JP2013171502A - Warning device and warning method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a technology for giving a warning to be easily recognized.SOLUTION: The warning device includes pedal pressing force increasing/decreasing means for increasing/decreasing an auxiliary driving force for assisting the pedal pressing force of a mobile object for changing man power into a driving force via a pedal, and warning means for giving a predetermined warning by changing the auxiliary driving force of the pedal pressing force increasing/decreasing means.

Description

  The present invention relates to a technology of a device that performs warning.

  2. Description of the Related Art Conventionally, some navigation devices display a warning on a screen when information on a dangerous part is received, and output a warning by voice. Patent Document 1 describes a technique regarding such a navigation device.

JP 2002-310680 A

  In the navigation apparatus as described above, it is necessary to see a warning screen or listen to a warning voice, and may not notice the warning in a noisy place or in a situation where traffic conditions change in a complicated manner.

  An object of the present invention is to provide a technique for providing a warning that is easier to notice.

  In order to solve the above problems, a warning device according to the present invention includes a pedal depression force increasing / decreasing means for increasing / decreasing an auxiliary driving force for assisting a pedal depression force of a moving body that changes human power to driving force via a pedal, and the pedal depression force increasing / decreasing means. Warning means for giving a predetermined warning by changing the auxiliary driving force.

  A warning method according to the present invention is a warning method by a warning device for a moving body that changes human power to driving force via a pedal, and the warning device is configured to increase or decrease an auxiliary driving force that assists the pedal pressing force. A warning procedure for providing a predetermined warning by changing the auxiliary driving force of the pedal depression force increasing / decreasing means is provided.

  According to the present invention, it is possible to provide a technique for performing a warning that is more easily noticed.

1 is a schematic configuration diagram of a navigation device according to a first embodiment. It is a figure which shows the structure of a link table. It is a figure which shows the structure of a caution information table. It is a functional block diagram of an arithmetic processing part. It is a flowchart of an alerting process. It is a figure which shows the process example of an alerting process. It is a figure which shows the example of a screen output in an alerting process.

  Hereinafter, a navigation device to which a first embodiment according to the present invention is applied will be described with reference to the drawings.

  FIG. 1 shows an overall configuration diagram of the navigation device 100. The navigation device 100 is a so-called navigation device capable of displaying map information and indicating a point indicating the current location of the navigation device 100 and information for guiding a route to a set destination. In the present embodiment, the navigation device 100 is mounted on an electrically assisted bicycle that assists running by driving a motor using electric power and supplying driving force to a driving unit. However, the present invention is not limited to this, and it may be mounted on a moving body that assists with a driving force other than the driving force given by the passenger.

  The navigation device 100 includes an arithmetic processing unit 1, a display 2, a storage device 3, a voice input / output device 4 (including a microphone 41 as a voice input device and a speaker 42 as a voice output device), an input device 5, and a ROM. A device 6, an acceleration sensor 7, a gyro sensor 8, a GPS (Global Positioning System) receiver 9, an FM multiplex broadcast receiver 10, and a beacon receiver 11 are provided. In addition, the arithmetic processing unit 1 is connected to an assist drive control device 150 for a moving body to be mounted. Further, the assist drive control device 150 controls the supply of assist drive force generated by a motor or the like to a pedal (more precisely, a crank to which the pedal is connected) 151.

  The arithmetic processing unit 1 is a central unit that performs various processes. For example, the current location is calculated based on information output from the various sensors 7 and 8, the GPS receiver 9, the FM multiplex broadcast receiver 10, and the like. Further, map data necessary for display is read from the storage device 3 or the ROM device 6 based on the obtained current location information.

  The arithmetic processing unit 1 develops the read map data in graphics, and displays a mark indicating the current location on the display 2 in a superimposed manner. In addition, an optimal route that connects the starting point or current location instructed by the user to the destination (or waypoint or stopover location) using map data or the like stored in the storage device 3 or the ROM device 6 Search for (recommended route). Further, the user is guided using the speaker 42 and the display 2.

