JP2013008287A - Road gradient estimation system, road gradient estimation apparatus and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To accurately estimate a road gradient using measurement data of a vehicle.SOLUTION: In an in-vehicle unit 12, a vehicle speed, fuel consumption and a location are measured. On the basis of a fuel consumption map, a drive force calculation section 60 determines a drive force corresponding to a combination of the measured speed and fuel consumption and on the basis of the measured speed and the determined drive force, a road gradient estimation section 62 estimates a road gradient. An information communication section 30 transmits the estimated road gradient, the measured location and reliability of fuel consumption of the referenced fuel consumption map. A center-side server receives the road gradient, the location and the reliability of the fuel consumption transmitted from the in-vehicle unit 12 and, in accordance with the received reliability of the fuel consumption, updates a road gradient in the received location on a road gradient map while using the received road gradient.

Description

  The present invention relates to a road gradient estimation system, a road gradient estimation device, and a program, and more particularly to a road gradient estimation system, a road gradient estimation device, and a program that estimate a road gradient using vehicle measurement data.

  Conventionally, the actual fuel consumption is obtained from the amount of fuel supplied, and the reference fuel consumption for the actual traveling speed is obtained based on the fuel consumption data determined in advance with the traveling speed as a parameter. A slope slope estimation method for estimating the slope slope degree is known (Patent Document 1).

JP-A-5-256646

  However, in the technique described in Patent Document 1 described above, the reliability of the fuel consumption data that is the basis of the calculation is uniform (assuming that all data is 100% reliable). There is a problem that it is not good. In addition, since there is no means for updating data, there is a problem that the estimation accuracy is not improved even if the system is continuously used.

  The present invention has been made to solve the above-described problems, and provides a road gradient estimation system, a road gradient estimation device, and a program capable of accurately estimating a road gradient using vehicle measurement data. The purpose is to do.

  In order to achieve the above object, a road gradient estimation system according to the present invention relates to a measuring means for measuring the speed, fuel consumption, and position of a vehicle, the speed, and a vehicle that changes according to the speed and the road gradient. The combination of the physical quantity and the first correspondence relationship of the fuel consumption amount are stored, and the combination of the speed and the physical quantity and the second correspondence relationship of the reliability of the fuel consumption amount corresponding in the first correspondence relationship are stored. Corresponding relationship storage means to store, based on the first correspondence relationship stored in the correspondence relationship storage means, obtain the physical quantity corresponding to the combination of the speed and the fuel consumption measured by the measuring means, Based on the measured speed and the obtained physical quantity, the road gradient estimation means for estimating the road gradient and the road gradient estimation means Road including transmission means for transmitting reliability of fuel consumption corresponding to the combination of the measured speed and fuel consumption in the measured road gradient, the measured position, and the second correspondence relationship A gradient estimation device, road gradient map storage means for storing a road gradient map storing the road gradient at each point, the road gradient transmitted from the road gradient estimation device, the position, and the reliability of the fuel consumption amount. A road gradient that updates the received road gradient at the position in the road gradient map using the received road gradient according to the receiving means for receiving and the reliability of the fuel consumption received by the receiving means. And a server including update means.

  According to the present invention, in the road gradient estimation apparatus, the speed, fuel consumption, and position of the vehicle are measured by the measuring means. The physical quantity corresponding to the combination of the speed and the fuel consumption measured by the measurement unit is obtained by the road gradient estimation unit based on the first correspondence stored in the correspondence storage unit, and the measurement A road gradient is estimated based on the obtained speed and the obtained physical quantity.

  Then, the fuel corresponding to the combination of the measured speed and the fuel consumption in the road gradient estimated by the road gradient estimation unit, the measured position, and the second correspondence relationship by the transmission unit. Send consumption confidence.

  In the server, the reception means receives the road gradient, the position, and the reliability of the fuel consumption amount transmitted from the road gradient estimation device. The road gradient updating unit updates the received road gradient of the position in the road gradient map using the received road gradient according to the reliability of the fuel consumption received by the receiving unit.

  As described above, the road gradient is estimated using the combination of the vehicle speed, the physical quantity related to the vehicle that changes in accordance with the speed and the road gradient, and the correspondence relationship of the fuel consumption, and the estimation is performed. By updating the road gradient map according to the reliability of the fuel consumption, the road gradient can be accurately estimated using the vehicle measurement data.

  The server according to the present invention further includes update result transmission means for transmitting the road gradient updated by the road gradient update means to the road gradient estimation device, wherein the road gradient estimation device is the road transmitted by the server. An update result receiving means for receiving a gradient; and, based on the road gradient received by the update result receiving means, calculating a fuel consumption amount for a combination of the measured speed and the determined physical quantity, It further includes correspondence updating means for updating fuel consumption for the combination of the measured speed and the determined physical quantity in the first correspondence using the calculated fuel consumption. Can do. As a result, the combination of the vehicle speed, the physical quantity related to the vehicle that changes according to the speed and the road gradient, and the correspondence relationship of the fuel consumption amount can be updated, so that the road gradient can be estimated more accurately. .

  The road gradient storage unit according to the present invention stores the road gradient map storing the road gradient of each point and the reliability of the road gradient at each point, and the road gradient update unit stores the reception in the road gradient map. And updating the road gradient reliability of the received position in the road gradient map using the fuel consumption reliability received from the road gradient estimation device. be able to.

