JP2012189343A - Driving support apparatus, driving support method and computer program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a driving support apparatus which prevents driving support of wrong contents from being performed even while a vehicle is traveled reversely, a driving support method and a computer program.SOLUTION: Matching processing for matching the position of a vehicle detected by a sensor or the like on a road is executed iteratively at predetermined intervals, and various driving support processes are executed on the basis of the matched vehicle position. On the other hand, it is detected whether the vehicle is being traveled reversely (S1) and if it is detected that the vehicle is turned into a reversely traveling state, the execution of matching processing is stopped (S3).

Description

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

  In addition to ordinary roads with narrow road widths, some roads that allow high-speed driving such as expressway roads, urban expressways, motorway roads, general toll roads, and national roads are classified according to the direction of travel. There is a section in which the vehicle can run only in a determined direction. However, if the travel direction is not clearly specified, the vehicle may enter a so-called reverse running state in which the vehicle travels in the opposite direction to the travel direction defined in the travel section with the wrong travel direction. For example, when the vehicle travels on a road in a one-way section composed of a plurality of lanes as a cause of the vehicle going in such a reverse running state, the driver misrecognizes that the right lane is an oncoming lane, and U May make a turn. Moreover, it will be in a reverse running state when a vehicle enters by mistake in an entrance way and an exit way by IC (interchange), such as a highway. In addition, when the vehicle returns from the parking lot in the service area (SA) or the parking area (PA) to the main line, the vehicle enters a reverse running state by entering the wrong entrance path and exit path. Conventionally, a technique for detecting that a vehicle is in a reverse running state in a navigation device or the like mounted on the vehicle has been proposed (for example, JP 2009-168547 A).

  On the other hand, the navigation device or the like detects the vehicle position by a sensor such as GPS in order to specify the current position of the vehicle. However, since the detection accuracy is not so high, a matching process for matching a vehicle position detected by a sensor such as GPS (hereinafter referred to as a detection position) with a road on the map is separately performed. By performing this matching process, even if there is an error between the actual vehicle position and the detected position, it is possible to correct the detected position and specify the position of the vehicle on the road. . Based on the detected position corrected by the matching process (hereinafter referred to as a corrected position), various driving assistances such as guidance of the current vehicle position, search for a guidance route to the destination, travel guidance based on the guidance route, route learning, etc. Has been done.

JP 2009-168547 A (page 7-9, FIG. 2, FIG. 3)

  However, when the vehicle is in the reverse running state as described above, if the matching process is performed, the correction position may be specified on a road different from the road on which the vehicle actually travels. For example, as shown in FIG. 8, when the vehicle 101 travels on a highway in which roads are divided for each travel direction, when the vehicle travels backward on the “up lane 102”, the link to the “up lane 102” is used. Since the prescribed travel direction (left direction in FIG. 8) is different from the travel direction of vehicle 101 (right direction in FIG. 8), the travel direction (in the figure) is the same as the travel direction of vehicle 101 (right direction in FIG. 8). The correction position 104 is specified in the “down lane 103” in which the right direction (8) is defined. As a result, in the conventional navigation device such as the above-mentioned Patent Document 1, there is a possibility that the above-mentioned driving support with incorrect contents may be performed.

  The present invention has been made in order to solve the above-described conventional problems, and is a driving support device that prevents erroneous driving support from being performed even when the vehicle is in a reverse running state. An object is to provide a support method and a computer program.

  In order to achieve the above object, a driving support device (1) according to claim 1 of the present application includes vehicle position detection means (13) for detecting the position of a vehicle, and map information acquisition means (15) for acquiring map information including a road network. 13), a reverse running detection means (13) for detecting that the vehicle is running in reverse running on the road, a detection position that is the vehicle position detected by the vehicle position detection means, and the map Based on the map information acquired by the information acquisition means, matching means (13) for repeatedly executing matching processing for matching the detected position with a road on the map at predetermined intervals, and the matching matched by the matching means The driving support means (13) that supports driving of the vehicle based on the correction position that is the detection position, and that the vehicle is in a reverse running state by the reverse running detection means. If issued, and having a, a matching stop means (13) to stop execution of the matching process by the matching means.

