JP2015046201A - Vehicle reverse-travel detection device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce possibility that warning information is erroneously issued to a driver when an error is included in position information of an own vehicle.SOLUTION: When an own vehicle V approaches a branch point P11 of a road when the own vehicle V travels on a one-way road, a vehicle reverse-travel detection device creates road areas R11 to R14 in roads L11 to L14 extending from the branch point P11. The vehicle reverse-travel detection device creates an immediate effectiveness determination area that is a road area where it is notified that the own vehicle V reversely travels when the own vehicle V travels to a direction in which passage of a vehicle is prohibited in a road L12 in which the own vehicle V is absent and flows in the branch point P11. In a road L11 at which the own vehicle V is present and flows in the branch point P11, and in roads L13 and L14 at each of which the own vehicle flows out of the branch point P11, passage wait determination areas R11, R13, and R14 which are changed into the immediate effectiveness determination areas after the own vehicle V passes are created.

Description

  The present invention relates to a vehicle reverse running detection device.

  Compare the information about the position and traveling direction of the host vehicle with the information about the position and forward direction of the reverse running prohibition road, and if the vehicle is traveling on the reverse running prohibition road in the reverse direction or the reverse running prohibition road There is known a system for notifying a driver of warning information when an attempt is made to enter a reverse running prohibited road from a direction opposite to the forward direction. (For example, Patent Document 1)

JP 2007-139531 A

  The conventional system is configured to determine whether or not the host vehicle is traveling on the reverse running prohibited road by comparing the position of the own vehicle and the position of the reverse running prohibited road. For this reason, according to the conventional system, when the position information of the own vehicle includes an error, the vehicle actually travels on the non-reverse road while the vehicle is traveling on the road around the non-reverse road. The warning information may be erroneously notified to the driver.

  In the vehicle reverse running detection device according to the present invention, the vehicle position detecting means for detecting the position of the own vehicle, the traveling direction detecting means for detecting the traveling direction of the own vehicle, and the traveling direction of the road are set in only one direction. Based on map information storage means for storing map information including position information of connection points to which a plurality of roads including at least one-way roads are connected, and map information stored in the map information storage means, the traveling direction Determination point setting means for setting a connection point ahead of the traveling direction of the own vehicle detected by the detecting means as a determination point, and reverse running determination used for determining whether or not the own vehicle is traveling backward on a one-way road A reverse run determination area setting means for setting an area for at least one of a plurality of roads connected to the determination point set by the determination point setting means, and a determination point Reverse running judging means for judging whether or not the own vehicle is running backward on the one-way road based on the traveling direction set for the one-way road and the running direction of the own vehicle. The reverse running determination area set by the reverse running determination area setting means includes an immediate effective judgment area for immediately judging the reverse running of the own vehicle, and the reverse running judging means is detected by the own vehicle position detecting means. When the position of the subject vehicle is within the immediate validity judgment area, it is determined whether or not the subject vehicle is traveling backward on a one-way road.

  According to the present invention, since the possibility of erroneously determining that the vehicle is traveling backward on a road on which the vehicle is not traveling is reduced, the possibility of erroneous notification of warning information can be reduced.

It is a block diagram showing the structure of the vehicle reverse running detection apparatus by one Embodiment of this invention. In one Embodiment of this invention, it is a figure which shows an example of the road area | region created in order to determine reverse running of a vehicle. In one Embodiment of this invention, it is a figure which shows an example of the road area | region created in order to determine reverse running of a vehicle. In one Embodiment of this invention, it is a figure which shows an example of the road area | region created in order to complete | finish the process which determines reverse running of a vehicle. In one Embodiment of this invention, it is a figure for demonstrating the method of creating the road area | region for determining reverse running of a vehicle. In one Embodiment of this invention, it is a figure for demonstrating the method of creating the road area | region for determining reverse running of a vehicle. In one Embodiment of this invention, it is a figure for demonstrating the method of creating the road area | region for determining reverse running of a vehicle. In one Embodiment of this invention, it is a figure for demonstrating the case where it produces around the toll booth of a toll road as a specific example which produces the road area | region for determining reverse running of a vehicle. In one Embodiment of this invention, it is a figure for demonstrating the case where it produces around the junction of a toll road as a specific example which produces the road area | region for determining reverse running of a vehicle. In one Embodiment of this invention, it is a figure which shows the case of a resting facility, such as a service area, as one of the exceptions of the method of creating the road area | region for determining reverse running of a vehicle. In one Embodiment of this invention, it is a figure which shows the case of a resting facility, such as a service area, as one of the exceptions of the method of creating the road area | region for determining reverse running of a vehicle. In one Embodiment of this invention, it is a figure which shows the case of a resting facility, such as a service area, as one of the exceptions of the method of creating the road area | region for determining reverse running of a vehicle. In one Embodiment of this invention, it is an example of the flowchart of the method of creating the road area | region for determining reverse running of a vehicle. In one Embodiment of this invention, it is an example of the flowchart of the method of creating the road area | region for determining reverse running of a vehicle. It is an example of the flowchart of the method of determining reverse run by the road area produced in one Embodiment of this invention. It is an example of the flowchart of the method of determining reverse run by the road area produced in one Embodiment of this invention. It is an example of the flowchart of the method of determining reverse run by the road area produced in one Embodiment of this invention. It is a figure for demonstrating an example of the method of deleting the road area produced in one Embodiment of this invention. It is an example of the flowchart of the method of deleting the road area produced in one Embodiment of this invention.

[Configuration of route guidance device]
The vehicle reverse running detection device according to the present invention can be applied to a route guidance device that guides a travel route to a destination set by a user by presenting map information. An example of a route guidance apparatus according to an embodiment of the present invention is shown in FIG. Hereinafter, with reference to FIG. 1, the structure of the route guidance apparatus used as embodiment of this invention is demonstrated.

The route guidance device 1 of FIG. 1 which is an embodiment of the present invention is mounted on a vehicle and has GPS (Global
Positioning System) receiver 2, vehicle speed sensor 3, map information database 4, output unit 5,
And a control unit 6.

