JP2010061215A - Traveling history storage system, method and program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a system for creating information capable of accurately predicting the operation of a vehicle or a traffic light that affects the vehicle. <P>SOLUTION: The traveling history storage system acquires stop location information, showing the stop location of a vehicle; acquires the lighting pattern of a traffic light, at the nearest signal intersection which is the closest in front of the stop location and the traveling direction of the vehicle to the nearest signal intersection, in association as the most proximity signal intersection information; acquires the lighting pattern of the traffic signal at the front signal intersection in front of the nearest signal intersection and the operation of the vehicle on a road where the front signal intersection exists, in association as front signal intersection information; and stores the most proximity signal intersection information and the front signal intersection information in association in a prescribed storage medium. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a travel history storage system, method, and program for storing a travel history of a vehicle.

2. Description of the Related Art Conventionally, a technique for setting a passing cost at a signalized intersection and performing a route search based on the passing cost is known. For example, Patent Document 1 discloses a route according to the presence / absence of a traffic light or the presence / absence of an arrow signal in a traffic light. A technique for setting cost information for search is known.
JP 2005-321360 A

In the prior art, it has not been possible to create information that can accurately predict the operation of a vehicle or a traffic signal that affects the operation of the vehicle. That is, the operation of the vehicle around the actual signalized intersection varies depending not only on the presence / absence of a traffic light or the presence / absence of an arrow signal, but also on the lighting pattern of the traffic signal and the approach direction of the vehicle to the signalized intersection. Therefore, it is difficult to accurately predict the state of travel of the vehicle on the signalized intersection and the surrounding road based only on the presence or absence of a traffic light or the presence or absence of an arrow signal.
The present invention has been made in view of the above problems, and an object of the present invention is to create information that can accurately predict the operation of a vehicle and a traffic signal that affects the operation of the vehicle.

  In order to achieve the above object, in the present invention, the lighting pattern of the traffic light at the closest signal intersection ahead of the stop position indicated by the stop position information is associated with the approach direction of the vehicle with respect to the closest signal intersection. Acquired as nearest signal intersection information. Moreover, the lighting pattern of the traffic light at the front signal intersection ahead of the nearest signal intersection and the operation of the vehicle on the road where the front signal intersection exists are associated with each other and acquired as front signal intersection information. Then, the closest signal intersection information and the forward signal intersection information are associated with each other and stored in a predetermined storage medium.

  As a result, information is stored in a predetermined storage medium so that the nearest signalized intersection information can be referred to using the nearest signalized intersection as a key, and the forward signaled intersection information corresponding to the nearest signalized intersection information can be referred to. Become. That is, when the vehicle enters the closest signalized intersection in a specific direction and the closest signaled intersection has a specific lighting pattern, the closest signaled intersection information is referred to using the closest signaled intersection as a key. Thus, it is possible to determine whether there is nearest signal intersection information that matches the above-described specific approach direction and specific lighting pattern. Then, referring to the forward signal intersection information corresponding to the nearest signalized intersection information, on the road where the traffic light lighting pattern and the forward signal intersection exist at the forward signal intersection corresponding to the approach direction and the lighting pattern at the closest signal intersection The operation history of the vehicle can be referred to. Therefore, based on this history, it is possible to accurately predict the operation of the vehicle and the traffic signal that affects the operation of the vehicle.

  The stop position information acquisition means only needs to be able to acquire stop position information indicating the stop position of the vehicle, and may be information for directly or indirectly specifying the stop position itself. It may be information for specifying that it is within a predetermined range (for example, information indicating that it has stopped within a specific link), and various configurations can be adopted. Here, the stop position may be specified assuming that the vehicle has stopped when a predetermined criterion that the vehicle can be considered to have stopped is satisfied. For example, the vehicle speed is approximately 0 km / h. And a state where a predetermined speed (for example, 5 km / h) or less continues for a predetermined time or more.

  The nearest signal intersection information acquisition means need only be able to acquire the nearest signal intersection information, and can specify the lighting pattern of the traffic lights at the nearest signal intersection by output information of various known sensors and cameras and road-to-vehicle communication It is. Further, the approach direction of the vehicle with respect to the nearest signalized intersection can be specified by output information from various known sensors and cameras, road-to-vehicle communication, a GPS signal, a travel locus on a map, and the like. If the lighting pattern and the approach direction are specified, the closest signal intersection information may be defined by associating both.

  Note that the forward direction is the same direction as the traveling direction in the traveling locus of the vehicle. Here, the lighting pattern is a lighting state of a traffic light at the nearest signalized intersection, and is a lighting pattern that can affect the running of the vehicle after passing through the nearest signalized intersection. That is, when it is expected that the vehicle after passing through the nearest signal intersection by performing a specific combination of the lighting pattern and the approach direction at the nearest signal intersection, the lighting pattern and the approach direction Is used as nearest neighbor signal intersection information.

  The front signal intersection information acquisition means only needs to be able to acquire the front signal intersection information, and can specify the lighting pattern of the traffic lights at the front signal intersection by output information of various known sensors and cameras, road-to-vehicle communication, etc. . In addition, it is possible to specify the operation of the vehicle on the road where the front signal intersection exists by output information from various known sensors and cameras, road-to-vehicle communication, a GPS signal, a travel locus on a map, and the like. If the lighting pattern and the operation of the vehicle are specified, the forward signal intersection information may be defined by associating both.