  Further, the driving support device (1) according to claim 2 is the driving support device according to claim 1, wherein a predetermined time has elapsed since the execution of the matching process was stopped by the matching stop means (13), or The apparatus further comprises a matching distance restarting means (13) for restarting execution of the matching process by the matching means (13) when the vehicle has traveled a predetermined distance.

  Further, the driving support device (1) according to claim 3 is the driving support device according to claim 1 or 2, wherein road type acquisition means (13) for acquiring a type of a road located around the vehicle. When the matching process is stopped by the matching stop means (13), and there is no predetermined type of road with a restricted traveling direction around the vehicle, the matching means (13) Matching type restarting means (13) for restarting the execution of the matching process.

  According to a fourth aspect of the present invention, there is provided the driving support apparatus (1) according to the third aspect, wherein the predetermined type of road is a toll road and an automobile exclusive road.

  The driving support method according to claim 5 includes a vehicle position detecting step for detecting the position of the vehicle, a map information acquiring step for acquiring map information including a road network, and a reverse running state in which the vehicle runs backward on the road. The detection position based on the reverse running detection step for detecting the vehicle position, the detection position that is the position of the vehicle detected by the vehicle position detection step, and the map information acquired by the map information acquisition step. A matching step of repeatedly executing a matching process for matching a road on a map at a predetermined interval, and a driving support step of supporting driving of the vehicle based on a correction position that is the detection position matched by the matching step; When it is detected by the reverse running detection step that the vehicle is in the reverse running state, the matching Matching stopping step of stopping the execution of the matching processing by-up, and having a.

  Further, a computer program according to claim 6 is mounted on a computer and has a vehicle position detection function for detecting the position of the vehicle, a map information acquisition function for acquiring map information including a road network, and the vehicle runs backward on the road. Based on the reverse detection function for detecting that the vehicle is in the reverse drive state, the detection position that is the position of the vehicle detected by the vehicle position detection function, and the map information acquired by the map information acquisition function , A matching function that repeatedly executes a matching process for matching the detected position with a road on the map at predetermined intervals, and driving that supports driving of the vehicle based on the corrected position that is the detected position matched by the matching function When the support function and the reverse running detection function detect that the vehicle is in the reverse running state, the matching function Matching stop function for stopping the execution of the matching process with the characterized in that is executed by the processor (41).

  According to the driving support device according to claim 1 having the above-described configuration, when it is detected that the vehicle is in the reverse running state, the execution of the matching process is stopped. It is possible to prevent the correction position from being specified on a different road. As a result, it is possible to prevent driving assistance with incorrect contents from being performed.

  According to the driving support device of the second aspect, the execution of the matching process is resumed when a predetermined time has elapsed since the execution of the matching process was stopped or when the vehicle has traveled a predetermined distance. Therefore, in the situation where the matching process is stopped, if it is estimated that the vehicle was not originally reverse running or has already recovered from the reverse running state, that is, on a road different from the road on which the vehicle actually travels. When there is no possibility that the correction position is specified, it is possible to appropriately resume execution of the matching process. As a result, it is possible to perform appropriate vehicle driving assistance.

  According to the driving support device of the third aspect, when the execution of the matching process is stopped, the matching process is executed when there is no road of a predetermined type whose traveling direction is limited around the vehicle. To resume. Therefore, in a situation where the matching process is stopped, when the vehicle enters a general road or the like whose travel direction is not restricted and is estimated to have already recovered from the reverse running state, that is, the vehicle actually travels. If there is no possibility that the correction position is specified on a road different from the road, the matching process can be appropriately restarted. As a result, it is possible to perform appropriate vehicle driving assistance.

  Further, according to the driving support device of the fourth aspect, the matching process is performed when the execution of the matching process is stopped and there is no toll road or automobile road limited in the driving direction around the vehicle. Resume execution. Therefore, in a situation where the matching process is stopped, when it is estimated that the vehicle has already recovered from the reverse running state, it is possible to appropriately resume the execution of the matching process. As a result, it is possible to perform appropriate vehicle driving assistance.

