JP2012043279A - Vehicle information processor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vehicle information processor capable of determining a starting position of an operation such as deceleration according to driving taste of a driver at a location requiring deceleration.SOLUTION: A vehicle information processor comprises: map information storage means for storing map information for locations requiring deceleration; a vehicle position detection section 21 for detecting the position of a vehicle; a section for detecting operations such as deceleration 24 for detecting operations such as deceleration of the vehicle; and a section for learning an operation position of operations such as deceleration 26 for learning a position at which an operations such as deceleration has been performed and which is positioned in front of a location requiring deceleration. The section for learning an operation position of operations such as deceleration 26 learns an operation such as deceleration in association with the distance from the location requiring deceleration to the position at which the operation has been performed.

Description

  The present invention relates to an information processing apparatus for a vehicle, and more particularly to an information processing apparatus for a vehicle that learns the operation of the vehicle at a deceleration point that requires deceleration of the vehicle such as an intersection.

  A vehicle driving support device that prompts the driver to perform a brake operation at a deceleration point where the vehicle needs to be decelerated such as an intersection when performing vehicle control is disclosed (for example, see Patent Document 1). This vehicle driving support device stores a required deceleration point in a map database and guides a driver to perform a brake operation at a point a predetermined distance before the required deceleration point.

JP 2007-221889 A

  However, in the vehicle driving support device disclosed in Patent Document 1, a guidance start point for starting guidance of a brake operation is determined regardless of the driver's intention. For this reason, the guidance start point (operation start position for deceleration, etc.) of the brake operation according to the driver's driving preference cannot be determined. Therefore, for example, even if braking control is started and braking operation is started, braking control cannot be started at a position according to the driver's preference, or even if driving operation is promoted to the driver, appropriate acceleration start is started. There was a problem that the position could not be determined.

  Therefore, an object of the present invention is to provide an information processing apparatus for a vehicle that can determine an operation start position such as deceleration according to a driver's driving preference at a deceleration required point.

  An information processing apparatus for a vehicle according to the present invention that solves the above problems detects a map information storage unit that stores map information of a deceleration point, a vehicle position detection unit that detects the position of the vehicle, and an operation such as deceleration of the vehicle An operation detecting means for decelerating, and an operation position learning means for decelerating, etc., for learning the position where the operation such as decelerating is performed before the point where deceleration is required. It is characterized in that an operation such as deceleration is learned in association with the separation distance from the deceleration required point at the position where the operation is performed.

  In the vehicle information processing apparatus according to the present invention, the operation position learning unit for deceleration or the like learns the operation for deceleration or the like in association with the separation distance from the required deceleration point at the position where the operation for deceleration or the like is performed. For this reason, the operation start position such as deceleration according to the driver's intention at the deceleration required point can be reflected in the learning. Therefore, the operation start position such as deceleration according to the driver's driving preference at the deceleration required point can be determined.

  Note that the “deceleration point required” in the present invention is a position where deceleration of the vehicle is required, and can include, for example, an intersection, an entry point on a curved road, and a railroad crossing. Further, “operation such as deceleration” is an operation that is assumed to be performed by the driver at a point where deceleration is required, and typically includes a deceleration operation, and other steering operations and the like can be given. Furthermore, the “deceleration operation start position” is a position before the required deceleration point and a point at which an operation such as deceleration starts.

  Here, it is provided with surrounding information detecting means for detecting the surrounding information of the vehicle, traveling state detecting means for detecting the traveling state of the vehicle, and distance correcting means for correcting the distance to the decelerating point in the vehicle. The means may be configured to correct the distance from the vehicle calculated based on the surrounding information detected by the surrounding information detecting means to the deceleration required point based on the traveling state detected by the traveling state detecting means. .

  In the surrounding information detection means for detecting the surrounding information of the vehicle, the detection accuracy of the distance to the deceleration point is low. Therefore, the distance from the vehicle to the deceleration required point calculated based on the peripheral information detected by the peripheral information detecting means is corrected based on the travel distance detected by the travel distance detecting means. The travel distance detecting means can detect the distance to the deceleration required point with high accuracy, so that the operation start position such as deceleration according to the driving preference of the driver at the deceleration required point can be determined with higher accuracy. Therefore, the operation start position such as deceleration corresponding to the driving preference of the driver can be determined with higher accuracy.

  In addition, when the distance from the vehicle to the required deceleration point is equal to or less than the predetermined distance, the contribution ratio of the travel distance detected by the travel distance detecting unit when the distance correction unit calculates the distance from the vehicle to the required deceleration point It can be set as the aspect which enlarges.

  In this way, when the distance from the vehicle to the required deceleration point is equal to or less than the predetermined distance, the distance detected by the distance detection unit when the distance from the vehicle to the required deceleration point is calculated by the distance correction unit. By increasing the contribution rate, it is possible to determine the operation start position such as deceleration corresponding to the driving preference of the driver with higher accuracy.