  The GPS receiver 2 acquires vehicle position information (longitude, latitude) using radio waves transmitted from GPS satellites, and outputs the acquired position information to the control unit 6. The control unit 6 can calculate the traveling direction of the vehicle from the time change of the vehicle position information output from the GPS receiver 2 to the control unit 6.

  The vehicle speed sensor 3 acquires vehicle position information and outputs the acquired speed information to the control unit 6. The vehicle speed sensor 3 may be outside the route guidance device 1. Alternatively, the speed of the host vehicle may be detected by the GPS receiver 2 and the control unit 6 to replace the vehicle speed sensor 3.

The map information database 4 includes cache memory, main memory, HDD (Hard Disc Drive), CD (Compact Disc), MD (Mini Disc), DVD (Digital Versatile Disc), optical disc, FDD (Floppy (registered trademark) Disc Drive). And the like. The map information database 4 stores information necessary for outputting map information to the output unit 5. For example, node information indicating road location information and location information such as toll booths, link information indicating road connection status, information on road types such as general roads, toll roads, roads in service areas, etc. A route search road network database in which conditions such as travel distance or average travel time are associated with costs for each node in order to perform route calculation is stored. In the present embodiment, the map information database 4 stores the position information of the reverse running determination area, which is a road area for determining whether or not the vehicle is running backward, in association with the node information and the link information. ing.

  The output unit 5 is configured by a known output device such as a CRT (Cathode Ray Tube), a liquid crystal display device, or a sound output device, and outputs various information such as map screen information and warning information in accordance with instructions from the control unit 6.

The control unit 6 includes a CPU (Central Processing Unit), ROM (Read Only Memory), R
A general-purpose or dedicated information processing device such as a microcomputer having an AM (Random Access Memory) or the like is configured, and the CPU controls the operation of the entire route guidance device 1 by executing a computer program stored in the ROM. Note that the control unit 6 may be configured by a circuit such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array) that realizes each process executed by the control unit 6 by circuit operation.

  The route guidance apparatus 1 having such a configuration notifies the driver of warning information by executing the reverse running determination area creation process, the reverse running detection process, and the reverse running determination area deletion process shown below in parallel. And suppresses the reverse running of the vehicle.

  A method of performing reverse running warning in the embodiment of the present invention will be described by taking the case of reverse running on a toll road such as an expressway as an example. A toll road such as an expressway is a one-way road in which the passable direction stored in the map information database 4 is restricted to one direction. When the traveling direction of the vehicle and the direction in which the toll road can pass are different by a predetermined angle or more, it is determined that the vehicle is traveling backward on the toll road.

  In the reverse running determination area creation process, when the own vehicle approaches a predetermined node on the toll road, a reverse running judgment area is created for road links extending from those nodes.

  The reverse running detection process detects the reverse running by determining whether the vehicle is running backward using the reverse running judgment area created by the reverse running judgment area creation process, and runs backward to the driver. This is notified by voice or image.

  The reverse running determination area deletion process is a reverse running judgment at a position far away from the host vehicle so that the reverse running detection area is created one after another so that the load of the reverse running detection process in the control unit 6 does not become excessive. Delete areas, etc.

  Details of each process will be described below.

[Reverse run determination area creation process]
An example of reverse determination area creation processing in the embodiment of the present invention will be described. Reverse run judgment area creation process creates a reverse run judgment area on a road link that extends from a node such as a branch point on a toll road, a toll gate, or a connection point with a general road. To do. In each road link, the reverse run determination area is created at a location corresponding to the position information of the reverse run determination area stored in the map information database 4. The position information of the reverse run determination area stored in the map information database 4 is preferably set at a location that is a predetermined distance or less along the road link from the node. The created information related to the reverse run determination area is stored in the RAM or the like of the control unit 6 and is shared among the three processes related to the reverse run determination area.

  There are three types of reverse run determination areas to be created: an immediate effective determination area, a waiting waiting determination area, and a determination end area.

  The immediate validity determination area is a road area for comparing whether the road link is allowed to pass and the traveling direction of the host vehicle to determine whether the host vehicle is running backward. The role of the immediate validity determination area is shown in FIG. In FIG. 2, the symbol R1 indicates an immediate validity determination area. The immediate validity determination area R1 is set for the road link L1 flowing into the node P1. An arrow with a symbol D1 indicates a direction in which the road link L1 can pass. When the host vehicle V is traveling in the immediate effective determination area R1, when the angle between the traveling direction of the host vehicle V and the passable direction D1 is equal to or greater than a predetermined angle, the host vehicle V runs backward. It is determined that it is present, and predetermined notification is performed. The predetermined angle may be 135 °, for example.

  The passage waiting determination area is a road area that changes to the immediate validity determination area described above once the host vehicle passes through. The role of the passage waiting determination area is shown in FIG. In FIG. 3, symbol R2a indicates a passage waiting determination area. The passage waiting determination area R2a is set for the road link L2 flowing into the node P2. An arrow D2 is a direction in which the road link L2 can pass. When the host vehicle V passes through the passage waiting determination area R2a, the control unit 6 changes the passage waiting determination area R2a to the immediate validity determination area R2b. When the host vehicle V makes a U-turn or the like and enters the immediate validity determination area R2b, it is determined that the host vehicle V is running backward.

  The determination end area is a road area for deleting all reverse run determination areas created so far when the host vehicle passes. For example, when a vehicle enters a general road from a toll road, the reverse run determination on the toll road is terminated, so that the reverse run determination area created on the road link of the toll road can be deleted. The role of the determination end area will be described with reference to the example of FIG. In FIG. 4, the symbol R3 indicates a determination end area. The determination end area R3 is set for the road link L3 flowing into the node P3. Behind the traveling direction of the host vehicle V are reverse running determination areas R4 to R6 created in the past, and these are stored in the RAM or the like of the control unit 6. When the host vehicle V passes the determination end area R3, the reverse running determination areas R3 to R6 are deleted.

  Of the three types of reverse run determination areas described above, which reverse run determination area is to be created is determined by the control unit 6. An outline of the method will be described with reference to FIGS. 5, 6, and 7.