  In addition, when the range requiring safety attention approaches on the route, the arithmetic processing unit 1 performs a process for calling attention and warns the user. For example, the arithmetic processing unit 1 detects a wobbling when approaching a range where the traffic volume is large and accidents frequently occur. If there is a predetermined fluctuation or more, the arithmetic processing unit 1 controls the assist drive control device 150 to perform the assist so as to eliminate the fluctuation and avoid danger. If there is no wobbling, the arithmetic processing unit 1 instructs the assist drive control device 150 to change the assist drive force and issues a warning.

  The arithmetic processing unit 1 of the navigation device 100 has a configuration in which each device is connected by a bus 25. The arithmetic processing unit 1 includes a CPU (Central Processing Unit) 21 that executes various processes such as numerical calculation and control of each device, and a RAM (Random Access Memory) that stores map data, arithmetic data, and the like read from the storage device 3. ) 22, a ROM (Read Only Memory) 23 for storing programs and data, and an I / F (interface) 24 for connecting various types of hardware to the arithmetic processing unit 1.

  The display 2 is a unit that displays graphics information generated by the arithmetic processing unit 1 or the like. The display 2 is configured by a liquid crystal display, an organic EL display, or the like.

  The storage device 3 includes at least a readable / writable storage medium such as a hard disk drive (HDD), a solid state drive (SSD), or a nonvolatile memory.

  This storage medium stores a link table 200 that is map data (including link data of links constituting roads on a map) necessary for a normal route search device, and a caution information table 300. .

  FIG. 2 is a diagram showing the configuration of the link table 200. The link table 200 includes, for each mesh identification code (mesh ID) 201, which is a partitioned area on the map, link data 202 of each link constituting a road included in the mesh area.

  For each link ID 211 that is a link identifier, the link data 202 includes coordinate information 222 of two nodes (start node and end node) constituting the link, a road type 223 indicating the type of road including the link, and a link length. Within a predetermined time such as a link length 224, a pre-stored link travel time 225, a start connection link and an end connection link 226, a speed limit 227 indicating a speed limit of the road including the link, a vehicle, a light vehicle, a pedestrian, etc. The traffic volume 228 etc. which specify the traffic volume are included. The start connection link and the end connection link 226 are information for specifying a start connection link that is a link connected to the start node of the link and an end connection link that is a link connected to the end node of the link. .

  In this case, by distinguishing the start node and the end node for the two nodes constituting the link, the upward and downward directions of the same road are managed as different links. Not limited to. For example, the start node and the end node may not be distinguished between the two nodes constituting the link.

  FIG. 3 is a diagram illustrating a configuration of the caution information table 300. The attention required information table 300 includes a range identifier 301 that identifies a range having a certain spatial extent, a range reference point 302 that identifies a point serving as a reference for the range, range information that identifies an extension of the range, The range includes an attention content 304 that specifies what needs attention, and an attention level 305 that is a degree to be noted in the range.

  The range identifier 301 stores information for identifying a range. For example, information specifying an area having a certain spatial extent with particularly high traffic volume.

  The range reference point 302 stores information for specifying a point serving as a reference for the range identified by the range identifier 301. For example, latitude / longitude information is stored.

  The range information 303 stores information for specifying a planar space spread shape with respect to a point specified by the range reference point 302. For example, an ellipse, a triangle, a rectangle, a polygon, etc. are stored. In the case of an ellipse, the range reference point 302 is the midpoint of the focus.

  The attention content 304 is information for specifying content to be noted about the range identified by the range identifier 301. For example, “Many vehicles”, “Caution for popping out”, “Poor outlook”, “Caution for turning left”, “Caution for right-handed accident”, etc.

  The attention level 305 is information for specifying the degree of attention regarding the range identified by the range identifier 301. For example, specify the degree of "detour" in areas where frequent traffic accidents occur, "warning" in areas where events that easily lead to accidents occur, and "caution" in areas where daily traffic is heavy. Information.

  Returning to FIG. The voice input / output device 4 includes a microphone 41 as a voice input device and a speaker 42 as a voice output device. The microphone 41 acquires sound outside the navigation device 100 such as a voice uttered by a user or another passenger.