  In addition, the lighting pattern here is a lighting state of the traffic light at the front signal intersection, and is a lighting pattern that can affect the running of the vehicle after passing through the closest signal intersection. In addition, the operation of the vehicle on the road where the front signal intersection exists is affected by the lighting pattern and approach direction of the traffic signal at the nearest signal intersection, the lighting pattern of the traffic signal at the front signal intersection, etc. It is. When the vehicle travels, the operation at a certain point in time affects the operation at a later point in time, so the vehicle operation on the road where the front signalized intersection is present depends on the operation of the past vehicle. The behavior of the vehicle as a result of being affected may be included. For example, a stop on the road between the front signalized intersections and the passage of the signalized intersection correspond to the operation of the vehicle. Of course, information related to the operation of the vehicle, for example, the time when the operation is performed, can be included in the information indicating the operation of the vehicle. Therefore, the structure which acquires the required time between front signal intersections as information which shows operation of vehicles may be sufficient.

  The accumulation control means only needs to be able to control the accumulation of information in a predetermined storage medium and associate the nearest signal intersection information and the forward signal intersection information in association with each other. Here, the predetermined storage medium and other means may be a physically integrated device, or may be a system that physically exists in a different place. Examples of the latter include a system that accumulates information by communication with a server having a predetermined storage medium.

  Furthermore, when the nearest signalized intersection information and the forward signalized intersection information corresponding to the traveling history are stored in a predetermined storage medium, the starting point and the ending point when the traveling history is acquired are specified, and the traveling from the starting point to the ending point is performed. The process of acquiring the history may be repeated. For example, when the vehicle stops again in front of the stop position, the stop position information indicating the stop position is acquired, and the nearest signal intersection ahead of the stop position is set as the end point. That is, the front signal intersection information is acquired for each signal intersection from the front signal intersection that exists next to the nearest signal intersection in the traveling locus of the vehicle to the nearest front signal intersection ahead of the restart position.

  According to this configuration, information from the first stop position to the nearest front signal intersection in front of the re-stop position can be configured by the front signal intersection information and the nearest signal intersection information. Of course, the re-stop position is information for defining the end point when acquiring a certain travel history, but it is also information for acquiring the next travel history. In other words, by performing the process of acquiring the closest signal intersection information for the closest signal intersection ahead of the position as the first stop position, the information is collected when the vehicle stops. Can be stored in a predetermined storage medium.

  Further, as information indicating the lighting pattern included in the nearest signalized intersection information, information indicating the transition of the lighting state of the traffic light from when the vehicle stops at the stop position until passing through the nearest signalized intersection is acquired. Also good. In other words, at the signalized intersection, since the traveling direction permitted for the vehicle at the signalized intersection is controlled by changing the lighting state of the traffic light, the transition of the lighting state of the traffic light (temporal change in the lighting state) is different. And subsequent vehicle operation may be different. Therefore, if the transition of the lighting state of the traffic light at the nearest signalized intersection is acquired as a lighting pattern, it is possible to accurately predict the subsequent operation of the vehicle.

  As in the present invention, the information for predicting the operation of the vehicle on the road where the front signal intersection exists is based on the lighting pattern of the traffic light and the approach direction at the nearest signal intersection ahead of the stop position. The accumulation method can also be applied as a program or method for performing this process. In addition, the travel history storage system, method, and program as described above may be realized as a single device, or may be realized by using parts shared with each part included in the vehicle, or the vehicle. In some cases, it is realized in cooperation with each unit that is not mounted on, and includes various aspects. Further, some changes may be made as appropriate, such as a part of software and a part of hardware. Furthermore, the invention is also established as a recording medium for a program for controlling the travel history storage system. Of course, the software recording medium may be a magnetic recording medium, a magneto-optical recording medium, or any recording medium to be developed in the future.

Here, embodiments of the present invention will be described in the following order.
(1) Configuration of the travel history storage system:
(2) Travel history acquisition processing:
(3) Configuration example of travel history:
(4) Usage example of travel history:
(5) Other embodiments:

(1) Configuration of the travel history storage system:
(1-1) Configuration of navigation device:
FIG. 1 is a block diagram showing a configuration including a navigation device 10 provided in a vehicle 11 and a storage server 50 installed in a road information management center. The navigation device 10 includes a control unit 20 including a CPU, a RAM, a ROM, and the like and a storage medium 30, and the control unit 20 can execute a program stored in the storage medium 30 or the ROM. In the present embodiment, the navigation program 21 can be executed as one of the programs. The navigation program 21 causes the navigation device 10 to function as a travel history storage system that collects the travel history of the vehicle 11 and transmits it to the storage server 50.

  Therefore, the vehicle 11 includes a GPS receiver 40, a vehicle speed sensor 41, a gyro sensor 42, and a camera 43. The GPS receiver 40 receives radio waves from GPS satellites and outputs a signal for calculating the current position of the vehicle 11 and a signal indicating the current date and time via an interface (not shown). The control unit 20 acquires this signal and acquires the current position and date / time of the vehicle 11. The vehicle speed sensor 41 outputs a signal corresponding to the rotational speed of the wheels provided in the vehicle 11. The control unit 20 acquires this signal via an interface (not shown) and acquires the speed of the vehicle 11. The gyro sensor 42 detects an angular acceleration for turning in the horizontal plane of the vehicle 11 and outputs a signal corresponding to the direction of the vehicle 11. The control unit 20 acquires this signal via an interface (not shown) and acquires the traveling direction of the vehicle 11. The vehicle speed sensor 41 and the gyro sensor 42 are used for correcting the current position of the vehicle 11 specified from the output signal of the GPS receiver 40. Further, the current position of the vehicle 11 is corrected as appropriate by checking with map information 30a described later. The camera 43 is attached to the host vehicle so as to include the space of the front information of the host vehicle in the field of view, and outputs image information indicating the captured image. The control unit 20 acquires this image information through an interface (not shown), performs image recognition processing, and specifies the lighting state of the traffic light.

