JP2014199588A - Entering-determination geographical point storage system, drive support system, drive support method, and computer program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide: an entering-determination geographical point storage system capable of storing an entering-determination geographical point, with correction to an appropriate position, the point used as a condition for passing through in performing a vehicle drive support, even in the situation of generating plural candidates of a vehicle present position; and a drive support system, a drive support method, and a computer program, which enable an appropriate vehicle drive support on the basis of the stored entering-determination geographical point.SOLUTION: When a deceleration action of a vehicle is performed, a deceleration-end target geographic point that is a deceleration-end geographic point used as a target when a decelerating action is performed on the vehicle is set on a road; an entering-determination start point that is used as a condition for passing through in performing a drive support of the vehicle is set before the deceleration-end target geographic point; and the entering-determination start point is set in avoidance of a section where plural candidates of the vehicle present positions are generated.

Description

  The present invention relates to an entry determination point storage system that stores an entry determination point that is required to pass in order to provide driving assistance in a vehicle, and a drive support system that supports driving of a vehicle based on the stored entry determination point, The present invention relates to a driving support method and a computer program.

  Conventionally, road information obtained from map data and various information related to vehicle travel, such as the current position specified by GPS, vehicle speed sensors, etc., are acquired, and driving is performed by notifying the driver and assisting driving. A driving support system that provides support is proposed. One such driving assistance system is driving assistance related to vehicle deceleration so that the vehicle can decelerate to an appropriate speed with an appropriate deceleration, especially at a point where the vehicle decelerates, such as before an intersection or a curve. It has been proposed for a system to do this.

  For example, in Japanese Patent Application Laid-Open No. 2011-227833, a vehicle travel pattern is specified by using a past travel history of the vehicle (specifically, a timing at which a brake is turned on) as learning data, and the specified travel pattern is used. A technique for assisting driving such as deceleration guidance after passing through a preset point (hereinafter referred to as a support start point) so that the vehicle travels along the road is disclosed.

JP 2011-227833 A (FIGS. 3 to 6)

  However, in the technique described in Patent Document 1, driving assistance is performed after the current position of the vehicle passes a predetermined assistance starting point. Under the starting conditions based on the position of the vehicle, driving assistance is performed for the following reason. However, there was a risk that this was not done properly.

  Here, conventionally, the current position of the vehicle is specified by a map matching process that uses the detection results of various sensors such as GPS, a vehicle speed sensor, a gyro sensor, and the like, and map data, and specifies the current position of the vehicle on the map data. . However, in the map matching process, when the road is running in parallel at a very narrow interval as shown in FIG. 12 or when the road is connected at an acute angle at an intersection, a plurality of candidates for the current position of the vehicle are obtained. In some cases, it was present and matched to the wrong position. As a result, in the technique described in Patent Document 1, the vehicle passes through the support start point because the vehicle is matched to an incorrect position even though the vehicle actually passes through the support start point. In some cases, driving assistance was not provided.

  The present invention has been made in order to solve the above-described problems of the prior art, and even in a situation where a plurality of candidates for the current position of the vehicle are generated, an entry determination start point that is required to pass in order to support driving of the vehicle is provided. Approach determination point storage system capable of correcting and storing an appropriate position, a driving support system, a driving support method, and a driving support system capable of performing appropriate vehicle driving support based on the stored approach determination point An object is to provide a computer program.

In order to achieve the above object, the approach determination point storage system (1) according to claim 1 of the present application sets a deceleration end target point, which is a target deceleration end point when a deceleration action is performed in the vehicle, on the road. A target setting means (13) for performing, an entry determination point setting means (13) for setting an entry determination start point that is a condition for passing in order to support driving of the vehicle, on the near side of the deceleration termination target point; An entry determination point storage unit (13) for storing the set entry determination point, and the entry determination point setting unit (13) is a road at a reference point a predetermined distance before the deceleration end target point. It is determined whether or not the shape is a shape in which a plurality of candidates are generated when the position of the vehicle is detected. If it is determined that the shape is a shape in which a plurality of candidates are generated, the reference point is determined as the road traveling direction. Along the foreground Or and sets the entry determination start point position is moved in the traveling direction.
Note that “a plurality of candidates are generated” includes not only a case where there are a plurality of candidates having a certain degree of reliability, but also a case where one of the candidates is high in reliability and the other is low in reliability.

  Further, the entry determination point storage system (1) according to claim 2 is the entry determination point storage system according to claim 1, wherein the entry determination point setting means (13) has a shape in which a plurality of candidates are not generated. When it is determined that the reference point is set, the reference point is set as the entry determination start point.

The driving support system (1) according to claim 3 includes a vehicle position detecting means (13) for detecting the position of the vehicle, and a deceleration end which is a target deceleration end point when a deceleration action is performed in the vehicle. Target setting means (13) for setting a target point with respect to the road, and an entry determination for setting an entry determination start point that is a condition for passing in order to provide driving support for the vehicle, on the front side of the deceleration target point A point setting unit (13), an entry determination point storage unit (13) for storing the set entry determination point, and the vehicle at the deceleration end target point when the vehicle passes the entry determination point. Driving assistance means (13) for assisting driving of the vehicle so that deceleration is completed, and the entry determination point setting means has a road shape of a reference point on the near side of the predetermined distance from the deceleration termination target point, The car It is determined whether or not the shape is a shape in which a plurality of candidates are generated when the position of the vehicle is detected by the position detection means, and when it is determined that the shape is a shape in which a plurality of candidates are generated, the reference point is set as the road traveling direction. The entry determination start point is set at a position moved to the front side or the traveling direction side along the line.
Note that “supporting driving” includes not only the case where control relating to driving such as acceleration and deceleration of the vehicle is performed, but also the case where display guidance and voice guidance are performed.