  In addition, after the distance from the vehicle to the required deceleration point calculated based on the peripheral information detected by the surrounding information detection means becomes less than the predetermined distance, the distance from the vehicle to the required deceleration point increases by more than the predetermined distance And correcting the distance from the vehicle calculated based on the peripheral information detected by the peripheral information detecting means at the increased point to the deceleration required point based on the driving state detected by the driving state detecting means; can do.

  Depending on the route along which the vehicle travels, the distance from the vehicle to the deceleration point may increase after the distance from the vehicle to the deceleration point becomes equal to or less than a predetermined distance. Therefore, by correcting the distance from the vehicle calculated based on the peripheral information detected by the peripheral information detecting means at the increased point to the deceleration required point based on the traveling state detected by the traveling state detecting means In addition, it is possible to determine the operation start position such as deceleration according to the driving preference of the driver with higher accuracy.

  According to the vehicle information processing apparatus of the present invention, it is possible to determine the operation start position such as deceleration according to the driving preference of the driver at the deceleration required point.

It is a block block diagram of the vehicle information processing apparatus which concerns on embodiment of this invention. It is a graph which shows the relationship between the actual distance from a vehicle to a target intersection, and the distance transmitted from a navigation apparatus. It is a flowchart which shows the process sequence of the information processing apparatus for vehicles. It is a graph which shows the relationship between the actual distance from a vehicle to a target intersection, and the distance transmitted from a navigation apparatus. It is a graph which shows the relationship between the actual distance from a vehicle to a target intersection, and the distance transmitted from a navigation apparatus. It is a flowchart which shows the process sequence of a distance correction | amendment part. It is a graph which shows the relationship between the actual distance from the vehicle when the curve exists continuously, and the target intersection, and the distance transmitted from a navigation apparatus. It is a figure which shows the position which performed operations, such as deceleration.

  Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the description of the drawings, the same elements are denoted by the same reference numerals, and redundant description is omitted. For the convenience of illustration, the dimensional ratios in the drawings do not necessarily match those described.

  FIG. 1 is a block diagram of a vehicle information processing apparatus according to an embodiment of the present invention. As shown in FIG. 1, the vehicle information processing apparatus according to the present embodiment includes an information processing ECU 1. A navigation device 2, an infrastructure communication device 3, a millimeter wave radar 4, an in-vehicle camera 5, and a vehicle speed sensor 6 are connected to an information processing ECU (Electric Control Unit) 1.

  The information processing ECU 1 includes an adaptive cruise control (hereinafter referred to as “ACC”) / pre-crash safety system (hereinafter referred to as “PCS”) switch 7, a steering sensor 8, and a brake pedal sensor. 9 and an accelerator pedal sensor 10 are connected. Further, a learning information database (hereinafter referred to as “DB”) 11, a brake actuator 12, an accelerator actuator 13, a speaker 14, and a display 15 are connected to the information processing ECU 1.

  Further, the information processing ECU 1 is provided with a vehicle position detection unit 21, a surrounding information detection unit 22, a traveling state detection unit 23, and an operation detection unit 24 such as a deceleration. Further, the information processing ECU 1 is provided with a distance correction unit 25, an operation position learning unit 26 such as a deceleration, and an operation start position information providing unit 27 such as a deceleration.

  The navigation device 2 is a device for providing the driver with route information to the current position of the vehicle and the destination. Further, the navigation device 2 includes a map information DB related to a road on which the vehicle travels, and acquires a current position that is an accurate position where the vehicle is currently traveling. Furthermore, the navigation device 2 acquires distance information related to the distance to a required deceleration point, for example, an intersection (hereinafter referred to as “target intersection”). Map information DB comprises the map information storage means of this invention.

  The navigation device 2 transmits to the information processing ECU 1 travel position information related to the position where the vehicle is currently traveling and map information in the vicinity of the travel position of the vehicle. The navigation device 2 also processes the link ID of the link the vehicle is currently traveling on, the ID information related to the intersection ID of the target intersection located in the traveling direction of the vehicle, and the distance information related to the distance to the target intersection. It transmits to ECU1. Furthermore, in the navigation device 2, when the distance to the target intersection such as the target intersection is longer than a predetermined specified value, distance information corresponding to the specified value is transmitted to the information processing ECU 1. The navigation device 2 constitutes vehicle position detection means and surrounding information detection means of the present invention.

  For example, as shown in FIG. 2, when the predetermined specified value is 255 m, the distance information about the distance to the target intersection is 255 m when the distance to the target intersection is 255 m or more. Send to. When the distance to the target intersection is less than 255 m, distance information indicating the distance to the target intersection is transmitted to the information processing ECU 1.

  The infrastructure communication device 3 is a communication device that performs bidirectional communication with a roadside device or a base station provided on a main road or the like. The infrastructure communication device 3 acquires distance information related to the distance to the target intersection, for example, by bidirectional communication with a roadside device or a base station. The infrastructure communication device 3 transmits distance information acquired from a roadside device or a base station to the information processing ECU 1.

