JP2010097345A - Hazardous point recording device, warning control device, and program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To give a warning having a high effect of accident prevention in consideration of an object and situation where the a hazardous condition occurs. <P>SOLUTION: A vehicle position acquisition part 26 acquires the position of a vehicle. A hazardous point determination part 42 retrieves hazardous point information indicating a position existing in a traveling direction of the vehicle and having a predetermined range of distance from the position of the vehicle, based on the position of the vehicle acquired by an vehicle position acquisition part 26, from a hazardous point database 34 storing the hazardous point information. A warning device 20 is controlled by a warning control part 44 in order to output a warning message according to the kind of the road structure and the kind of the object existing in the traveling direction indicated by the retrieved hazardous point information. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a danger point recording device, an alarm control device, and a program. More particularly, the present invention relates to a danger point recording device that records danger point information in a database, an alarm control device that outputs alarm information based on the database, and a program. .

Conventionally, information on a point where a vehicle collision or dangerous state has occurred is stored in the drive recorder, and the vehicle is approaching that point based on a position signal from a GPS receiver that detects the current position of the vehicle When it is determined, a method for giving a warning to a vehicle driver is known (Patent Document 1). In this method, the warning allows the driver of the vehicle to recognize that he or she has approached a point where a vehicle collision or dangerous situation has occurred in the past. It can be motivated to drive carefully and safely when driving.
JP 2008-65541 A

  However, the technology described in Patent Document 1 gives a uniform alarm and does not consider the target or situation when a dangerous situation occurs, so the accident prevention effect by the alarm is small. There's a problem.

  The present invention has been made in order to solve the above-described problems, and a first object of the present invention is to provide a danger point recording apparatus capable of recording an object or situation when a dangerous situation occurs. .

  A second object of the present invention is to provide an alarm control device and a program that can output an alarm having a high accident prevention effect in consideration of an object and situation when a dangerous situation occurs.

  In order to achieve the above object, a danger point recording apparatus according to a first aspect of the present invention includes a position acquisition unit that acquires a position of a vehicle, road map information that includes information indicating a type of road structure, and the position acquisition unit. Based on the acquired position of the vehicle, road structure specifying means for specifying the type of road structure at the position of the vehicle and an imaging device for imaging the front of the vehicle or an object present in front of the vehicle are detected. Object recognition means for recognizing the type of a forward object existing ahead of the vehicle based on the output of the detection device, an acceleration sensor for detecting the acceleration of the vehicle, or a driving operation amount sensor for detecting the driving operation amount of the vehicle A risk determination means for determining whether or not the situation is dangerous based on the output of the signal, and the position acquisition means when the risk determination means determines that the situation is dangerous. Recording means for recording in the database the acquired location of the vehicle, the road structure type specified by the road structure specifying means, and the dangerous point information indicating the type of the forward object recognized by the object recognition means; It is comprised including.

  According to the danger point recording apparatus according to the first invention, the position of the vehicle is acquired by the position acquisition means. The road structure specifying means specifies the road structure type of the vehicle position based on the road map information including information indicating the type of the road structure and the vehicle position acquired by the position acquisition means. Further, the type of the front object existing in front of the vehicle is recognized by the object recognition means based on the output of the imaging device that images the front of the vehicle or the detection device that detects the object present in front of the vehicle.

  And it is determined by a danger determination means whether it is a dangerous situation based on the output of the acceleration sensor which detects the acceleration of a vehicle, or the driving operation amount sensor which detects the driving operation amount of a vehicle. When the recording means determines that the situation is dangerous by the danger determination means, the position of the vehicle acquired by the position acquisition means, the type of road structure specified by the road structure specification means, and recognition by the object recognition means The dangerous point information indicating the type of the forward object is recorded in the database.

  In this way, when it is determined that the situation is dangerous, by recording the dangerous spot information indicating the position, the type of road structure, and the type of the object ahead, the target and situation when the dangerous situation occurs Can be recorded.