  Further, according to the driving support method of the fifth aspect, when it is detected that the vehicle is in the reverse running state, the execution of the matching process is stopped, so that the road different from the road on which the vehicle actually travels. It is possible to prevent the correction position from being specified above. As a result, it is possible to prevent driving assistance with incorrect contents from being performed.

  Furthermore, according to the computer program of the sixth aspect, when it is detected that the vehicle is in the reverse running state, the execution of the matching process is stopped, so that the vehicle is different from the road on which the vehicle actually travels. It is possible to prevent the correction position from being specified. As a result, it is possible to prevent driving assistance with incorrect contents from being performed.

It is the block diagram which showed the navigation apparatus which concerns on this embodiment. It is a flowchart of the matching stop process program which concerns on this embodiment. It is a figure explaining an example of reverse run detection processing. It is a figure explaining the determination process of step 5. FIG. It is a flowchart of the matching process program which concerns on this embodiment. The matching process executed in step 13 will be described. It is a figure explaining the driving guidance screen displayed on a liquid crystal display. It is a figure explaining the subject of the prior art.

  Hereinafter, a driving support device according to the present invention will be described in detail with reference to the drawings based on an embodiment embodied in a navigation device. First, a schematic configuration of the navigation device 1 according to the present embodiment will be described with reference to FIG. FIG. 1 is a block diagram showing a navigation device 1 according to this embodiment.

  As shown in FIG. 1, the navigation apparatus 1 according to the present embodiment is based on a current position detection unit 11 that detects a current position of a vehicle, a data recording unit 12 that records various data, and input information. The navigation ECU 13 that performs various arithmetic processes, the operation unit 14 that receives operations from the user, the liquid crystal display 15 that displays a map and a guide route to the destination, and voice guidance related to route guidance are output to the user. A speaker 16, a DVD drive 17 that reads a DVD as a storage medium, and a communication module 18 that performs communication with an information center such as a probe center or a VICS (registered trademark: Vehicle Information and Communication System) center. ing.

Below, each component which comprises the navigation apparatus 1 is demonstrated in order.
The current position detection unit 11 includes a GPS 21, a vehicle speed sensor 22, a steering sensor 23, a gyro sensor 24, and the like, and can detect the current vehicle position, direction, vehicle traveling speed, current time, and the like. . Here, in particular, the vehicle speed sensor 22 is a sensor for detecting a moving distance and a vehicle speed of the vehicle, generates a pulse according to the rotation of the driving wheel of the vehicle, and outputs a pulse signal to the navigation ECU 13. And navigation ECU13 calculates the rotational speed and moving distance of a driving wheel by counting the generated pulse. Note that the navigation device 1 does not have to include all the four types of sensors, and the navigation device 1 may include only one or more types of sensors.

  The data recording unit 12 is also a hard disk (not shown) as an external storage device and a recording medium, and a driver for reading the map information DB 31 and a predetermined program recorded on the hard disk and writing predetermined data on the hard disk And a recording head (not shown). The data recording unit 12 may be configured by a memory card, an optical disk such as a CD or a DVD, instead of the hard disk.

Here, the map information DB 31 records map data including a road network used for route guidance, traffic information guidance, and map display.
Specifically, the map data searches for link data 32 relating to road (link) shape, node data 33 relating to node points, POI data 34 which is information relating to points such as facilities, intersection data relating to each intersection, and routes. Search data, search data for searching points, maps, roads, image information such as traffic information, and image drawing data for drawing on the liquid crystal display 15. In particular, as the link data 32, information on link road types (automobile roads, toll roads, ordinary roads, narrow streets), information on travel direction restrictions such as one-way sections, and the like are also stored.
The map information DB 31 is updated based on update data distributed from a map distribution center or the like and update data provided via a storage medium (for example, a DVD or a memory card).