  The server further includes an update result transmitting unit that transmits the road gradient updated by the road gradient updating unit and a reliability of the road gradient, and the road gradient estimation device is transmitted by the server. Based on the road gradient received by the update result receiving means for receiving the road gradient and the update result receiving means, a fuel consumption amount for the combination of the measured speed and the calculated physical quantity is calculated. Using the calculated fuel consumption amount, the fuel consumption amount for the combination of the measured speed and the calculated physical amount in the first correspondence relationship is updated and received by the update result receiving unit. Using the reliability of the road gradient, the set of the measured speed and the calculated physical quantity in the second correspondence relationship It may further include a correspondence updating means for updating the reliability of the fuel consumption for mating.

  A road gradient estimation apparatus according to the present invention includes a road gradient map storage unit that stores a road gradient map that stores road gradients at each point, a measurement unit that measures vehicle speed, fuel consumption, and position, and the speed A combination of a physical quantity related to the vehicle that changes according to the speed and the road gradient, and a first correspondence relationship of the fuel consumption, and a combination of the speed and the physical quantity, and the first correspondence relationship The correspondence storage means for storing the second correspondence relation of the reliability of the fuel consumption corresponding to the above, and the speed measured by the measurement means based on the first correspondence relation stored in the correspondence relation storage means And the physical quantity corresponding to the combination of the fuel consumption, and the road gradient is estimated based on the measured speed and the obtained physical quantity. In accordance with the reliability of the fuel consumption corresponding to the combination of the measured speed and the fuel consumption in the second correspondence, the estimated position of the measured position in the road gradient map Road gradient updating means for updating the road gradient using the road gradient estimated by the road gradient estimating means.

  The program according to the present invention is a combination of road gradient map storage means storing a road gradient map storing road gradients at each point, vehicle speed, and physical quantities relating to the vehicle that change according to the speed and the road gradient. , And a first correspondence relationship of the fuel consumption amount, and a correspondence relationship storage for storing a combination of the speed and the physical amount and a second correspondence relationship of the reliability of the fuel consumption amount corresponding to the first correspondence relationship And the fuel measured by the measuring means for measuring the speed, fuel consumption, and position of the vehicle based on the first correspondence stored in the correspondence storage means. The road for obtaining the physical quantity corresponding to the combination of consumption and estimating the road gradient based on the measured speed and the obtained physical quantity The estimated position of the measured position in the road gradient map according to the reliability of the fuel consumption corresponding to the combination of the measured speed and the fuel consumption in the second correspondence relationship It is a program for causing a road gradient to function as a road gradient update unit that updates the road gradient using the road gradient estimated by the road gradient estimation unit.

  According to the road gradient estimating apparatus and program of the present invention, the speed, fuel consumption, and position of the vehicle are measured by the measuring means. The physical quantity corresponding to the combination of the speed and the fuel consumption measured by the measurement unit is obtained by the road gradient estimation unit based on the first correspondence stored in the correspondence storage unit, and the measurement A road gradient is estimated based on the obtained speed and the obtained physical quantity.

  Then, the road gradient update means measures the measured value in the road gradient map according to the reliability of the fuel consumption corresponding to the combination of the measured speed and the fuel consumption in the second correspondence relationship. The road gradient at the new position is updated using the road gradient estimated by the road gradient estimation means.

  As described above, the road gradient is estimated using the combination of the vehicle speed, the physical quantity related to the vehicle that changes in accordance with the speed and the road gradient, and the correspondence relationship of the fuel consumption, and the estimation is performed. By updating the road gradient map according to the reliability of the fuel consumption, the road gradient can be accurately estimated using the vehicle measurement data.

  The road gradient estimation apparatus according to the present invention calculates a fuel consumption amount for a combination of the measured speed and the obtained physical quantity based on the road gradient updated by the updating unit, and the calculated It is possible to further include correspondence updating means for updating the fuel consumption for the combination of the measured speed and the determined physical quantity in the first correspondence using the fuel consumption. As a result, the combination of the vehicle speed, the physical quantity related to the vehicle that changes according to the speed and the road gradient, and the correspondence relationship of the fuel consumption amount can be updated, so that the road gradient can be estimated more accurately. .

  The road gradient storage means of the road gradient estimation device according to the present invention stores the road gradient map storing the road gradient at each point and the reliability of the road gradient at each point, and the road gradient update unit stores the road gradient While updating the road gradient of the measured position in the gradient map, using the reliability of the fuel consumption corresponding to the combination of the measured speed and the fuel consumption in the second correspondence relationship, The reliability of the road gradient at the measured position in the road gradient map can be updated.

  The road gradient estimation apparatus according to the present invention calculates a fuel consumption amount for a combination of the measured speed and the obtained physical quantity based on the road gradient updated by the updating unit, and the calculated Using the fuel consumption amount, the fuel consumption amount for the combination of the measured speed and the obtained physical amount in the first correspondence relationship is updated, and the reliability of the road gradient updated by the updating unit is updated. , It is possible to further include correspondence updating means for updating the reliability of the fuel consumption amount for the combination of the measured speed and the calculated physical quantity in the second correspondence.

  Said physical quantity can be made into the driving force or running resistance of a vehicle.

  The program of the present invention can also be provided by being stored in a storage medium.