  According to a second aspect of the present invention, there is provided an alarm control device comprising: a position acquisition unit configured to acquire a vehicle position; and the danger point recording apparatus according to claim 1 based on the vehicle position acquired by the position acquisition unit. Retrieval means for retrieving the dangerous point information indicating a position that exists in the traveling direction of the vehicle and that is within a predetermined range from the database in which the point information is recorded. And an alarm control means for controlling the output device so as to output alarm information corresponding to the type of road structure and the type of object ahead indicated by the danger point information when the danger point information is searched by the search means. It is comprised including.

  According to a third aspect of the present invention, there is provided a program for causing the computer to detect the danger by the danger point recording apparatus according to claim 1 based on the position acquisition means for acquiring the position of the vehicle and the position of the vehicle acquired by the position acquisition means. Retrieval means for retrieving the dangerous point information indicating a position that exists in the traveling direction of the vehicle and that is within a predetermined range from the database in which the point information is recorded. As the alarm control means for controlling the output device so as to output alarm information according to the type of road structure and the type of the forward object indicated by the danger point information when the danger point information is searched by the search means It is a program to make it function.

  According to the second and third aspects, the position of the vehicle is acquired by the position acquisition means. Based on the position of the vehicle acquired by the position acquisition means by the search means, from the database in which the danger point information is recorded by the danger point recording apparatus according to the first invention, the position existing in the traveling direction of the vehicle. And the dangerous point information which shows the position where the distance with the position of a vehicle is in a predetermined range is searched.

  Then, when the dangerous point information is searched by the search means by the warning control means, the output device is controlled so as to output warning information corresponding to the type of road structure and the type of the forward object indicated by the dangerous point information.

  In this way, by outputting warning information according to the type of road structure of the dangerous point information indicating the position existing within the predetermined range of the vehicle traveling direction and the type of the object ahead, when a dangerous situation occurs Considering the target and situation, it is possible to output an alarm with a high accident prevention effect.

  The alarm control means of the second invention provides an alarm including information indicating the type of road structure when the vehicle is obliged to stop under the road traffic regulations in the type of road structure and the type of forward object indicated by the dangerous point information. The output device can be controlled to output information. As a result, a warning can be issued so as to comply with the obligation to stop the road traffic according to the type of road structure.

  In the second aspect of the invention, the alarm control means does not require the vehicle to stop under the road traffic regulations in the road structure type and the forward object type indicated by the danger point information, and when the vehicle goes straight ahead, When a dangerous situation occurs with respect to the type of object indicated by the point information, the output device can be controlled to output alarm information including information indicating the type of the forward object. As a result, an alarm can be given to pay attention to the front object.

  The alarm control means according to the second aspect of the present invention is such that the vehicle has no obligation to stop under the road traffic regulations in the type of road structure and the type of forward object indicated by the dangerous point information, and when the vehicle turns right or left When a dangerous situation occurs with respect to the type of the forward object indicated by the danger point information, the output device is controlled to output alarm information including information indicating a right turn or a left turn and information indicating the type of the forward object. be able to. Accordingly, an alarm can be given to pay attention to the front object when turning right or left.

  The alarm control device according to the second aspect of the present invention recognizes the type of the front object existing in front of the vehicle based on the output of the imaging device that images the front of the vehicle or the detection device that detects the object present in front of the vehicle. The warning control means is further configured to search the dangerous point information by the search means, and the type of the forward object recognized by the object recognition means matches the type of the forward object indicated by the dangerous point information. In this case, the output device can be controlled so as to output alarm information corresponding to the type of road structure and the type of forward object indicated by the danger point information. Thus, an alarm can be output in the case where it matches the type of the front object when a dangerous situation occurs.

  As described above, according to the danger point recording apparatus of the present invention, when it is determined that the situation is dangerous, the danger point information indicating the position, the type of road structure, and the type of the forward object is recorded. As a result, it is possible to record an object or situation when a dangerous situation occurs.