  On the other hand, the navigation ECU (Electronic Control Unit) 13 is an electronic control unit that controls the entire navigation device 1. The CPU 41 as an arithmetic device and a control device, and a working memory when the CPU 41 performs various arithmetic processes. In addition to the RAM 42 for storing route data when a route is searched, a control program, a matching stop processing program (see FIG. 2) and a matching processing program (see FIG. 5), which will be described later, etc. And an internal storage device such as a flash memory 44 for storing a program read from the ROM 43. The navigation ECU 13 constitutes various means as processing algorithms. For example, the route search means searches for a guide route from a departure point (for example, the current position of the host vehicle) to a destination. The vehicle position detection means detects the position of the vehicle using various sensors such as GPS 21, and the map information acquisition means acquires map information including a road network from the map information DB 31. The reverse running detection means detects that the vehicle is in a reverse running state in which the vehicle runs backward on the road. Based on the vehicle position (detected position) detected by the vehicle position detecting means and the map information, the matching means repeatedly executes matching processing for matching the detected position with a road on the map at predetermined intervals. The driving support means performs driving support of the vehicle based on the correction position that is the detection position matched by the matching means. The matching stop unit stops the execution of the matching process by the matching unit when the reverse running detection unit detects that the vehicle is in the reverse running state. The matching distance restarting unit restarts the matching processing by the matching unit when a predetermined time has elapsed after the matching processing is stopped by the matching stopping unit or the vehicle has traveled a predetermined distance. The road type acquisition means acquires the type of road located around the vehicle. The matching type restarting means restarts the matching process when the matching process is stopped by the matching stop means and there is no road of a predetermined type whose traveling direction is limited around the vehicle. To do.

  The operation unit 14 is operated when inputting a departure point as a travel start point and a destination as a travel end point, and includes a plurality of operation switches (not shown) such as various keys and buttons. Then, the navigation ECU 13 performs control to execute various corresponding operations based on switch signals output by pressing the switches. The operation unit 14 can also be configured by a touch panel provided on the front surface of the liquid crystal display 15. Moreover, it can also be comprised with a microphone and a speech recognition apparatus.

  The liquid crystal display 15 also includes a map image including a road, a vehicle position mark indicating the current position of the vehicle on the map image, traffic information, operation guidance, operation menu, key guidance, and guidance from the departure point to the destination. The route, guidance information along the guidance route, news, weather forecast, time, mail, TV program, etc. are displayed. Further, when it is detected that the vehicle is in a reverse running state in which the vehicle runs backward on the road, a text or the like for warning that the vehicle is in the reverse running state is displayed.

  The speaker 16 outputs voice guidance for guiding traveling along the guidance route based on an instruction from the navigation ECU 13 and traffic information guidance. Further, when it is detected that the vehicle is in the reverse running state, a sound or the like for warning that the vehicle is in the reverse running state is output.

  The DVD drive 17 is a drive that can read data recorded on a recording medium such as a DVD or a CD. Based on the read data, music and video are reproduced, the map information DB 31 is updated, and the like.

  The communication module 18 is a communication device for receiving traffic information composed of information such as traffic jam information, regulation information, and traffic accident information transmitted from a traffic information center, for example, a VICS center or a probe center. For example, a mobile phone or DCM is applicable.

  Next, a matching stop processing program executed in the navigation device 1 having the above configuration will be described with reference to FIG. FIG. 2 is a flowchart of the matching stop processing program according to this embodiment. Here, the matching stop processing program is executed after the ACC of the vehicle is turned on, and is set to stop execution of the matching processing of the navigation device 1 when it is detected that the vehicle is in the reverse running state. is there. 2 and 5 are stored in the RAM 42, ROM 43 and the like provided in the navigation ECU 13 and executed by the CPU 41.

  In the matching stop processing program, first, in step (hereinafter abbreviated as S) 1, the CPU 41 performs reverse running detection processing for detecting that the vehicle is in a reverse running state in which the vehicle runs backward on the road. In the reverse running detection process of S1, it is detected that the vehicle is in the reverse running state based on the running direction set on the road on which the vehicle is running, the detection results of the various sensors 21 to 24, and the like. Hereinafter, an example of the reverse running detection process of S1 will be described in more detail with reference to FIG.