  Further, the driving support system (1) according to claim 4 is the driving support system according to claim 3, wherein the approach determination point setting means (13) is determined to have a shape in which a plurality of candidates are not generated. If it is, the reference point is set as the entry determination start point.

  Further, the driving support system (1) according to claim 5 is the driving support system according to claim 3 or 4, wherein the driving support means (13) is configured such that the vehicle passes the entry determination point. In this case, when a deceleration action is performed in the vehicle, the braking control is performed so that the deceleration of the vehicle is completed at the deceleration end target point.

  A driving support system (1) according to claim 6 is the driving support system according to any one of claims 3 to 5, wherein the deceleration end point (13) is a point where the vehicle stops. Or a point changed from deceleration to acceleration.

  The driving support system (1) according to claim 7 is the driving support system according to any one of claims 3 to 6, wherein the entry determination point setting means (13) is a position of the vehicle. When it is determined that the shape is such that a plurality of candidates are generated, the entry determination point is moved to a position where the reference point is determined to be a shape that does not generate a plurality of candidates. It is characterized by setting.

  The driving support system (1) according to claim 8 is the driving support system according to any one of claims 3 to 7, wherein the approach determination point setting means (13) When the road shape is a road shape in which a plurality of roads are arranged within a predetermined interval, it is determined that a plurality of candidates are generated when the position of the vehicle is detected.

  The driving support system (1) according to claim 9 is the driving support system according to any one of claims 3 to 7, wherein the approach determination point setting means (13) When the road shape is a road shape in which a plurality of roads are connected at an acute angle, it is determined that a plurality of candidates are generated when the position of the vehicle is detected.

  The driving support method according to claim 10 includes a target setting step for setting a deceleration end target point, which is a target deceleration end point when a deceleration action is performed in a vehicle, on the road; and the deceleration end target point An entry determination point setting step for setting an entry determination start point that is a condition for passing in order to support driving of the vehicle, an entry determination point storage step for storing the set entry determination point, A driving support step for assisting driving of the vehicle so that the deceleration of the vehicle is completed at the deceleration end target point when the vehicle passes the entry determination point, and the entry determination point setting step includes: Determining whether or not the road shape of the reference point on the near side of the predetermined distance from the deceleration end target point is a shape in which a plurality of candidates are generated when detecting the position of the vehicle. If it is determined that a shape occurs, and sets the entry determined starting from the reference point to a position moved along the traveling direction of the road to the front side or the traveling direction.

  The computer program according to claim 11 further includes: a target setting function for setting a deceleration end target point, which is a target deceleration end point when a deceleration action is performed in the vehicle, to the computer; and the deceleration end An entry determination point setting function for setting an entry determination start point that is a condition for passing in order to support driving of the vehicle, and an entry determination point storage function for storing the set entry determination point in front of the target point And a driving support function for supporting driving of the vehicle so that the deceleration of the vehicle is completed at the deceleration end target point when the vehicle passes the entry determination point, The approach determination point setting function is configured such that a road shape at a reference point a predetermined distance before the deceleration end target point detects a plurality of signs when the vehicle position is detected. If the shape is determined to be a shape in which a plurality of candidates are generated, the reference point is moved to the front side or the traveling direction side along the traveling direction of the road. An entry determination start point is set.

  According to the deceleration end point storage system according to claim 1 having the above-described configuration, even when a plurality of candidates for the current position of the vehicle are generated, the entry determination start point that is a condition for passing in order to support driving of the vehicle is obtained. It becomes possible to correct and store at an appropriate position.

  Further, according to the deceleration end point storage system according to claim 2, when the point near the predetermined distance from the deceleration end target point is a point where a plurality of candidates for the current position of the vehicle do not occur, Since the entry determination start point is set, the entry determination start point can be set at a point where a plurality of candidates for the current position of the vehicle do not occur.

  According to the driving support system of the third aspect, even in a situation where there are a plurality of candidates for the current position of the vehicle, the entry determination start point that is a condition for passing in order to support driving of the vehicle is set to an appropriate position. It becomes possible to correct and memorize. In addition, since driving of the vehicle is supported based on the passage determination of the stored entry determination point, driving support is ensured even when the vehicle is traveling on a road where a plurality of candidates for the current position of the vehicle may occur. It is possible to make it happen. As a result, the vehicle can be decelerated to an appropriate speed with an appropriate deceleration without sudden acceleration / deceleration. In particular, in a hybrid vehicle or an EV vehicle, the battery can be charged by the regenerative brake. It becomes possible to carry out with efficiency.

  According to the driving support system of claim 4, when the point near the predetermined distance from the deceleration end target point is a point where a plurality of candidates for the current position of the vehicle do not occur, it is determined that the point is entered. Since the start point is set, the entry determination start point can be set at a point where a plurality of candidates for the current position of the vehicle do not occur.

  Further, according to the driving support system of the fifth aspect, when the vehicle passes through the entry determination point and the vehicle is decelerated, the vehicle deceleration ends at the deceleration end target point. Since the braking control is performed as described above, it is possible to appropriately support the action when the vehicle performs the deceleration action. That is, in a situation where the vehicle does not need to perform a deceleration action, there is no possibility that unnecessary assistance is performed.