  The millimeter wave radar 4 is a radar that detects an object ahead using millimeter waves. The millimeter wave radar 4 is attached to the center of the front surface of the automobile. The millimeter wave radar 4 emits a millimeter wave forward from the host vehicle, and receives the millimeter wave reflected from a traffic light or the like provided at the target intersection. The millimeter wave radar 4 calculates the distance from the host vehicle to the target intersection by measuring the time from emission to reception. The millimeter wave radar 4 transmits distance information regarding the calculated distance from the host vehicle to the intersection to the information processing ECU 1.

The in-vehicle camera 5 is provided, for example, in the front part of the vehicle, and images a road surface in front of a road on which the vehicle travels, a signal at a target intersection, and the like. The in-vehicle camera 5 calculates the distance from the host vehicle to the target intersection based on the captured image. The in-vehicle camera 5 transmits distance information regarding the calculated distance from the host vehicle to the target intersection to the information processing ECU 1.
Is transmitted to the information processing ECU 1 as road surface image information, and the captured image ahead of the vehicle is transmitted to the information processing ECU 1 as front image information.

  The vehicle speed sensor 6 is provided, for example, at a wheel portion of the vehicle, detects the rotation speed of the wheel, and calculates the vehicle speed as a running state from the detected rotation speed of the wheel. The vehicle speed sensor 6 transmits vehicle speed information based on the calculated vehicle speed to the information processing ECU 1. The vehicle speed sensor 6 constitutes the traveling state detection means of the present invention.

  The ACC / PCS switch 7 is provided, for example, in the steering of the host vehicle, and can be turned on and off as to whether or not to perform ACC by the operation of the driver. Further, it is possible to turn ON / OFF whether or not to perform PCS by operating the driver. The ACC / PCS switch 7 transmits to the information processing ECU 1 ACCON-OFF information regarding whether or not ACC is ON and PCSON-OFF information regarding whether or not PCS is ON.

  The steering sensor 8 is attached to, for example, a steering shaft connected to the steering, and detects the steering angle of the steering when the steering is operated. The steering sensor 8 transmits steering information based on the detected steering angle of the steering to the information processing ECU 1.

  The brake pedal sensor 9 is provided, for example, on the brake pedal, and detects the stroke amount of the brake pedal. The brake pedal sensor 9 transmits the detected stroke amount of the brake pedal to the information processing ECU 1 as brake operation amount information. The accelerator pedal sensor 10 is provided, for example, in an accelerator pedal, and detects the stroke amount of the accelerator pedal. The accelerator pedal sensor 10 transmits the detected stroke amount of the accelerator pedal to the information processing ECU 1 as accelerator operation amount information. The steering sensor 8, the brake pedal sensor 9, and the accelerator pedal sensor 10 constitute an operation detecting means such as a deceleration of the present invention.

  The learning information DB 11 stores learning information learned in the information processing ECU 1 for each target intersection. The learning information stored in the learning information DB 11 includes a position at which a deceleration operation or a steering operation (hereinafter referred to as “deceleration operation”) within a predetermined range from the target intersection (hereinafter referred to as “deceleration operation start position”). Information) and information on the operation contents such as deceleration. This learning information includes information regarding the content of the operation such as deceleration associated with the separation distance from the target intersection at the operation start position such as deceleration. The learning information DB 11 transmits the stored learning information to the information processing ECU 1 in response to the reading of the peripheral information detection unit 22 and the operation start position information providing unit 27 such as deceleration in the information processing ECU 1.

  The vehicle position detection unit 21 in the information processing ECU 1 acquires the travel position information and map information transmitted from the navigation device 2 and acquires the current position of the vehicle based on the acquired travel position information. The vehicle position detection unit 21 outputs a current position signal related to the acquired current position of the vehicle to the surrounding information detection unit 22 together with a map signal based on the map information.

  The surrounding information detection unit 22 detects the target intersection from the vehicle based on the ID information and distance information transmitted from the navigation device 2 and the infrastructure communication device 3, and the current position signal and map signal output from the vehicle position detection unit 21. The remaining distance until is provisionally acquired. The target intersection is determined based on the ID information transmitted from the navigation device 2.

  Here, when the distance information transmitted from the navigation device 2 or the infrastructure communication device 3 is different, either one can be preferentially adopted, or an arithmetic processing value such as an average can be adopted. it can. The surrounding information detection unit 22 outputs a temporary remaining distance signal based on the acquired distance from the vehicle to the target intersection to the distance correction unit 25 together with the map signal.

  The traveling state detection unit 23 reaches the vicinity of the target intersection based on the distance information transmitted from the millimeter wave radar 4 or the in-vehicle camera 5 and can detect the distance to the target intersection. Is detected. Alternatively, the travel distance of the vehicle is calculated based on the vehicle speed information transmitted from the vehicle speed sensor 6. The travel state detection unit 23 outputs the detected remaining distance to the target intersection as a remaining distance signal to the distance correction unit 25 and outputs the travel distance of the vehicle to the distance correction unit 25 as a travel distance signal.

