JP2015097071A - Safety speed information generation device, safety speed generation method, and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a safety speed information generation device for generating highly reliable safety speed information.SOLUTION: A safety speed information generation device 20 comprises: a probe data receiving part 21 for receiving probe data containing travel speed data of a probe car from a data collection device 10 mounted on the probe car; a travel speed data selection part 23 for selecting travel speed data in which a change amount of acceleration is not larger than a prescribed threshold value continuously in a prescribed road section; and a safety speed information generation part 20 for calculating average travel speeds of probe cars in the prescribed road section from the selected travel speed data and generating safety speed information in the prescribed road section on the basis of a distribution state of the average travel speeds.

Description

  The present invention relates to a technique for generating safe speed information for a vehicle traveling on a road.

  2. Description of the Related Art Conventionally, a technique for supporting a driver's safe driving by paying attention to the traveling speed of a vehicle is known. For example, Patent Document 1 describes an invention that measures the relative speed and distance between other vehicles positioned in front of and behind the host vehicle, and outputs an alarm for reporting the risk of collision. Patent Document 2 describes an invention for controlling the traveling speed of the host vehicle based on the predicted transition of the traveling speed of the vehicle group.

JP-A-6-162396 JP 2008-269357 A

  However, the safe traveling speed can vary depending on factors other than the presence of other vehicles. In other words, even when the amount of traffic of the vehicle is small, it cannot be safe if the speed limit on the sign is always observed. Specifically, the speed limit is specified as 50 km / h on the sign, but after the sign is installed, the surrounding area has been developed as a residential land, and there are many pedestrians or roads with poor visibility. As an example. Therefore, it is convenient if a safe speed in accordance with the actual situation of the road can be presented in advance regardless of the presence or absence of other traveling vehicles.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide a safe speed information generation apparatus that generates safe speed information with high reliability.

  The safe speed generation device of the present invention includes a probe data receiving unit that receives probe data including travel speed related data of the probe car from a data collection device mounted on the probe car, and the received travel speed related data. A road speed related data selection unit that selects the travel speed related data whose acceleration change amount is not more than a predetermined threshold continuously in a predetermined road section, and the road section from the selected travel speed related data And a safe speed information generation unit that generates safe speed information in the road section based on a distribution state of the average travel speed.

  A small amount of change in acceleration during traveling means that the vehicle is stably accelerating and decelerating, that is, driving well. And a driver who is good at driving can be considered to be driving at a safe speed according to the actual situation of the road. Therefore, according to the above configuration, it is possible to generate highly reliable safe speed information that reflects the actual situation of the road, using the travel speed related data of the driver who is good at driving. The travel speed related data acquired from the probe car is data indicating the travel speed of each probe car, as well as data that can calculate the travel speed of each probe car using its value, for example, acceleration. That is.

  The safe speed information generation device of the present invention further includes a traffic information receiving unit that receives traffic information including traffic data at a predetermined road point, and the travel speed related data selection unit is provided in a road section including the road point. You may exclude from the said travel speed related data the travel speed related data obtained while the said traffic volume data became more than a predetermined threshold value.

  Here, the traffic volume data is the number of vehicles passing in a unit time. It is known that the state where the traffic data is large, that is, the density is high, is a state before the traffic jam. In a state of traffic jam or before traffic jam, the vehicle speed is excessively decelerated, so it cannot be said to be a normal safe speed. Further, in the safe speed information generating device of the present invention, the safe speed is determined from the average speed distribution in a certain road section. However, the passing speed at the point in the previous stage of the traffic congestion may vary depending on the vehicle. Are known. Therefore, when the traffic volume data is equal to or greater than the threshold value, the safe speed information with higher reliability can be generated by excluding the traffic data from the speed data in the road section including the point.

  In the safe speed information generation device of the present invention, the travel speed related data selection unit includes a first travel speed of the probe car in the first road section, and the probe car following the first road section. The travel speed related data in the first and second road sections in which the difference between the second travel speed in the second road section traveled and a second travel speed smaller than the first travel speed is equal to or greater than a predetermined threshold. May be excluded.

  When the traveling speed in a certain road section is drastically reduced compared to the traveling speed in the previous road section, the traveling speed in the previous road section is too fast, so the next road section (decelerated road) It can be considered that traffic congestion occurred in the section). In such a case, even if acceleration / deceleration is performed smoothly in the previous road section, it cannot be said that the vehicle has traveled at a safe speed. Therefore, when the deceleration is equal to or greater than the threshold value, safe speed information with higher reliability can be generated by excluding the traveling speed related data of the road sections before and after the deceleration.