  Further, according to the alarm control device and the program of the present invention, the alarm information corresponding to the type of road structure and the type of object ahead of the dangerous point information indicating the position existing within the predetermined range of the traveling direction of the vehicle is output. Thus, it is possible to output an alarm having a high accident prevention effect in consideration of the target and situation when a dangerous situation occurs.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. In the present embodiment, a case where the present invention is applied to a driving alarm device mounted on a vehicle will be described as an example.

  As shown in FIG. 1, the driving warning device 10 according to the first embodiment includes an imaging device 12 that images the front of the host vehicle, a GPS 14 that detects latitude information and longitude information as position information of the host vehicle, The acceleration sensor 16 that detects the acceleration of the host vehicle, the communication device 18 for communicating with the traffic information center, the alarm device 20 that presents an alarm message to the driver, and the information received by the communication device 18 are acquired. In addition, a computer 22 that controls an alarm by the alarm device 20 based on outputs from the imaging device 12, the GPS 14, and the acceleration sensor 16 is provided.

  The imaging device 12 captures an image of the front of the host vehicle and generates an image signal of the image, and includes an imaging unit (not shown) configured to perform A / D conversion on the image signal generated by the imaging unit. A / D conversion unit (not shown) and an image memory (not shown) for temporarily storing the A / D converted image signal.

  The communication device 18 transmits / receives data to / from the traffic information center via a base station installed on the roadside by wireless communication.

  The alarm device 20 includes a speaker, and outputs a predetermined alarm message to the driver in accordance with control by the computer 22.

  The computer 22 includes a CPU, a RAM, and a ROM that stores a program for executing each of a danger information recording processing routine and an alarm output processing routine, which will be described later, and is functionally configured as follows. Yes. The computer 22 includes a front object recognition unit 24 that recognizes the type of an object existing in front of the host vehicle from a front image output from the imaging device 12, and a host vehicle position acquisition unit that acquires position information of the host vehicle from the GPS 14. 26, the road map database 28 storing road map information including information indicating the type of road structure, and the type of road structure of the road on which the host vehicle is located, based on the position information of the host vehicle and the road map information. Based on the road structure specifying unit 30 to be specified and the acceleration of the host vehicle obtained from the acceleration sensor 16, a danger situation determining unit 32 that determines whether or not the host vehicle is in a dangerous situation, position information, The risk location database 34 storing a plurality of risk location information including the type and the type of road structure, and the vehicle position acquisition unit 26 when the vehicle is determined to be in a dangerous situation The dangerous point information including the obtained position information of the host vehicle, the type of the forward object recognized by the forward object recognition unit 24, and the type of the road structure specified by the road structure specifying unit 30 is recorded in the dangerous point database 34. And a dangerous situation recording unit 36.

  The forward object recognition unit 24, the vehicle position acquisition unit 26, the road structure identification unit 30, the dangerous situation determination unit 32, and the dangerous situation recording unit 36 in the present embodiment are each means of the dangerous point recording apparatus of the present invention. It corresponds to.

  The forward object recognition unit 24 performs predetermined image processing on the forward image picked up by the imaging device 12, and the type of forward object (for example, preceding vehicle, crossing vehicle, oncoming vehicle, crossing pedestrian, crossing bicycle, Pattern recognition is performed for each of a back pedestrian, an oncoming pedestrian, a back bicycle, an oncoming bicycle, and the like, and when the front image represents a front object, the type of the front object is recognized.

  The road map information of the road map database 28 includes the type of road structure at each position (signal intersection, priority side temporary stop intersection, non-priority side temporary stop intersection, single road part with pedestrian crossing, single road without crosswalk. Information indicating the road section).

  The road structure specifying unit 30 specifies the type of road structure at the position of the position information acquired by the own vehicle position acquiring unit 26 based on the road map information in the road map database 28. In addition, when it is not possible to identify whether it is a priority stop intersection or a non-priority stop intersection from the position of the position information (for example, if the position of the position information is within a stop intersection) Based on the traveling direction obtained from the time-series data immediately before the position of the position information, it may be specified whether it is the priority side or the non-priority side.