  The operation detection unit 24 such as a deceleration detects a deceleration operation of the vehicle based on the brake pedal information transmitted from the brake pedal sensor 9 and the accelerator pedal information transmitted from the accelerator pedal sensor 10. Specifically, when the amount of depression of the brake pedal is increased or the amount of depression of the accelerator pedal is decreased, it is detected that a deceleration operation has been performed. Specifically, when detecting an operation such as deceleration, the deceleration operation is detected when there is an operation to return the accelerator pedal or an operation to depress the brake pedal, and the steering operation is performed when the turning angle of the steering wheel exceeds a predetermined angle. Can be detected.

  Furthermore, the operation detection unit 24 for deceleration and the like detects the steering operation of the vehicle based on the steering information transmitted from the steering sensor 8. When detecting an operation such as deceleration such as a deceleration operation or a steering operation, the operation detection unit 24 such as a deceleration outputs an operation signal such as a deceleration to the operation position learning unit 26 such as a deceleration.

  The distance correction unit 25 corrects the provisional remaining distance signal output from the surrounding information detection unit 22 using the travel distance signal output from the travel state detection unit 23, and calculates a corrected remaining distance. Alternatively, when the remaining distance signal is output from the traveling state detection unit 23, the remaining distance corresponding to the remaining distance signal is used as the corrected remaining distance instead of the provisional calculation distance signal.

  As described above, the distance correction unit 25 performs correction using the travel distance signal and the remaining distance signal output from the travel state detection unit 23, thereby obtaining the distance from the vehicle to the target intersection from the vehicle speed information. The contribution ratio of the calculated travel distance is increased. The distance correcting unit 25 outputs a corrected remaining distance signal based on the calculated corrected remaining distance to the operation position learning unit 26 such as a deceleration together with the map information. The information processing ECU 1 constitutes distance correction means of the present invention.

  The operation position learning unit 26 such as deceleration starts an operation such as deceleration based on the operation signal output from the operation detection unit 24, the corrected remaining distance signal output from the distance correction unit 25, and the map information. The operation start position, such as deceleration, is acquired. The decelerating operation position learning unit 26 learns the position of the decelerating operation start position with respect to the target intersection, and stores the learned decelerating operation start position in association with the target intersection in the learning information DB 11. The information processing ECU 1 constitutes an operation position learning means such as a deceleration of the present invention.

  The operation start position information providing unit 27 such as deceleration acquires the distance to the target intersection in the vehicle based on the map information transmitted from the navigation device 2 or the corrected arithmetic distance signal output from the distance correcting unit 25. When the operation start position information providing unit 27 such as deceleration acquires a distance to the target intersection in the vehicle, the learning information at the target intersection is read from the learning information DB 11.

  The operation start position information providing unit 27 for deceleration, etc., includes the brake actuator 12, the accelerator actuator 13, the speaker 14, and the display when the position relative to the target intersection in the vehicle is the operation start position for deceleration read from the learning information DB 11. The deceleration operation start information is transmitted to 15. Further, the steering operation start information is transmitted to the speaker 14 and the display 15 as deceleration operation start information.

  The brake actuator 12 operates the brake to decelerate the vehicle when deceleration operation start information is transmitted from the operation start position information providing unit 27 such as deceleration in the information processing ECU 1. When the deceleration operation start information is transmitted from the deceleration start operation information providing unit 27 in the information processing ECU 1, the accelerator actuator 13 slows down the accelerator opening and decelerates the vehicle.

  In addition, when the deceleration operation start information is transmitted from the operation start position information providing unit 27 such as deceleration in the information processing ECU 1, the speaker 14 outputs a deceleration start sound that notifies that the vehicle starts to decelerate. Further, when the steering operation start information is transmitted from the operation start position information providing unit 27 such as deceleration, a steering operation start promoting sound for prompting the driver to perform the steering operation is output.

  The display 15 displays deceleration start information for notifying that the vehicle starts to decelerate when deceleration operation start information is transmitted from the operation start position information providing unit 27 such as deceleration in the information processing ECU 1. When the steering operation start information is transmitted from the operation start position information providing unit 27 such as deceleration, the steering operation start information that prompts the driver to perform the steering operation is displayed.

  Subsequently, the operation of the vehicle information processing apparatus according to the present embodiment will be described. FIG. 3 is a flowchart showing a processing procedure of the vehicle information processing apparatus according to the present embodiment. As shown in FIG. 3, in the vehicle information processing apparatus according to the present embodiment, first, the vehicle position detection unit 21 detects the position of the vehicle based on the travel position information transmitted from the navigation device 2 (S1). ).

  Next, the surrounding information detection unit 22 acquires the remaining distance to the target intersection based on the current position signal output from the vehicle position detection unit 21 and the distance information transmitted from the navigation device 2, and It is determined whether the remaining distance has changed (S2). Here, in the navigation device 2, as shown in FIG. 2, the remaining distance to the current position of the vehicle and the target intersection is calculated. If the calculated distance is a predetermined threshold value, for example, 255 m or more, the distance is calculated. As information, the distance information that the distance to the target intersection is 255 m is transmitted.