  In the safe speed information generating apparatus of the present invention, the probe data includes dangerous driving history data associated with the position data of the probe car, and the traveling speed related data selection unit is a road corresponding to the dangerous driving history. The travel speed related data in the road section located within a predetermined distance from the point may be excluded.

  In this way, by narrowing down the driving speed related data based on the dangerous driving history data, driving speed data of drivers who have done dangerous driving in the past is excluded, and more reliable safe speed information is generated. can do. The dangerous driving history data refers to data indicating the presence of dangerous driving such as accidents, near misses, and sudden braking, which is recorded on a drive recorder or a digital operation recorder mounted on the probe car, for example.

  In the safe speed information generating apparatus of the present invention, the travel speed related data selection unit may exclude travel speed related data exceeding a speed limit determined in the road section.

  According to this configuration, it is possible to generate highly reliable safe speed information that complies with the legal speed limit.

  In the safe speed information generation device of the present invention, the probe data includes steering angle data of the probe car, and the travel speed related data selection unit is configured to determine a predetermined steering angle in the road section based on the steering angle data. You may exclude the said travel speed related data of the probe car in which the variation | change_quantity per time is more than a predetermined threshold value.

  It is possible to determine the skill of driving not only from the acceleration change amount but also from the change amount of the steering angle per predetermined time. That is, while the amount of change in the rudder angle of a driver who is good at driving is small, the amount of change in the rudder angle of a driver who is not good at driving tends to be large due to the steering operation. Therefore, safe speed information with higher reliability can be generated by excluding travel speed data in which the change amount of the steering angle is equal to or greater than a predetermined threshold.

  In the safe speed information generating apparatus according to the present invention, the safe speed information generating unit includes a median value, an average value, and a 1σ value of the average travel speed distribution, or a predetermined range including the median value. Safe speed information may be generated in which the speed inside is the safe speed in the road section.

  According to this configuration, it is possible to generate highly reliable safe speed information that reflects an actual tendency of a driver who is good at driving.

  In the safe speed information generating apparatus of the present invention, the safe speed information generating unit is a first speed that is lower than any one of a median value, an average value, and a 1σ value of the distribution of the average travel speed. Alternatively, safe speed information in which a speed within a predetermined range including the first speed is a safe speed is generated, and any one of the median value, the average value, and the 1σ value in the other predetermined road section. Safety speed information may be generated in which a second speed or a speed within a predetermined range including the second speed is a safe speed.

  With this configuration, a safe speed is set in advance in a place where traffic congestion is likely to occur due to a predetermined road shape. By providing this safe speed to the driver, the possibility of traffic jams can be reduced.

  In the safe speed information generating device of the present invention, the safe speed information generating device further includes a driving condition data receiving unit that receives driving condition data indicating a driving condition of the probe car, and the safe speed information generating unit includes the average driving speed for each driving condition data. And the safe speed information in the road section may be generated for each of the travel status data based on the distribution state of the average travel speed.

  If an attempt is made to obtain a safe speed using travel speeds in various situations, data may be lost and the safe speed may not be obtained. According to the configuration of the present invention, the acquired traveling speed related data is classified according to the traveling state of the probe car, and the safe speed information is generated for each traveling state, so that the safe speed can be appropriately obtained. In addition, it is possible to improve the reliability of safe speed information by finely reflecting the actual road conditions. Incidentally, the traveling state of the probe car means various conditions at the time of traveling of the probe car that change with the passage of time, or temporal conditions themselves such as a traveling date and a traveling date.

  In the safe speed information generating apparatus according to the present invention, the traveling state data includes data indicating factors that affect a driver's field of view, factors that affect a friction coefficient between a vehicle and a road, and factors that affect a road traffic density. Of these, at least one of them may be included.

  With this configuration, a factor that particularly affects the traveling speed can be reflected in the safe speed as traveling state data, and safe speed information with higher reliability can be generated. Here, the data indicating the factors affecting the driver's field of view are, for example, data on weather (rain, snow, fog), data on solar illuminance and direction (time zone, time or time and year / month data, etc.) It is. The data indicating the factor affecting the friction coefficient between the vehicle and the road is, for example, data relating to weather (rain, snow, fog) and humidity. Further, the data indicating the factors affecting the traffic density on the road are, for example, data on traffic information such as traffic jam information and the presence / absence of events around the road section. These data can be acquired using a probe car or a predetermined communication means, and can be used as classification data for travel speed related data as attribute data indicating the travel status of the travel speed related data.