FIG. 5 shows a case where the host vehicle V is approaching from the road link L11 to the node P11 that is a branch point to which the road links L11 to L14 of a plurality of toll roads are connected. Road links L11 and L12 flow into the branch point P11. Further, road links L13 and L14 flow out from the branch point P11. Hereinafter, a road link on which the host vehicle is traveling like the road link L11 is referred to as a host vehicle presence link. Further, a road link that flows into the branch point P11 without the host vehicle V like the road link L12 is referred to as an inflow link. And the road link which flows out from the branch point P11 like the road links L13 and L14 is described as an outflow link.

  When the host vehicle V approaches a node such as the branch point P11, the control unit 6 determines reverse running determination areas R11 to R14 created on the road links L11 to L14 as shown in FIG. First, it is decided to create an immediate validity determination area R12 on the inflow link L12. Then, it is determined to create the passage waiting determination areas R11, R13, and R14 for the own vehicle existence link L11 and the outflow links L13 and L14, respectively. By creating the immediate validity determination area R12 in the inflow link L12, it is possible to detect that the host vehicle V erroneously enters the inflow link L12 from the host vehicle presence link L11 and runs backward. In addition, by creating road waiting determination areas R11, R13, and R14 in the road links L11, L13, and L14, instead of the immediate validity determination area, the traveling direction of the own vehicle due to the positional information error of the own vehicle V The possibility of false notification that the host vehicle V is running backward can be reduced when an error occurs.

  FIG. 6 shows a case where the host vehicle V approaches the general road connection node P12 that is a node connecting the road link L15 of the toll road and the road link L16 of the general road from the road link L15. When the host vehicle V approaches a node connected to a road link on a general road such as the general road connection node P12, the control unit 6 creates a determination end area R15 on the host vehicle existence link L15 as shown in FIG. . No reverse running determination area is created on the road link L16 of the general road. Thereby, the detection of reverse running on the toll road can be terminated when the vehicle V travels on a general road.

  FIG. 7 shows a case where the host vehicle V approaches a toll gate node P13, which is a node with a toll gate. Road links L17 and L18 of toll roads are connected to the toll gate node P13, and the host vehicle V approaches the toll gate node P13 from the road link L17.

  When the host vehicle approaches a node with a toll gate, as shown in FIG. 7, the control unit 6 creates a determination end area R17 in the host vehicle existence link L17 of the toll gate node P13. A reverse run determination area is not created for the outflow link L18 of the toll gate node P13. When the node into which the road link L18 flows is a branch point, a reverse running determination area corresponding to the node is newly created in the road link L18.

  FIG. 8 is a diagram for explaining a reverse run determination area created near the toll booth. In FIG. 8, consider a case where the host vehicle V travels from a road link L19 of a toll road through a branch point P14, a toll gate node P13, and a general road connection node P15 to a general road.

  First, when the host vehicle V approaches the branch point P14 from the road link L19, the control unit 6 sets the passage waiting determination areas R19, R20, and R21 to the host vehicle existence link L19 and the outflow links L20 and L17 at the branch point P14, respectively. create.

  When the host vehicle V passes the passage waiting determination area R19, the passage waiting determination area R19 is changed to an immediate validity determination area. When the host vehicle V passes through the branch point P14 and enters the road link L17, the vehicle V enters the passage waiting determination area R21. When the host vehicle V passes the passage waiting determination area R21, the passage waiting determination area R21 is changed to an immediate validity determination area.

When the host vehicle V travels on the road link L17 and approaches the toll gate node P13, as described above, the control unit 6 creates the determination end area R17 in the host vehicle existence link L17 at the branch point P13. When the host vehicle V passes through the determination end area R17, the determination end area R17, the immediate validity determination areas R19 and R21, and the passage waiting determination area R20 are deleted.

  When the host vehicle V passes through the toll gate node P13 and enters the road link L18 and then approaches the general road connection node P15, a determination end area R18 is created in the road link L18 that is the host vehicle existence link. Then, the determination end area R18 is deleted when the host vehicle V passes through the determination end area R18. Then, the host vehicle V passes through the general road connection node P15 and enters the general road. The control unit 6 does not create the reverse run determination area until it enters the toll road again from the general road. When there is a further branch point between the toll gate node P13 and the general road connection node P15, the reverse run determination area created at the branch point is deleted by the process in the determination end area R18.

  As shown by the arrow A1 in FIG. 8, the host vehicle V that has passed through the toll gate may enter the opposite lane. On the map data, road links and nodes in the opposite lane are treated as road links and nodes different from the road link L17 and toll gate node P13. In the example of FIG. 8, the road link L24 and the node P16 correspond to road links and nodes related to the opposite lane. Thus, when the own vehicle V enters the opposite lane L24 of the road link L17 and starts traveling in the direction in which the vehicle is permitted to travel, the reverse traveling created before passing the tollgate node P13. If the determination area (for example, reverse running determination areas R19 to R21) is not deleted, an erroneous notification may occur when an error occurs in the position information of the host vehicle. For example, when the vehicle travels on the road link L24 and enters the node P17, the vehicle V of the host vehicle V is traveling in the reverse travel determination area (immediate validity determination area) R21 due to an error in the position information of the host vehicle V. If the position is erroneously detected, erroneous notification may occur. In order to reduce the possibility of such erroneous notification, a determination end area R17 is created in the own vehicle existence link L17 for the toll gate node P13.

  FIG. 9 is an example of a junction connecting a plurality of toll roads. In the junction of FIG. 9, there are nodes P21 to P24 and road links L31 to L39 which are branch points. The host vehicle V is about to enter the road link L36 after passing through the branch points P21, P22, and P23 from the road link L31.

  When the host vehicle V approaches the branch point P21 from the road link L31, the control unit 6 creates reverse running determination areas R31 to R33 in the links L31 to L33 connected to the branch point P21, respectively. The road link L31 is an own vehicle existence link. Road links L32 and L33 are outflow links from the node P21. Therefore, the reverse determination areas R31 to R33 are passage waiting determination areas.