  The navigation program 21 includes a stop position information acquisition unit 21a, a closest signal intersection information acquisition unit 21b, a forward signal intersection information acquisition unit 21c, an accumulation control unit 21d, and a navigation processing unit 21e, and includes a storage medium 30 and a control unit. 20 cooperates with RAM etc. Further, the storage medium 30 stores map information 30a for performing the above-described functions by the navigation program 21. The map information 30a includes node data indicating nodes set on the road on which the vehicle travels, shape interpolation point data for specifying the shape of the road between the nodes, link data indicating connection between the nodes, the road and its surroundings Is used for specifying the current position of the vehicle 11, searching for a route to the destination, route guidance to the destination, and the like. In the present embodiment, the node data includes information indicating whether or not the intersection corresponding to the node is a signalized intersection.

  The stop position information acquisition unit 21a causes the control unit 20 to realize a function of acquiring stop position information. That is, the control unit 20 acquires the output signals of the GPS receiving unit 40, the vehicle speed sensor 41, and the gyro sensor 42 by the processing of the stop position information acquisition unit 21a, and indicates the current position of the vehicle 11 based on the output signals. And whether or not the vehicle 11 has stopped or whether or not the vehicle has started running after stopping is determined. Further, when the vehicle 11 stops, stop position information indicating the stop position is acquired. Here, the stop position information may be information that can identify the closest signal intersection that is the closest signal intersection in front of the stop position, and in this embodiment, the stop position information is information indicating a link including the stop position. is there. In addition, it is only necessary to determine whether or not the vehicle 11 has stopped during traveling based on a predetermined reference. In the present embodiment, a state where the vehicle speed is equal to or lower than a predetermined speed (for example, 5 km / h) is a predetermined time. If it has been continued, it is determined that the operation has stopped. Of course, it may be determined that the vehicle 11 has stopped when the vehicle speed is 0 km / h, and the stop position information may be information indicating the stop position itself directly or indirectly. The case where the vehicle 11 starts traveling after being stopped is the case where the vehicle 11 is parked on the road and the vehicle 11 is parked in a parking lot outside the road. This includes the case where power is turned on to start running. In the former case, information indicating the position on the road where the vehicle was parked becomes stop position information, and in the latter case, information indicating the position on the road when entering the road from the parking lot becomes stop position information. .

  The closest signal intersection information acquisition unit 21b realizes in the control unit 20 the function of acquiring the closest signal intersection information by associating the lighting pattern of the traffic light at the closest signal intersection with the approach direction of the vehicle with respect to the closest signal intersection. Let That is, the control unit 20 acquires the output signals of the GPS receiving unit 40, the vehicle speed sensor 41, and the gyro sensor 42 by the processing of the closest signal intersection information acquisition unit 21b, and determines the current position of the vehicle 11 based on the output signals. Get the information shown. Further, the control unit 20 searches for a signalized intersection existing ahead of the vehicle 11 with reference to the map information 30a. Then, the control unit 20 specifies the nearest signalized intersection (first intersection) existing in front of the above-described stop position as the closest signal intersection, and the vehicle 11 receives the closest signal based on the current position of the vehicle 11. When it is determined that the vehicle has passed the intersection, the approach direction of the vehicle 11 to the closest signalized intersection is specified based on the transition (traveling locus) of the current position of the vehicle 11.

  Further, the control unit 20 acquires the output signal of the camera 43 by the processing of the closest signal intersection information acquisition unit 21b, and acquires the lighting pattern of the traffic light at the closest signal intersection in front of the vehicle 11 based on the output signal. To do. In the present embodiment, the lighting pattern of the traffic light at the closest signal intersection is information indicating the transition of the lighting state of the traffic light from when the vehicle stops at the stop position until it passes through the closest signal intersection. In the present embodiment, information indicating a time zone in which the closest signal intersection is passed is included in the closest signal intersection information.

  The front signal intersection information acquisition unit 21c realizes in the control unit 20 a function of associating the lighting pattern of the traffic lights at the front signal intersection with the operation of the vehicle on the road where the front signal intersection exists and acquiring it as the front signal intersection information. Let That is, the control unit 20 acquires the output signals of the GPS receiver 40, the vehicle speed sensor 41, and the gyro sensor 42 on the road ahead of the closest signal intersection by the processing of the front signal intersection information acquisition unit 21c, and outputs the output signal. Based on this, information indicating the current position of the vehicle 11 is acquired. Further, the control unit 20 refers to the map information 30a and searches for the nearest signalized intersection existing in front of the vehicle 11 on the road where the vehicle 11 exists.

  And the control part 20 performs the process which pinpoints the nearest signal intersection (2nd or subsequent intersection) which exists ahead of the vehicle 11 as a front signal intersection, and the vehicle 11 is a front signal based on the present position of the vehicle 11. When it is determined that the vehicle has passed the intersection, the required time between the signalized intersections is specified. After passing the signalized intersection, the forward signalized intersection is identified again. Further, when it is determined by the process of the stop position information acquisition unit 21a that the vehicle 11 has stopped based on the current position of the vehicle 11, that is, when it is determined that the vehicle 11 has stopped again in front of the stop position, the control is performed. The unit 20 acquires re-stop position information indicating the re-stop position. Again, the stop position information is information indicating a link including the stop position.

  At this time, the control part 20 acquires the output signal of the camera 43 by the process of the front signal intersection information acquisition part 21c, and acquires the lighting pattern of the traffic light at the front signal intersection ahead of the vehicle 11 based on the output signal. In addition, when the vehicle 11 passes the front signal intersection, the lighting pattern of the traffic light at the front signal intersection is information indicating the color of the lamp that was lit at the traffic signal at the front signal intersection when the vehicle 11 passes the front signal intersection. (Presentation information). In addition, when the vehicle 11 is stopped again, the lighting pattern of the traffic light at the front signal intersection is that of the lamp that was lit at the traffic signal at the nearest front signal intersection ahead of the restart position when the vehicle 11 was stopped again. This is information indicating a color.