  Based on the acceleration obtained from the acceleration sensor 16, the dangerous situation determination unit 32 determines that the host vehicle is in a dangerous situation when it is determined that there is a sudden deceleration or a collision with another vehicle. judge.

  The danger point database 34 stores a plurality of pieces of danger point information including position information when it is determined that the situation is dangerous, the type of the object ahead, and the type of road structure.

  The computer 22 also controls the communication control unit 38 to control the communication device 18 so as to receive the latest dangerous point information from the traffic information center, and records the received latest dangerous point information in the dangerous point database 34. And an update unit 40 for updating the point database 34.

  In the traffic information center, the dangerous point information obtained from other vehicles is collected, and the latest dangerous point information is transmitted to the driving warning device 10 of each vehicle.

  Further, the computer 22 searches the dangerous point database 34 for dangerous point information including a position within a predetermined range in the traveling direction as positional information based on the position information of the own vehicle, and the dangerous point is found in the traveling direction. A danger point determination unit 42 that determines whether or not there exists, and an alarm control unit that outputs an alarm message corresponding to the corresponding dangerous point information from the alarm device 20 when it is determined that the corresponding dangerous point information exists. 44. The dangerous point determination unit 42 corresponds to the search unit of the present invention, and the alarm control unit 44 corresponds to the alarm control unit of the present invention.

  The danger point determination unit 42 is a position in the traveling direction of the host vehicle with respect to the position of the host vehicle based on the position information of the host vehicle acquired by the host vehicle position acquisition unit 26, and is based on the position of the host vehicle. When the dangerous point information including the position where the distance is within the predetermined range as position information is searched from the dangerous point database 34 and the corresponding dangerous point information is searched, there is a dangerous point in the traveling direction. judge.

  The alarm control unit 44 generates an alarm message according to the type of road structure and the type of the front object of the dangerous point information searched by the dangerous point determination unit 42, and outputs the generated warning message as a sound. To control.

  In the alarm control unit 44, as described below, a rule for generating an alarm message is determined in advance for each classification related to a combination of a road structure type and a forward object type as shown in FIG.

  First, in the combination of the road structure type and the forward object type, if the vehicle has a duty to stop under traffic regulations (see classification “A” in FIG. 2), the road structure type or road structure A generation rule for generating an alarm message including the type of the object and the type of the front object is defined. For example, when the type of road structure at the location of the host vehicle is the non-priority side (temporary stop side) of the temporary stop intersection, or when there are pedestrians or bicycles crossing in a single road section with a pedestrian crossing It is classified when the own vehicle has a duty to stop under traffic regulations. On the non-priority side of the temporary stop intersection, the vehicle is obliged to stop at the intersection, and in the crossing report in the single road section, there is an obligation to pause when there are pedestrians and bicycles. It seems that the dangerous situation that occurred was caused by failure to comply with the obligation. In order not to fall into a dangerous situation, it is of course important to observe the obligation to stop, so the driver has priority over “there is a temporary stop” and “there are pedestrian crossings and pedestrian bicycles” As a reminder, an alert message that includes the type of road structure (eg, “There is a paused intersection. Please be careful.”) And an alert message that contains the type of road structure and the type of object ahead (eg, "There is a pedestrian crossing. Beware of pedestrians and bicycles.").

