JP2011242839A - Driving support device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a "driving support device" which supports vehicle driving in compliance with traffic regulations including temporary stopping and vehicle approach prohibition except for speeding.SOLUTION: An image recognition processing unit 19 recognizes the contents of regulations such as temporary stopping or vehicle approach prohibition at points ahead of a vehicle on the basis of a flashing red light (an instruction to halt), a no-entry sign, or a one-way sign captured in a front image of the vehicle which has been photographed by a camera 7. The contents of the regulations at each point are registered in advance in regulation data. A control unit 16 detects an occurrence of violation of the regulations committed by the vehicle on the basis of the recognition results of the image recognition processing unit 19 and the regulation data and, with regard to a point where more than a prescribed number of violations have occurred, outputs a voice message urging the driver to comply with regulations when the vehicle approaches the point.

Description

  The present invention relates to a technology for supporting driving of an automobile in compliance with traffic rules.

  As a technology to support the driving of automobiles, on-board devices installed in automobiles that drive at a speed exceeding the maximum speed set in advance for each type of road (highway, general road, etc.) In the technology, the point where the driver has performed the illegal driving is memorized, and then, when approaching the point, a technology is known that outputs an alarm so as not to drive at a speed exceeding the maximum speed. (Patent Document 1).

JP 2005-010684 A

  According to the technology that outputs an alarm so as not to perform driving at a speed exceeding the maximum speed, the maximum speed is set in advance for each type of road. And since the regulation value of the maximum speed according to the regulations is roughly determined for each type of road, this technology can support the driving of the car that complies with the traffic rules about the maximum speed of the driver. it can.

  However, this technology cannot support driving of a vehicle that complies with the traffic rules of the driver with respect to regulations other than the maximum speed. In particular, regulations other than the maximum speed, such as temporary suspension and the prohibition of entry of cars, are not fixed for each road type, so even if this technology is applied, driving the car in compliance with the traffic rules of the driver. Can not help.

  Therefore, an object of the present invention is to support driving of a vehicle that complies with traffic rules other than the maximum speed such as temporary stop and prohibition of entry of the vehicle.

  In order to achieve the above object, the present invention provides a current position calculating means for calculating a current position in a driving support device mounted on a vehicle, and a restriction point where a restriction for imposing a temporary stop on the vehicle is set. A violation detecting means for detecting an occurrence of a violation of a regulation that imposes a temporary stop on the vehicle at the identified restricted point, and when the violation detecting means detects the occurrence of the violation more than a predetermined number of times at the same restricted point Thereafter, a caution output point setting unit that sets the restriction point as a caution output point, and a regulation that imposes a temporary stop on the vehicle when the current position calculated by the current position calculation unit approaches the caution output point And a caution output means for outputting a message prompting the user to drive in compliance with the above.

  Here, such a driving support device is provided with a restriction point data storage means for storing restriction point data in which a point where a restriction for imposing a suspension on the vehicle is set is stored in the driving support device. In the detection means, the restriction point may be identified based on the restriction data. Alternatively, the driving support device is provided with a camera that captures the appearance in front of the vehicle, and the violation detection means is a road sign that represents a restriction that imposes a temporary stop on the vehicle from an image captured by the camera, or a red signal The restriction point may be identified by recognizing blinking.

In addition, in such a driving support device, when the driving complying with the regulations for imposing a temporary stop on the vehicle is continuously performed at a predetermined number of times or more at the warning output point, the setting of the warning output point is canceled. You may make it provide the attention output point cancellation | release means to do.
According to these driving support devices, when the user repeatedly violates the suspension at the same point, when approaching the point, a message is issued to call attention so as not to violate the suspension. It will be possible to support driving in compliance with regulations. In addition, by using the above-mentioned regulation data, signs, and image recognition of blinking red light, it is possible to properly recognize a point where a regulation that imposes a temporary stop on an automobile that is not determined for the type of road is set, It will be possible to support driving that complies with the traffic rules regarding the regulation of suspension obligations.