  As described above, according to the road gradient estimation system, the road gradient estimation device, and the program of the present invention, the combination of the vehicle speed, the physical quantity related to the vehicle that changes according to the speed and the road gradient, and the fuel consumption amount. The road gradient is estimated using the measured data of the vehicle by updating the road gradient map according to the reliability of the fuel consumption used for the estimation. Can be accurately estimated.

It is a block diagram which shows schematic structure of the road gradient estimation system which concerns on the 1st Embodiment of this invention. It is a block diagram which shows the structure of the center side server which concerns on the 1st Embodiment of this invention. It is a block diagram which shows the structure of the onboard equipment which concerns on the 1st Embodiment of this invention. It is a graph which shows a fuel consumption map. It is a graph which shows a reliability map. It is a flowchart which shows the content of the road gradient estimation processing routine in the onboard equipment which concerns on the 1st Embodiment of this invention. It is a flowchart which shows the content of the data update process routine in the center side server which concerns on the 1st Embodiment of this invention. It is a flowchart which shows the content of the route search process routine in the onboard equipment which concerns on the 1st Embodiment of this invention. It is a block diagram which shows the structure of the onboard equipment which concerns on the 2nd Embodiment of this invention. It is a flowchart which shows the content of the road gradient estimation process routine in the onboard equipment which concerns on the 2nd Embodiment of this invention.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. An example will be described in which the present invention is applied to a road gradient estimation system that is mounted on a vehicle and includes a vehicle-mounted device that guides a route to a destination for a driver of the host vehicle.

  As shown in FIG. 1, the road gradient estimation system 10 according to the first embodiment includes an in-vehicle device 12 mounted on each of a plurality of vehicles and a center-side server 14 provided on the traffic information center side. I have. The vehicle-mounted device 12 and the center-side server 14 are connected via a network 16 such as the Internet. The vehicle-mounted device 12 is an example of a road gradient estimation device.

  The center side server 14 is composed of a normal server including a CPU, a RAM, and a ROM that stores a program for executing a data update processing routine described later. As shown in FIG. 2, the center-side server 14 includes a communication unit 20 for transmitting and receiving data via the network 16, a road gradient map database 22 storing a road gradient map storing road gradients at each point, Based on the data received by the communication control unit 20 and the distribution control unit 24 that controls the communication unit 20 to distribute the road gradient map to the vehicle-mounted device 12, the road gradient map of the road gradient map database 22 is updated. And a data updating unit 26. The communication unit 20 is an example of a reception unit and an update result transmission unit, and the data update unit 26 is an example of a road gradient update unit.

  The road gradient map database 22 stores a road gradient map storing the road gradient at each point and stores the reliability of the road gradient at each point.

  When the distribution control unit 24 receives a distribution request from the vehicle-mounted device 12, the distribution control unit 24 controls the communication unit 20 to transmit the road gradient map stored in the road gradient map database 22 to the vehicle-mounted device 12. . The update of the road gradient map by the data update unit 26 will be described later.

  As shown in FIG. 3, the vehicle-mounted device 12 includes an information communication unit 30 for transmitting and receiving data via the network 16, a vehicle speed measurement unit 32 that measures the vehicle speed of the host vehicle, and an internal combustion engine of the host vehicle. A fuel injection amount measurement unit 34 for measuring the fuel injection amount, a position measurement unit 36 for measuring the position of the host vehicle, an input operation unit 38 for a driver to input a destination, and a road gradient at a traveled position are estimated. In addition, a computer 40 that searches for a route to the destination that optimizes the travel cost and a display device 42 that displays the searched route to the driver are provided. The information communication unit 30 is an example of a transmission unit and an update result reception unit.

  The position measurement unit 16 is configured using, for example, a GPS sensor, and measures the current position of the host vehicle.

  The computer 40 includes a CPU, a RAM, and a ROM that stores a program for executing a road gradient estimation processing routine and a route search processing routine, which will be described later, and is functionally configured as follows. The computer 40 transmits a road gradient map distribution request to the center-side server 14 by the information communication unit 30, and acquires the road gradient data acquisition unit 50 that acquires the road gradient map received from the center-side server 14, and the road gradient map. The stored road gradient map storage unit 52, the vehicle speed of the host vehicle measured by the vehicle speed measuring unit 32, the fuel injection amount measured by the fuel injection amount measuring unit 34, and the position of the host vehicle measured by the position measuring unit 36. Is obtained as measurement information, a fuel consumption map storage unit 58 that stores a fuel consumption map, which will be described later, and a drive that calculates the driving force of the host vehicle based on the acquired measurement information and fuel consumption map. Based on the force calculation unit 60 and the calculated driving force of the host vehicle, the road gradient is estimated and the estimation result is transmitted to the center server 14. That a road gradient estimation unit 62, based on the update result of the road gradient on the center side server 14, and a map updating unit 64 for updating the fuel consumption map. The fuel consumption map storage unit 58 is an example of a correspondence relationship storage unit, and the map update unit 64 is an example of a correspondence relationship update unit.

  The road gradient data acquisition unit 50 transmits a road gradient map distribution request to the center side server 14 via the information communication unit 30, downloads the road gradient map from the center side server 14, and the road gradient map storage unit 52. Update the stored contents of.

  The fuel consumption map storage unit 58 stores in advance a fuel consumption map in which a correspondence relationship between driving force, speed, and fuel consumption is stored as shown in FIG. For example, the fuel consumption map is stored when the vehicle is in a factory shipment state. The value of this fuel consumption map is measured for each vehicle type from a test run or the like. Since this fuel consumption map does not include vehicle-specific performance errors, the reliability of the entire map is low.