  For this reason, when the remaining distance from the vehicle to the target intersection is as far as 255 m or more, the surrounding information detection unit 22 determines that the remaining distance to the target intersection does not change, and repeats the process of step S2. On the other hand, when the remaining distance from the vehicle to the target intersection is 255 m, the remaining distance to the target intersection based on the distance information transmitted from the navigation device 2 is shortened. For this reason, the surrounding information detection unit 22 determines that the remaining distance to the target intersection has changed.

  When the peripheral information detection unit 22 determines that the remaining distance to the target intersection has changed, the target intersection is identified (S3). The target intersection can be identified with reference to the ID information transmitted from the navigation device 2 corresponding to the intersection whose remaining distance is less than 255 m.

  Subsequently, the distance correction unit 25 calculates the distance traveled by the vehicle from the point where the remaining distance from the vehicle to the target intersection is 255 m (S4). The distance traveled by the vehicle here can be obtained by integrating the vehicle speed based on the vehicle speed information transmitted from the vehicle speed sensor 6 output from the traveling state detection unit 23. Alternatively, distance information transmitted from the millimeter wave radar 4 or distance information transmitted from the in-vehicle camera 5 can be used.

  The distance correction unit 25 corrects the distance from the vehicle to the target intersection based on the remaining distance acquired in step S2 and the travel distance signal corresponding to the travel distance calculated in step S4. Specifically, after the vehicle has reached a position of 255 m from the target intersection, the remaining distance from the vehicle to the target intersection is calculated as the corrected remaining distance by subtracting the travel distance traveled by the vehicle from 255 m.

  Then, it is judged whether the learning data number about the object intersection here exceeds the predetermined threshold among the learning data memorize | stored in learning information DB11 (S5). The predetermined threshold value is set as appropriate, and can be, for example, 5 times, 10 times, or any other number of times.

  At this time, if it is determined that the number of learning data for the target intersection exceeds a predetermined threshold value, it is determined whether or not there has been an operation such as a deceleration operation such as a deceleration operation or a steering operation (S6). The presence or absence of an operation such as deceleration is determined based on the steering information transmitted from the steering sensor 8, the brake operation amount information transmitted from the brake pedal sensor 9, and the accelerator operation amount information transmitted from the accelerator pedal sensor 10.

  As a result, when it is determined that an operation such as deceleration has been performed, the operation position learning unit 26 such as deceleration acquires the position where the operation such as deceleration was performed based on the remaining correction distance signal output from the distance correction unit 25. To do. Then, with reference to the learning data stored in the learning information DB 11, it is determined whether or not the position where the operation such as deceleration is within a certain range from the operation start position such as deceleration (S7). The certain range here is appropriately determined, and can be within a radius of 5 m or within a radius of 10 m, for example. Moreover, it can also be set as another range.

  As a result, when it is determined that the position where the operation such as deceleration is within a certain range from the operation start position such as the deceleration, the content of the operation such as the deceleration and the position where the operation such as the deceleration is performed Learning is performed in association with the start position (S8). The learned operation such as deceleration is written and stored in the learning information DB 11 as learning information. As the contents of the operation such as deceleration at this time, in addition to the position where the operation such as deceleration is performed, the deceleration when the deceleration operation is performed, the steering angle when the steering operation is performed, and the like are learned.

  Then, it is determined whether or not the vehicle has accelerated after the operation such as deceleration is completed (S10). This determination is made based on vehicle speed information transmitted from the vehicle speed sensor 6. As a result, when the acceleration operation is not performed, the process returns to step S6 and the same operation is repeated. On the other hand, when the acceleration operation is performed, the processing is ended as it is.

  If it is determined in step S6 that there has been no operation such as deceleration, the process proceeds to step S10 as it is, and it is determined whether or not the vehicle has accelerated after the operation such as deceleration is completed (S10). Whether or not the vehicle has been accelerated is determined, for example, by whether or not the amount of depression of the accelerator pedal exceeds a predetermined value after the brake is turned off, or whether the change in vehicle speed after deceleration exceeds a predetermined change in speed It can be done depending on whether or not. Instead of determining whether or not the vehicle has accelerated, it is also possible to determine whether or not the steering has been steered by a predetermined angle or more, or whether or not the travel distance has become a predetermined distance or more. Alternatively, these determinations can be made in combination. Furthermore, when it is determined in step S7 that the position where the operation such as deceleration is performed is not within a certain range from the operation start position such as deceleration, the process ends without performing learning (S9).

  On the other hand, if it is determined in step S5 that the number of learning data for the target intersection does not exceed a predetermined threshold value, it is determined whether or not there has been an operation such as deceleration (S11). This determination is performed in the same manner as the determination in step S6. As a result, when there is an operation such as deceleration, the operation such as deceleration is learned (S12). Here, the position where the operation such as deceleration is performed is set as the operation start position such as deceleration, and the operation such as deceleration is learned in association with the set operation start position such as deceleration.