  Further, in order to achieve the above object, the present invention provides a regulation that is a point where a driving position apparatus that is mounted on a vehicle has a current position calculating unit that calculates a current position and a restriction that prohibits the entry of the vehicle. A violation detecting means for identifying a point and detecting the occurrence of a violation of the prohibition of entry of the vehicle at the identified restricted point, and the violation detecting means detects the occurrence of the violation more than a predetermined number of times at the same restricted point Sometimes, the attention output point setting means for setting the restriction point as the attention output point and the current position calculated by the current position calculation means approach the attention output point and are set as the attention output point. A message that prompts the user to drive in compliance with the regulations prohibiting entry of vehicles when the vehicle is predicted to travel in the direction of entry that is prohibited by the existing regulations. It is provided with a an attention output means for outputting a di.

  Here, such a driving support device is provided with a restriction point data storage unit that stores restriction point data in which a point where a restriction prohibiting entry of a vehicle is set is stored in the driving support device. The detection means may identify the restriction point based on the restriction data. Alternatively, the driving support device is provided with a camera that captures the appearance in front of the vehicle, and the violation detection means recognizes a road sign representing a restriction prohibiting entry of the vehicle from an image captured by the camera. The restriction point may be identified.

In addition, in such a driving support device, when the driving complying with the regulations prohibiting the entry of the vehicle is continuously performed at a predetermined number of times or more at the warning output point, the warning output point is set. You may make it provide the caution output point cancellation | release means to cancel | release.
According to these driving support devices, if the user repeatedly violates the entry prohibition at the same point, be careful not to violate the entry prohibition when it is predicted that the user will head toward the entry prohibition direction when approaching the point. Since the prompting message is output, it becomes possible to support driving that complies with the traffic rules regarding the regulations prohibiting entry of automobiles. In addition, by using the above-described regulation data and image recognition of signs, the regulation point that prohibits entry of automobiles that are not determined for the type of road is properly recognized and the entry of the automobile is prohibited. It will be possible to support driving that complies with the traffic rules.

  As described above, according to the present invention, it is possible to support driving of a vehicle that complies with traffic rules other than the maximum speed such as temporary stop and prohibition of entry of the vehicle.

It is a block diagram which shows the structure of the navigation system which concerns on embodiment of this invention. It is a figure which shows the map data and the violation location management table which the navigation system which concerns on embodiment of this invention memorize | stores. It is a flowchart which shows the violation spot management process and attention output process which concern on embodiment of this invention. It is a flowchart which shows the violation spot cancellation | release process which concerns on embodiment of this invention.

Hereinafter, embodiments of the present invention will be described.
FIG. 1 shows a configuration of a navigation system according to the present embodiment.
The navigation system is a system mounted on an automobile. As shown in the figure, the navigation system includes a navigation device 1, an operation unit 2, a display device 3, a vehicle state sensor 4, a GPS receiver 5, and a speaker 6. And a camera 7. Here, the vehicle state sensor 4 is various sensors that detect a vehicle state, such as an azimuth sensor such as an angular acceleration sensor or a geomagnetic sensor, or a vehicle speed sensor such as a vehicle speed pulse sensor. The camera 7 captures the appearance in front of the vehicle.

  The navigation device 1 includes a storage device 11 that is an HDD that stores map data representing a map, restriction data described later, and a violation point management table described later, a current state calculation unit 12, an operation unit 2, and a display device 3. It has the GUI control part 13, the route search part 14, the memory 15, the control part 16, the guidance image generation part 17, the audio | voice output part 18, and the image recognition process part 19 which provide the used GUI to a user.

  However, the above navigation apparatus 1 may be a CPU circuit having a general configuration including peripheral devices such as a microprocessor, a memory, and other graphic processors and geometric processors in terms of hardware. In this case, each unit of the navigation device 1 described above may be realized as a process embodied by a microprocessor executing a program prepared in advance. In this case, such a program may be provided to the navigation apparatus 1 via a recording medium or an appropriate communication path.

  In such a configuration, the current state calculation unit 12 of the navigation device 1 indicates the current position estimated from the outputs of the vehicle state sensor 4 and the GPS receiver 5 by the map data read from the storage device 11. Execute map matching processing with the map around the current position determined last time, and determine the most probable coordinates as the current position and the most probable direction as the current traveling direction as the current position and current traveling direction, respectively. And set in the memory 15.