  Further, the fuel consumption map storage unit 58 stores in advance a reliability map in which the reliability of the map data of the fuel consumption for the combination of driving force and speed as shown in FIG. 5 is stored. The reliability of the reliability map represents, for example, the appearance frequency of the corresponding data. In the initial state, a low reliability is stored in the reliability map as a whole. In addition, since the appearance frequency becomes high in the state where acceleration = 0 or neither the access nor the brake is stepped on, high reliability is stored in the corresponding reliability. In addition, the average value of data is stored in the fuel consumption amount of the fuel consumption map, and the higher the reliability (appearance frequency), the lower the influence of outliers, so a value with high reliability is stored. Will be. The fuel consumption map is an example of a first correspondence relationship, and the reliability map is an example of a second correspondence relationship.

  The driving force calculation unit 60 corresponds to the measurement information (speed, fuel consumption) by comparing the measurement information (speed, fuel consumption) measured for the driving actually driven by the driver with the fuel consumption map. Calculate the driving force. The driving force calculation unit 60 acquires, from the fuel consumption map storage unit 58, the reliability of the fuel consumption corresponding to the measurement information (speed, fuel consumption) referred to when calculating the driving force. The reliability of the consumption is output to the road gradient estimation unit 62.

  The road gradient estimation unit 62 estimates the road gradient by solving the following equation (1) based on the measured speed and the calculated driving force.

Driving force F = (1 + γ) mα + μmg cos θ + mg · sin θ + λAv ²
... (1)

  However, A is a vehicle front projected area, g is gravitational acceleration, m is vehicle weight, v is vehicle speed, and α is vehicle acceleration. Also, γ is the rotating part inertia weight ratio, λ is the air resistance coefficient, θ is the road gradient, and μ is the rolling resistance coefficient.

The unknowns in the equation (1) are the acceleration α, the speed v, and the road gradient θ. The velocity and _{v i} at time i, if the speed of one second after the _{v i + 1,} acceleration _{α = (v i + 1- v} i) is / 1, the driving force is the speed _{v i, v i + 1} and the road gradient theta _i It is represented by

  The road gradient estimator 62 calculates the estimated road gradient, the measured position of the host vehicle, and the reliability of the referenced fuel consumption map (the fuel consumption corresponding to the combination of the measured speed and the calculated driving force). ) Is uploaded to the center server 14 via the information communication unit 30 as a road gradient estimation result.

  When the center side server 14 receives the estimation result of the road gradient, the data update unit 26 updates the road gradient map and updates the reliability of the road gradient in the reliability map as follows.

First, the server-side road gradient value at time t is θ _t, and the reliability of the road gradient value θ _t is R _θt .

When the road gradient estimated value θ ′ and the reliability R ′ of the fuel consumption map referred to at the time of estimation are transmitted from the vehicle-mounted device 12 of a certain vehicle, the road gradient value θ _{t ′ at} the next time t ′ is (2 It is updated according to the equations (4) to (4).

Road gradient value θ _{t ′} = θ _t × (1−a) + θ ′ × a
{IfR ′ ≧ R _θt } When reliability is high
... (2)
Road gradient value θ _{t ′} = θ _t × (1−a × R ′ / R _θt ) + θ ′ × a × R ′ / R _θt
{Else ifR _θt > R ′ ≧ R _θt / 2} Some degree of reliability
... (3)
Road slope value θ _{t ′} = θ _t {else} When the reliability is low (4)

Further, the reliability R _θt ′ of the road gradient value θ _{t ′ at} the next time t ′ is updated according to the following equations (5) to (7).

Reliability R _{θt ′} = R _θt × (1−a) + R ′ × a
{If R ′ ≧ R _θt } (5)
Reliability R _{θt ′} = R _θt × (1−a) + R ′ × a
{Else if _Rθt > R ′ ≧ _Rθt / 2} (6)
Reliability R _{θt ′} = R _θt {else} (7)

  Here, α is a forgetting factor when averaging.

In addition, the data update unit 26 transmits the updated road gradient value θ _{t ′} and the reliability R _{θt ′} to the in-vehicle device 12 via the communication unit 20 as an update result.

  When the map update unit 64 of the vehicle-mounted device 12 receives the update result of the road gradient, the map update unit 64 updates the fuel consumption map and updates the reliability map as follows.

  First, the speed at time t is vt, and the fuel consumption is Ct.

Using the updated road gradient θ _{t ′} and the measured speed, the driving force is recalculated according to the above equation (1) to obtain the driving force Ft.

  The fuel consumption corresponding to {vt, Ft} of the fuel consumption map is C, and the reliability of the fuel consumption is R.

  At this time, the fuel consumption amount C ′ corresponding to {vt, Ft} in the fuel consumption map is updated according to the following equations (8) to (10).

Fuel consumption C ′ corresponding to {vt, Ft}
= C * (1-a) + Ct * a
{If R _{θt ′} ≧ R} When reliability is high
... (8)
Fuel consumption C ′ corresponding to {vt, Ft}
= C × (1-a × R _{θt ′} / R) + Ct × α × R _{θt ′} / R
{Else if R> R _{θt ′} ≧ R / 2} Some degree of reliability
... (9)
Fuel consumption C ′ = C corresponding to {vt, Ft}
{else} When reliability is low
... (10)

  The reliability R ′ corresponding to {vt, Ft} in the reliability map is updated according to the following equations (11) to (13).