  In addition, in the combination of the road structure type and the forward object type, if the host vehicle is not obligated to stop under traffic regulations and a dangerous situation occurs for the forward object type when the host vehicle goes straight A generation rule for generating an alarm message including the type of the front object is defined for the classification (see “B” in FIG. 2). For example, it is assumed that the type of road structure at the position of the host vehicle is a signalized intersection (it is assumed that the signal state is a green light and there is no obligation to stop because the vehicle stops at a red light and a dangerous situation does not occur) ) And the type of the front object is a preceding vehicle, a crossing vehicle, a crossing pedestrian, or a crossing bicycle, or the priority side of the paused intersection (the side where no pause is required), and the type of the front object is In the case of a preceding vehicle, crossing vehicle, crossing pedestrian, or crossing bicycle, the host vehicle is not obligated to stop under traffic regulations and is dangerous for the type of object ahead when the host vehicle goes straight If it occurs, it is classified. The dangerous situation that occurred when the host vehicle was not obligated to stop is obeying the traffic regulations, but there was not enough attention to the front object, or the front object was difficult to recognize due to the road structure. It is thought that it was caused by this. Therefore, a warning message that includes the type of the forward object (for example, “Please be careful of rear-end collisions with the preceding vehicle.” Or “Beware of the crossing vehicle.” ”,“ Beware of crossing pedestrians and bicycles ”).

  In addition, in the combination of the road structure type and the forward object type, the host vehicle is not obligated to stop under traffic regulations, and a dangerous situation occurs for the forward object type when the host vehicle turns right or left. A generation rule for generating a warning message including information indicating a right turn or a left turn and the type of the front object is defined for the case (see the classification “C” in FIG. 2). For example, the type of road structure at the position of the host vehicle is a signalized intersection (assuming that the signal state is a green signal), and the type of front object is an oncoming vehicle, a rear / face-to-face pedestrian, or a rear / If it is a face-to-face bicycle, or it is a priority side (a side where no pause is required) of a temporary stop intersection and the type of the front object is a rear / face-to-face pedestrian or a rear / face-to-face bicycle, the traffic regulations are It is classified when there is no upper duty to stop and a dangerous situation occurs with respect to the type of the forward object when the vehicle turns right or left. When turning right or left, unlike the case of going straight, a new crossing object is generated, so it is considered that a dangerous situation occurs because a new crossing object occurs due to a right or left turn. Therefore, a warning message including information indicating a right turn or left turn and the type of the front object (for example, “Be careful of oncoming vehicles when turning right” so as to call attention to the type of the front object when a right / left turn action occurs. Or "Please be careful with pedestrians and bicycles when turning right.").

  In addition, when the combination of the road structure type and the forward object type is other than the above three classifications (see the classification “D” in FIG. 2), a generation rule for generating a warning message for calling attention is provided. It has been established. Basically, there should be no object to cross in a single road part without an intersection or pedestrian crossing, but if a pedestrian or bicycle does not follow traffic regulations, crossing will occur due to jumping out. For example, when the type of front object is a pedestrian or a bicycle, a dangerous situation occurs where there are many children near a park or school, or there are many pedestrians or bicycles near a residential area or shopping district. It can be a place. Therefore, a warning message to alert precautionary attention (for example, “Be careful about pedestrians and bicycles in the vicinity”, “Be careful about pedestrians and bicycles jumping out”, “ Be careful with your bike, ").

  Next, the operation of the driving alarm device 10 according to the first embodiment will be described. First, while the vehicle equipped with the driving warning device 10 is traveling, the danger situation recording processing routine shown in FIG. 3 is executed in the computer 22 of the driving warning device 10.

  First, in step 100, the current position information of the host vehicle is acquired from the GPS 14, and in step 102, the position of the host vehicle is determined based on the road map information in the road map database 28 and the position information acquired in step 100. Identify the type of road structure.

  In step 104, a front image is acquired from the imaging device 12, and in step 106, the type of the front object existing in front of the host vehicle is recognized based on the front image acquired in step 104.

  In the next step 108, the current acceleration of the host vehicle is acquired from the acceleration sensor 16, and in step 110, it is determined whether or not the situation is dangerous based on the acceleration acquired in step 108. If it is determined that the situation is not dangerous, the process returns to step 100. On the other hand, if it is determined that the situation is dangerous, in step 112, the positional information acquired in step 100, the step 102 described above. The dangerous point information including the type of the road structure specified in step 1 and the type of the forward object recognized in step 106 is recorded in the road map database 28, and the process returns to step 100.