  Next, the control unit 16 accepts a destination setting from the user via the operation unit 2 and the GUI control unit 13 in response to a user destination setting request, and sets this in the memory 15. When the destination setting is accepted, the control unit 16 causes the route search unit 14 to search for a recommended route to the destination set in the memory 15. The route search unit 14 reads out the map data of the necessary geographical range from the storage device 11, and uses the minimum cost route from the current position set in the memory 15 to the destination as a predetermined cost model such as the minimum distance. Based on the recommended route, the route data of the calculated recommended route is set in the memory 15. In addition, when the current position set in the memory 15 becomes near the destination, the control unit 16 determines that the destination has arrived, and also performs processing for clearing the destination and the recommended route set in the memory 15. .

  In addition, the guide image generation unit 17 draws a map around the current position based on the map data, draws a current position mark representing the current position set in the memory 15 on the map, Drawing a recommended route graphic representing a recommended route indicated by the route data set in the memory 15 on the map and drawing a destination mark representing the destination set in the memory 15 on the map It is generated and displayed on the display device 3 via the GUI control unit 13.

  Next, the image recognition processing unit 19 performs an image recognition process on the image in front of the car taken by the camera 7 to blink a red signal (pause instruction), pause (stop), prohibit entry, or one-way. Such as temporary stoppage or vehicle entry prohibition (including entry prohibition, no-passage, one-way traffic etc.) related to the designated location temporary stoppage or traffic prohibition violation, etc. Recognize the contents of the regulations and the points where the regulations are set.

Next, the above-described restriction data and violation point management table stored in the storage device 11 will be described.
As shown in FIG. 2a, the restriction data is data stored in the storage device 11 in advance, and the restriction data is related to a temporary stop or vehicle entry related to a designated place temporary stop, a railroad crossing stop, a traffic prohibition violation, or the like. It consists of a restriction record provided corresponding to each point (usually the point before the railroad crossing and the intersection) where the restriction such as prohibition (including prohibition of entry, traffic prohibition, and one-way traffic) is fixedly set. Each restriction record includes a point coordinate representing the coordinates of the corresponding point, a restriction direction representing the passage direction of the corresponding point where the restriction is imposed, and a restriction representing the content of the restriction set at the corresponding point. Contents are registered.

  Next, as shown in Fig. 2b, the violation point management table is based on temporary stoppage or vehicle entry prohibition (entrance prohibition, traffic stoppage, one-way traffic, etc.) related to designated place temporary stoppage, level crossing stoppage stop, or traffic prohibition violation. Entry) (each line in the figure) where the driver has made a violation of regulations such as), and each entry has a violation point, direction of passage, violation type, number of violations, number of compliances, warning output flag be registered.

  In the violation point, the coordinates of the point where the driver has violated the regulations are registered, and in the passing direction, the passing direction of the violation point of the car at the time of the violation is registered. The violation type is the violation point. The contents of the regulations are registered, the number of violations is registered as the number of times the driver has violated the violation type regulations at the violation points, and the number of violations is continuously violated against the violation type regulations at the violation points so far The number of times the driver did not perform is registered. The attention output flag is set when the number of violations exceeds a predetermined number.

  Now, in such a navigation system configuration, the control unit 16 is in a temporary stop or vehicle entry prohibition (prohibition of entry prohibition, traffic stop, one-way traffic, etc. related to temporary stoppage at a designated place, railroad crossing stoppage, or traffic prohibition violation. Violation point management processing, warning output processing, and violation point release processing are performed in order to support the driving of the driver in compliance with regulations such as

Hereinafter, each process will be described.
First, the violation point management process will be described.
FIG. 3a shows the procedure of this violation point management process.
As shown in the figure, in this process, occurrence of violations of regulations due to driving by the driver is monitored (step 302). Here, the violation of the regulation is the content of the regulation obtained from the event that the image recognition processing unit 19 has recognized the existence, the point where the regulation is performed, the content of the regulation indicated by the regulation record of the regulation data and the regulation. And the history of the current position and the current traveling direction set in the memory 15.

  In other words, when the current position passes a point where the restriction obtained from the recognition result of the image recognition processing unit 19 or the restriction record is set, the history of the current position and the current traveling direction does not comply with the restriction. Detect violations of regulations when the car is showing progress. More specifically, when the vehicle passes a point where the restriction of suspension determined from the recognition result of the image recognition processing unit 19 or the restriction record is set, the history of the current position and current traveling direction is temporarily displayed by the car. Detects violations of suspension regulations when it indicates progress without stopping. In addition, when the vehicle passes a point where restrictions on vehicle entry prohibition (including entry prohibition, traffic stop, and one-way traffic) determined from the recognition result of the image recognition processing unit 19 and the restriction record are set, the current position and the current The occurrence of a violation of the vehicle entry prohibition regulation is detected when the history of the traveling direction indicates that the vehicle has passed through the point in the direction in which vehicle entry is prohibited.