First, the CPU 41 acquires the traveling direction set on the road on which the vehicle is currently traveling. The road on which the vehicle currently travels becomes a link including the detected position (corrected position) of the vehicle corrected in the matching process (FIG. 5) executed immediately before. Therefore, the CPU 41 acquires the link data 32 of the link 52 including the correction position 51 specified by the matching process as shown in FIG. 3 from the map information DB 31, and based on the acquired link data of the link 52, the vehicle The traveling direction set for the road (ie, link 52) that is currently traveling is acquired. On the other hand, the direction of the vehicle is acquired based on the detection results of the steering sensor 23 and the gyro sensor 24. Next, the CPU 41 determines that the detected direction of the vehicle (the direction of the arrow 52 in FIG. 3) is a predetermined angle (for example, 135) with respect to the traveling direction (the direction of the arrow 51 in FIG. 3) set on the road on which the vehicle is currently traveling. It is determined whether or not the vehicle has traveled a predetermined distance (for example, 50 m) or more in a different state. Then, when it is determined that the vehicle has traveled more than a predetermined distance with the direction of the vehicle different from the travel direction set on the road on which the vehicle currently travels by a predetermined angle or more, the CPU 41 determines that the vehicle is in the reverse travel state. To detect.
Note that the processing content of the reverse running detection processing in S1 is not limited to the above example. For example, when the vehicle makes a U-turn while traveling in a one-way section, it may be configured to detect that the vehicle is in a reverse running state.

  Next, in S2, the CPU 41 determines whether or not it is detected in the reverse running detection process in S1 that the vehicle is in the reverse running state. Then, when it is detected that the vehicle is in the reverse running state (S2: YES), the process proceeds to S3. On the other hand, when it is not detected that the vehicle is in the reverse running state (S2: NO), the matching stop processing program is terminated.

  In S3, the CPU 41 reads the matching stop flag stored in the RAM 42 and sets it to ON. Accordingly, the execution of the matching process is stopped in the navigation device 1 thereafter. Here, the matching stop flag is a flag for setting whether or not the matching process is performed in the navigation apparatus 1 at a predetermined interval, and is set to OFF (matching process is executed) in the initial state. The matching stop flag is basically turned on when the vehicle is in a reverse running state. A predetermined time or more (for example, 10 minutes or more) has passed since the matching stop flag was turned on, or the vehicle has exceeded a predetermined distance (for example, 1 km or more). ) Turned off when traveling.

  Subsequently, in S4, the CPU 41 acquires road type information of roads located around the vehicle. Specifically, first, the CPU 41 specifies a link included within a predetermined distance (for example, within 1 km) from the current position of the vehicle detected by the GPS 21 or the like. Thereafter, the link data 32 of the identified link is acquired from the map information DB 31, thereby acquiring the road type information of the road located around the vehicle. Incidentally, road types include roads dedicated to automobiles, toll roads, general roads, narrow streets, and the like.

  Next, in S5, based on the road type information acquired in S4, the CPU 41 determines whether or not there is a predetermined type of road whose traveling direction is limited around the vehicle (for example, within 1 km around the vehicle). . Here, in the present embodiment, the road whose travel direction is limited is a road having a section in which the vehicle can travel only in a predetermined direction, and includes, for example, an automobile-only road and a toll road.

  Then, when it is determined that there is a predetermined type of road whose traveling direction is limited around the vehicle (S5: YES), it is estimated that the vehicle may continue to be in a reverse running state. Accordingly, it is estimated that there is a possibility that the detected position may be matched on a road different from the road on which the vehicle actually travels in the matching process (FIG. 5) described later, and the process proceeds to S7. On the other hand, when it is determined that there is no road of a predetermined type whose travel direction is limited around the vehicle (S5: NO), the vehicle enters a general road or the like whose travel direction is not limited, It is estimated that the vehicle has already recovered from the reverse running state. Accordingly, in the matching process (FIG. 5) described later, it is estimated that there is no possibility that the detected position is matched on a road different from the road on which the vehicle actually travels, and the process proceeds to S6.

Here, FIG. 4 is a diagram illustrating the determination process of S5.
In FIG. 4, a vehicle 62 that was in a reverse running state on a toll road 61 such as a highway subsequently enters an attachment road 63, passes through an interchange 64, and enters a general road 65 with no travel direction restriction. An example is shown. As shown in FIG. 4, in a state where the vehicle travels on the toll road 61 or the attachment road 63, that is, in a state where there is a predetermined type of road (for example, an automobile-only road or a toll road) whose travel direction is limited around the vehicle. It can be estimated that the vehicle may continue to run backward. On the other hand, in a state where the vehicle travels on the general road 65, that is, in a state where there is no predetermined type of road (for example, an automobile exclusive road or a toll road) whose travel direction is limited around the vehicle, the vehicle recovers from the reverse running state. Can be estimated.