  Further, when the driving warning device 10 receives the latest dangerous point information from the traffic information center via the communication device 18, the received dangerous point information is recorded in the dangerous point database 34, and the dangerous point database is recorded. 34 is updated.

  Further, while a vehicle equipped with the driving warning device 10 is traveling, a warning output processing routine shown in FIG. 4 is executed in the computer 22 of the driving warning device 10.

  First, in step 120, the current position information of the own vehicle is acquired from the GPS 14, and in step 122, the traveling direction of the own vehicle with respect to the position of the own vehicle based on the position information of the own vehicle acquired in step 120. The dangerous point information including the position at which the distance from the position of the host vehicle is within the predetermined range as position information is searched from the dangerous point information recorded in the dangerous point database 34.

  In step 124, it is determined whether or not the corresponding dangerous spot information is searched in step 122. If the corresponding dangerous spot information is not searched, the process returns to step 120. If the dangerous point information is retrieved, it is determined that there is a dangerous point in the traveling direction, and the process proceeds to step 126.

  In step 126, the road structure type or the forward object type is set in accordance with the generation rule determined in accordance with the classification relating to the combination of the road structure type and the forward object type indicated by the dangerous point information retrieved in step 122. Based on this, an alert message is generated. In step 128, the alarm device 20 is controlled so as to output the alarm message generated in step 126, and the process returns to step 120.

  As described above, according to the driving warning device according to the first embodiment, when it is determined that the situation is dangerous, the position information of the host vehicle, the type of the road structure, and the type of the forward object are determined. By recording the dangerous point information shown in the dangerous point database, it is possible to record the target and the situation when a dangerous situation occurs.

  Also, dangerous point information indicating a position existing in a predetermined range in the traveling direction of the vehicle is searched, and a warning message is output according to the combination of the road structure type and the forward object type of the dangerous point information, Considering the target and situation when the situation occurs, it is possible to output an alarm with a high accident prevention effect.

  According to the classification of the combination of the road structure type and the forward object type recorded as the dangerous point information, what warning should be given by outputting a warning message detailing the target of attention, The driver can be guided appropriately, and can be motivated to perform a careful and safe driving.

  Next, a second embodiment will be described. In addition, about the part which becomes the structure similar to 1st Embodiment, the same code | symbol is attached | subjected and description is abbreviate | omitted.

  In the second embodiment, the first control point is that an alarm message is output when the type of the forward object in the searched danger point information matches the current forward object type. This is mainly different from the embodiment.

  As shown in FIG. 5, the computer 222 of the driving warning device 210 according to the second embodiment includes a forward object recognition unit 24, a vehicle position acquisition unit 26, a road map database 28, and a road structure identification unit 30. And a predetermined range in the traveling direction from the dangerous point information in the dangerous point database 34, the dangerous point database 34, the dangerous state recording unit 36, the communication control unit 38, the updating unit 40, and the dangerous point database 34. The dangerous point information including the position in the position is searched, and it is determined whether the type of the forward object indicated by the searched dangerous point information matches the type of the forward object recognized from the current forward image. A danger point determination unit 242 and an alarm control unit 44 are provided.

  The dangerous point determination unit 242 is a position in the traveling direction of the host vehicle with respect to the position of the host vehicle based on the position information of the host vehicle acquired by the host vehicle position acquisition unit 26, and is based on the position of the host vehicle. The dangerous point information including the position where the distance is within the predetermined range as position information is searched from the dangerous point database 34. When the dangerous point information is searched, the dangerous point determination unit 242 recognizes the type of the forward object recognized by the forward object recognition unit 24 from the current forward image and the type of the forward object indicated by the searched dangerous point information. Are matched, and if the type of the front object matches, it is determined that there is a danger point in the traveling direction.

  Next, an alarm output processing routine according to the second embodiment will be described with reference to FIG. In addition, about the process similar to 1st Embodiment, the same code | symbol is attached | subjected and detailed description is abbreviate | omitted.

