the return required point, the overtaking drive is performed. Thereafter, it is determined that the route change cannot be safely performed at the route change point, and the driver is notified that the route change cannot be made safely at the next route change point ahead of the host vehicle after overtaking. As a result, the CPU 41 can support safe overtaking traveling in consideration of the situation where it is necessary to return to the currently traveling lane again to change the course after overtaking.

In addition, since the CPU 41 determines that the route change cannot be performed safely at the route change point when the return point is not a position before the return necessary point, the CPU 41 accurately determines whether or not it is a dangerous overtaking operation. Can be determined.
Further, the CPU 41 changes the course at the course change point in front of the host vehicle when the direction of the lighting instruction by the lighting instruction signal input from the direction instruction switch 51 is a direction that requires a course change again at the course change point. Since it is determined whether it can be performed safely, it is possible to determine more accurately whether it is a dangerous overtaking operation.

  Further, the CPU 41 enters the own vehicle when the speed of the other vehicle in front of the inter-vehicle space where the own vehicle in front of the own vehicle can enter is slower than the speed of the other vehicle in the rear of the inter-vehicle space. Since it is determined that the vehicle space is impossible, the return point at which the host vehicle enters the vehicle space can be calculated more accurately.

  In addition, this invention is not limited to the said Example, Of course, various improvement and deformation | transformation are possible within the range which does not deviate from the summary of this invention. For example, the following may be used.

  (A) In the process of S115, when there are a plurality of inter-vehicle spaces where the host vehicle in front of the host vehicle can enter, the CPU 41 determines that the vehicle speed of the other vehicle on the front side in the traveling direction constituting the inter-vehicle space is You may make it determine whether it is faster than the vehicle speed of the other vehicle of the back side of the advancing direction which comprises the space between vehicles, and the speed difference between each other vehicles is the largest. When there are a plurality of inter-vehicle spaces in which the host vehicle ahead of the host vehicle can enter, the vehicle speed of the other vehicle on the front side in the traveling direction that forms the inter-vehicle space is the rear side in the traveling direction that forms the inter-vehicle space. When the vehicle speed is higher than the speed of the other vehicle and the speed difference between the other vehicles is the largest (S115: YES), the CPU 41 may move to the process of S117.

  Accordingly, since the speed difference between the other vehicles before and after the inter-vehicle space is the largest, the CPU 41 expands the space from the plurality of inter-vehicle spaces into which the own vehicle can enter in front of the own vehicle. It is possible to calculate the return point by selecting the space between vehicles that can be safely entered.

  (B) Moreover, in the said Example, although CPU41 acquired the position, vehicle speed, etc. of the other vehicle surrounding the own vehicle by vehicle-to-vehicle communication, in addition to vehicle-to-vehicle communication, the millimeters provided at the front and rear end portions of the own vehicle. You may make it acquire the position of the other vehicle around the own vehicle, a relative speed, distance between vehicles, etc. with a wave radar or a camera. As a result, the CPU 41 can acquire more accurate positions, vehicle speeds, inter-vehicle distances, and the like of other vehicles around the host vehicle.

  (C) Further, in the above embodiment, the CPU 41 performs the overtaking guidance process in which the destination is already input by the operation unit 14, the guidance route to the destination is searched by the navigation control unit 13, and guidance along the guidance route is performed. However, when the destination is not input and guidance along the guidance route is not performed, S12 and S14 in the above-described embodiment are performed as follows. , S15 and S19 may be modified to execute the overtaking guidance process.

  For example, in S12, the CPU 41 determines whether or not the distance from the vehicle position to the next course change point ahead of the vehicle on the guidance route is within a predetermined distance (for example, within about 2 km). Instead of the process, a determination process is performed to determine whether or not a lane reduction point exists within a predetermined distance ahead of the road on which the host vehicle is currently traveling (for example, within approximately 2 km). Then, when there is no lane decrease point within a predetermined distance ahead of the host vehicle (S12: NO), the CPU 41 ends the process. On the other hand, when a lane decrease point exists within a predetermined distance ahead of the host vehicle (S12: YES), the CPU 41 proceeds to the process of S13.

  In S14, the CPU 41 performs a lane change corresponding to the direction of the lighting instruction input via the direction instruction switch 51, and then at a course change point within a predetermined distance ahead of the host vehicle on the guidance route. Instead of the determination process for determining whether or not it is necessary to return to the traveling lane on which the host vehicle is currently traveling in order to change the course, the direction of the lighting instruction input via the direction instruction switch 51 is changed. After making the corresponding lane change, it is determined whether it is necessary to return to the travel lane where the host vehicle is currently traveling in order to decrease the lane at the lane decrease point within a predetermined distance ahead of the host vehicle. Judgment processing is performed.

  If it is not necessary to return to the traveling lane on which the host vehicle is currently traveling for lane reduction at a lane decreasing point within a predetermined distance in front of the host vehicle (S14: NO), the CPU 41 The process ends. On the other hand, when it is necessary to return to the traveling lane on which the host vehicle is currently traveling in order to decrease the lane at the lane decreasing point within the predetermined distance ahead of the host vehicle (S14: YES), the CPU 41 performs S15. Move on to processing.