  The speaker 42 outputs a message to the user generated by the arithmetic processing unit 1 as a voice. The microphone 41 and the speaker 42 are separately arranged at a predetermined site such as a bicycle. However, it may be housed in an integral housing. The navigation device 100 can include a plurality of microphones 41 and speakers 42.

  The input device 5 is a device that receives an instruction from the user through an operation by the user. The input device 5 includes a touch panel 51, a dial switch 52, and other hardware switches (not shown) such as scroll keys and scale change keys. In addition, the input device 5 includes a remote controller that can perform operation instructions to the navigation device 100 remotely. The remote controller includes a dial switch, a scroll key, a scale change key, and the like, and can send information on operation of each key or switch to the navigation device 100.

  The touch panel 51 is mounted on the display surface side of the display 2 and can see through the display screen. The touch panel 51 specifies a touch position corresponding to the XY coordinates of the image displayed on the display 2, converts the touch position into coordinates, and outputs the coordinate. The touch panel 51 includes a pressure-sensitive or electrostatic input detection element. The touch panel 51 may be capable of realizing multi-touch capable of detecting a plurality of touch positions at the same time, or may be an inexpensive touch panel compatible with single touch capable of detecting one touch position. Good.

  The dial switch 52 is configured to be rotatable clockwise and counterclockwise, generates a pulse signal for every rotation of a predetermined angle, and outputs the pulse signal to the arithmetic processing unit 1. The arithmetic processing unit 1 obtains the rotation angle from the number of pulse signals.

  The ROM device 6 includes at least a readable storage medium such as a ROM (Read Only Memory) such as a CD-ROM or a DVD-ROM, or an IC (Integrated Circuit) card. In this storage medium, for example, moving image data, audio data, and the like are stored.

  The acceleration sensor 7, the gyro sensor 8, and the GPS receiver 9 are used by the navigation device 100 to detect the current location (vehicle position). The acceleration sensor 7 is a sensor that outputs a value used to calculate acceleration. The gyro sensor 8 is composed of an optical fiber gyro, a vibration gyro, or the like, and detects an angular velocity due to the rotation of the moving body. The GPS receiver 9 receives a signal from a GPS satellite and measures the distance between the mobile body and the GPS satellite and the rate of change of the distance with respect to three or more satellites to thereby determine the current location, travel speed, and travel of the mobile body. It measures the direction.

  The FM multiplex broadcast receiver 10 receives an FM multiplex broadcast signal transmitted from an FM broadcast station. FM multiplex broadcasting includes VICS (Vehicle Information Communication System) information, current traffic information, regulatory information, SA / PA (service area / parking area) information, parking lot information, weather information, and FM multiplex general information. As text information provided by radio stations.

  The beacon receiving device 11 receives rough current traffic information such as VICS information, regulation information, SA / PA (service area / parking area) information, parking lot information, weather information, emergency alerts, and the like. For example, it is a receiving device such as an optical beacon that communicates by light and a radio beacon that communicates by radio waves.

  FIG. 4 is a functional block diagram of the arithmetic processing unit 1. As shown in the figure, the arithmetic processing unit 1 includes a basic control unit 101, an input reception unit 102, an output processing unit 103, a route search unit 104, a route guidance unit 105, a caution determination unit 106, and assist control. Part 107.

  The basic control unit 101 is a central functional unit that performs various processes, and controls other processing units according to the processing content. In addition, information on various sensors, the GPS receiver 9 and the like is acquired, and a map matching process is performed to identify the current location. Further, the travel history is stored in the storage device 3 for each link by associating the travel date and time with the current location as needed. Further, the current time is output in response to a request from each processing unit.

  In addition, the basic control unit 101 identifies a road that is connected to a road (link) to which the current location belongs and has the same road type or a higher rank as an estimated travel route according to the traveling direction predicted to travel. More specifically, the basic control unit 101 specifies a continuous road whose road type is the same as or higher than the road to which the current location belongs within a predetermined range (for example, within 10 km) in order of traffic. Then, the basic control unit 101 identifies the identified road as the estimated travel route. In this process, when the basic control unit 101 reaches a road that is not connected to a road of the same or higher road type, the basic control unit 101 refers to the past travel history to determine the traveling direction from the road to the road. Identify high roads.