  When the host vehicle V passes the branch point P21 from the road link L31 and proceeds to the road link L32, it passes through the passage waiting determination areas R31 and R32. The control unit 6 changes the passage waiting determination areas R31 and R32 through which the host vehicle V has passed to immediate effective determination areas.

  When the host vehicle V travels on the road link L32, the vehicle V approaches the node P22 that is a branch point. At this time, reverse running determination areas R34, R35, and R36 are created on the road links L32, L34, and L35 connected to the node P22, respectively. The road link L32 is a vehicle presence link. Road links L34 and L35 are outflow links. Accordingly, the reverse run determination areas R34 to R36 are pass waiting determination areas.

  In places where roads branch in a complicated manner, such as junctions, a plurality of branch points are often located close to each other. For example, when the positions of the nodes P21 and P22 are close, the reverse running determination areas R32 and R34 may overlap, but there is no problem in the processing operation in the present embodiment.

When the host vehicle V passes the branch point P22 from the road link L32 and enters the road link L34, it passes through the passage waiting determination areas R34 and R35. The control unit 6 changes the passage waiting determination areas R34 and R35 through which the host vehicle V has passed to immediate effective determination areas.

  When the host vehicle V travels on the road link L34, the vehicle V approaches the node P23 that is a branch point. At this time, the control unit 6 creates reverse running determination areas R37, R38, and R39 on the road links L34, L36, and L37 connected to the node P23, respectively. The road link L34 is a vehicle presence link. The road link L36 is an outflow link. The road link L37 is an inflow link. Therefore, the reverse run determination areas R37 and R38 that are created are the waiting waiting determination areas. The reverse running determination area R39 is an immediate effective determination area.

  Next, exception processing in reverse run determination area creation processing will be described. The toll road has resting facilities such as a service area and a parking area. Some roads around the parking lot of a resting facility such as a service area are restricted in the direction in which travel is permitted. However, if a reverse run determination area is created on a road in such a resting facility, when the vehicle is parked in a parking lot, an error is reported that the host vehicle is running backward due to a vehicle position error. Sometimes. In order to prevent such a situation, a reverse run determination area is not created for road links other than the deceleration lane and the acceleration lane for entering or leaving the rest facility at the branch point of the rest facility.

  10 to 12 are diagrams for explaining creation of a reverse run determination area in a service area that is an example of a rest facility.

  The service area shown in FIGS. 10 to 12 includes four nodes P31 to P34, road links L51 to L53 of toll roads, roads 101 to 104 in the service area, and a road link L61 of a deceleration lane for entering the service area. And an acceleration lane road link L62 for exiting the service area.

  The example of FIG. 10 explains the reverse running determination area created when the host vehicle V existing on the road link L51 enters the service area and when the host vehicle exits from the service area to the road link L53. .

  The host vehicle V travels on the road link L51 and approaches the node P31 that is a branch point. At this time, the control unit 6 creates reverse running determination areas R51, R52, and R53 on the road links L51, L52, and L61 connected to the branch point P31, respectively. The road link L51 is a vehicle presence link. Road links L52 and L61 are outflow links from the node P31. Therefore, the created reverse feed determination areas R51 to R53 are the passage waiting determination areas.

  When the host vehicle V passes the branch point P31 from the road link L51 and enters the road link L61, it passes through the passage waiting determination areas R51 and R53. The control unit 6 changes the passage waiting determination areas R51 and R53 through which the host vehicle V has passed to immediate effective determination areas.

  When the host vehicle V travels on the road link L61, it approaches the node P32 that is a branch point of the service area. Hereinafter, a node connecting a deceleration facility and a resting facility such as a service area like the node P32 is described as a resting facility entry point. When the host vehicle V approaches the break facility entry point P32, the control unit 6 creates a reverse run determination area R54 on the road link L61 connected to the break facility entry point P32. No reverse running determination area is created on the roads 101 and 102 in the service area. Since the road link L61 is an own vehicle existence link, the reverse running determination area R54 is a passage waiting determination area.

  When the host vehicle V enters the service area through the break facility entry point P32 from the road link L61, which is a deceleration lane, the host vehicle V passes the waiting waiting determination area R54. The control unit 6 changes the passage waiting determination area R54 through which the host vehicle V has passed to an immediate validity determination area.

  When the host vehicle V that has entered the service area leaves the service area, it approaches the node P33 that connects the service area and the road link L62 of the acceleration lane for exiting the service area. Hereinafter, a node connecting a break facility such as a service area and an acceleration lane like the node P33 is described as a break facility exit point. When the host vehicle V approaches the break facility exit point P33, the control unit 6 creates a reverse running determination area R55 on the road link L62 of the acceleration lane. The roads 101 and 104 in the service area are connected to the break facility exit point P33, but no reverse run determination area is created on these roads. Since the road link L62 of the acceleration lane is an outflow link of the break facility exit point P33, the reverse running determination area R55 is a waiting waiting determination area.

  When the host vehicle V entering the road link L62 from the service area passes through the passage waiting determination area R55, the control unit 6 changes the passage waiting determination area R55 to an immediate validity determination area.

  When the own vehicle V travels on the road link L62 of the acceleration lane, the vehicle V approaches the node P34 that is a branch point. When the host vehicle V approaches the branch point P34, the control unit 6 creates reverse running determination areas R56, R57, and R58 on the road links L62, L52, and L53 connected to the branch point P34, respectively. The acceleration lane road link L62 is an own vehicle existence link. The road link L52 is an inflow link that flows into the node P34. The road link L53 is an outflow link that flows out from the node P34. Accordingly, the reverse running determination area R57 is an immediate effective determination area. The reverse running determination areas R56 and R58 are passage waiting determination areas.

  When the host vehicle V enters the road link L53 from the road link L62, which is an acceleration lane, through the branch point P34, the host vehicle V passes through the passage waiting determination areas R56 and R58. When the host vehicle V passes through the passage waiting determination areas R56 and R58, the control unit 6 changes them to the immediate validity determination area.