  Next, in S6, the CPU 41 reads the matching stop flag stored in the RAM 42 and sets it to OFF. Thereby, the execution of the matching process that has been stopped in the navigation device 1 is resumed. Thereafter, the matching stop processing program is terminated.

  On the other hand, in S7, the CPU 41 obtains an elapsed time after the matching stop flag is turned on in S3, that is, an elapsed time since the execution of the matching process in the navigation device 1 is stopped.

  Next, in S8, based on the elapsed time acquired in S7, the CPU 41 determines whether or not a predetermined time (for example, 10 minutes) has elapsed since the execution of the matching process in the navigation device 1 was stopped.

  If it is determined that a predetermined time or more has elapsed since the execution of the matching process was stopped in the navigation device 1 (S8: YES), the vehicle was not originally in the reverse running state or has already recovered from the reverse running state. It is estimated that Therefore, it is presumed that there is no possibility that the detected position is matched on a road different from the road on which the vehicle actually travels in the matching process (FIG. 5) described later, the process proceeds to S6, and the matching stop flag is set to OFF. . Thereby, the execution of the matching process that has been stopped in the navigation device 1 is resumed.

  On the other hand, when it is determined that the predetermined time or more has not elapsed since the execution of the matching process was stopped in the navigation device 1 (S8: NO), the process returns to S4 with the matching stop flag set to ON.

  In S8, it is determined whether or not a predetermined time (for example, 10 minutes) has passed since the execution of the matching process in the navigation device 1, but the matching process is stopped in the navigation device 1. It may be determined whether the vehicle has traveled more than a predetermined distance (for example, 1 km). In that case, when it is determined that the vehicle has traveled more than a predetermined distance after the execution of the matching process is stopped, it is estimated that the vehicle was not originally in the reverse running state or has already recovered from the reverse running state. Therefore, the matching stop flag is set to OFF (S6).

  Next, a matching processing program executed in the navigation device 1 will be described with reference to FIG. FIG. 5 is a flowchart of the matching processing program according to the present embodiment. Here, the matching processing program is repeatedly executed at predetermined intervals after the ACC of the vehicle is turned on, and when it is detected that the current position of the vehicle is in a reverse running state on the road on the map, This program is set to stop execution of matching processing.

  In the matching processing program, in S11, the CPU 41 detects the current position of the vehicle using various sensors such as the GPS 21 mounted on the vehicle. The detection in S11 includes detection by dead reckoning using the vehicle speed sensor 22, the steering sensor 23, and the gyro sensor 24 in addition to the detection using the GPS 21. The current position of the vehicle detected in S11 is referred to as a detected position.

  Next, in S12, the CPU 41 reads the matching stop flag stored in the RAM 42, and determines whether or not it is set to ON. Here, the matching stop flag is a flag for setting whether or not the matching process is performed in the navigation device 1 at a predetermined interval as described above, and basically when the vehicle is in the reverse running state. It is turned on (S3) and turned off when a predetermined time or more (for example, 10 minutes or more) has elapsed since the matching stop flag was turned on or when the vehicle has traveled for a predetermined distance or more (for example, 1 km or more) (S6).

  And when it determines with the matching stop flag being set to ON (S12: YES), it transfers to S15. On the other hand, when it is determined that the matching stop flag is set to OFF (S12: NO), the process proceeds to S13.

  In S13, the CPU 41 executes a matching process for matching the detected position to a road on the map based on the detected position specified in S11 and the map information acquired from the map information DB 31. As a result, the detection position is corrected, and the current position of the vehicle located on the road is newly detected. The current position of the vehicle detected by correcting the detection position in S13 is referred to as a correction position.