  Further, the basic control unit 101 determines whether or not the outputs of the gyro sensor 8 and the acceleration sensor 7 are fluctuations within a predetermined range according to a predetermined rule, determines the degree of wobbling during traveling, If it is not within the range, it is determined that the vehicle is in a wobbling motion. For example, the basic control unit 101 determines that the vehicle is running with a stagger if it detects an extremely large left-right tilt or an extremely small change in the left-right tilt.

  The input receiving unit 102 receives an input instruction from the user input via the input device 5 or the microphone 41, and processes corresponding to the requested content together with the touch coordinate position and voice information which are information related to the input instruction. Is transmitted to the basic control unit 101 so as to execute. For example, when a user requests a search for a recommended route, the basic control unit 101 is requested for the request instruction content.

  The output processing unit 103 receives screen information to be displayed such as polygon information, for example, converts it into a signal for drawing on the display 2, and instructs the display 2 to draw.

  The route search unit 104 searches for an optimal route (recommended route) connecting the current location and the destination. In the route search, a route having the minimum link cost is searched based on a link cost preset for a predetermined section (link) of the road using a route search logic such as Dijkstra method.

  In addition, if there is a guidance point necessary for guiding the searched route, the route search unit 104 identifies one or a plurality of guidance points, and stores the guidance points in the RAM 22 or the like in the order of passage. For example, when there is a branch, the route search unit 104 specifies a node that constitutes the branch point as a point that needs guidance, and when there is a junction, the node that constitutes the junction point needs to be guided. If there is a toll gate, the node having the toll gate is identified as a point that needs to be guided.

  Further, the route guidance unit 105 guides the user's driving operation using the speaker 42, the display 2, or the like while displaying the recommended route so that the current location of the bicycle does not deviate from the recommended route. In the guidance, the route guidance unit 105 performs guidance for the guidance node stored in the RAM 22 using the guidance content when the current location is within the guidance start distance.

  The caution determining unit 106 determines whether caution is required. Specifically, the caution determining unit 106 sets a route that avoids the range requiring attention according to the positional relationship between the range requiring caution stored in the caution required information table 300 and the current location. To do. Alternatively, the attention-requirement determining unit 106 determines that if there is a predetermined fluctuation or more in accordance with the positional relationship between the range requiring attention stored in the attention-required information table 300 and the current position and the fluctuation of the bicycle, the fluctuation is necessary. In order to avoid danger and to avoid danger, if there is no wobbling, the assist control unit 107 is instructed to control the assist drive control device to perform a predetermined warning operation.

  The assist control unit 107 performs interrupt control on the assist drive control device 150. The assist control unit 107 instructs the assist drive control device 150 to start an assist operation in a predetermined mode, an instruction to stop the assist operation, an instruction to operate the assist operation with a predetermined warning pattern, and the like.

  Each functional unit of the arithmetic processing unit 1 described above, that is, the basic control unit 101, the input receiving unit 102, the output processing unit 103, the route searching unit 104, the route guiding unit 105, the caution determining unit 106, and the assist control unit 107 are the CPU 21. Is constructed by reading and executing a predetermined program. Therefore, the RAM 22 stores a program for realizing the processing of each functional unit.

  In addition, each above-mentioned component is classified according to the main processing content, in order to make an understanding easy the structure of the navigation apparatus 100. FIG. Therefore, the present invention is not limited by the way of classifying the components and their names. The configuration of the navigation device 100 can be classified into more components depending on the processing content. Moreover, it can also classify | categorize so that one component may perform more processes.

  Each functional unit may be constructed by hardware (ASIC, GPU, etc.). Further, the processing of each functional unit may be executed by one hardware or may be executed by a plurality of hardware.