  FIG. 11 is a diagram when the host vehicle V approaches the break facility entry point P32 from within the service area. In this case, an immediate validity determination area R59 is created on the road link L61 of the deceleration lane that is the inflow link of the break facility entry point P32. Therefore, it can be detected that the host vehicle V runs backward in the deceleration lane.

  FIG. 12 shows a case where the vehicle enters the road link L52 from the road link L51 through the branch point P31. When the host vehicle V enters the road link L52 and passes through the passage waiting determination area R52, the control unit 6 changes the passage waiting determination area R52 to an immediate validity determination area. And when approaching the branch point P34, a reverse running determination area is created like R60-R62 of FIG. At this time, since the road link L52 is not the inflow link but the own vehicle presence link, the reverse running determination area R60 is a waiting waiting determination area. Moreover, since the road link L62 of the acceleration lane is an inflow link at the branch point P34, the reverse running determination area R56 is an immediate effective determination area.

  The flowchart of the reverse run determination area creation process described above is shown in FIGS. The processing of the flowcharts of FIGS. 13 and 14 is processing that is started when the power of the route guidance device 1 is turned on, and is executed by the control unit 6.

  In step S <b> 101, the control unit 6 acquires vehicle position information and information related to the traveling direction via the GPS receiver 2. Thereby, the process of step S101 is completed, and the process proceeds to step S102.

  In step S <b> 102, the control unit 6 acquires map information around the current position of the vehicle from the map information database 4 using the vehicle position information acquired by the process of step S <b> 101. Thereby, the process of step S102 is completed and it progresses to step S103.

  In step S103, the control unit 6 uses the position information and travel direction of the vehicle acquired by the process of step S101 and the map information database 4, and the next node that passes when the vehicle travels forward in the travel direction ( Hereinafter, it is described as a forward node). Thereby, the process of step S103 is completed, and the process proceeds to step S104.

  In step S104, the control unit 6 uses the road type information, node information, link information, and the like stored in the map information database 4 to determine whether the node detected in step S103 is a toll road branch point or toll gate. It is determined whether the node is a node or a general road connection node. As a result of the determination, if the forward node is either a toll road branch point or a toll gate node or a general road connection node, the process proceeds to step S105. Otherwise, return to Step 101.

  In step S105, the control part 6 acquires the positional information on a vehicle, and the information regarding a driving direction similarly to step S101. Thereby, the process of step S105 is completed and it progresses to step S106.

  In step S106, the control unit 6 uses the node information stored in the map information database 4 and the vehicle position information acquired in step S105, so that the forward node is within a predetermined distance from the host vehicle. It is determined whether or not. As a result of the determination, if the forward node is within a predetermined distance range, it is assumed that the vehicle has approached the forward node, and the process proceeds to step S111 in FIG.

  In step S111 of FIG. 14, the control unit 6 determines whether the forward node is a toll gate node or a general road connection node using the node information, link information, and information on the road type stored in the map information database 4. judge. If it is a toll gate node or a general road connection node, the process proceeds to step S121. If the forward node is neither a toll gate node nor a general road connection node, the process proceeds to step S112.

  In step S121, the control part 6 discriminate | determines the own vehicle presence link based on the positional information on the vehicle acquired by step S105 of FIG. 13, and the link information memorize | stored in the map information database 4. FIG. Then, the control unit 6 uses the position information of the reverse running determination area stored in the map information database 4 to set the determination end area in the vehicle presence link of the forward node as shown in FIG. 6 or FIG. Return to step S101 in FIG.

  In step S112, the control unit 6 determines whether or not the forward node is a break facility entry node using the node information, link information, and information on the road type stored in the map information database 4. As a result of the determination, if the node is a break facility entry node, the process proceeds to step S122. If it is not a break facility entry node, the process proceeds to step S113.

In step S122, the control unit 6 determines whether or not the position of the host vehicle is in the rest facility using the vehicle position information acquired in step S105 of FIG. As a result of the determination, if the position of the host vehicle is within the resting facility, the process proceeds to step S131. The location of the vehicle is outside the rest facility (
If it is on the deceleration lane), the process proceeds to step S132.

  In step S131, the control unit 6 uses the information regarding the road type stored in the map information database 4 to determine the road link of the deceleration lane that is the inflow link of the break facility entry node. And the control part 6 utilizes the positional information of the reverse running determination area memorize | stored in the map information database 4, and is the immediate effective determination area with respect to the road link of a deceleration lane like the reverse running determination area R59 of FIG. Set. Thereby, the process of step S131 is completed and it returns to step S101 of FIG.

  In step S132, the control unit 6 uses the information on the road type stored in the map information database 4 to determine the road link of the deceleration lane that is the inflow link of the break facility entry node. And the control part 6 utilizes the positional information on the reverse running determination area memorize | stored in the map information database 4, and it is the waiting waiting determination area with respect to the road link of a deceleration lane like the reverse running determination area R54 of FIG. Set. Thereby, the process of step S132 is completed, and the process returns to step S101 of FIG.

  In step S113, the control unit 6 uses the node information, link information, and information on the road type stored in the map information database 4 to determine whether the forward node is a break facility exit node. If it is determined that the node is a break facility exit node, the process proceeds to step S123. If it is not a break facility exit node, the process proceeds to step S114.

  In step S123, the control unit 6 uses the information on the road type stored in the map information database 4 to determine the road link of the acceleration lane connected to the break facility exit node. And the control part 6 uses the position information of the reverse running determination area memorize | stored in the map information database 4, and sets the waiting waiting determination area to the road link of an acceleration lane like the reverse running determination area R55 of FIG. To do. Thereby, the process of step S123 is completed, and the process returns to step S101 of FIG.

  In step S114, since the forward node is a branch point of the toll road, the control unit 6 uses the vehicle position information acquired in step S105 of FIG. 13 and the link information stored in the map information database 4 to move forward. Determine the inflow link of the node. And the control part 6 uses the positional information on the reverse running determination area memorize | stored in the map information database 4, and sets an immediate effective determination area to each inflow link of a front node like the reverse running determination area R12 of FIG. Set. Thereby, the process of step S114 is completed and it progresses to step S115.