Here, the matching process executed in S13 will be described with reference to FIG.
As shown in FIG. 6, when the detection position 72 is specified around the road 71, the detection position 72 is corrected on the road 71 in the matching process of S13, and the correction position 73 is specified. The correction position 73 is specified in consideration of the traveling direction defined on the road and the traveling direction of the vehicle. That is, as shown in FIG. 6, when the detection position 72 is specified around the roads 71 and 74 where the road is divided for each traveling direction, the vehicle traveling direction (right direction in the example shown in FIG. 6) The correction position 73 is specified on the road (the road 71 in the example shown in FIG. 6) in which the same traveling direction is defined. Therefore, for example, when the vehicle is running backward on the road 74, the correction position may be specified on a road different from the road on which the vehicle actually travels when the matching process is executed.

  Next, in S14, the CPU 41 executes various driving support processes based on the correction position specified in S13. Here, the driving support processing executed in S14 includes (A) guidance processing for the current position of the vehicle, (B) search processing for the guidance route to the destination, (C) travel guidance processing based on the guidance route, (D) There is a route learning process or the like.

For example, in “(A) Guidance process of current position of vehicle”, the vehicle position mark indicating the current position and direction of the own vehicle superimposed on the map image displayed on the liquid crystal display 15 is specified in S13. Is displayed at the corrected position. Thereby, the user can grasp the current position and direction of the own vehicle.
Further, in “(B) search process of guide route to destination”, when the destination setting operation is performed in the navigation device 1, the guide route from the correction position specified in S13 to the destination is determined. Perform a search. As a result, the user can grasp the recommended route from the current position of the vehicle to the destination.
In “(C) travel guidance processing based on the guidance route”, when the guidance route is set in the navigation device 1, the distance to the guidance intersection and the right / left turn direction based on the correction position specified in S13. Etc. Thereby, the user can travel along the guide route.
In “(D) route learning process”, the history of the road on which the vehicle has traveled is stored based on the correction position specified in S13. As a result, it is possible to accurately identify the road on which the user has traveled in the past, and to search for an appropriate guide route.

  On the other hand, in S15, which is executed when it is determined that the matching stop flag is set to ON, the CPU 41 does not execute the matching process, and “(A) the vehicle is detected based on the detected position specified in S11. Only the driving support process of the “current position guidance process” is executed. As a result, it is possible to prevent erroneous driving assistance.

  Further, as shown in FIG. 7, the vehicle position mark 81 is displayed on the liquid crystal display 15 at the detection position specified in S11. In the example shown in FIG. 7, since the matching process is not performed, the vehicle position mark 81 is not displayed on the surrounding roads 82 and 83. However, the user can grasp the current current position and direction of the vehicle by referring to the liquid crystal display 15.

As described above in detail, according to the navigation device 1 according to the present embodiment, the driving support method using the navigation device 1 and the computer program executed by the navigation device 1, the position of the vehicle detected by the sensor or the like is on the road. The matching process (S11, S13) for matching is repeatedly executed at predetermined intervals, and various driving support processes (S14) are executed based on the matched vehicle position. On the other hand, whether or not the vehicle is in the reverse running state is detected (S1), and when it is detected that the vehicle is in the reverse running state, the execution of the matching process is stopped (S3). It is possible to prevent the correction position from being specified on a road different from the road on which the vehicle actually travels. As a result, it is possible to prevent driving assistance with incorrect contents from being performed.
In addition, when the predetermined time has elapsed after the execution of the matching process is stopped or the vehicle has traveled a predetermined distance, the execution of the matching process is resumed (S6). Therefore, in the situation where the matching process is stopped, if it is estimated that the vehicle was not originally reverse running or has already recovered from the reverse running state, that is, on a road different from the road on which the vehicle actually travels. When there is no possibility that the correction position is specified, it is possible to appropriately resume execution of the matching process. As a result, it is possible to perform appropriate vehicle driving assistance.
Further, when the execution of the matching process is stopped and there is no road of a predetermined type (for example, a toll road or an automobile road) whose traveling direction is limited around the vehicle, the execution of the matching process is resumed ( S6). Therefore, in a situation where the matching process is stopped, when the vehicle enters a general road or the like whose travel direction is not restricted and is estimated to have already recovered from the reverse running state, that is, the vehicle actually travels. If there is no possibility that the correction position is specified on a road different from the road, the matching process can be appropriately restarted. As a result, it is possible to perform appropriate vehicle driving assistance.