  [Description of Operation] Next, the operation of the alerting process performed by the navigation device 100 will be described. FIG. 5 is a flowchart showing the alerting process performed by the navigation device 100. This flow is started after the navigation apparatus 100 is activated.

  First, the basic control unit 101 specifies an estimated travel route (step S001). Specifically, the basic control unit 101 estimates the recommended route when there is a recommended route according to whether the recommended route searched by the route search unit 104 of the navigation device 100 exists. Specify as a route.

  When there is no recommended route, the basic control unit 101 specifies a continuous road having the same or higher road type as the road to which the current location belongs within a predetermined range (for example, within 10 km) in order of traffic. . Then, the basic control unit 101 identifies the identified road as the estimated travel route. In this processing, when the basic control unit 101 of the navigation device 100 reaches a road that is not connected to a road of the same or higher road type, the past traveling history is referred to for the traveling direction from the road to the road. Thus, a high-frequency road is specified.

  Then, the caution determining unit 106 extracts a caution range on the estimated travel route (step S002). Specifically, the caution determining unit 106 specifies a combination in which the links constituting the estimated travel route specified in step S001 are included in the range requiring attention stored in the caution information table 300, Extract the caution areas that require attention without duplication.

  The caution determining unit 106 determines whether or not the distance from the current location to the nearest cautionary range is within a predetermined distance (step S003). Specifically, the caution determining unit 106 acquires information on the current location from the basic control unit 101, and is closest to the estimated travel route (the center of the range of the caution range is the center of the caution range) extracted in step S002. The basic control unit 101 is requested to calculate the distance required to enter the range specified by the range information 303 of the range for the range requiring attention that is close to the estimated travel route. Then, it is determined whether or not the distance is within a predetermined range (for example, within 50 m).

  When the distance from the current location to the nearest caution area is not within the predetermined distance (in the case of “No” in step S003), the route search unit 104 weights the links included in the caution area, The recommended route is corrected (step S004). Specifically, the route search unit 104 increases the link cost of the link if it is included in the cautionary range extracted in step S002 for each link constituting the recommended route (ie, doubles, for example). (E.g., multiplying by a predetermined magnification) and re-searching the recommended route. When the recommended route is not set, the route search unit 104 similarly weights the estimated travel route and corrects the estimated travel route.

  The caution determining unit 106 then displays a route that avoids the caution range and obtains approval (step S005). Specifically, the caution determination unit 106 compares the re-searched route with the recommended route before the re-search, and if there is a change, the re-searched route to avoid the caution range. The output processing unit 103 is instructed to output a screen for obtaining approval to change the route. When the approval is obtained, the caution determining unit 106 reflects the change of the recommended route and returns the control to step S002. When the approval is not obtained, the caution determining unit 106 Then, the control is returned to step S002 without reflecting the change of the recommended route.

  When the distance from the current location to the nearest caution area is within a predetermined distance (in the case of “Yes” in step S003), the route search unit 104 determines whether or not the vehicle is driving with wandering ( Step S006). Specifically, the route search unit 104 requests the basic control unit 101 to determine whether or not the vehicle is running with a stagger. When the basic control unit 101 receives the request, the basic control unit 101 determines whether the outputs of the gyro sensor 8 and the acceleration sensor 7 are fluctuations within a predetermined range according to a predetermined rule, and whether or not the vehicle is in a wandering state. And return the result of the decision.

  In the case where the vehicle is running with wobbling (in the case of “Yes” in step S006), the assist control unit 107 performs control for performing the assist (step S007). Specifically, the assist control unit 107 instructs the assist drive control device 150 to start the assist operation in a predetermined mode. Then, the assist control unit 107 returns the control to step S001.

  If the vehicle is not wobbling (in the case of “No” in step S006), the assist control unit 107 determines whether or not the vehicle is assisting (step S008). Specifically, the assist control unit 107 inquires the assist drive control device 150 about the operation state, and determines that the assist is being performed if there is a response indicating that the assist is being performed. When the assist is not being performed, the assist control unit 107 returns the control to step S001.