  The accumulation control unit 21d causes the control unit 20 to realize a function of storing the closest signal intersection information and the forward signal intersection information in the storage medium 30 in association with each other. That is, the control unit 20 associates the closest signal intersection information acquired by the closest signal intersection information acquisition unit 21b with the forward signal intersection information acquired by the forward signal intersection information acquisition unit 21c by the processing of the accumulation control unit 21d. And stored in the storage medium 30 (closest signal intersection information 30b and forward signal intersection information 30c shown in FIG. 1). Note that when a plurality of sets of nearest signal intersection information and forward signal intersection information are acquired under the same conditions, the storage medium 30 is subjected to statistical processing such as averaging the time required to be recorded in the storage medium 30. Information may be recorded in

  In this embodiment, the storage control unit 21d transmits the closest signal intersection information 30b and the forward signal intersection information 30c to the storage server 50, and the closest signal intersection information 30b and the forward signal intersection information 30c from the storage server 50. Can be realized in the control unit 20. That is, the storage control unit 21d includes a communication control unit 21d1 that causes the control unit 20 to realize a function of controlling a communication unit (not shown) that performs wireless communication with an external device, and the storage server 50 performs wireless communication with the external device. Not equipped with a communication unit. In addition, the storage medium 51 of the storage server 50 stores nearest signal intersection information 51a and forward signal intersection information 51b collected from a plurality of vehicles and subjected to statistical processing.

  The control unit 20 can communicate with the storage server 50 by the processing of the communication control unit 21d1, and the control unit 20 periodically acquires the nearest signal intersection information 30b and the forward signal intersection information 30c from the storage medium 30. To the storage server 50. In the storage server 50, each transmitted information is acquired, the above statistical processing is performed, and the nearest signal intersection information 51a and the forward signal intersection information 51b are updated. On the other hand, the control unit 20 periodically communicates with the storage server 50 to acquire the nearest signal intersection information 51a and the forward signal intersection information 51b, and the nearest signal intersection information 30b and the forward signal intersection information 30c in the storage medium 30. Update.

  The navigation processing unit 21 e causes the control unit 20 to realize a function of performing route guidance in the vehicle 11. In other words, the control unit 20 causes the processing of the navigation processing unit 21e to output information for guiding the vehicle 11 to travel along the route to the destination from a display unit or a speaker (not shown). In this embodiment, the controller 20 refers to the nearest signal intersection information 30b and the forward signal intersection information 30c in the course of this process, and estimates and guides the lighting state of the traffic lights at the signal intersection existing on the travel route. .

(2) Travel history acquisition processing:
Next, a stop history acquisition process and a stop history accumulation process performed in the above configuration will be described. FIG. 2 is a flowchart showing a travel history acquisition process performed by the navigation device 10. This process is executed after the power is turned on in the switch provided in the vehicle 11 and continues to be executed until the power is turned off. In this process, the control unit 20 determines whether or not the first signalized intersection has been passed by the process of the stop position information acquisition unit 21a (step S100).

  That is, since the vehicle 11 was stopped before the power was turned on, the stopped position is set as the stop position, and the control unit 20 determines whether or not the vehicle has passed the signalized intersection only after starting from the stop position. To do. If it is not determined in step S100 that the first signalized intersection has been passed, the determination in step S100 is continued.

  When it is determined in step S100 that the first signalized intersection has been passed, the control unit 20 stores the passage time, approach direction, and lighting pattern of the first signalized intersection in the storage medium 30 (step S105). Here, the control unit 20 first acquires stop position information by the processing of the stop position information acquisition unit 21a. That is, when the vehicle 11 is parked on the road and stops in the course of travel, information for specifying a link including the stop position is acquired as stop position information. When the vehicle 11 is parked in the parking lot, information for specifying a link including a position on the road when entering the road from the parking lot is acquired as stop position information. In addition, the control unit 20 performs the processing of the closest signal intersection information acquisition unit 21b, and the approach direction and the lighting pattern for the first signal intersection that has passed after the start of traveling from the stop position, that is, the closest signal intersection. The nearest signal intersection information 30b consisting of is acquired. Further, the control unit 20 stores the closest signal intersection in the storage medium 30 by the processing of the accumulation control unit 21d. In addition, after the process of the said step S105, the number N which shows the order of the signalized intersection along a travel route is incremented from 1 to 2.

  Next, the control unit 20 determines whether or not the vehicle 11 has performed either an operation of re-stop or passing through the Nth signalized intersection by the processing of the stop position information acquiring unit 21a and the front signalized intersection information acquiring unit 21c. (Step S110). When it is determined that the vehicle has passed the Nth signalized intersection, the control unit 20 acquires the forward signal intersection information 30c by the process of the forward signal intersection information acquisition unit 21c, and the closest signal intersection by the process of the accumulation control unit 21d. The closest signal intersection information 30b is associated and stored in the storage medium 30 (step S115). That is, the control unit 20 acquires the required time from the (N−1) th signalized intersection to the Nth signalized intersection. Further, the lighting pattern of the traffic light at the Nth signalized intersection that has passed is acquired, and information indicating the required time and lighting pattern is stored in the storage medium 30 as the forward signal intersection information 30c. Then, N is incremented (step S120), and the processing after step S110 is repeated.