  Thereafter, it is determined whether or not the vehicle has accelerated (S13). Also, when it is determined in step S11 that there is no operation such as deceleration, it is determined whether or not the vehicle has accelerated (S13). As a result, when the acceleration operation is not performed, the process returns to step S11 and the same operation is repeated. On the other hand, when the acceleration operation is performed, the processing is ended as it is.

  Thus, in the vehicle information processing apparatus according to the present embodiment, when an operation such as deceleration is performed within a range close to the target intersection, an operation start position such as deceleration that is the position where the operation such as deceleration is performed. Learning is performed in association with the separation distance from the target intersection. And this learning information is memorize | stored in learning information DB11. For this reason, since the operation start position such as deceleration corresponding to the driver's intention at the target intersection can be reflected in the learning, the operation start position such as deceleration according to the driving preference of the driver at the target intersection can be determined.

  Therefore, for example, when braking control is performed by transmitting deceleration operation start information from the operation start position information providing unit 27 such as deceleration to the brake actuator 12, the learning information stored in the learning information DB 11 is referred to. The braking control can be performed at a timing according to the above. Furthermore, when steering operation start information is transmitted to prompt steering operation, it is possible to prompt timing steering operation according to the driving preference of the driver.

  The distance information transmitted from the navigation device 2 is not highly accurate, but when the distance to the target intersection is long, the approximate distance from the target intersection can be grasped. On the other hand, when the distance is detected by the millimeter wave radar 4 or the in-vehicle camera 5, although the detection accuracy is high, there is a limit to the distance detection distance. Therefore, if the distance to the target intersection is long, the distance can be detected. Disappear. In this regard, in the vehicle information processing device according to the present embodiment, the distance correction unit 25 tentatively acquires the distance to the target intersection based on the distance information transmitted from the navigation device 2. The distance to the target intersection is corrected by the travel distance calculated from the vehicle speed information transmitted from the vehicle speed sensor 6 and calculated as the distance to the target intersection. For this reason, the operation start position such as deceleration according to the driving preference of the driver at the target intersection can be determined with higher accuracy.

  As described above, when the distance between the current position of the vehicle and the target intersection is 255 m or more, the navigation device 2 transmits distance information of 255 m to the ECU 1, and the distance between the current position of the vehicle and the target intersection is determined. When the distance is less than 255 m, distance information indicating the distance to the target intersection is transmitted to the ECU 1. For this reason, in the vehicle information processing device according to the present embodiment, the current position of the vehicle acquired based on the distance information transmitted from the navigation device 2 and the remaining distance to the target intersection are 255 m or more and less than 255 m. In this case, the contribution ratio of the distance information calculated from the vehicle speed information transmitted from the vehicle speed sensor 6 is changed.

  Contribution of distance information calculated from vehicle speed information transmitted from the vehicle speed sensor 6 when the current distance of the vehicle acquired based on the distance information transmitted from the navigation device 2 and the remaining distance to the target intersection is 255 m or more The rate is zero. On the other hand, when the current position of the vehicle acquired based on the distance information transmitted from the navigation device 2 and the remaining distance to the target intersection is less than 255 m, it is calculated from the vehicle speed information transmitted from the vehicle speed sensor 6. The contribution ratio of the distance information is a constant ratio exceeding 0. Since the information from the navigation device 2 with low accuracy can be corrected in the vicinity of the target intersection, the operation start position such as deceleration according to the driving preference of the driver can be determined with higher accuracy.

  In the process of FIG. 3, when it is determined that the remaining distance to the target intersection has changed based on the distance information transmitted from the navigation device 2, the distance correction unit 25 uses the change point as a reference. The mileage is calculated. Specifically, the distance correction unit 25 calculates a distance traveled from the change point A by setting the change point A to a point where the distance to the target intersection is less than 255 m. After the distance to the target intersection becomes less than 255 m, the remaining distance indicated by the distance information normally transmitted from the navigation device 2 decreases, but once increases and decreases again as shown in FIG. There is. For example, when there are multiple routes to the target intersection, such as when there are other intersections at a distance of less than 255 m to the target intersection, the remaining distance temporarily increases depending on the route the vehicle travels. May decrease again. Also, when a curve exists in front of the target intersection, the remaining distance may increase once and decrease again.

  In such a case, if the distance traveled by the vehicle is calculated from the change point A, and the corrected remaining distance is calculated by subtracting the travel distance from 255 m, the error increases. Therefore, in such a case, it is preferable to calculate the distance traveled by the vehicle from the change point B with the point where the remaining distance indicated by the distance information transmitted from the navigation device 2 has once increased as the change point B. Then, the remaining distance from the vehicle to the target intersection is preferably calculated as the corrected remaining distance by subtracting the calculated travel distance from the remaining distance indicated by the distance information at the change point B transmitted from the navigation device 2.

  Further, as shown in FIG. 5, the remaining distance indicated by the distance information transmitted from the navigation device 2 may once increase and then rapidly decrease. This is because the navigation device 2 could not detect an accurate remaining distance at that point. Therefore, in such a case, it is preferable to calculate the distance traveled by the vehicle from the change point A instead of the change point B.