  When the assist is being performed (“Yes” in step S008), the assist control unit 107 determines whether or not the gradient is equal to or less than a predetermined value (step S009). Specifically, the assist control unit 107 inquires of the basic control unit 101 about the degree of the gradient, and the degree of the gradient is equal to or less than a predetermined value (for example, any one of an upward gradient, a flat road, and a downward gradient of 3% or less). It is determined whether or not there is. The basic control unit 101 identifies the gradient from the value of the acceleration sensor 7. If the gradient is not less than or equal to the predetermined value, the assist control unit 107 returns the control to step S001.

  When the gradient is equal to or smaller than the predetermined value (in the case of “Yes” in step S009), the assist control unit 107 performs control to intermittently perform the assist (step S010). Specifically, the assist control unit 107 instructs the assist drive control device 150 to operate the assist operation with a predetermined warning pattern (for example, intermittent assist such as intermittent assist is performed at a cycle of 1 second). Do. Then, the assist control unit 107 returns the control to step S001.

  The above is the processing flow of the alerting process. According to the alerting process, it is possible to give a sensible warning by changing the assist pattern to the bicycle user at a point requiring attention. That is, it can be said that the user can be alerted so as to be more easily noticed.

  FIG. 6 is a diagram illustrating an example of processing that is alerted by the alerting processing described above. Here, assuming that the own vehicle is at the own vehicle position 501, the route to the destination 514 proceeds to the road 511 at the branch point 531 between the road 511 and the road 521, and the road 512 at the branch point 532 between the road 512 and the road 522. The road 513, the road 523, and the branch point 533 of the road 524 are advanced to the road 513 to reach the destination 514.

  In the route as shown in FIG. 6, it is assumed that there is a first caution area 551 near the branch point 531 and a second caution area 552 near the road 512. Further, it is assumed that the first caution area 551 is within a predetermined distance from the own vehicle position 501 and the second caution area 552 is not within a predetermined distance from the own vehicle position 501.

  In such a case, with respect to the first caution area 551, the assist is performed if the vehicle is running with a stagger, and if not, the alert is triggered by the intermittent assist. The user is likely to notice that the vehicle position 501 is within the range of caution by calling attention.

  In addition, for the second caution area 552, the link cost is weighted for the links constituting the road 512 included in the area, and a route that avoids the link is searched. As a result, the detour road 512 ' In this way, the route is replaced with a recommended route for detouring.

  FIG. 7 is an example of a screen 600 that is output when a route is changed. In the image, a map 620 including the changed route to the destination is arranged as a still image, and a message 610 “searched for a route that avoids a section requiring attention” is arranged.

  The first embodiment of the present invention has been described above. According to the first embodiment of the present invention, the navigation device 100 can give a sensuous warning by changing the assist pattern to a bicycle user at a point requiring attention. That is, it can be said that the user can be alerted so as to be more easily noticed.

  The present invention is not limited to the above embodiment. The first embodiment described above can be variously modified within the scope of the technical idea of the present invention. For example, in the first embodiment described above, the caution range is specified based on the information stored in the caution information table 300, but the present invention is not limited to this. For example, when a vehicle approaching within a predetermined distance from the rear of the bicycle is detected by inter-vehicle communication by wireless communication, the assist control may be performed assuming that the current location is included in the caution area. In this way, more immediate alerting is possible.

  Further, for example, in the first embodiment described above, the caution range is specified based on the information stored in the caution information table 300, but the present invention is not limited to this. For example, when it is detected by a predetermined traffic information provision center or the like that a traffic jam or the like of a car or the like is occurring in the vicinity of the current location, the assist control may be performed assuming that the current location is included in the area requiring attention. . In this way, more immediate alerting is possible.

  Further, for example, in the first embodiment described above, the caution range is specified based on the information stored in the caution information table 300, but the present invention is not limited to this. For example, when driving on a road with a high risk of contact with pedestrians such as a shopping street or school zone, control to turn off assist control or control to attenuate pedal depression force, that is, forced braking You may make it perform control which suppresses high speed driving | running | working. By doing in this way, the safety | security of a pedestrian etc. improves further.