  On the other hand, when it is determined that the vehicle 11 has stopped again, the control unit 20 acquires the forward signal intersection information 30c regarding the forward signal intersection ahead of the restart position by the processing of the forward signal intersection information acquisition unit 21c, and performs accumulation control. By the processing of the unit 21d, the information is stored in the storage medium 30 in association with the closest signal intersection information 30b (step S125). That is, the control unit 20 acquires a required time from the (N−1) -th signalized intersection to the stop at the stop position. Further, the nearest front signal intersection in front of the re-stop position is set as the Nth signal intersection, the lighting pattern of the traffic light at the signal intersection is acquired, and information indicating the required time and lighting pattern is stored as the front signal intersection information 30c. Store in the medium 30. Then, N is initialized (step S130), and the processing after step S105 is repeated. That is, the process of acquiring the nearest signalized intersection information 30b and the forward signalized intersection information 30c is repeated with the re-stopped position as the first stop position.

(3) Configuration example of travel history:
Next, an example of a travel history (nearest signal intersection information 30b and forward signal intersection information 30c) created by the above processing will be described. FIG. 3A is a diagram exemplifying a road where the first to N-th signalized intersections I ₁ , I ₂ , I ₃ , I _4, ..., _N and a traveling history of the vehicle 11 on the road are illustrated. is there. In FIG. 3A, the vehicle 11 is parked at a link having the signalized intersection I ₁ as one node (C _{0 in} FIG. 3A), and after the start of traveling, the vehicle 11 is stopped again at the link between the signalized intersections I ₂ and I _3. (C _{1 in} FIG. 3A) shows a state where the vehicle has been stopped again (C _{2 in} FIG. 3A) at a link having signalized intersections I _(N−1) and I _N as nodes after the start of traveling after the stop. In FIG. 3A, the signalized intersection I _(N-1) is not shown.

When the vehicle 11 starts traveling from the parked state C _{0, the} flowchart shown in FIG. 2 is executed. When the vehicle 11 passes the signalized intersection I ₁ , step S105 is executed, and the signalized intersection I ₁ is indicated as the closest signal. Nearest signal intersection information 30b as an intersection is accumulated. FIG. 4 shows an example of accumulated information. In the example shown in FIG. 4, the nearest signal intersection information 30b is shown on the left side, and the forward signal intersection information 30c is shown on the right side. . Moreover, in this embodiment, the information which shows the time slot | zone when the vehicle 11 passed the nearest signal intersection is also acquired, and as shown in FIG. 4, it is contained in the nearest signal intersection information 30b. In FIG. 4, the information about each signalized intersection is listed from left to right in the order of passing. Further, when information is not recorded, "-" is attached, and when some information can be recorded, "..." is indicated.

When one first signalized intersection as in the example shown in FIG. 3A is a signalized intersection I _1, as a approach direction for the lighting pattern and the signalized intersection I ₁ of the traffic signal at the signalized intersection I ₁ is nearest signalized intersection information 30b Accumulated. Lighting pattern in this example is information showing changes in the lighting state of the traffic signal between the vehicle 11 is stopped at the stop position until it passes the signalized intersection I _1, to the lighting pattern and the signalized intersection I ₁ The motion of the vehicle is predicted by associating the motion at the front signal intersection ahead of the combination with the approach direction.

Incidentally, combination of the lighting pattern the approach direction, because it corresponds to the pattern of the operation of the signalized intersection I ₁ near the vehicle 11, association operations in subsequent forward signalized intersection relative operation of the vehicle 11 It can be said that this is a configuration for predicting the operation of the vehicle. For example, the nearest signalized intersection information 30b, (code P ₁ in the example shown in FIG. 4) traffic L ₁ of the lighting pattern is "blue", "enters from the west" approach direction to the signalized intersection I ₁ (FIG. 4 In the example shown, when it is D ₁ ), as shown in FIG. 3B, after the vehicle 11 starts running from the stop position, it continues to move on the road (solid arrow M shown in FIG. 3B), and the traffic light L ₁ is estimated to be passing through the signalized intersection I ₁ in a state of blue (traffic L ₁ shown in FIG. 3B). In the example shown in FIG. 3, the right side of the signal lamp is red traffic light L ₁ as viewed from the vehicle 11, the center of the traffic light is yellow, the left signal lamp is blue.

Further, the lighting pattern of the traffic signal L ₁ "red blue" when was the approach direction to the signalized intersection I ₁ "enters from the west", as shown in FIG. 3C, traffic L ₁ is red state (FIG. 3C becomes a traffic light L _1a indicated by a solid line, and the vehicle 11 traveling as indicated by a solid line arrow stops at _a stop position _Sa , and the traffic light L ₁ is in a blue state (a traffic light indicated by a broken line in FIG. 3C). L _1b ), it is estimated that the vehicle has started traveling as indicated by the dashed arrow M _b and has passed the signalized intersection I ₁ . In FIG. 3C, the time transition is indicated by the subscripts a and b and the line type. For example, the operation of the vehicle corresponding to the solid line traffic signal L _1a indicated by the subscript a is indicated by the solid arrows and the symbol S. The operation of the vehicle corresponding to the solid line traffic signal L _1b indicated by the letter a and indicated by the suffix b is indicated by the dashed arrow and the suffix M of the symbol M.

Furthermore, when the traffic light L ₁ is a traffic light including an arrow signal, the lighting pattern is “from red to arrow”, and the approach direction to the signalized intersection I ₁ is “entry from west”, as shown in FIG. Since L ₁ is in a red state (the traffic light L _1a indicated by a solid line in FIG. 3D), the vehicle 11 that has traveled as indicated by the solid line arrow is stopped at the stop position _Sa , and the traffic light L ₁ is a straight travel permission arrow. Is turned on (the traffic light L _1b shown by the broken line in FIG. 3D), it is estimated that the vehicle has started to travel as indicated by the broken line arrow M _b and has passed the signalized intersection I ₁ . Also in FIG. 3D, time transitions are shown by subscripts and line types as in FIG. 3C.