  In step S115, the control unit 6 determines the vehicle presence link and the outflow link of the forward node using the vehicle position information acquired in step S105 of FIG. 13 and the link information stored in the map information database 4. . And the control part 6 utilizes the positional information on the reverse running determination area memorize | stored in the map information database 4, and the own vehicle presence link of a front node like the reverse running determination areas R11, R13, and R14 of FIG. And a passage waiting judgment area for each of the outflow links. Thereby, the process of step S115 is completed and it returns to step S101 of FIG.

  By the processing shown in the above flowchart, an appropriate reverse running determination area can be created when the host vehicle is on a toll road.

[Reverse run detection processing]
Next, an example of reverse running detection processing in the embodiment of the present invention will be described. The reverse running detection process in the present embodiment is executed by the control unit 6. The reverse running detection process in the present embodiment executes the process described with reference to FIGS. 2 to 4 when the own vehicle is present in the road region of the reverse running determination area created by the reverse running judgment area creating process. Is.

  The reverse running detection process will be described with reference to the flowcharts of FIGS. The process shown in FIGS. 15 to 17 is a process that is started when the power of the route guidance device 1 is turned on, and is executed by the control unit 6. As described above, the reverse running detection process is executed in parallel with the reverse running determination area creation process.

  If control part 6 starts execution of reverse run detection processing, processing of Step S201 will be started. In step S <b> 201, the control unit 6 acquires vehicle position information and information related to the traveling direction via the GPS receiver 2. Thereby, the process of step S201 is completed, and the process proceeds to step S202.

  In step S202, the control unit 6 uses the vehicle position information acquired in step S201 and information related to the reverse running determination area stored in the RAM or the like of the control unit 6, and the host vehicle is in the determination end area. It is determined whether or not. If it is determined that the host vehicle is in the determination end area, the process proceeds to step S203 in order to start the process described in FIG. If the host vehicle is not in the determination end area, the process proceeds to step S211 in FIG.

  In step S203, as in step S201, the control unit 6 acquires vehicle position information and information related to the traveling direction via the GPS receiver 2. Thereby, the process of step S203 is completed, and the process proceeds to step S204.

  In step S204, the control unit 6 determines whether or not the vehicle has passed the determination end area using the vehicle position information and the traveling direction acquired in step S203. If the control unit 6 determines that the host vehicle has not passed the determination end area, the process returns to step S203, and if it is determined that the vehicle has passed, the process proceeds to step S205.

  In step S205, the control unit 6 deletes all the reverse run determination areas created by the reverse run determination area creating process, and returns to step S201.

  In step S211 of FIG. 16, the control unit 6 uses the vehicle position information acquired in step S201 of FIG. 15 and information related to the reverse running determination area stored in the RAM of the control unit 6 or the like. It is determined whether or not it is in the passage waiting determination area. If it is determined that the host vehicle is in the passage waiting determination area, the process proceeds to step S212 in order to start the process described in FIG. If the host vehicle is not in the passage waiting determination area, the process proceeds to step S221 in FIG.

  In step S212, as in step S201, the control unit 6 acquires vehicle position information and information related to the traveling direction via the GPS receiver 2. Thereby, the process of step S212 is completed, and the process proceeds to step S213.

  In step S213, the control unit 6 determines whether or not the vehicle has passed the passage waiting determination area using the vehicle position information and the traveling direction acquired in step S212. If the control unit 6 determines that the host vehicle has not passed the passage waiting determination area, the process returns to step S212. If it is determined that the vehicle has passed, the process proceeds to step S214.

  In step S214, the control unit 6 changes the waiting waiting determination area through which the host vehicle has passed to the immediate validity determination area, and returns to step S201 in FIG.

In step S221 in FIG. 17, the control unit 6 uses the vehicle position information acquired in step S201 in FIG. 15 and information on the reverse running determination area stored in the RAM or the like of the control unit 6. It is determined whether or not it is in the immediate validity determination area. If it is determined that the host vehicle is in the immediate validity determination area, the process proceeds to step S222 to start the process described in FIG. If the host vehicle is not in the immediate validity determination area, it is determined that the vehicle is not in the reverse running determination area, and the process returns to step S201 in FIG.

  In step S222, as in step S201, the control unit 6 acquires vehicle position information and information related to the traveling direction via the GPS receiver 2. Thereby, the process of step S222 is completed, and the process proceeds to step S223.

  In step S223, the control unit 6 calculates a minor angle formed between the traveling direction of the vehicle acquired in step S222 and the passable direction in the road link in which the immediate validity determination area is created, and the minor angle is a predetermined angle. It is determined whether it is above. If it is determined that the minor angle between the two directions is equal to or greater than the predetermined angle, the process proceeds to step S224. When it is determined that the minor angle formed in the two directions is less than the predetermined angle, the process returns to step S221 to determine whether or not the host vehicle is still within the immediate effective determination area.

  In step S224, the control unit 6 uses the output unit 5 to notify the driver that the host vehicle is running backward on the road link by outputting an image, sound, or the like, and returns to step S221.

[Reverse run determination area deletion process]
Next, an example of the reverse run determination area deletion process in the embodiment of the present invention will be described.

  The reverse run determination area deletion process deletes a reverse run determination area created by the reverse run determination area creation process that is located far from the host vehicle. The reverse running determination area deleting process will be described with reference to FIG.

  FIG. 18 is an example when the host vehicle V is traveling in a road map including nodes P51 to P54 and road links L81 to L89. The host vehicle V passes from the road link L81 through nodes P51 to P53, which are branch points, travels on the road link L87, and approaches the node P54, which is a branch point. At this time, reverse running determination areas R81 to R88 are created on the road links L81 to L86 behind the traveling direction of the host vehicle.