  Further, for example, in the first embodiment described above, the caution range is specified based on the information stored in the caution information table 300, but the present invention is not limited to this. For example, even if the road is included in the range requiring attention, the assist control instruction and the route weighting may not be performed if the road is provided with a bicycle lane or the like. In this way, it is possible to call attention focused at a more appropriate timing.

  In addition, it is good also as what mutually combines each structure contained in the structure used in said 1st embodiment, and the structure shown as the modification.

  In the above, this invention was demonstrated centering on embodiment. In each of the above embodiments, the example in which the navigation device is used in the present invention has been described. However, the present invention is not limited to the navigation device, and can be applied to the assist drive control device 150 as a single unit. Devices that can communicate with the assist drive control device 150, such as mobile phones including PDs (Personal Digital Assistants), mobile PCs, music players, GPS loggers, etc. It can also be applied to general information terminals such as cycle computers.

DESCRIPTION OF SYMBOLS 1 ... Arithmetic processing part, 2 ... Display, 3 ... Memory | storage device, 4 ... Voice output device, 5 ... Input device, 6 ... ROM device, 7 ... Vehicle speed sensor 8 ... Gyro sensor, 9 ... GPS receiver, 10 ... FM multiplex broadcast receiver, 11 ... Beacon receiver, 21 ... CPU, 22 ... RAM, 23 ... ROM, 24 ... I / F, 25 ... Bus, 41 ... Microphone, 42 ... Speaker, 51 ... Touch panel, 52 ... Dial switch, 100 ... Navigation device, 101. ..Basic control unit 102... Input reception unit 103... Output processing unit 104... Route search unit 105. -Assist control unit, 150 ... assist drive Control device, 151 ... pedal (crank), 200 ... link table, 300 ... caution information table

Claims (10)

Pedal pedal force increasing / decreasing means for increasing / decreasing auxiliary driving force for assisting pedaling force of a moving body that changes human power to driving force via a pedal;
Warning means for giving a predetermined warning by changing the auxiliary driving force of the pedal depression force increasing / decreasing means;
A warning device comprising: The warning device according to claim 1, further comprising:
Current location identification means,
A storage means for storing attention range information for specifying a range requiring attention,
The warning means issues a warning when the current location specified by the current location specifying means is included in the range requiring attention.
Warning device characterized by that. The warning device according to claim 2, further comprising:
Comprising route estimation means for estimating a moving route;
The warning means presents a route that avoids a route included in the range when the range requiring the attention is included on the route estimated by the route estimation unit;
Warning device characterized by that. The warning device according to any one of claims 1 to 3, further comprising:
Other vehicle distance specifying means for specifying the distance to other vehicles is provided,
The warning means issues a warning when the distance to the other vehicle is a predetermined distance or less.
Warning device characterized by that. The warning device according to claim 4,
The other person distance specifying means acquires information for specifying the position of the in-vehicle device mounted on the other vehicle from the in-vehicle device via communication, and specifies the distance to the other vehicle.
Warning device characterized by that. The warning device according to any one of claims 1 to 5,
The warning means performs a predetermined warning by changing the auxiliary driving force at a predetermined cycle.
Warning device characterized by that. The warning device according to any one of claims 1 to 5,
The warning means performs a predetermined warning by reducing the auxiliary driving force;
Warning device characterized by that. The warning device according to claim 7, further comprising:
Comprising a wobbling detection means for detecting wobbling of the moving body,
The warning means does not reduce the auxiliary driving force when the wobbling is detected;
Warning device characterized by that. The warning device according to claim 7, further comprising:
Comprising a gradient detecting means for detecting the gradient of the moving body;
The warning means does not reduce the auxiliary driving force when the gradient is larger than a predetermined value;
Warning device characterized by that. A warning method by a warning device of a moving body that changes human power to driving force via a pedal,
The warning device is
Pedal pedal force increasing / decreasing means for increasing / decreasing auxiliary driving force to assist pedal pressing force,
A warning procedure for giving a predetermined warning by changing the auxiliary driving force of the pedal depression force increasing / decreasing means;
The warning method characterized by implementing.

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