Reliability R ′ = R × (1−a) + R _{θt ′} × a corresponding to {vt, Ft}
{if R _{θt ′} ≧ R} (11)
Reliability R ′ corresponding to {vt, Ft}
= R × (1−a) + R _{θt ′} × a {else if R> R _{θt ′} ≧ R / 2}
(12)
Reliability R ′ = R corresponding to {vt, Ft}
{else} (13)

  However, a is a forgetting factor when averaging.

  The computer 40 also includes a road network database 66 storing road network data, a destination input by an operation of the input operation unit 38 by a driver, a position of the host vehicle as a departure point measured by the position measurement unit 36, And a route candidate search unit 68 that searches for a plurality of route candidates from the departure point to the destination based on the road network data, and a road gradient map storage unit 52 for each link included in the searched plurality of route candidates. A road gradient acquisition unit 70 that acquires a gradient; a travel cost calculation unit 72 that calculates a travel cost when traveling for each link included in the searched plurality of route candidates using the road gradient of the link; A route for selecting the route with the lowest total travel cost from the plurality of searched route candidates and outputting it to the display device 42 And a selecting section 74.

  The route candidate search unit 68 includes an algorithm for searching for the shortest route based on the destination input by the operation of the input operation unit 38, the departure place measured by the position measurement unit 36, and the road network data. Using a route search algorithm or the like, a plurality of route candidates from the departure point to the destination are searched. As the route search algorithm, a conventionally known algorithm may be used, and detailed description thereof is omitted.

  For each link included in the plurality of searched route candidates, the road gradient acquisition unit 70 acquires the road gradient of the link from the road gradient map stored in the road gradient map storage unit 52. Each link included in a plurality of route candidates indicates each of all links included in at least one of the plurality of route candidates.

  The travel cost calculation unit 72 calculates the travel cost for traveling the link for each link included in the searched route candidates in consideration of the road gradient acquired for the link. As a method for calculating the traveling cost, a conventionally known method may be used, and detailed description thereof is omitted.

  The route selection unit 74 calculates the total travel cost calculated for each link included in the route candidate for each of the searched route candidates, and calculates the total travel cost for the route candidate. In addition, the route selection unit 74 selects a route candidate that minimizes the total travel cost, and outputs the selected route candidate to the display device 42.

  Next, the operation of the road gradient estimation system 10 according to the first embodiment will be described. First, when an ignition key is turned on in a vehicle equipped with the vehicle-mounted device 12 (when the engine is started), the vehicle-mounted device 12 transmits a road gradient map distribution request to the center-side server 14 via the network 16. Then, the road gradient map is downloaded and stored in the road gradient map storage unit 52, or the storage content of the road gradient map storage unit 52 is updated. Moreover, when each vehicle carrying the vehicle-mounted device 12 is traveling, a road gradient estimation processing routine shown in FIG.

  In step 100, the measurement values of the vehicle speed measurement unit 32, the fuel injection amount measurement unit 34, and the position measurement unit 36 are acquired. In step 102, the corresponding driving force is estimated from the fuel consumption map based on the vehicle speed and the fuel injection amount acquired in step 100, and the acquired vehicle speed and the estimated driving force are calculated from the reliability map. The reliability of the fuel injection amount corresponding to is acquired.

  In the next step 104, the road gradient is estimated according to the above equation (1) based on the vehicle speed acquired in step 100 and the driving force estimated in step 102. In step 106, the road gradient estimated in step 104, the position of the host vehicle acquired in step 100, and the reliability of the fuel consumption acquired in step 102 are transmitted to the center server 14.

  When the center side server 14 receives the road gradient estimation result, the vehicle position, and the reliability of the fuel consumption amount from the vehicle-mounted device 12, the data update processing routine shown in FIG. 7 is executed.

  First, in step 120, using the received reliability of fuel consumption and the estimation result of the road gradient, the road gradient value in the road gradient map corresponding to the received vehicle position is expressed by the above equations (2) to (4). ) Update according to formula.

  In step 122, the reliability of the road gradient value in the road gradient map corresponding to the received vehicle position is determined according to the above equations (5) to (7) using the reliability of the received fuel consumption. ,Update.

  In the next step 124, the road gradient and reliability update results in steps 120 and 122 are transmitted to the vehicle-mounted device 12 that has transmitted the road gradient estimation result, and the data update processing routine ends.

  Further, as shown in FIG. 6, in the vehicle-mounted device 12, whether or not the road slope update result using the road slope estimation result transmitted in step 106 is received from the center side server 14 in step 108. Determine. When the update result is received from the center server 14, the process proceeds to step 110.

  In step 110, the road gradient map stored in the road gradient map storage unit 52 is updated using the road gradient update value received in step 108.

  In step 112, the driving force is recalculated according to the equation (1) using the updated value of the road gradient received in step 108 and the speed acquired in step 100, and the calculated driving force and Then, the fuel consumption amount in the fuel consumption map corresponding to the speed acquired in step 100 is updated according to the equations (8) to (10).

  In the next step 114, the reliability map of the reliability map corresponding to the driving force calculated in the step 112 and the speed acquired in the step 100 using the updated value of the reliability of the road gradient received in the step 108 is used. The reliability is updated according to the above equations (11) to (13), and the process returns to step 100.