  Further, according to the driving support system of the sixth aspect, the deceleration end point is a point where the vehicle stops or a point where the vehicle changes from deceleration to acceleration, so whether or not the vehicle finally stops. Therefore, it is possible to set an appropriate deceleration end target point and an entry determination start point.

  According to the driving support system of the seventh aspect, since the entry determination point is set at a position moved to a point where it is determined that a plurality of candidates are not generated when detecting the position of the vehicle, It is possible to eliminate the risk of erroneous determination that the vehicle has not passed even though the vehicle has passed the entry determination point, and to reliably support driving.

  According to the driving support system of the eighth aspect, since the entry determination point is set avoiding the road-shaped section in which a plurality of roads are arranged within a predetermined interval, the vehicle passes through the entry determination point. In spite of this, it is possible to eliminate the possibility of erroneous determination that the vehicle has not passed, and to ensure driving assistance.

  According to the driving support system of the ninth aspect, since the entry determination point is set avoiding the road-shaped section in which a plurality of roads are connected at an acute angle, the vehicle passes through the entry determination point. Nevertheless, it is possible to eliminate the risk of erroneous determination that the vehicle has not passed, and to ensure driving assistance.

  Further, according to the driving support method according to claim 10, even in a situation where a plurality of candidates for the current position of the vehicle are generated, the entry determination start point that is a condition for passing in order to support driving of the vehicle is set to an appropriate position. It becomes possible to correct and memorize. In addition, since driving of the vehicle is supported based on the passage determination of the stored entry determination point, driving support is ensured even when the vehicle is traveling on a road where a plurality of candidates for the current position of the vehicle may occur. It is possible to make it happen. As a result, the vehicle can be decelerated to an appropriate speed with an appropriate deceleration without sudden acceleration / deceleration. In particular, in a hybrid vehicle or an EV vehicle, the battery can be charged by the regenerative brake. It becomes possible to carry out with efficiency.

  Furthermore, according to the computer program according to claim 11, even in a situation where a plurality of candidates for the current position of the vehicle are generated, the entry determination start point that is a condition for passing in order to support driving of the vehicle is corrected to an appropriate position. And memorize it. In addition, since driving of the vehicle is supported based on the passage determination of the stored entry determination point, driving support is ensured even when the vehicle is traveling on a road where a plurality of candidates for the current position of the vehicle may occur. It is possible to make it happen. As a result, the vehicle can be decelerated to an appropriate speed with an appropriate deceleration without sudden acceleration / deceleration. In particular, in a hybrid vehicle or an EV vehicle, the battery can be charged by the regenerative brake. It becomes possible to carry out with efficiency.

It is the block diagram which showed the navigation apparatus which concerns on this embodiment. It is a figure explaining the deceleration end point. It is the figure which showed an example of the learning data memorize | stored in learning DB. It is a flowchart of the driving assistance processing program which concerns on this embodiment. It is a flowchart of the sub process program of the vehicle control process which concerns on this embodiment. It is the figure which showed the ideal deceleration curve. It is a flowchart of the sub process program of the driving | running | working locus | trajectory logging process which concerns on this embodiment. It is the figure which showed an example of the driving log. It is the figure which showed an example of the driving log. It is a flowchart of the sub process program of the learning process which concerns on this embodiment. It is a figure explaining the setting method of the entry judgment point. It is a figure explaining the problem in the conventional driving assistance.

  DESCRIPTION OF EMBODIMENTS Hereinafter, an approach determination point storage system and a driving support system according to the present invention will be described in detail with reference to the drawings based on an embodiment in which the navigation device is embodied. First, a schematic configuration of the navigation device 1 according to the present embodiment will be described with reference to FIG. FIG. 1 is a block diagram showing a navigation device 1 according to this embodiment.

  As shown in FIG. 1, the navigation device 1 according to the present embodiment includes a current position detection unit 11 that detects a current position of a vehicle on which the navigation device 1 is mounted, a data recording unit 12 that records various data, A navigation ECU 13 that performs various arithmetic processes based on the input information, an operation unit 14 that receives operations from the user, and a liquid crystal display 15 that displays a map around the vehicle and facility information related to the facility to the user. Communicating between a speaker 16 that outputs voice guidance regarding route guidance, a DVD drive 17 that reads a DVD as a storage medium, and an information center such as a probe center or a VICS (registered trademark: Vehicle Information and Communication System) center And a communication module 18 for performing. The navigation device 1 is connected to a vehicle control ECU 19 that performs various controls on the vehicle on which the navigation device 1 is mounted via an in-vehicle network such as CAN.

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

  The data recording unit 12 reads an external storage device and a hard disk (not shown) as a recording medium, a map information DB 31 and a learning DB 32 recorded on the hard disk, a predetermined program, and the like, and writes predetermined data to the hard disk. And a recording head (not shown) which is a driver for this purpose. The data recording unit 12 may be configured by a memory card, an optical disk such as a CD or a DVD, instead of the hard disk.

  Here, the map information DB 31 is, for example, link data 33 regarding roads (links), node data 34 regarding node points, branch point data 35 regarding each branch point, point data regarding points such as facilities, and a map for displaying a map. The storage means stores display data, search data for searching for a route, search data for searching for a point, and the like.

  Here, as the link data 33, for example, a link ID for identifying the link, end node information for specifying a node located at the end of the link, road type of the road constituting the link, number of lanes, lane The width and the like are stored. The node data 34 stores a node ID for identifying the node, position coordinates of the node, connection destination node information for specifying a connection destination node to which the node is connected via a link, and the like. Further, as the branch point data 35, relevant node information for specifying a node forming the branch point (intersection), connection link information for specifying a link connected to the branch point (hereinafter referred to as a connection link), a branch point The branch point shape information etc. for specifying the shape (for example, the number of links connected to the branch point, the connection angle, etc.) are stored.