  If a violation of the regulation occurs, it is checked whether or not the point that violated the regulation is already registered as a violation point in the violation point management table (step 304). And the coordinates of the point that violated the restriction are registered in the violation point of the created entry, and the passing direction of the point at the time of violation of the restriction detected in step 302 is registered in the passing direction of the created entry. In addition, the content of the restriction that detected the violation in step 302 is registered in the violation type of the created entry, the violation count of the created entry is set to 1, the compliance count is set to 0, and the attention output flag is set to OFF ( Step 314).

  On the other hand, if a point that violates the regulations is already registered as a violation point in the violation point management table (step 304), the number of times of compliance with the entry of the violation point is cleared to 0 (step 306), and the violation point The number of violations of the entry is incremented by 1 (step 308), and it is checked whether the number of violations after the increase exceeds a predetermined value n (for example, 3) (step 310).

  If the increased number of violations does not exceed the predetermined value n, the process directly returns to step 302 to monitor the occurrence of violations of the next regulation, and if exceeded, the warning output flag for the entry at the violation point. Is set to ON (step 312), and the processing returns to step 302.

The violation point management process has been described above.
Next, the attention output process will be described.
FIG. 3b shows the procedure of this attention output process.
As shown in the figure, in this attention output process, from the map represented by the current position, current traveling direction, and map data set in the memory 15, the warning output flag of the violation point management table is turned on. The occurrence of an approach of the vehicle within a predetermined distance (for example, 15 m) to the coordinates indicated by the violation point of any entry is monitored (step 352).

If the vehicle approaches the violation point, it is determined whether or not the vehicle may violate the regulations at the violation point (step 354).
Here, if there is a possibility that the vehicle will violate the regulations at the violation point, if the vehicle is about to pass in the direction registered in the entry of the violation point in the violation point management table, Judgment is based on the possibility of a violation. Whether or not the vehicle is going to pass in the passing direction registered as a violation point is determined based on the current traveling direction set in the memory 15 or the operation state of the driver's direction indicator. In other words, when the current traveling direction matches the direction registered as the passing direction in the entry at the violation point, or the operation state of the direction indicator is the path to the direction registered as the passing direction at the entry at the violation point. If it indicates that a change is to be made, it is determined that there is a possibility that the vehicle may violate the regulations at the violation point.

  And if there is a possibility that the car will violate the regulation at the approaching violation point, according to the content of the regulation registered in the violation type of the approaching violation point entry in the violation point management table, A driving warning message that prompts driving according to the regulations is output to the speaker 6 through the voice output unit 18 (step 356), and the processing returns to step 352.

  Here, if the content of the restriction registered in the violation type is a temporary stop, this driving warning message is “There is a temporary stop restriction ahead. Please follow the rules.” If the content of the regulation registered in the violation type is one-way, it should be something like "There is a one-way restriction ahead. Please drive according to the rules." If the registered regulations are forbidden to enter the vehicle, it should be something like "There is a vehicle entry prohibition ahead. Please drive according to the rules."

The attention output process has been described above.
Next, the violation point release process will be described.
FIG. 4 shows the procedure of the violation point release process.
As shown in the figure, in this process, the current location, the current traveling direction, and the map represented by the map data set in the memory 15 are used to determine the location of the vehicle at the violation location of any entry in the violation location management table. The occurrence of passage is monitored (step 402).
Then, if a passage occurs, it is determined based on the history of the current position and the current traveling direction whether the car has passed the violation point without violating the regulations indicated by the violation type of the violation point entry. (Step 404).
And when it violates regulation, it returns to step 402 as it is.
On the other hand, when passing without violating the regulation, the number of times of compliance of the violation point entry passed in the violation point management table is increased by 1 (step 406), and the number of times of compliance after the increase is a predetermined value m (for example, 2) is checked (step 408). If not, the process returns to step 402 as it is, and if it exceeds, the passed violation point entry is deleted from the violation point management table (step 408). . Then, the process returns to step 402.