  In the example of FIG. 18, the host vehicle V does not enter the reverse run determination areas R81 to R83 without passing through the other reverse run determination areas (for example, the reverse feed determination area R87). Therefore, even if the reverse run determination areas R81 to R83 are deleted, reverse run cannot be detected, and there is no problem in the reverse run detection process. The reverse run determination area deletion process determines and deletes the reverse run determination area that does not cause a problem in the reverse run detection process even if such deletion is performed. The reverse running determination area may be deleted, for example, by deleting the vehicle and the reverse running determination area that are separated by a predetermined distance X or a branch point where the own vehicle is located (for example, P53). You may make it delete the reverse run determination area (for example, R81-R83) relevant to the two previous branch points (for example, P51) when passing. In any of the determination methods, the reverse running determination areas R81 to R83 are deleted in the example of FIG.

  An example of the reverse run determination area deletion process will be described with reference to the flowchart of FIG. The flowchart of FIG. 19 is a process that is started when the power of the route guidance device 1 is turned on, and is executed by the control unit 6. As described above, the reverse run determination area deletion process is performed in parallel with the reverse run determination area creation process and the reverse run detection process.

When execution of the reverse run determination area deletion process is started by the control unit 6, the process of step S301 is started. In step S301, the control unit 6 uses the RAM of the control unit 6 to determine whether or not there is a reverse run determination area created by the reverse run determination area creation process. If the reverse run determination area exists, the process proceeds to step S302, and if not, the process stays in step S301.

  In step S <b> 302, the control unit 6 acquires vehicle position information and information related to the traveling direction via the GPS receiver 2. Thereby, the process of step S302 is completed, and the process proceeds to step S303.

  In step S303, the control unit 6 compares the vehicle position information acquired in step S302 with the position coordinates of each reverse running determination area stored in the RAM of the control unit 6 and is separated by a predetermined distance. To extract. Thereby, the process of step S303 is completed, and the process proceeds to step S304. The predetermined distance in step S303 needs to be longer than the predetermined distance in step S106 of FIG. 13, and is preferably longer than the maximum value of the distance between the nodes at both ends of the road link.

  In step S304, the control unit 6 deletes the reverse run determination area extracted in step S303. Thereby, the process of step S304 is completed, and the process returns to step S301. It is desirable to change the information on the reverse run determination area stored in the RAM or the like of the control unit 6 so that it can be seen that it has been deleted.

  According to the embodiment described above, the following operational effects are obtained.

(1) In the vehicle reverse running detection device of the present embodiment, the control unit 6 detects the position of the host vehicle and the traveling direction of the host vehicle using the GPS receiver 2 (step S101 in FIG. 13 and the like), and map information The map information is stored in the database 4 or the like, and the control unit 6 detects a node that detects reverse running of the host vehicle ahead of the traveling direction of the host vehicle based on the map information (step S103 in FIG. 13) and is detected. A reverse running determination area is created on the road extending from the node (FIG. 14), and it is determined whether the own vehicle is running backward based on the traveling direction of the own vehicle when the own vehicle is in the immediate effective judgment area. (FIGS. 15 to 17). As a result, since it is decided to perform reverse running only in the reverse running judgment area, when it is temporarily determined that the vehicle is running on a road on which the vehicle is not running due to an error in the position information of the own vehicle. The possibility of determining that the vehicle is running backward is reduced, and false notification of warning information can be reduced.

(2) In the vehicle reverse running detection device of the present embodiment, the control unit 6 can create three types of reverse running determination areas: an immediate effective determination area, a waiting waiting determination area, and a determination end area (FIG. 2). FIG. 4). The control unit 6 selects the type of reverse running determination area to be created for each road link based on the node information, link information, information on the road type, and the position information of the host vehicle stored in the map information database 4 (Steps S111 to S113 and S122 in FIGS. 5 to 7 and FIG. 14), the reverse type determination area of the selected type is created for each road link (Steps S114, S115, S121, S123, S131, FIG. 14). And S132), when the own vehicle exists inside the created reverse run determination area, the process determined for each type of reverse run determination area is executed (FIGS. 15 to 17). Thereby, it is possible to perform more accurate reverse running detection on a road extending from a node where a plurality of roads flow in or out. In particular, creating a passage waiting determination area in the own vehicle existence link or the outflow link can reduce false notification when an error in the direction information of the own vehicle occurs due to an error in the position information of the own vehicle. .

(3) In the vehicle reverse running detection device of the present embodiment, the control unit 6 does not create a reverse running determination area on a road link of a resting facility such as a service area or a parking area. Thereby, it is possible to prevent erroneous notification when traveling in a parking lot of a rest facility (FIG. 10).

(4) In the vehicle reverse running detection device of the present embodiment, when the host vehicle approaches a general road or a toll gate, the control unit 6 creates a determination end area on the road link of the road on which the host vehicle is traveling. (Steps S111 and S121 in FIG. 14) When the vehicle passes through the determination end area created by the host vehicle, the reverse running notification determination process on the toll road is ended (FIG. 15). As a result, at an interchange or the like, when the vehicle goes back to the toll road after passing through the toll gate once, the vehicle runs backward in the reverse run judgment area created on the road link in the opposite lane due to the error in the position information of the own vehicle. It is possible to prevent being determined to be present.

(5) In the vehicle reverse running detection device of the present embodiment, the control unit 6 is based on the position information of the own vehicle and the position information of the reverse running determination area, and the reverse running determination area that is separated from the own vehicle by a predetermined distance or more. Is deleted (FIGS. 18 and 19). As a result, a large number of reverse run determination areas can be created by traveling on a toll road for a long time, and an excessive load can be prevented from being applied to the control unit 6.

(6) In the vehicle reverse running detection device of this embodiment, when the control unit 6 determines that the host vehicle is running backward by the reverse running notification process, the warning information is output by voice or image using the output unit 5. Can be output (step S224 in FIG. 17). Thereby, it can be notified to the driver that the vehicle is running backward.

  The above-described embodiment can be modified as follows.

(1) In the present embodiment, the case where the host vehicle V approaches the node P11 that is in front of the traveling direction from the inflow link has been described with reference to FIG. When the error information is included in the position information of the own vehicle or when the driver is unaware of the notification regarding the reverse running, the own vehicle V may approach the node from the outflow link. In such a case, you may decide to create an immediate effective determination area in the road link where the own vehicle exists.