  The learning DB 32 is storage means for storing learning data based on the past traveling history of the vehicle. Here, in the present embodiment, the learning data stored in the learning DB 32 is stored as the content of driving assistance to be performed on the vehicle when a deceleration action is performed on the vehicle. Specifically, the entry determination start point that is required to pass for driving support of the vehicle, the deceleration end target point that is the target vehicle deceleration end point in driving support, and the arrival of the deceleration end target point The vehicle speed at the end of deceleration, which is the target vehicle speed of the vehicle (that is, the target vehicle speed at the end of deceleration) is stored. More specifically, the deceleration end point is a point P where the vehicle stops when the vehicle finally stops as shown in FIG. On the other hand, when the vehicle accelerates without finally stopping, the point Q changes from deceleration to acceleration.

  Here, FIG. 3 is a diagram showing an example of learning data stored in the learning DB 32. As shown in FIG. 3, the learning DB 32 stores the entry determination point, the deceleration end target point, and the deceleration end vehicle speed for each link and for each traveling direction. The approach determination point, the deceleration end target point, and the deceleration end vehicle speed are stored or updated based on the deceleration action when the vehicle performs the deceleration action at the same point. Here, the approach determination point is basically a point (reference point) that is a predetermined distance before the deceleration end target point, but when the reference point detects the position of the vehicle as described later, When it is determined that the shape is generated, the entry determination point is set at a position where the reference point is moved to a point where it is determined that the shape does not generate a plurality of candidates.

When the vehicle passes through any of the entry determination points stored in the learning DB 32 and performs a deceleration action as will be described later, the navigation ECU 13 performs the deceleration operation at the corresponding deceleration end target point to the vehicle speed at the end of deceleration. Provide driving assistance for the vehicle to decelerate.
In addition, it is good also as a structure which memorize | stores map information DB31 and learning DB32 in an external server, and the navigation apparatus 1 updates and acquires data by communication.

  On the other hand, the navigation ECU (Electronic Control Unit) 13 is an electronic control unit that controls the entire navigation device 1. The CPU 41 as an arithmetic device and a control device, and a working memory when the CPU 41 performs various arithmetic processes. Read out from the ROM 43 and the ROM 43 in which a RAM 42 that stores route data when a route is searched, a control program, a driving support processing program (see FIG. 4) described later, and the like are recorded. And an internal storage device such as a flash memory 44 for storing a program, a travel locus log described later, and the like. The navigation ECU 13 constitutes various means as processing algorithms. For example, the vehicle position detection means detects the position of the vehicle. The target setting means sets a deceleration end target point, which is a target deceleration end point when a deceleration action is performed in the vehicle, on the road. The approach determination point setting means sets an approach determination start point, which is a condition for passing in order to support driving of the vehicle, in front of the deceleration end target point. The entry determination point storage means stores the set entry determination point. The driving support means assists driving of the vehicle so that the deceleration of the vehicle is completed at the deceleration target end point when the vehicle passes the entry determination point.

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

  The liquid crystal display 15 also includes a map image including a road, traffic information, operation guidance, operation menu, key guidance, a planned travel route from the departure point to the destination, guidance information along the planned travel route, news, weather Forecast, time, mail, TV program, etc. are displayed.

  The speaker 16 outputs voice guidance for guiding traveling along the guidance route based on an instruction from the navigation ECU 13 and traffic information guidance.

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

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

  The vehicle control ECU 19 is an electronic control unit that controls the vehicle on which the navigation device 1 is mounted. The navigation ECU 13 can acquire the vehicle state (for example, the engine speed, the gear ratio, the accelerator opening, etc.) based on the data acquired from the vehicle control ECU 19 via the CAN. Further, the navigation ECU 13 transmits an instruction signal to the vehicle control ECU 19 via the CAN to perform a downshift and a brake operation, and performs vehicle deceleration control as described later.

  Next, a driving support processing program executed by the navigation ECU 13 in the navigation device 1 having the above configuration will be described with reference to FIG. FIG. 4 is a flowchart of the driving support processing program according to the present embodiment. Here, the driving support processing program is a program that is executed after the ACC of the vehicle is turned on and performs driving support related to the deceleration of the vehicle based on the learning result. The programs shown in the flowcharts of FIGS. 4, 5, 7, and 10 below are stored in the RAM 42 and the ROM 43 provided in the navigation device 1, and are executed by the CPU 41.

  First, in step (hereinafter abbreviated as S) 1 in the driving support processing program, the CPU 41 executes vehicle control processing (FIG. 5) described later. The vehicle control process determines the target deceleration end point (deceleration end target point) and the target vehicle speed at the end of deceleration when deceleration action is performed on the vehicle based on the learning data stored in the learning DB 32. This is a process of performing driving support of the vehicle so that the vehicle speed becomes the target vehicle speed at the set deceleration end target point.

  Next, in S2, the CPU 41 executes a travel locus logging process (FIG. 7) described later. The travel locus logging process is a process for recording whether or not the shape of a plurality of candidates is generated when the position of the vehicle is detected with respect to the travel locus on which the vehicle has traveled.