  In S15 described above, the CPU 41 performs a setting process for a necessary point for return based on a lane decrease point instead of a setting process for a required point based on a route change point. For example, the CPU 41 sets a return-necessary point where the host vehicle needs to return to the current travel lane to reduce the lane at a point a predetermined distance (for example, 500 m) before the lane decrease point. This predetermined distance can be determined by acquiring the road type and speed limit of the road on which the host vehicle is traveling from the link data of the navigation map information 26, and determining the predetermined distance according to the acquired road type and speed limit. Good. For example, it can be 700 m for a highway and 300 m for a general road.

In S19, the CPU 41 replaces the notification process for notifying the driver that the route change cannot be performed safely at the next route change point ahead of the host vehicle on the guidance route, and the lane decrease point in front of the host vehicle. A notification process is performed to notify the driver of the presence and the fact that overtaking is refrained due to lane reduction.
Thereby, even when guidance along the guidance route is not performed, when there is a lane decrease point ahead of the host vehicle, it is possible to support safe overtaking traveling in consideration of the influence of the lane decrease.

It is the block diagram which showed the navigation apparatus which concerns on a present Example. It is a main flowchart which shows the overtaking guidance process which is a process which CPU of a navigation apparatus performs, Comprising: It becomes possible to perform a course change safely in the course change point ahead of the own vehicle. FIG. 3 is a sub-flowchart showing a sub-process of “return point calculation processing” in FIG. 2. FIG. It is explanatory drawing which shows an example of the periphery of the own vehicle when a lighting signal is input from the direction indication switch. It is explanatory drawing which shows an example in which a return point becomes before the next course change point ahead of the own vehicle on a guidance route. It is explanatory drawing which shows an example which a return point becomes ahead rather than the next course change point ahead of the own vehicle on a guidance route.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Navigation apparatus 2 Own vehicle 11 Present location detection process part 12 Data recording part 13 Navigation control part 14 Operation part 15 Liquid crystal display (LCD)
16 Speaker 17 Communication device 25 Map information DB
26 Navi Map Information 41 CPU
42 RAM
43 ROM
51-56 Other vehicles 61, 62 Inter-vehicle space 63 Required overtaking distance 65-67 Return point 71 Lane 75 Required point 81 Guide route 82 Left turn point

Claims (4)

Vehicle information acquisition means for acquiring vehicle position information and speed information of the host vehicle and other vehicles around the host vehicle;
Space determining means for determining whether there is an inter-vehicle space where the host vehicle can enter between other vehicles ahead of the host vehicle on the traveling lane of the host vehicle based on the vehicle position information;
When it is determined that there is an inter-vehicle space where the host vehicle can enter between other vehicles in front of the host vehicle, the host vehicle enters the inter-vehicle space based on the vehicle position information and the speed information. Return point calculation means for calculating a point as a return point returning to the travel lane;
Point determination means for determining whether or not the return point is in front of a return required point in front of the host vehicle;
A driving support apparatus comprising: Map information storage means for storing map information;
Route search means for searching for a route to the destination based on the map information;
A lighting instruction input means for inputting a lighting instruction of a direction indicator;
When the lighting instruction is input, the lane change corresponding to the input lighting instruction direction is performed, and then the route is changed at a route changing point within a predetermined distance ahead of the host vehicle on the route. Return determination means for determining whether or not it is necessary to return to the driving lane;
When it is determined that it is necessary to return to the travel lane, a return required point setting means for setting the return required point before the route change point;
The driving support apparatus according to claim 1, further comprising: A vehicle information acquisition step of acquiring vehicle position information and speed information of the host vehicle and other vehicles around the host vehicle;
A space determination step of determining whether there is an inter-vehicle space where the host vehicle can enter between other vehicles ahead of the host vehicle on the traveling lane of the host vehicle based on the vehicle position information acquired in the vehicle information acquiring step; ,
When it is determined in the space determination step that there is an inter-vehicle space where the host vehicle can enter between other vehicles in front of the host vehicle, based on the vehicle position information and speed information acquired in the vehicle information acquisition step A return point calculating step for calculating a point where the host vehicle enters the inter-vehicle space as a return point returning to the travel lane;
A point determination step for determining whether or not the return point calculated in the return point calculation step is in front of the return required point ahead of the host vehicle;
A driving support method comprising: On the computer,
A vehicle information acquisition step of acquiring vehicle position information and speed information of the host vehicle and other vehicles around the host vehicle;
A space determination step of determining whether there is an inter-vehicle space where the host vehicle can enter between other vehicles ahead of the host vehicle on the traveling lane of the host vehicle based on the vehicle position information acquired in the vehicle information acquiring step; ,
When it is determined in the space determination step that there is an inter-vehicle space where the host vehicle can enter between other vehicles in front of the host vehicle, based on the vehicle position information and speed information acquired in the vehicle information acquisition step A return point calculating step for calculating a point where the host vehicle enters the inter-vehicle space as a return point returning to the travel lane;
A point determination step for determining whether or not the return point calculated in the return point calculation step is in front of the return required point ahead of the host vehicle;
A program for running

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