  First, in step 120, the current position information of the host vehicle is acquired from the GPS 14, and in step 252, the current front image is acquired from the imaging device 12. In step 254, the type of the front object existing at a position where the distance from the position of the host vehicle is within a predetermined range is recognized from the front image acquired in step 252.

  In the next step 122, based on the position information of the own vehicle acquired in step 120, the position is in the traveling direction of the own vehicle with respect to the position of the own vehicle, and the distance from the position of the own vehicle is within a predetermined range. Hazardous point information including the inner position as position information is searched from the dangerous point database 34.

  In step 124, it is determined whether or not the corresponding dangerous spot information is searched in step 122. If the corresponding dangerous spot information is not searched, the process returns to step 120. If the dangerous point information is retrieved, the process proceeds to step 256.

  In step 256, the type of the front object recognized in step 254 is compared with the type of the front object indicated by the dangerous point information searched in step 122. In step 258, the type of the front object compared in step 256 is compared. Determine whether the types match. If the type of the forward object does not match, it is determined that the situation is different from the situation where the dangerous point information is recorded, and the process returns to step 120. On the other hand, if the type of the forward object matches, the dangerous point in the traveling direction. The process proceeds to step 126.

  In step 126, an alarm message is generated according to the combination of the road structure type and the forward object type indicated by the dangerous point information searched in step 122. In step 128, the alarm message generated in step 126 is generated. The alarm device 20 is controlled so as to output a voice, and the process returns to step 120.

  As described above, when the dangerous point information indicating the position existing in the predetermined range in the traveling direction of the host vehicle is searched, and the type of the road object of the dangerous point information matches the type of the front object of the searched dangerous point information, A warning message corresponding to the combination of the type of the object and the object in front, and when there is a high possibility that a dangerous situation will occur, consider the target and situation when the dangerous situation occurs, and prevent accidents. High alarm can be output.

  In the above embodiment, the case where the type of the front object of the dangerous point information and the type of the current front object are compared has been described as an example. Further, the type of the road structure of the dangerous point information and the front of the host vehicle are further described. You may make it compare with the kind of road structure. In this case, the type of the forward object in the searched dangerous point information matches the type of the current forward object, and the type of road structure in the searched dangerous point information and the type of road structure in front of the host vehicle. Control may be made so that an alarm message is output when the two match.

  In the first embodiment and the second embodiment described above, the case where the dangerous point recording device and the alarm control device are configured by one driving alarm device has been described as an example, but the present invention is not limited thereto. Instead, the danger point recording device and the alarm control device may be configured separately. In this case, the driving alarm device may read and use the database in which the dangerous point information is recorded by the external dangerous point recording device as the dangerous point database.

  Further, the case where the type of the front object is recognized from the front image has been described as an example. However, the present invention is not limited to this. The presence of the front object is detected using a detection device such as a laser radar mounted on the host vehicle. And the type of the front object may be recognized based on the detection result.

  Moreover, although the case where it is determined as an example whether or not the host vehicle is in a dangerous situation based on the acceleration detected by the acceleration sensor has been described, the present invention is not limited to this, and the amount of driving operation of the host vehicle is not limited to this. Whether or not the host vehicle is in a dangerous situation may be determined based on the output of the driving operation amount sensor that detects the above. For example, when it is determined that the sudden handle is taken based on the driving operation amount, it may be determined that the situation is dangerous.

  Further, the program of the present invention may be provided by being stored in a storage medium.