  Subsequently, in S3, the CPU 41 determines whether or not the vehicle has decelerated based on the detection result of the vehicle speed sensor 22 and vehicle information acquired from the vehicle control ECU 19. The deceleration action includes deceleration by engine brake in addition to deceleration by operating the foot brake. Therefore, even if the foot brake is not operated, if the accelerator is turned off and the vehicle is decelerated by the engine brake, it is determined that the vehicle has been decelerated. It does not matter whether the vehicle has finally stopped.

  And when it determines with the vehicle having performed the deceleration action (S3: YES), it transfers to S4. On the other hand, when it is determined that the vehicle is not decelerating (S3: NO), the driving support processing program is terminated.

  In S4, the CPU 41 executes a learning process (FIG. 10) described later. The learning process is a process for updating the learning data stored in the learning DB 32 based on the deceleration action performed in the vehicle.

  Next, the sub-process of the vehicle control process executed in S1 will be described with reference to FIG. FIG. 5 is a flowchart of a sub-processing program for vehicle control processing.

  First, in S <b> 11, the CPU 41 acquires the current position and direction of the vehicle based on the detection result of the current position detection unit 11. A map matching process for specifying the current position of the vehicle on the map data is also performed.

  Next, in S12, the CPU 41 falls within a predetermined distance (for example, within 250 m) ahead of the traveling direction of the vehicle in the learning data stored in the learning DB 32 based on the current position and direction of the vehicle acquired in S11. Search for some learning data. The learning data stored in the learning DB 32 is the content of driving assistance to be performed on the vehicle when the vehicle is decelerated as described above (FIG. 3). 10) stored or updated. Specifically, the learning data includes an entry determination start point that is a condition for passing in order to support driving of the vehicle, a deceleration end target point that is a target vehicle deceleration end point in driving support, and a deceleration end target point. It consists of the vehicle speed at the end of deceleration that is the vehicle speed of the vehicle that is the target at the time of arrival (that is, the target vehicle speed at the end of deceleration). In S12, learning data having an entry determination point within a predetermined distance ahead of the traveling direction of the vehicle is a search target.

  Subsequently, in S13, the CPU 41 determines whether or not there is learning data having an entry determination point within a predetermined distance ahead in the traveling direction of the vehicle based on the search result in S12.

  Then, when it is determined that there is learning data having an entry determination point within a predetermined distance ahead of the traveling direction of the vehicle (S13: YES), the process proceeds to S14. On the other hand, when it is determined that there is no learning data having an entry determination point within a predetermined distance ahead in the traveling direction of the vehicle (S13: NO), the process proceeds to S2 without driving assistance.

  In S14, the CPU 41 sets a deceleration end target point and a target vehicle speed at the end of deceleration based on the learning data determined to be ahead of the traveling direction of the vehicle, and reaches the vehicle speed at the end of deceleration at the set deceleration end target point. Calculate the optimum deceleration for the vehicle to decelerate. Specifically, first, the CPU 41 acquires the current vehicle speed of the vehicle based on the detection value of the vehicle speed sensor 22. Further, the CPU 41 calculates a distance from the current position of the vehicle acquired in S11 to the deceleration end target point of the learning data determined to be ahead in the vehicle traveling direction. Furthermore, the CPU 41 determines the target vehicle speed at the deceleration end target point based on the current vehicle speed of the vehicle, the distance to the target deceleration end point, and the vehicle speed at the end of deceleration of the learning data determined to be ahead in the same direction of travel of the vehicle. Calculate the optimum deceleration for the vehicle to decelerate to the vehicle speed at the end of deceleration. For example, the example shown in FIG. 6 is an ideal deceleration curve when the vehicle speed at the end of deceleration is 0 km / h, and the deceleration is set so as to approach the deceleration curve.

  Thereafter, in S15, the CPU 41 passes through the entry determination point of the learning data determined that the vehicle is ahead in the traveling direction based on the vehicle information acquired from the vehicle speed sensor 22 and the vehicle control ECU 19, and the vehicle is decelerated by the deceleration action. Determine whether it is done.

  Further, the deceleration action as the determination criterion in S15 includes deceleration by engine brake in addition to deceleration by operating the foot brake, as in S3. Therefore, even if the foot brake is not operated, it is determined that the vehicle is decelerating when the accelerator is turned off and the vehicle is decelerated by the engine brake.

  When it is determined that the vehicle has passed the entry determination point and the vehicle is decelerating (S15: YES), the process proceeds to S16. On the other hand, when it is determined that the vehicle has not passed the entry determination point or the vehicle is not decelerating (S15: NO), the process proceeds to S17.

  In S <b> 16, the CPU 41 uses the deceleration calculated in S <b> 14 to perform vehicle braking control so that vehicle deceleration ends at the deceleration end target point. Specifically, the CPU 41 transmits an instruction signal to the vehicle control ECU 19 via the CAN, thereby performing a downshift and a brake operation, and performing a braking control of the vehicle. As a result, the vehicle can be decelerated to an appropriate speed with an appropriate deceleration without sudden acceleration / deceleration. In particular, in a hybrid vehicle or an EV vehicle, the battery can be charged by the regenerative brake. It becomes possible to carry out with efficiency.

  On the other hand, in S17, the CPU 41 determines whether or not the vehicle has passed the deceleration target point set in S15.

  And when it determines with the vehicle having passed through the deceleration target point (S17: YES), it transfers to S2. On the other hand, when it is determined that the vehicle has not passed the deceleration target point (S17: NO), the process returns to S14.

  Next, the sub-process of the travel locus logging process executed in S2 will be described with reference to FIG. FIG. 7 is a flowchart of a sub-processing program of the travel locus logging process.

  First, in S21, the CPU 41 performs a map matching process for specifying the current position of the vehicle on the map data, and searches for matching candidates.