(2) In the present embodiment, the created reverse run determination area is stored in the RAM of the control unit 6, but the present invention is not limited to this. For example, it may be stored in a nonvolatile storage device such as a hard disk. Thereby, when it restarts after parking the own vehicle, it can determine using the reverse running determination area created before parking. Thereby, even when the reverse running determination area is not correctly created due to an error in the position information of the own vehicle after restarting, reverse running can be detected using the reverse running judgment area created before parking. For example, when the reverse run determination area R59 of FIG. 11 is not created due to an error in the position information of the host vehicle, the reverse run can be detected if the reverse run determination area R54 of FIG. 10 remains in the nonvolatile storage device.

(3) In the present embodiment, reverse running detection when the host vehicle is traveling on a toll road has been described. However, the present invention may be applied to a one-way road on a general road. When applied to a one-way road, the determination end area may be created for a road link that is not one-way.

(4) In this embodiment, the position where the reverse run determination area is created is based on the position information of the reverse run determination area stored in the map information database 4, but based on node information, link information, etc. May be calculated. For example, a circle centered on the position coordinates of the forward node may be divided into sectors based on the extending direction of the link, or may be a road area wider than the road width along the link extending from the forward node.

(5) In this embodiment, in the reverse running determination on the toll road, the reverse running determination area is not created on the general road, but may be created on the general road. For example, the determination end area may be created on a road link of a general road extending from the general road connection node.

(6) In the present embodiment, the warning notification is made by voice or image, but is not limited thereto. Anything that can be perceived by the five senses of the driver is acceptable.

(7) In the present embodiment, the traveling direction of the host vehicle is acquired using the GPS receiver 2, but the present invention is not limited to this. For example, you may acquire using a gyro sensor etc.

  Each embodiment and various modifications described above are merely examples, and the present invention is not limited to these contents as long as the features of the invention are not impaired.

1: route guidance device,
2: GPS receiver,
3: Vehicle speed sensor
4: Map information database,
5: Output section,
6: Control unit

Vehicle reverse run detection device according to the present invention includes a vehicle position detecting means for detecting the position of the vehicle, a travel direction detection means for detecting a traveling direction of the vehicle, a map information storage means for storing MAP information, various processes And a control means for outputting various information, and the control means creates a reverse running determination area for judging whether or not the vehicle is running backward, and the vehicle position detecting means When the detected position of the vehicle is in the reverse running determination area, it is determined whether the vehicle is running backward, and if the predetermined condition is satisfied, the created reverse running determination area is deleted. The output means outputs information for notifying the user that the vehicle is running backward when the control means determines that the vehicle is running backward .

Claims (9)

Own vehicle position detecting means for detecting the position of the own vehicle;
Traveling direction detection means for detecting the traveling direction of the host vehicle;
Map information storage means for storing map information including position information of connection points to which a plurality of roads including at least a one-way road in which the road traveling direction is set in only one direction is connected;
Determination point setting means for setting the connection point in front of the traveling direction of the host vehicle detected by the traveling direction detection means as a determination point based on the map information stored in the map information storage means;
One of a plurality of roads connected to the determination point set by the determination point setting means, as a reverse determination area used for determining whether or not the vehicle is traveling backward on the one-way road Reverse run determination area setting means to be set for at least one road;
Whether the host vehicle is traveling backward on the one-way road based on the traveling direction set for the one-way road connected to the determination point and the traveling direction of the host vehicle. Reverse running determination means for determining
The reverse running determination area set by the reverse running determination area setting means includes an immediate effective determination area for immediately determining reverse running of the host vehicle,
Whether the host vehicle is traveling backward on the one-way road when the position of the host vehicle detected by the host vehicle position detecting unit is within the immediate validity determination area. A vehicle reverse running detection device characterized by determining whether or not. In the vehicle reverse running detection device according to claim 1,
The reverse running determination area further includes a passage waiting determination area for determining reverse running of the host vehicle after passing the host vehicle,
The reverse running determination area setting means is a one-way road in which the traveling direction is set in a direction toward the determination point among a plurality of roads connected to the determination point, and the own vehicle exists. The immediate effective judgment area is set for a road that is not, and the advancing direction is set in a direction away from the road where the own vehicle exists or the judgment point, and for the one-way road, Create a judgment area,
A vehicle reverse running detection device, further comprising area changing means for changing the pass waiting determination area to the immediate validity determination area when the host vehicle passes through the pass waiting determination area. In the vehicle reverse running detection device according to claim 1 or 2,
The reverse run determination area further includes a determination end area for ending the reverse run determination of the host vehicle,
The reverse running determination area creating means is configured to detect a road on which the host vehicle travels when a road of a first road type is connected to the determination point, or when the determination point represents a predetermined place. Set the judgment end area,
Vehicle reverse running detection, further comprising first area deleting means for deleting the reverse running determination area created by the reverse running determination area creating means when the host vehicle passes through the determination end area. apparatus. In the vehicle reverse running detection device according to claim 3,
Said 1st road classification contains a general road, The vehicle reverse running detection apparatus characterized by the above-mentioned. In the vehicle reverse running detection device according to claim 3 or 4,
The vehicle reverse running detection device characterized in that the predetermined place includes a toll gate on a toll road. In the vehicle reverse running detection device according to any one of claims 1 to 5,
The reverse running determination area setting means does not set the reverse running determination area on a road of a second road type among a plurality of roads connected to the determination point. In the vehicle reverse running detection device according to claim 6,
Said 2nd road classification includes the road in the rest facility of a toll road, The vehicle reverse running detection apparatus characterized by the above-mentioned. In the vehicle reverse running detection device according to any one of claims 1 to 7,
The vehicle reverse running detection device further comprising second area deletion means for deleting the reverse running determination area that is behind the traveling direction of the own vehicle and is separated from the own vehicle by a predetermined distance or more. In the vehicle reverse running detection device according to any one of claims 1 to 8,
Vehicle reverse running detection, further comprising notification means for notifying the driver that the vehicle is running backward by voice or image when the reverse running determination means determines that the host vehicle is running backward. apparatus.

Images