  A travel distance calculation operation taking such a case into consideration will be described. FIG. 6 is a flowchart showing a processing procedure of the vehicle information processing apparatus according to the present embodiment. This processing procedure is performed instead of steps S2 to S4 in FIG. As illustrated in FIG. 6, first, the surrounding information detection unit 22 passes through a section having no change in the remaining distance to the target intersection based on the distance information transmitted from the navigation device 2, and then the target intersection. It is determined whether or not the remaining distance until has decreased (S21). This means that it is determined whether or not the vehicle has entered a point where the distance to the target intersection is less than 255 m.

  In step S21, when it is determined that the remaining distance to the target intersection has decreased after passing through a section where there is no change in the remaining distance to the target intersection, the target intersection is specified (S22). The target intersection can be identified with reference to the ID information transmitted from the navigation device 2 corresponding to the intersection whose remaining distance is less than 255 m. On the other hand, if it is determined in step S21 that the remaining distance to the target intersection has not decreased after passing through a section where there is no change in the remaining distance to the target intersection, the peripheral information detection unit 22 performs the step The determination of S21 is repeated.

  Subsequently, the distance correcting unit 25 calculates the distance traveled by the vehicle from the change point A with the point where the remaining distance is reduced as the change point A (S23). Next, the distance correction unit 25 determines whether or not the calculated travel distance is smaller than a predetermined first threshold L (S24). When it is determined that the travel distance is smaller than the first threshold L, the distance correction unit 25 determines whether the remaining distance to the target intersection indicated by the distance information transmitted from the navigation device 2 has increased (S26). . When it is determined that the remaining distance has increased, the point where the remaining distance has increased is set as a change point B, and the distance correction unit 25 determines whether or not the increase amount is greater than a predetermined second threshold M (S27). .

  If it is determined that the increase amount is greater than the second threshold value M, the distance correction unit 25 determines whether the increased remaining distance is greater than a predetermined third threshold value N (S28). If it is determined that the increased remaining distance is greater than the third threshold value N, the distance correction unit 25 determines whether the remaining distance to the target intersection indicated by the distance information transmitted from the navigation device 2 has rapidly decreased. (S29). This is to determine whether or not the increase in the remaining distance to the target intersection indicated by the distance information transmitted from the navigation device 2 is due to the fact that the navigation device 2 could not temporarily detect the accurate remaining distance. Means.

  If it is determined in S29 that the remaining distance has not decreased rapidly, the distance correction unit 25 calculates the distance traveled by the vehicle from the change point B (S30). Then, the distance correcting unit 25 calculates the remaining distance from the vehicle to the target intersection as the corrected remaining distance by subtracting the calculated travel distance from the remaining distance indicated by the distance information at the change point B transmitted from the navigation device 2. And it returns to step S24 and repeats the said process.

  On the other hand, if it is determined in step S26 that the remaining distance has not increased, if it is determined in step S27 that the increase amount is equal to or smaller than the second threshold value M, then the increased remaining distance is determined to be equal to or smaller than the third threshold value N in step S28. If it is determined that the remaining distance has decreased rapidly in step S29, the distance correction unit 25 calculates the distance traveled by the vehicle from the change point A (S31). Then, the distance correction unit 25 calculates the remaining distance from the vehicle to the target intersection as the corrected remaining distance by subtracting the calculated travel distance from 255 m. And it returns to step S24 and repeats the said process. If it is determined in step S24 that the travel distance is equal to or greater than the first threshold L, it is considered that the error increases as the travel distance increases. Accordingly, the calculation of the travel distance is terminated (S25), and the process proceeds to step S5 in FIG.

  In the above process, when it is determined in step S27 that the increase amount of the remaining distance is greater than the second threshold value M, and in step S28, it is determined that the increased remaining distance is greater than the third threshold value N, the distance correction unit 25 Calculates the distance traveled by the vehicle from the change point B. In step S27, it is determined that the increase amount of the remaining distance is larger than the second threshold M, or in step S28, the increased remaining distance is the third distance. When it is determined that it is larger than the threshold value N, the distance traveled by the vehicle from the change point B may be calculated.

  By the way, there may be a continuous change point on a continuous curved road or the like. In that case, as shown in FIG. 7, the second threshold value M in step S27 and the third threshold value N in step S28 may be changed. Specifically, when the distance correction unit 25 detects a predetermined number of change points after the change point A, the distance correction unit 25 determines that a continuous curve exists. Then, the threshold value in step S27 is changed to a modified second threshold value M1 smaller than the second threshold value M, and the threshold value in step S28 is changed to a modified third threshold value N1 smaller than the third threshold value N. Or you may make it change so that only the judgment of either step 27 or step S28 may be performed.

  Further, when there are continuous changing points on a continuous curved road or the like, the calculation start position of the travel distance may be determined in consideration of the travel behavior. For example, in addition to steps S27 and S28, it is determined whether or not the change point is within Xm from the deceleration behavior with the strongest deceleration. If it is determined that the change point is within Xm, the distance correction unit 25 determines from the change point. The distance traveled by the vehicle may be calculated. Or you may make it replace with step S27 and step S28 and perform the said process.