  Next, in S22, the CPU 41 determines whether or not a plurality of matching candidates are searched based on the search result in S21.

  If it is determined that a plurality of matching candidates have been searched (S22: YES), the process proceeds to S24. On the other hand, when it is determined that only one matching candidate has been searched (S22: NO), the process proceeds to S23.

  In S <b> 23, the CPU 41 assigns an attribute of “no matching candidates” to a point where the vehicle is currently located (hereinafter referred to as a current point). In addition, the information regarding the present location to which the attribute is given is stored as a travel log of the vehicle in S31 described later.

  On the other hand, in S24, the CPU 41 determines whether or not there are a plurality of candidates predicted to have a high possibility of the current position of the vehicle among the plurality of matching candidates searched in S21.

  Here, as a case where there are a plurality of matching candidates that are predicted to be highly likely to be the current position of the vehicle, as shown in FIG. 12, when the road is running in parallel within a predetermined interval, May be connected to. Further, when the current position of the vehicle is detected by a plurality of detection means (for example, GPS and gyro sensor), if different matching candidates are detected by each detection means, the possibility of the current position of the vehicle is predicted to be high. Suppose that there are multiple candidates to be processed.

  When it is determined that there are a plurality of matching candidates that are predicted to have a high possibility of the current position of the vehicle (S24: YES), the process proceeds to S25. On the other hand, when it is determined that there are not a plurality of matching candidates that are predicted to have a high possibility of the current position of the vehicle (S24: NO), the process proceeds to S23, and “there is no plural matching candidates” at the current point The attribute of is given.

  On the other hand, in S <b> 25, the CPU 41 assigns the attribute “There are multiple matching candidates” to the current location. In addition, the information regarding the present location to which the attribute is given is stored as a travel log of the vehicle in S31 described later.

  Thereafter, in S <b> 26, the CPU 41 reads the travel log stored in the flash memory 44. The travel log is information in which the attribute of the current point detected in the past is given information having either “multiple matching candidates” or “no multiple matching candidates” and is stored in S31 described later. The In S <b> 26, the CPU 41 sets a point 250 m behind the current point as a determination target point based on the read travel log, and refers to the attribute assigned to the determination target point. Although the numerical value of 250 m can be changed as appropriate, it is possible to draw an ideal deceleration curve when assuming that the vehicle is stopped at the deceleration end target point Z as shown in FIG. It is desirable that the distance be longer than the distance L from the deceleration start point Y to the deceleration end target point Z, which is the timing to start deceleration.

  Next, in S27, the CPU 41 determines whether or not the attribute of the determination target point 250 m behind the current point referred to in S26 is “There are multiple matching candidates”.

  If it is determined that the attribute of the determination target point 250 m behind the current point is “There are multiple matching candidates” (S27: YES), the process proceeds to S28. On the other hand, when it is determined that the attribute of the point 250 m behind the current point is “no multiple matching candidates” (S27: NO), the process proceeds to S31.

  In S <b> 28, the CPU 41 sets the current point detected immediately in the vicinity of the current determination target point (the closest point behind the determination target point) as a new determination target point, and flushes the travel log of the new determination target point. Read from the memory 44. In S28, the CPU 41 refers to the attribute given to the new determination target point based on the read travel log.

  Next, in S29, the CPU 41 determines whether or not the attribute of the new determination target spot referred to in S28 is “There are a plurality of matching candidates”.

  When it is determined that the attribute of the new determination target point is “there are a plurality of matching candidates” (S29: YES), the process proceeds to S30. On the other hand, when it is determined that the attribute of the new determination target point is “no multiple matching candidates” (S29: NO), the process proceeds to S31.

  In S30, the CPU 41 determines whether or not the distance from the current point to the new determination target point is 500 m or more. Although the numerical value of 500 m can be changed as appropriate, it is desirable that the distance be about 1.5 to 3 times the distance from the current point to the first determination target point (250 m in this embodiment).

  When it is determined that the distance from the current point to the new determination target point is 500 m or more (S30: YES), the process proceeds to S31. On the other hand, when it is determined that the distance from the current point to the new determination target point is less than 500 m (S30: NO), the process returns to S28, and the determination target point is further moved backward.

  In S31, the CPU 41 stores the coordinates of the current location in the flash memory 44 or the like as a travel log together with the attributes given in S23 or S25. On the other hand, the travel log at a point behind the determination target point is deleted. As a result, as shown in FIG. 8, the travel log stored in the flash memory 44 basically includes the coordinates of the point on the travel locus from the current point to 250m behind and the attributes assigned to the point. It becomes. However, as shown in FIG. 9, when the attribute given to the point on the travel locus 250 m behind is “There are multiple matching candidates”, the travel log is extended to a limit of 500 m, and “matching candidate” The coordinates up to the point where the “no plural” attribute is given and the attribute given to the point are included.

  Next, the sub-process of the learning process executed in S4 will be described with reference to FIG. FIG. 10 is a flowchart of the learning process sub-processing program.

  First, in S41, the CPU 41 reads the travel log stored in the flash memory 44, and refers to the attribute assigned to the end point.

  Then, it is determined whether or not the attribute assigned to the end point of the travel log is “there are a plurality of matching candidates”.

  And when it is determined that the attribute given to the end point of the travel log is “there are a plurality of matching candidates” (S42: YES), the entry determination point cannot be set to an appropriate position. The estimation is completed without learning data based on the current deceleration action being stored in the learning DB 32. On the other hand, if it is determined that the attribute assigned to the end point of the travel log is “no matching candidates” (S42: NO), the process proceeds to S43.