Thus, the combination of the lighting pattern in the signalized intersection I ₁ and approach direction corresponds to the operation of the vehicle 11 in the signalized intersection I _1, when the lighting pattern and the approach direction was specific combination is then vehicle Eleven operations are expected to be specific operations. Therefore, in this embodiment, it has decided to accumulate front signalized intersection information 30c in association with the nearest signalized intersection information 30b, after passing through the signalized intersection I ₁ which is the closest signalized intersection, stop the vehicle 11 is again Until this is done, the loop processing of steps S110 to S130 is performed. As a result, as shown in FIG. 4, the front signal intersection information 30c relating to the front signal intersection ahead of the signal intersection I ₁ is stored in association with the signal intersection I ₁ which is the closest signal intersection.

For example, as shown in FIG. 3A, when the signal crossing through the signalized intersection I ₂ after passing through the I _1, which is previously re stop passing through the signalized intersection I ₃ (C ₁ in FIG. 3A), the signalized intersection I ₂ , The signal intersection I ₃ becomes the front signal intersection corresponding to the signal intersection I ₁ which is the closest signal intersection. With respect to the signal intersection I ₂ , the required time between the signal intersections I ₁ and I ₂ (“5 minutes” indicated by the symbol T ₂ in the example shown in FIG. 4) and the lighting pattern of the signal intersection I ₂ (shown in FIG. 4). information indicating the "blue") and indicated by symbol P ₂ is stored as a front signalized intersection information 30c in the example. As for the signal intersection I ₃ , the required time between the signal intersections I ₂ and I ₃ (“5 minutes” indicated by the symbol T ₃ in the example shown in FIG. 4) and the lighting pattern of the signal intersection I ₃ (shown in FIG. 4). In the example, information indicating “red” indicated by the symbol P ₃₁ is accumulated as the forward signal intersection information 30 c.

In the present embodiment, information is accumulated for each signal intersection from the nearest signal intersection in front of the stop position of the vehicle 11 to the nearest front signal intersection in front of the stop position. Therefore, as in the example shown in FIG. 3A, when the vehicle 11 before passing through the signalized intersection I ₃ is re-stopped, for Upcoming signalized intersection from the signalized intersection I ₃ as the information after the lighting pattern indicated by the symbol P ₃₁ information is not stored (in the example shown in FIG. 4 denoted by reference numeral N ₄₁ "-"). Further, the vehicle 11 can be stopped again other than when the lighting state of the traffic light is “red”. For example, when the vehicle 11 is stopped again due to a traffic jam, the lighting state of the nearest traffic light in front of the vehicle 11 may be “blue”. In this case, no signal intersection lights pattern for the traffic signal of I ₃ "blue", and the information in front of the information from the signalized intersection I ₃ as after the lighting pattern is stored as indicated at P ₃₂ in FIG. 4 (FIG. indicated at N ₄₂ in the example shown in 4 "-").

(4) Usage example of travel history:
Next, an example in which the closest signal intersection information 30b and the forward signal intersection information 30c accumulated as described above is used will be described. The control unit 20 performs a navigation process for guiding the route of the vehicle 11 by the process of the navigation processing unit 21e. In the present embodiment, the lighting state of the traffic lights present on the route of the vehicle 11 is determined in the course of the navigation process. The lighting state guidance process to guide is performed, and the closest signal intersection information 30b and the forward signal intersection information 30c are referred to at this time.

  FIG. 5 is a flowchart showing the lighting state guidance process. In this process, the control unit 20 refers to the storage medium 30 while the vehicle 11 is traveling on a preset scheduled travel route, and the signal intersection in front of the current position of the vehicle 11 is the first signal intersection. It is determined whether or not the nearest signalized intersection information 30b is present (step S200).

  When it is determined in step S200 that the closest signal intersection information 30b in which the signal intersection in front of the current position is the first signal intersection is present, the control unit 20 includes the vehicle intersection in front of the vehicle 11 therein. It is determined whether or not the lighting pattern at the signalized intersection and the lighting pattern that matches the approaching direction of the vehicle 11 with respect to the signalized intersection and the nearest signalized intersection information 30b in the approaching direction exist (step S205).

  When it is determined in step S205 that the lighting pattern at the front signal intersection and the lighting pattern that matches the approach direction of the vehicle 11 with respect to the signal intersection and the nearest signal intersection information 30b in the approach direction exist, the nearest signal intersection information. It is information corresponding to 30b, and the front signalized intersection information 30c corresponding to the signalized intersection on the planned travel route of the vehicle 11 is acquired (step S210). As a result, the information on the signalized intersection on the planned travel route of the vehicle 11 and the forward signalized intersection information 30c corresponding to the current operation of the vehicle 11 is acquired.

  Next, the control unit 20 estimates the travel time when traveling between signalized intersections for each signalized intersection after the first signalized intersection based on the traffic jam information (step S215). That is, the control unit 20 receives traffic jam information from an external device (such as a transmission unit of a road traffic information management center) via a communication unit (not shown). In the present embodiment, the congestion information includes information indicating the traffic volume (congestion, congestion, empty space, etc.) in each link, and the control unit 20 estimates the travel time of each link based on the congestion information.