1 is a block diagram showing a driving alarm device according to a first embodiment of the present invention. It is a table | surface which shows the specific example of the warning message according to the combination of the kind of road structure, and the kind of front object. It is a flowchart which shows the content of the danger condition recording process routine in the driving | operation warning apparatus which concerns on the 1st Embodiment of this invention. It is a flowchart which shows the content of the alarm output process routine in the driving | operation warning apparatus which concerns on the 1st Embodiment of this invention. It is a block diagram which shows the driving | operation warning apparatus which concerns on the 2nd Embodiment of this invention. It is a flowchart which shows the content of the alarm output process routine in the driving | operation warning apparatus which concerns on the 2nd Embodiment of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10,210 Driving warning device 12 Imaging device 16 Acceleration sensor 20 Warning device 22, 222 Computer 24 Front object recognition part 26 Own vehicle position acquisition part 28 Road map database 30 Road structure specific | specification part 32 Hazardous condition determination part 34 Hazardous point database 36 Danger Situation recording unit 42, 242 Danger point determination unit 44 Alarm control unit

Claims (7)

Position acquisition means for acquiring the position of the vehicle;
Road structure specifying means for specifying the road structure type of the position of the vehicle based on road map information including information indicating the type of road structure, and the position of the vehicle acquired by the position acquisition means;
Object recognition means for recognizing the type of a front object existing in front of the vehicle based on an output of an imaging device that images the front of the vehicle or a detection device that detects an object present in front of the vehicle;
Risk determination means for determining whether or not the vehicle is in a dangerous situation based on an output of an acceleration sensor for detecting the acceleration of the vehicle or an output of a driving operation amount sensor for detecting a driving operation amount of the vehicle;
When the risk determination means determines that the situation is dangerous, the position of the vehicle acquired by the position acquisition means, the type of road structure specified by the road structure specification means, and the object recognition means Recording means for recording dangerous point information indicating the type of the recognized front object in a database;
Hazardous point recording device including Position acquisition means for acquiring the position of the vehicle;
A position existing in the traveling direction of the vehicle from the database in which the dangerous point information is recorded by the dangerous point recording device according to claim 1 based on the position of the vehicle acquired by the position acquisition means. And the search means which searches the said dangerous spot information which shows the position where the distance with the position of the said vehicle is in a predetermined range,
When the dangerous point information is searched by the search means, alarm control means for controlling the output device so as to output alarm information according to the type of road structure and the type of the front object indicated by the dangerous point information;
Including alarm control device.   The warning control means outputs warning information including information indicating the type of the road structure when the vehicle is obliged to stop according to road traffic regulations in the type of road structure and the type of the forward object indicated by the danger point information. The alarm control device according to claim 2, wherein the output device is controlled to do so.   The warning control means is configured such that the vehicle has no obligation to stop under road traffic regulations in the type of road structure and the type of forward object indicated by the danger point information, and the danger point information is not displayed when the vehicle goes straight ahead. 4. The alarm control device according to claim 2, wherein when a dangerous situation occurs with respect to the type of the front object shown, the output device is controlled to output alarm information including information indicating the type of the front object.   The warning control means is configured such that the vehicle has no obligation to stop under road traffic regulations in the type of road structure and the type of forward object indicated by the dangerous point information, and the dangerous point when the vehicle turns right or left When a dangerous situation occurs with respect to the type of the front object indicated by the information, the output device is controlled to output alarm information including information indicating a right turn or a left turn and information indicating the type of the front object. The alarm control device according to any one of claims 2 to 4. Further comprising object recognition means for recognizing the type of a front object existing in front of the vehicle based on an output of an image pickup device that images the front of the vehicle or a detection device that detects an object present in front of the vehicle;
The warning control means, when the danger point information is searched by the search means, and the type of the front object recognized by the object recognition means and the type of the front object indicated by the danger point information match, The alarm control device according to any one of claims 2 to 5, wherein the output device is controlled so as to output alarm information according to a road structure type and a front object type indicated by the danger point information. Computer
Position acquisition means for acquiring the position of the vehicle;
A position existing in the traveling direction of the vehicle from the database in which the dangerous point information is recorded by the dangerous point recording device according to claim 1 based on the position of the vehicle acquired by the position acquisition means. And when the dangerous point information is searched by the search means for searching the dangerous point information indicating a position whose distance from the vehicle position is within a predetermined range, the dangerous point information indicates A program for functioning as alarm control means for controlling an output device so as to output alarm information according to the type of road structure and the type of object ahead.

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