  In S43, the CPU 41 acquires the content of the deceleration action performed on the vehicle based on the detection result of the vehicle speed sensor 22 and the vehicle information acquired from the vehicle control ECU 19. Specifically, the position coordinates of the deceleration end point (FIG. 2) where the vehicle has finished decelerating and the vehicle speed at the deceleration end point are acquired.

  Thereafter, in S44, the CPU 41 updates the learning DB 32 based on the deceleration action performed in the vehicle. Specifically, the deceleration end point acquired in S43 is set as a deceleration target point, and the vehicle speed at the deceleration end point acquired in S43 is set as the vehicle speed at the end of deceleration. Is set as the entry determination point. If the learning data at the same point is already stored, it may be rewritten, or the average value or median with the already stored learning data may be set as the deceleration target point or the deceleration end point. good. In addition, when the numerical value is significantly different from already stored learning data, it may be configured that the current deceleration action is estimated to be an irregular deceleration action and is not reflected as learning data.

  In this embodiment, by setting the end point of the travel log as the entry determination point, it is possible to configure so that a plurality of matching candidates for the current position of the vehicle do not exist at the entry determination point. Therefore, even when driving support is performed on a road shape where a plurality of vehicle matching candidates can be generated as shown in FIG. 11, by setting the entry determination point as a point where a plurality of vehicle matching candidates do not occur, it is ensured. It becomes possible to execute driving support. On the other hand, in the conventional technique, the entry determination point may be set to a point where a plurality of vehicle matching candidates may occur, and in this case, driving assistance may not be executed.

As described in detail above, according to the navigation device 1 according to the present embodiment, the driving support method using the navigation device 1 and the computer program executed by the navigation device 1, when a vehicle deceleration action is performed, A deceleration end target point, which is a target deceleration end point when a deceleration action is performed on the vehicle, is set for the road, and in order to provide driving support for the vehicle, the vehicle must be in front of the deceleration end target point. The entry determination start point is set (S43, S44), and the entry determination start point is set to avoid a section where a plurality of vehicle current position candidates are generated. Therefore, even in a situation where a plurality of vehicle current position candidates are generated In addition, it is possible to correct and store the entry determination start point, which is a condition for passing in order to support driving of the vehicle, to an appropriate position. In addition, since driving of the vehicle is supported based on the passage determination of the stored entry determination point, driving support is ensured even when the vehicle is traveling on a road where a plurality of candidates for the current position of the vehicle may occur. It is possible to make it happen. As a result, the vehicle can be decelerated to an appropriate speed with an appropriate deceleration without sudden acceleration / deceleration. In particular, in a hybrid vehicle or an EV vehicle, the battery can be charged by the regenerative brake. It becomes possible to carry out with efficiency.
In addition, when the point near the predetermined distance from the deceleration end target point is a point where a plurality of candidates for the current position of the vehicle does not occur, the point is set as the entry determination start point. It is possible to set an entry determination start point at a point where a plurality of points do not occur.
In addition, when the vehicle passes the entry determination point and the vehicle is decelerated, the braking control is performed so that the vehicle decelerates at the deceleration end target point, so that the vehicle decelerates. In some cases, it is possible to appropriately support the action. That is, in a situation where the vehicle does not need to perform a deceleration action, there is no possibility that unnecessary assistance is performed.
The deceleration end point is the point where the vehicle stopped or changed from deceleration to acceleration, so an appropriate deceleration end target point and entry determination start point are set regardless of whether or not the vehicle finally stopped. It becomes possible to do.
In addition, since the entry determination point is set at a position moved to a point where it is determined that a plurality of candidates do not occur when detecting the position of the vehicle, the vehicle passes through the entry determination point, It is possible to eliminate the possibility of erroneous determination that the vehicle has not passed, and to reliably support driving.
In addition, since the approach determination point is set avoiding the road-shaped section where a plurality of roads are arranged within a predetermined interval, it is erroneously assumed that the vehicle has not passed even though it has passed the entry determination point. It is possible to eliminate the risk of being determined and to reliably support driving.
In addition, since the approach determination point is set avoiding the road-shaped section where a plurality of roads are connected at an acute angle, it is erroneously determined that the vehicle has not passed even though it has passed the entry determination point. Therefore, driving assistance can be surely performed.

Note that the present invention is not limited to the above-described embodiment, and various improvements and modifications can be made without departing from the scope of the present invention.
For example, in the present embodiment, braking control for the vehicle is performed as driving assistance for the vehicle, but a configuration may be employed in which display guidance or voice guidance is performed. Specifically, guidance for instructing the timing and amount of deceleration is performed so that the vehicle decelerates by drawing an ideal deceleration curve up to the deceleration end target point.

  Further, in this embodiment, when it is determined that the candidate point set as the entry determination point is a point where a plurality of vehicle matching candidates are generated, the candidate point is a point where a plurality of vehicle matching candidates do not occur. Although it is supposed to move to the front side (side away from the deceleration end target point) (S26 to S30), it may be configured to move to the traveling direction side (side approaching the deceleration end target point).

  Further, the process of S24 may be omitted, and the determination process of S22 and S24 may be determined only from the road shape of the road where the current location is.

  Further, the driving support processing program (FIGS. 4, 5, 7, and 10) of the present embodiment is executed by the navigation ECU 13 included in the navigation device, but may be executed by the vehicle control ECU 19. Further, the processing may be shared by a plurality of ECUs.