  Then, the control unit 20 estimates the lighting state of the traffic light at the signalized intersection on the travel route based on the travel time and the forward signal intersection information 30c, and guides the lighting state of the traffic signal using a display or the like (not shown). (Step S220). In this example, the closest signal intersection information 30b and the forward signal intersection information 30c for the first to N-1th signal intersections (N is a number indicating the nearest signal intersection in front of the re-stop position) This is information about signalized intersections that the vehicle has passed without stopping. Therefore, in this example, when the travel time between the signal intersections at the first to N-1th signal intersections substantially matches the required times defined in the forward signal intersection information 30c, the vehicle 11 Consider passing without stopping between signalized intersections. The lighting states of the first to N-1th signalized intersections are regarded as “blue”, which is the lighting state defined in the forward signal intersection information 30c, and the lighting state of each signalized intersection is estimated to be “blue”. I will guide you.

  Further, the forward signal intersection information 30c for the Nth signalized intersection is data on the nearest signalized intersection in front of the re-stop position when the vehicle has stopped again in the past. Therefore, in this example, when the travel time between the (N-1) th and the Nth signalized intersection is equal to or longer than the required time specified in the forward signalized intersection information 30c, the vehicle 11 It is considered to stop at. When the lighting state “red” is defined in the forward signal intersection information 30c as the lighting state of the Nth signalized intersection, the lighting state of the Nth signalized intersection is estimated to be “red”. To guide you.

  As described above, if the closest signal intersection information 30b and the forward signal intersection information 30c are created in advance, the vehicle enters the closest signal intersection in a specific approach direction, and the closest signal intersection is a specific lighting. When it is a pattern, it is possible to predict the lighting state of traffic lights that affect the subsequent operation of the vehicle and the operation of the vehicle by referring to a predetermined storage medium using the closest signal intersection as a key. is there. In addition, the closest signal intersection information 30b and the forward signal intersection information 30c are created based on the history when the vehicle actually traveled the closest signal intersection in the past, and thus affect the operation of the vehicle and the operation of the vehicle. Can be accurately predicted.

(5) Other embodiments:
The above embodiment is an example for carrying out the present invention, and on the road where the front signalized intersection exists based on the lighting pattern of the traffic light and the approach direction at the nearest signalized intersection in front of the stop position. As long as the information for predicting the operation of the vehicle is stored, various other embodiments can be adopted.

  For example, information indicating the time when the lighting state of the traffic light changes as a traffic light lighting pattern at the nearest signalized intersection ahead of the vehicle 11 restart position is acquired, and the nearest signalized intersection ahead of the vehicle 11 restart position is As the operation of the vehicle 11 on the existing road, information indicating the stop time at the re-stop position and the time when the signal crossing closest to the back of the re-stop position is acquired may be obtained as the front signal cross-point information 30c.

6A, 6B show various examples of a case where the re-stopped vehicle 11 after passing the signalized intersection I _2, at the re-stopping position S _a before passing the signalized intersection I _3. For example, FIG. 6A, (arrow M of the solid line shown in FIG. 6A) the vehicle 11 in the state of the traffic signal L ₂ of the signalized intersection I ₂ is "blue" passes the signalized intersection I _2, signals of the signalized intersection I ₃ machine L ₃ the vehicle 11 is stopped at the stop position S _a in a state (signal machine L _3a shown by a solid line in FIG. 6A) of the "blue", then the traffic light L ₃ changes to "red" (traffic indicated by a broken line in FIG. 3C L _3b ).

In this state, the time T _a and the vehicle 11 re stopped at re stop position S _a is signalized intersection I ₂ (Re stop position from the nearest signalized intersection in the rear) time T _2, and a vehicle that has passed through the and information corresponding to the operation, and the signalized intersection I ₃ information corresponding to time T _b which is traffic L ₃ changes to "red" to "blue" of (in front of the nearest signalized intersection from re stop position) to the lighting pattern . In this configuration, since T ₂ <T _a <T _b in the example shown in FIG. 6A, after the vehicle 11 passes the signalized intersection I ₂ , the lighting state of the traffic light changes from “blue” to “red”. It can be estimated that time T _b −T ₂ is required. The vehicle 11 is signalized intersection I ₂ a post passing time T _a -T ₂ passes when the vehicle 11 can be estimated to stop. Further, the lighting state of the traffic signal L ₃ in the stop time can be estimated to be "red".

Further, FIG. 6B shows that the vehicle 11 passes through the signal intersection I ₂ (solid arrow M shown in FIG. 6B) while the signal L _{2 at} the signal intersection I ₂ is “blue”, and the signal L at the signal intersection I _{3. 3} the vehicle 11 by which the state of "red" (traffic L _3a shown by a solid line in FIG. 6B) is stopped at the stop position S _a, then, the traffic light L ₃ changes to "blue" (Figure 3C The traffic light L _3b ) indicated by a broken line.

In such a situation, the time T _2, the time T _a and the vehicle 11 re stopped at re stop position S _a has passed the signalized intersection I ₂ and information corresponding to the operation of the vehicle, the signalized intersection I ₃ signal L ₃ is the information corresponding to the lighting pattern of the time T _b was changed to "blue" to "red". In this configuration, since T ₂ <T _a <T _b in the example shown in FIG. 6B, after the vehicle 11 passes the signalized intersection I ₂ , the lighting state of the traffic light changes from “red” to “blue”. It can be estimated that time T _b −T ₂ is required. Further, presumed when the vehicle 11 after passing the signalized intersection I _2, to reach the signalized intersection I ₃ immediately after the elapsed time T _a -T ₂ is estimated can pass through the signalized intersection I ₃ It is also possible to adopt a configuration that In any case, if the front signalized intersection information 30c including each time as described above is accumulated, more complicated estimation is performed regarding the lighting state of the traffic light and the operation of the vehicle at the nearest signalized intersection ahead of the restart position. Is possible.