  As described above, in the vehicle information processing apparatus according to the present embodiment, information from the navigation apparatus 2 with low accuracy can be corrected in the vicinity of the target intersection, so that deceleration according to the driving preference of the driver can be performed with higher accuracy. The operation start position can be determined.

  The preferred embodiment of the present invention has been described above, but the present invention is not limited to the above embodiment. For example, in the above-described embodiment, the learning mode can be changed according to the content of the steering operation performed at the position before the target intersection. For example, if there is a steering operation different from the steering operation stored in the learning information DB 11 at a position before the target intersection, the subsequent learning may be omitted.

  In this case, as shown in FIG. 8, it is assumed that there is an operation of turning off the accelerator at the first position P1 and a steering operation at the second position P2 between the operation start position P0 such as deceleration and the target intersection PF. Further, it is assumed that a brake ON operation is performed at the third position P3 and a brake OFF operation is performed at the fourth position P4. In this case, when the steering operation at the second position P2 is different from the steering operation stored in the learning information DB 11, it is highly likely that the steering operation at this time is an operation that is not normally performed. It is done.

  Accordingly, the accelerator operation at the first position P1 is learned, but the learning of the brake operation at the third position P3 and the brake operation at the fourth position P4 is stopped. By performing such learning, an operation based on an operation that is not normally performed can be excluded from the learning target, so that learning according to the driving preference of the driver can be performed.

  The steering operation as an operation that is not normally performed here is, for example, a case where the deviation between the position where the steering operation is performed and the position where the steering operation is stored in the learning information DB 11 is a predetermined value or more. This corresponds to the steering operation. Also, when the steering amount deviation is more than a certain value, when the number of lane changes is more than a predetermined value, when there is a steering operation when there is no right turn lane, and when the surrounding vehicle is within a certain distance For example, there is a case where there is a steering operation.

  In the above embodiment, the vehicle speed is used to correct the distance to the target intersection. However, the distance detected by detecting the distance between the target intersection and the vehicle may be used as the remaining correction distance. it can. In this case, the distance between the vehicle and the target intersection can be directly detected, or a target in the vicinity of the target intersection such as a sign or a signboard is detected by the in-vehicle camera 5, and the distance between the detected target and the target intersection is detected. The remaining distance from the vehicle to the target intersection can also be detected.

  DESCRIPTION OF SYMBOLS 1 ... Information processing ECU, 2 ... Navigation apparatus, 3 ... Infrastructure communication apparatus, 4 ... Millimeter wave radar, 5 ... In-vehicle camera, 6 ... Vehicle speed sensor, 7 ... ACC / PCS switch, 8 ... Steering sensor, 9 ... Brake pedal sensor DESCRIPTION OF SYMBOLS 10 ... Accelerator pedal sensor, 11 ... Learning information DB, 12 ... Brake actuator, 13 ... Accelerator actuator, 14 ... Speaker, 15 ... Display, 21 ... Vehicle position detection part, 22 ... Peripheral information detection part, 23 ... Running condition detection , 24... Operation detection unit such as deceleration, 25. Distance correction unit, 26. Operation position learning unit such as deceleration, 27. Operation start position information providing unit such as deceleration.

Claims (4)

Map information storage means for storing map information of the deceleration point required;
Vehicle position detection means for detecting the position of the vehicle;
A decelerating operation detecting means for detecting decelerating operation of the vehicle;
An operation position learning means for decelerating and the like for learning a position before the decelerating point and the position where the operation such as decelerating is performed,
The information processing apparatus for a vehicle, wherein the operation position learning unit for deceleration and the like learns the operation for deceleration and the like in association with a separation distance from the deceleration required point at a position where the operation for deceleration and the like is performed. Surrounding information detecting means for detecting surrounding information of the vehicle;
Traveling state detecting means for detecting the traveling state of the vehicle;
Distance correcting means for correcting the distance to the required deceleration point in the vehicle,
The distance correction means corrects the distance from the vehicle to the required deceleration point calculated based on the peripheral information detected by the peripheral information detection means based on the traveling state detected by the traveling state detection means. The vehicle information processing apparatus according to claim 1.   The distance correction means detects the running state when the distance from the vehicle to the required deceleration point is calculated by the distance correction means when the distance from the vehicle to the required deceleration point is equal to or less than a predetermined distance. The vehicular information processing apparatus according to claim 2, wherein the contribution ratio of the running state detected by the means is increased.   The distance correction unit is configured to calculate the distance from the vehicle to the required deceleration point after the distance from the vehicle to the required deceleration point calculated based on the peripheral information detected by the peripheral information detection unit is equal to or less than a predetermined distance. When the distance increases, the travel state detection means detects the distance from the vehicle to the deceleration point that is calculated based on the peripheral information detected by the peripheral information detection means at the increased point. The vehicle information processing device according to claim 2, wherein the vehicle information is corrected based on the travel state.

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