Note that the present invention is not limited to the above-described embodiment, and various improvements and modifications can be made without departing from the scope of the present invention.
For example, in this embodiment, matching is performed when a predetermined time has elapsed since the execution of the matching process was stopped or when the vehicle has traveled a predetermined distance, or when there is no predetermined type of road with a limited traveling direction around the vehicle. When execution of the process is resumed (S6), the process of detecting whether or not the vehicle has recovered from the reverse running state is executed at predetermined intervals, and it is detected that the vehicle has recovered from the reverse running state. Alternatively, the matching process may be resumed.

  Moreover, in this embodiment, although the toll road and the motor vehicle exclusive road were mentioned as a predetermined type road with which the driving direction was restrict | limited, you may include another road as object. For example, even a general road having a one-way section may be included in a predetermined type of road whose travel direction is limited.

  In addition to the navigation device, the present invention can be applied to a device having a function of specifying a current position of a moving body such as a vehicle on a map. For example, the present invention can be applied to a mobile phone, a mobile terminal such as a PDA, a personal computer, and the like. In addition to the vehicle, the moving body that is the target for displaying the current position may be a user (pedestrian) or a two-wheeled vehicle.

1 Navigation device 13 Navigation ECU
41 CPU
42 ROM
43 RAM

Claims (6)

Vehicle position detection means for detecting the position of the vehicle;
Map information acquisition means for acquiring map information including a road network;
Reverse running detection means for detecting that the vehicle is in a reverse running state running backward on the road;
Based on the detected position which is the position of the vehicle detected by the vehicle position detecting means and the map information acquired by the map information acquiring means, a matching process for matching the detected position with a road on a map is predetermined. A matching means that repeatedly executes at intervals;
Driving support means for supporting driving of the vehicle based on a correction position that is the detection position matched by the matching means;
A driving support device comprising: a matching stop unit that stops execution of the matching process by the matching unit when the reverse detection unit detects that the vehicle is in a reverse running state. .   A matching distance restarting means for restarting execution of the matching process by the matching means when a predetermined time has elapsed since the execution of the matching process was stopped by the matching stop means or the vehicle has traveled a predetermined distance; The driving support apparatus according to claim 1, wherein Road type acquisition means for acquiring the type of road located around the vehicle;
Execution of the matching process by the matching unit is resumed when there is no road of a predetermined type whose traveling direction is limited around the vehicle in a state where the execution of the matching process is stopped by the matching stop unit. The driving support apparatus according to claim 1, further comprising a matching type restarting unit.   The driving support apparatus according to claim 3, wherein the predetermined type of road is a toll road and an automobile exclusive road. A vehicle position detecting step for detecting the position of the vehicle;
A map information acquisition step for acquiring map information including a road network;
A reverse running detection step for detecting that the vehicle is in a reverse running state running backward on the road;
Based on the detected position, which is the position of the vehicle detected by the vehicle position detecting step, and the map information acquired by the map information acquiring step, a matching process for matching the detected position with a road on a map is predetermined. A matching step that runs repeatedly at intervals;
A driving support step for supporting driving of the vehicle based on the correction position that is the detection position matched by the matching step;
And a matching stop step for stopping the execution of the matching process by the matching step when it is detected by the reverse detection step that the vehicle is in a reverse running state. . On the computer,
A vehicle position detection function for detecting the position of the vehicle;
A map information acquisition function for acquiring map information including a road network;
A reverse running detection function for detecting that the vehicle is in a reverse running state running backward on the road;
Based on the detection position that is the position of the vehicle detected by the vehicle position detection function and the map information acquired by the map information acquisition function, a matching process for matching the detection position to a road on a map is predetermined. A matching function that runs repeatedly at intervals;
A driving support function for supporting driving of the vehicle based on a correction position that is the detection position matched by the matching function;
A matching stop function for stopping execution of the matching process by the matching function when the reverse running detection function detects that the vehicle is in a reverse running state;
A computer program for causing a processor to execute.

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