  Furthermore, in the above-described embodiment, the lighting state of the traffic light is estimated by combining the traffic jam information, the closest signal intersection information 30b, and the forward signal intersection information 30c. However, the closest signal intersection information 30b and the forward signal intersection information 30c The usage is not limited to the method as described above. For example, the approach direction and the lighting pattern of the traffic light with respect to the signal intersection when passing the first signal intersection are acquired, the nearest signal intersection information 30b corresponding to the approach direction and the lighting pattern is specified, and the nearest signal Refer to the forward signal intersection information 30c corresponding to the intersection information 30b, refer to the required time described for the forward signal intersection on the planned travel route of the vehicle 11, and each signal after the first signalized intersection for each required time It is good also as a structure which guides the said estimated required time as it is the estimated required time between intersections. In addition, as the required time is longer, it is possible to increase the weight of the cost of signalized intersections and links and perform route search and route guidance based on the costs. Further, the process using the travel history is not limited to the process shown in FIG. 5. For example, it is determined whether or not the vehicle 11 has stopped before Step S200, and Step S200 is executed when it is determined that the vehicle has stopped. Then, it may be determined whether there is information that the signal intersection in front of the stop position is the first signal intersection.

Further, the nearest signalized intersection information 30b may be configured to record the vehicle operation in addition to the approach direction to the signalized intersection. For example, as shown in FIG. 3C, vehicle 11 is stopped at the stop position S _a by traffic L ₁ became red state, traffic signal L ₁ is the travel vehicle 11 is again that the state of the blue When an operation that starts and passes through the signalized intersection I ₁ is performed, information indicating the operation may be included in the closest signaled intersection information 30b.

  Furthermore, the configuration for specifying the lighting pattern of the traffic light is not limited to the camera, and output information of various known sensors and road-to-vehicle communication can be used. Further, the operation of the vehicle may be specified based on output information of various known sensors and cameras, and road-to-vehicle communication.

It is a block diagram of a travel history storage system. It is a flowchart which shows a driving history acquisition process. (3A)-(3D) is a figure which shows the signal intersection and the operation example of a vehicle. It is a figure which shows the example of the information stored. It is a flowchart which shows a lighting state guidance process. (6A) and (6B) are diagrams showing an example of operation of a signalized intersection and a vehicle.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 10 ... Navigation apparatus, 11 ... Vehicle, 20 ... Control part, 21 ... Navigation program, 21a ... Stop position information acquisition part, 21b ... Nearest signal intersection information acquisition part, 21c ... Forward signal intersection information acquisition part, 21d ... Accumulation control , 21d1 ... communication control unit, 21e ... navigation processing unit, 30 ... storage medium, 30a ... map information, 30b ... closest signal intersection information, 30c ... forward signal intersection information, 40 ... reception unit, 41 ... vehicle speed sensor, 42 ... Gyro sensor, 43 ... Camera, 50 ... Storage server, 51 ... Storage medium, 51a ... Closest signal intersection information, 51b ... Front signal intersection information

Claims (6)

Stop position information acquisition means for acquiring stop position information indicating the stop position of the vehicle;
Nearest signal intersection information acquisition means for associating a lighting pattern of a traffic light at the closest signal intersection ahead of the stop position and an approach direction of the vehicle with respect to the closest signal intersection and acquiring it as closest signal intersection information; ,
Forward signal intersection information acquisition means for acquiring the traffic signal lighting pattern at the front signal intersection ahead of the nearest signal intersection and the operation of the vehicle on the road where the front signal intersection exists as front signal intersection information. When,
Accumulation control means for associating the nearest signal intersection information with the forward signal intersection information and accumulating the information in a predetermined storage medium;
A travel history storage system comprising: The stop position information acquisition means acquires re-stop position information indicating a stop position where the vehicle has stopped again in front of the stop position,
The front signal intersection information acquisition means is configured to determine the signal intersections from the front signal intersection present next to the closest signal intersection to the nearest front signal intersection ahead of the re-stop position in the traveling locus of the vehicle. Get the front traffic signal intersection information,
The travel history storage system according to claim 1. The closest signal intersection information acquisition means, as a lighting pattern of the traffic light at the nearest signal intersection, changes in the lighting state of the traffic light from when the vehicle stops at the stop position until passing through the nearest signal intersection Get information indicating
The travel history storage system according to claim 1 or 2. The front signal intersection information acquisition means acquires information indicating a required time between the front signal intersections through which the vehicle has passed as information indicating the operation of the vehicle.
The travel history storage system according to any one of claims 1 to 3. A stop position information acquisition step of acquiring stop position information indicating a stop position of the vehicle;
A closest signal intersection information acquisition step of acquiring as a closest signal intersection information by associating a lighting pattern of a traffic light at the closest signal intersection ahead of the stop position and an approach direction of the vehicle with respect to the closest signal intersection; ,
A front signal intersection information acquisition step of acquiring as a front signal intersection information by associating a lighting pattern of a traffic light at a front signal intersection ahead of the nearest signal intersection and an operation of the vehicle on a road where the front signal intersection exists. When,
An accumulation control step of associating the nearest signal intersection information and the forward signal intersection information in a predetermined storage medium;
Running history accumulation method including A stop position information acquisition function for acquiring stop position information indicating a stop position of the vehicle;
The closest signal intersection information acquisition function that associates the lighting pattern of the traffic light at the closest signal intersection ahead of the stop position and the approach direction of the vehicle with respect to the closest signal intersection and acquires it as closest signal intersection information; ,
Forward signal intersection information acquisition function for acquiring as traffic signal intersection information by associating a lighting pattern of a traffic light at a forward signal intersection ahead of the closest signal intersection and the operation of the vehicle on a road where the forward signal intersection exists When,
A storage control function for storing the nearest signal intersection information and the front signal intersection information in a predetermined storage medium in association with each other;
A running history storage program that makes a computer realize.

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