  As described above, the road gradient map in the center-side server 14 is updated as needed by repeatedly executing each process of the road gradient estimation processing routine. Furthermore, the road gradient at each point on the road gradient map in the center server 14 is updated at any time by executing each process of the road gradient estimation process routine in each vehicle-mounted device 12. Moreover, the fuel consumption map in each onboard equipment 12 is updated at any time.

  When the driver operates the input operation unit 38 to input a destination, the route search processing routine shown in FIG.

  First, in step 130, the current position of the own vehicle measured by the position measuring unit 36 is acquired, the acquired current position of the own vehicle is set as a departure point, and the destination input by the driver is indicated. Get information and set destination.

  In step 132, a plurality of route candidates from the departure point to the destination are searched by the route search algorithm. In the next step 134, one link to be calculated is selected from the links included in the plurality of route candidates searched in step 132. In step 136, the road gradient of the calculation target link is acquired from the road gradient map storage unit 52. In step 138, the travel cost is calculated for the calculation target link using the road gradient acquired in step 136. To do.

  In step 140, it is determined whether or not the processing in steps 134 to 138 has been performed for all the links included in the plurality of route candidates searched in step 132, and the processing in steps 134 to 138 has been performed. If there is no link, the process returns to step 134, and the link is set as a calculation target link.

  On the other hand, when the processes in steps 134 to 138 have been performed for all the links included in the plurality of route candidates searched in step 132, the process proceeds to step 142, and the plurality of routes searched in step 132. For each candidate, the total travel cost is calculated.

  In step 144, a route candidate that minimizes the total travel cost calculated in step 142 is selected. In step 146, the selected route candidate is output to the display device 42, and the route search processing routine is terminated. To do.

  When the route search processing routine is executed, for example, in a vehicle-mounted navigation system, a process for guiding the route to the searched destination to the driver is performed.

  As described above, according to the road gradient estimation system according to the first embodiment, the road gradient is obtained using the fuel consumption map indicating the correspondence between the combination of the vehicle speed and the driving force and the fuel consumption. And updating the road gradient according to the reliability of the fuel consumption in the fuel consumption map used for the estimation, thereby accurately updating the road gradient using the vehicle measurement data. be able to. In addition, since the fuel consumption map indicating the correspondence between the combination of the vehicle speed and the driving force and the fuel consumption can be updated, the road gradient can be estimated with higher accuracy.

  Further, the road gradient is calculated from the fuel consumption map, and the road gradient data is updated according to the reliability (accuracy) of the value of the fuel consumption map. Further, by updating the fuel consumption map according to the accuracy of the generated road gradient data, it is possible to construct a road gradient map with higher accuracy. Further, by combining the data of other vehicles using the communication function, not only the omission of the road gradient map database can be reduced, but road gradient data in which the vehicle is not traveling can be obtained. Thereby, it is possible to present a way of driving where the cost such as fuel efficiency is minimized as much as possible on the road where the vehicle travels for the first time.

  In addition, by collecting road gradient estimation results from each vehicle equipped with onboard equipment, it is possible to provide a highly accurate road gradient map and improve the accuracy and reliability of the fuel consumption map of each vehicle. The estimation accuracy of fuel consumption can be increased.

  In addition, since the calculation is performed using a highly reliable portion of the fuel consumption map, a highly accurate road gradient can be estimated. Furthermore, by updating the fuel consumption map using the fuel consumption amount at a highly accurate road slope point, vehicle-specific habits are reflected, and the reliability of the fuel consumption map is improved.

  Further, road gradient data can be accurately estimated without installing a sensor for estimating the road gradient. Further, since the fuel consumption map becomes more accurate in each vehicle, the estimation accuracy of the fuel consumption to the destination is improved.

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

  The second embodiment is different from the first embodiment in that the center-side server is not used and the road gradient map is updated in the vehicle-mounted device.

  As shown in FIG. 9, the vehicle-mounted device 212 according to the second embodiment includes a road gradient map database 252 that stores a road gradient map, a measurement information acquisition unit 56, a fuel consumption map storage unit 58, and a driving force. A calculation unit 60, a road gradient estimation unit 62, a data update unit 263 that updates the road gradient map of the road gradient map database 252 based on the road gradient estimated by the road gradient estimation unit 62, a map update unit 64, The road network database 66, the route candidate search unit 68, the road gradient acquisition unit 70, the travel cost calculation unit 72, and the route selection unit 74 are provided. The road gradient map database 252 is an example of a road gradient map storage unit, and the data update unit 263 is an example of a road gradient update unit.

  The road gradient map database 252 stores a road gradient map storing the road gradient at each point and stores the reliability of the road gradient at each point.

  The road gradient estimation unit 62 estimates the road gradient based on the driving force of the host vehicle calculated by the driving force calculation unit 60, the estimation result of the road gradient, the measured position of the host vehicle, and the referenced fuel. The reliability of the fuel consumption amount in the consumption map is output to the data update unit 263.

  When the road gradient estimation result is input, the data updating unit 263, based on the road gradient estimation result and the reliability of the fuel consumption map, in accordance with the equations (2) to (4) above, the road gradient map. The road gradient of the measured position of the host vehicle in the road map stored in the database 252 is updated. Based on the reliability of the input fuel consumption map, the data updating unit 263 performs the road gradient reliability of the measured position of the vehicle in the road gradient map database 252 according to the equations (5) to (7). Update the degree.