  In addition to the navigation device, the present invention can be applied to various devices capable of controlling the vehicle via the vehicle control ECU 19. For example, the present invention can also be applied to in-vehicle devices other than navigation devices, mobile terminals such as mobile phones, smartphones and PDAs, personal computers, and the like (hereinafter referred to as mobile terminals). Further, the present invention can be applied to a system including a server and a mobile terminal. In that case, each step of the vehicle control processing program (FIG. 4, FIG. 5, FIG. 7, FIG. 10) described above may be configured to be implemented by either the server or the mobile terminal. In addition, when the present invention is applied to a mobile terminal or the like, it is possible to provide driving support for a vehicle other than an automobile, for example, a two-wheeled vehicle or the like that is driven by a user such as a mobile terminal.

1 Navigation device 13 Navigation ECU
19 Vehicle control ECU
41 CPU
42 RAM
43 ROM

Claims (11)

Target setting means for setting a deceleration end target point, which is a target deceleration end point when a deceleration action is performed in the vehicle, to the road;
An entry determination point setting means for setting an entry determination start point that is a condition for passing in order to support driving of the vehicle, on the front side of the deceleration end target point;
And an entry determination point storage means for storing the set entry determination point,
The entry determination point setting means includes:
Determining whether or not the road shape of the reference point on the near side of the predetermined distance from the deceleration end target point is a shape in which a plurality of candidates are generated when detecting the position of the vehicle;
When it is determined that the shape has a plurality of candidates, the entry determination start point is set at a position where the reference point is moved to the near side or the advancing direction side along the traveling direction of the road. An entry decision point storage system.   The entry determination point according to claim 1, wherein the entry determination point setting unit sets the reference point as the entry determination start point when it is determined that the shape does not generate a plurality of candidates. Storage system. Target setting means for setting a deceleration end target point, which is a target deceleration end point when a deceleration action is performed in the vehicle, to the road;
An entry determination point setting means for setting an entry determination start point that is a condition for passing in order to support driving of the vehicle, on the front side of the deceleration end target point;
An entry determination point storage means for storing the set entry determination point;
Driving assistance means for assisting driving of the vehicle so that the deceleration of the vehicle ends at the deceleration end target point when the vehicle passes the entry determination point;
The entry determination point setting means includes:
Determining whether or not the road shape of the reference point on the near side of the predetermined distance from the deceleration end target point is a shape in which a plurality of candidates are generated when detecting the position of the vehicle;
When it is determined that the shape has a plurality of candidates, the entry determination start point is set at a position where the reference point is moved forward or in the traveling direction along the traveling direction of the road, Driving support system.   The driving support system according to claim 3, wherein the entry determination point setting unit sets the reference point as the entry determination start point when it is determined that the shape does not generate a plurality of candidates. .   The driving support means performs braking control so that the deceleration of the vehicle is completed at the deceleration end target point when the vehicle has passed the entry determination point and the vehicle is decelerated. The driving support system according to claim 3 or 4, characterized by:   The driving support system according to any one of claims 3 to 5, wherein the deceleration end point is a point where the vehicle stops or a point where the vehicle changes from deceleration to acceleration. The entry determination point setting means includes:
When it is determined that the shape of a plurality of candidates is generated when detecting the position of the vehicle, the reference point is moved to a position determined to be a shape that does not generate a plurality of candidates. The driving support system according to any one of claims 3 to 6, wherein an entry determination point is set. The entry determination point setting means includes:
When the road shape of the reference point is a road shape in which a plurality of roads are arranged within a predetermined interval, it is determined that a plurality of candidates are generated when detecting the position of the vehicle. The driving support system according to any one of claims 3 to 7. The entry determination point setting means includes:
When the road shape of the reference point is a road shape in which a plurality of roads are connected at an acute angle, it is determined that a plurality of candidates are generated when the position of the vehicle is detected. The driving support system according to any one of claims 3 to 7. A target setting step for setting a deceleration end target point, which is a target deceleration end point when a deceleration action is performed in the vehicle, on the road;
An approach determination point setting step for setting an approach determination start point that is a condition for passing in order to support driving of the vehicle, on the front side of the deceleration end target point;
An entry determination point storage step for storing the set entry determination point;
A driving support step for assisting driving of the vehicle so that the deceleration of the vehicle ends at the deceleration end target point when the vehicle passes the entry determination point;
The entry determination point setting step includes:
Determining whether or not the road shape of the reference point on the near side of the predetermined distance from the deceleration end target point is a shape in which a plurality of candidates are generated when detecting the position of the vehicle;
When it is determined that the shape has a plurality of candidates, the entry determination start point is set at a position where the reference point is moved to the near side or the advancing direction side along the traveling direction of the road. Driving support method. On the computer,
A target setting function for setting a deceleration end target point, which is a target deceleration end point when a deceleration action is performed in the vehicle, to the road;
An approach determination point setting function for setting an approach determination start point that is a condition for passing in order to support driving of the vehicle, on the front side of the deceleration end target point,
An entry determination point storage function for storing the set entry determination point;
When the vehicle passes the entry determination point, a computer program that executes a driving support function that supports driving of the vehicle so that the deceleration of the vehicle ends at the deceleration end target point,
The entry determination point setting function is
Determining whether or not the road shape of the reference point on the near side of the predetermined distance from the deceleration end target point is a shape in which a plurality of candidates are generated when detecting the position of the vehicle;
When it is determined that the shape has a plurality of candidates, the entry determination start point is set at a position where the reference point is moved to the near side or the advancing direction side along the traveling direction of the road. Computer program.

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