The violation point release process has been described above.
As described above, according to the embodiment of the present invention, it is possible to support driving that complies with the traffic rules regarding the regulations that impose a temporary stop on the automobile and the regulations that prohibit the entry of the automobile. In addition, by using the above-mentioned regulation data and image recognition of signs, it is possible to properly recognize the setting points of regulations that impose a temporary stop on automobiles and regulations that prohibit entry of automobiles, which are not fixed for the type of road. , It will be possible to support driving in compliance with the traffic rules for these regulations.
By the way, the above embodiment is good also as what outputs the driving | running | working caution message by the voice which urges the driving according to regulation irrespective of a violation point.
In other words, in this case, if a violation of the driver's regulation occurs at a predetermined number of times (for example, three times) within a predetermined period (for example, two weeks) at any point where the regulation is performed, When the vehicle approaches an arbitrary point where the regulation is performed, or when the vehicle may violate the regulation at the approached point, a driving warning message is output.

  DESCRIPTION OF SYMBOLS 1 ... Navigation apparatus, 2 ... Operation part, 3 ... Display apparatus, 4 ... Vehicle state sensor, 5 ... GPS receiver, 6 ... Speaker, 7 ... Camera, 11 ... Memory | storage device, 12 ... Current state calculation part, 13 ... GUI Control unit, 14 ... Route search unit, 15 ... Memory, 16 ... Control unit, 17 ... Guide image generation unit, 18 ... Audio output unit, 19 ... Image recognition processing unit.

Claims (8)

A driving support device mounted on a car,
Current position calculating means for calculating the current position;
A violation detection means for identifying a restriction point that is a point where a restriction for imposing a suspension on a vehicle is set, and detecting an occurrence of a violation of the restriction for imposing a suspension on the vehicle at the identified restriction point;
When the violation detection means detects the occurrence of the violation more than a predetermined number of times at the same restriction point, a warning output point setting means for setting the restriction point as a warning output point;
And a caution output means for outputting a message urging to drive in compliance with a regulation that imposes a temporary stop on the vehicle when the current position calculated by the current position calculation means approaches the caution output point. A driving assistance device characterized by the above. The driving support device according to claim 1,
There is a restriction point data storage means that stores restriction point data in which a point where restriction for imposing a suspension on the automobile is set is registered in advance,
The said violation detection means identifies the said restriction | limiting spot based on the said restriction | limiting data, The driving assistance apparatus characterized by the above-mentioned. The driving support device according to claim 1,
A camera for photographing the appearance in front of the automobile;
The said violation detection means identifies the said restriction | limiting point by recognizing the road sign showing the regulation which imposes a temporary stop on a motor vehicle from the image image | photographed with the said camera, or the image of the blink of a red signal. Support device. The driving support device according to claim 1, 2, or 3,
At the caution output point, the vehicle has caution output point release means for canceling the setting of the caution output point when the operation complying with the regulations that impose a temporary stop on the vehicle is continuously performed a predetermined number of times or more. A featured driving support device. A driving support device mounted on a car,
Current position calculating means for calculating the current position;
A violation detection means for identifying a restriction point that is a point where a restriction for prohibiting entry of a vehicle is set, and detecting occurrence of a violation of the restriction for prohibition of entry of the vehicle at the identified restriction point;
When the violation detection means detects the occurrence of the violation more than a predetermined number of times at the same restriction point, a warning output point setting means for setting the restriction point as a warning output point;
It is predicted that the current position calculated by the current position calculation means approaches the caution output point, and the vehicle travels in an approach direction in which entry is prohibited by the restriction set at the caution output point. A driving support device characterized by having a warning output means for outputting a message for urging to perform driving in compliance with regulations prohibiting entry of automobiles. The driving support device according to claim 5,
There is a restriction point data storage means that stores restriction point data in which a point where a restriction prohibiting entry of a car is set is registered,
The said violation detection means identifies the said restriction | limiting spot based on the said restriction | limiting data, The driving assistance apparatus characterized by the above-mentioned. The driving support device according to claim 5,
A camera for photographing the appearance in front of the automobile;
The said violation detection means identifies the said restriction | limiting point by image-recognizing the road sign showing the restriction | limiting which prohibits an approach of a motor vehicle from the image image | photographed with the said camera. The driving support device according to claim 5, 6 or 7,
At the caution output point, the vehicle has caution output point release means for canceling the setting of the caution output point when the operation complying with the regulations prohibiting entry of the car is continuously performed for a predetermined number of times or more. A featured driving support device.