  Further, the data update unit 263 outputs the updated road gradient value and reliability to the map update unit 64 as an update result.

  The map update unit 64 updates the fuel consumption map and the reliability map according to the equations (8) to (13) based on the road gradient update result and the reliability update result by the data update unit 263.

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

  In step 100, the measured values of the vehicle speed measuring unit 32, the fuel injection amount measuring unit 34, and the position measuring unit 36 are acquired as own vehicle information. In step 102, the corresponding driving force is estimated based on the vehicle speed and the fuel injection amount acquired in step 100, and the reliability of the corresponding fuel injection amount is acquired.

  In the next step 104, the road gradient is estimated according to the above equation (1) based on the vehicle speed acquired in step 100 and the driving force estimated in step 102. In step 200, the road gradient in the road gradient map corresponding to the position of the host vehicle acquired in step 100 using the road gradient estimated in step 104 and the reliability of the fuel consumption acquired in step 102. The value is updated according to the above equations (2) to (4).

  In step 202, the reliability of the road gradient value in the road gradient map corresponding to the position of the host vehicle acquired in step 100 is calculated using the reliability of the fuel consumption acquired in step 102. Updating is performed according to equations (5) to (7).

  In the next step 204, the driving force is recalculated according to the above equation (1) using the road gradient update result updated in step 200 and the speed acquired in step 100, and the calculated driving force is calculated. And the fuel consumption amount in the fuel consumption map corresponding to the speed acquired in step 100 is updated according to the equations (8) to (10).

  In the next step 206, a reliability map corresponding to the driving force calculated in step 204 and the speed acquired in step 100 using the road gradient reliability update result updated in step 202. The reliability in is updated according to the above equations (11) to (13), and the process returns to step 100.

  As described above, by repeatedly executing each process of the road gradient estimation processing routine, the road gradient map is updated as needed and the fuel consumption map is updated as needed.

  When the driver operates the input operation unit 38 to input a destination, the route search processing routine shown in FIG. 8 is executed in the computer 240 as in the first embodiment.

  As described above, according to the vehicle-mounted device according to the second embodiment, the road gradient is estimated using the fuel consumption map indicating the correspondence between the combination of the vehicle speed and the driving force and the fuel consumption. In addition, by updating the road gradient map according to the reliability of the fuel consumption in the fuel consumption map used for estimation, the road gradient can be updated with high accuracy using the vehicle measurement data. it can. In addition, since the fuel consumption map indicating the correspondence between the combination of the vehicle speed and the driving force and the fuel consumption can be updated, the road gradient can be estimated with higher accuracy.

  In the above embodiment, the case where the vehicle-mounted device is mounted on the vehicle driven by the internal combustion engine has been described as an example. However, the present invention is not limited to this, and the present invention is not limited to this. A vehicle-mounted device may be mounted. In this case, a route search considering regenerative energy may be performed.

  In addition, the case where the fuel consumption map is used has been described as an example, but the present invention is not limited to this. You may make it estimate.

  Further, the reliability of the fuel consumption map may be a value indicating the number of readings. Thereby, the reliability of the fuel consumption amount in the fuel consumption map can be increased as the number of times of reading is larger.

  Moreover, although the case where the road gradient map was downloaded from the road gradient map database when the engine was started was described as an example, the present invention is not limited to this. For example, a road gradient map may be downloaded from a road gradient map database as needed. Alternatively, the road gradient map may be downloaded after the road gradient data is updated to new information to some extent, such as when the navigation map is updated.

  Moreover, although the case where the driving force was used as an example of the physical quantity related to the vehicle that changes according to the speed and the road gradient has been described as an example, the present invention is not limited to this, for example, the vehicle that changes according to the speed and the road gradient. Traveling resistance may be used as a physical quantity related to the above.

DESCRIPTION OF SYMBOLS 10 Road gradient estimation system 12, 212 Onboard equipment 14 Center side server 16 Network 16 Position measurement part 20 Communication part 22,252 Road gradient map database 26,263 Data update part 30 Information communication part 32 Vehicle speed measurement part 34 Fuel injection amount measurement part 36 position measurement unit 38 input operation unit 40, 240 computer 52 road gradient map storage unit 56 measurement information acquisition unit 58 fuel consumption map storage unit 60 driving force calculation unit 62 road gradient estimation unit 64 map update unit 74 route selection unit

Claims (10)

Measuring means for measuring vehicle speed, fuel consumption, and position;
The combination of the speed and the physical quantity related to the vehicle that changes according to the speed and the road gradient, and the first correspondence relationship of the fuel consumption amount are stored, the combination of the speed and the physical quantity, and the first correspondence Correspondence storage means for storing a second correspondence relationship of the reliability of fuel consumption corresponding in the relationship;
Based on the first correspondence stored in the correspondence storage means, the physical quantity corresponding to the combination of the speed and the fuel consumption measured by the measuring means is obtained, and the measured speed and the Road gradient estimation means for estimating a road gradient based on the obtained physical quantity, and the measurement in the road gradient estimated by the road gradient estimation means, the measured position, and the second correspondence relationship A road gradient estimation device including transmission means for transmitting the reliability of the fuel consumption corresponding to the combination of the speed and the fuel consumption.
Road gradient map storage means for storing a road gradient map storing the road gradient at each point;
A receiving means for receiving the reliability of the road gradient, the position, and the fuel consumption amount transmitted from the road gradient estimating device, and the road according to the reliability of the fuel consumption amount received by the receiving means. A server including road gradient update means for updating the received road gradient at the received position in the gradient map using the received road gradient;
Including road gradient estimation system. The server further includes update result transmission means for transmitting the road gradient updated by the road gradient update means to the road gradient estimation device,
The road gradient estimation device includes an update result receiving means for receiving the road gradient transmitted by the server;
Based on the road gradient received by the update result receiving means, calculate a fuel consumption amount for the combination of the measured speed and the calculated physical quantity, and using the calculated fuel consumption amount, The road gradient estimation system according to claim 1, further comprising correspondence update means for updating fuel consumption for the combination of the measured speed and the calculated physical quantity in the first correspondence. The road gradient storage means stores the road gradient map storing the road gradient at each point and the reliability of the road gradient at each point,
The road gradient updating means updates the road gradient at the received position in the road gradient map, and uses the reliability of the fuel consumption received from the road gradient estimation device to receive the reception in the road gradient map. The road gradient estimation system according to claim 1 or 2, wherein the reliability of the road gradient at the selected position is updated. The server further includes an update result transmission unit that transmits the road gradient updated by the road gradient update unit and the reliability of the road gradient,
The road gradient estimation device includes an update result receiving means for receiving the road gradient transmitted by the server;
Based on the road gradient received by the update result receiving means, calculate a fuel consumption amount for the combination of the measured speed and the calculated physical quantity, and using the calculated fuel consumption amount, In the first correspondence relationship, the fuel consumption amount for the combination of the measured speed and the calculated physical quantity is updated, and the reliability of the road gradient received by the update result receiving unit is used. 4. The road gradient estimation system according to claim 3, further comprising correspondence update means for updating reliability of fuel consumption for a combination of the measured speed and the calculated physical quantity in the second correspondence. Road gradient map storage means for storing a road gradient map storing the road gradient of each point;
Measuring means for measuring vehicle speed, fuel consumption, and position;
A combination of the speed and a physical quantity related to the vehicle that changes in accordance with the speed and the road gradient, and a first correspondence relationship of the fuel consumption amount are stored, and a combination of the speed and the physical quantity, and the first Correspondence relationship storage means for storing a second correspondence relationship of reliability of fuel consumption corresponding in the correspondence relationship;
Based on the first correspondence stored in the correspondence storage means, the physical quantity corresponding to the combination of the speed and the fuel consumption measured by the measuring means is obtained, and the measured speed and the Road gradient estimation means for estimating the road gradient based on the obtained physical quantity;
According to the reliability of the fuel consumption corresponding to the combination of the measured speed and the fuel consumption in the second correspondence relationship, the road gradient at the measured position in the road gradient map is Road gradient update means for updating using the road gradient estimated by the road gradient estimation means;
Including a road gradient estimation device.   Based on the road gradient updated by the updating means, a fuel consumption is calculated for a combination of the measured speed and the determined physical quantity, and the first fuel consumption is used to calculate the first consumption. The road gradient estimation device according to claim 5, further comprising correspondence updating means for updating fuel consumption for a combination of the measured speed and the determined physical quantity in the correspondence. The road gradient storage means stores the road gradient map storing the road gradient at each point and the reliability of the road gradient at each point,
The road gradient updating means updates the road gradient at the measured position in the road gradient map, and the fuel corresponding to the combination of the measured speed and the fuel consumption amount in the second correspondence relationship. The road gradient estimation device according to claim 5 or 6, wherein the reliability of the road gradient at the measured position in the road gradient map is updated using the reliability of consumption.   Based on the road gradient updated by the updating means, a fuel consumption is calculated for a combination of the measured speed and the determined physical quantity, and the first fuel consumption is used to calculate the first consumption. In the correspondence relationship, the fuel consumption amount for the combination of the measured speed and the calculated physical quantity is updated, and the reliability of the road gradient updated by the updating unit is used to update the fuel consumption amount in the second correspondence relationship. The road gradient estimation device according to claim 7, further comprising correspondence updating means for updating reliability of fuel consumption for a combination of the measured speed and the calculated physical quantity.   The road gradient estimation apparatus according to any one of claims 5 to 8, wherein the physical quantity is a driving force or running resistance of a vehicle. A road gradient map storage means for storing a road gradient map storing the road gradient of each point, a combination of a vehicle speed, a physical quantity relating to the vehicle that changes according to the speed and the road gradient, and a fuel consumption amount And a correspondence relationship storage means for storing a first correspondence relationship and a second correspondence relationship of the reliability of the fuel consumption corresponding to the combination of the speed and the physical quantity and the first correspondence relationship. ,
Based on the first correspondence relationship stored in the correspondence relationship storage means, the speed corresponding to the combination of the speed and the fuel consumption measured by the measuring means for measuring the speed, fuel consumption, and position of the vehicle. Road gradient estimation means for obtaining a physical quantity and estimating a road gradient based on the measured speed and the obtained physical quantity; and the measured speed and fuel consumption in the second correspondence relationship A road gradient that updates the road gradient at the measured position in the road gradient map using the road gradient estimated by the road gradient estimation means according to the reliability of the fuel consumption corresponding to the combination of amounts. A program that functions as an update means.

Images