  In the safe speed information generation device of the present invention, the probe data may include at least one traveling state data.

  With this configuration, it is possible to acquire the traveling status data together with the traveling speed related information, and therefore it is possible to generate highly reliable safe speed information with a simple configuration.

  The safe speed information generation method according to the present invention is a method for generating safe speed information in a predetermined road section based on data collected from a probe car, and the probe car from a data collection device mounted on the probe car. Receiving the probe data including the traveling speed related data, and the traveling speed related data in which the amount of change in acceleration is continuously below a predetermined threshold from the received traveling speed related data. And calculating the average traveling speed of the probe car in the road section from the selected traveling speed-related data, and based on the distribution state of the average traveling speed, the safety speed information in the predetermined road section And a step of generating.

  With this configuration, it is possible to generate highly reliable safe speed information that reflects the actual situation of the road, using the travel speed related data of a driver who is good at driving. Note that various configurations of the above-described safe speed information generation apparatus can be applied to the safe speed information generation method of the present invention.

  The program according to the present invention is a program for generating safe speed information in a predetermined road section based on data collected from a probe car, and the computer collects the probe from a data collection device mounted on the probe car. Receiving probe data including car travel speed related data, and the travel speed related data in which the amount of change in acceleration continuously falls below a predetermined threshold from the received travel speed related data Selecting the data, and calculating the average traveling speed of the probe car in the road section from the selected traveling speed-related data, and based on the distribution state of the average traveling speed, the safety speed information in the road section is calculated. And generating a step.

  With this configuration, it is possible to generate highly reliable safe speed information that reflects the actual situation of the road, using the travel speed related data of a driver who is good at driving. Various configurations of the above-described safe speed information generation device can be applied to the program of the present invention.

  The route information providing apparatus according to the present invention includes a probe data receiving unit that receives probe data including travel speed related data of the probe car from a data collection device mounted on the probe car, and the received travel speed related data. A road speed related data selection unit that selects the travel speed related data whose acceleration change amount is not more than a predetermined threshold continuously in a predetermined road section, and the road section from the selected travel speed related data The average traveling speed of the probe car in the vehicle is calculated, and based on the distribution state of the average traveling speed, a safe speed information generating unit that generates safe speed information in the road section, and a traveling speed history of the vehicle performing the route search are received. On the basis of the generated traveling speed history, the generated safety speed information, and the received traveling speed history. Has a route search section for determining a route to target locations, a configuration in which a route information transmitting unit for transmitting the route information determined by the route search unit.

  With this configuration, the route to the destination is determined based on the reliable safe speed information generated from the travel speed related data of the driver who is driving well and the travel speed history. Therefore, route information that allows each driver to drive safely can be provided.

  According to another aspect of the present invention, there is provided a safe speed information generation device including probe data including travel speed related data of the probe car and sensing data from a sensor mounted on the probe car from a data collection device mounted on the probe car. On the basis of the received sensing data, a line-of-sight determining unit for determining the line-of-sight distance of the probe car on a predetermined road section, and the received traveling speed-related data A stop distance calculating unit that calculates a stop distance of the probe car in the road section, and determining a safe stop possible speed based on a shorter one of the line-of-sight distance and the stop distance, and the safe stop possible speed A safe speed information generation unit for generating safe speed information in the road section based on the distribution state of the road Has a configuration was.

  According to this configuration, the safe stop possible speed is determined based on the shorter distance among the line-of-sight distance determined based on the sensing data, the speed data, and the stop distance calculated based on the weather information. Based on the distribution of stoppable speeds, the safe speed for each road link is determined. Here, the line-of-sight distance means a distance (viewing distance) that allows the driver of the probe car to see through the road. The stop distance is the distance until the automobile stops, and is the sum of the free running distance and the braking distance. The speed at which safety can be stopped means that when a driver tries to stop the vehicle by visually confirming the presence of an unexpected pedestrian within the range of the line-of-sight distance, the vehicle can be safely stopped before the pedestrian. The speed that can be done. Therefore, highly reliable safe speed information that can be stopped safely even if there is an unexpected situation can be generated in accordance with the actual situation of the road reflected in the sensing data as the line-of-sight distance.

The safe speed information generating apparatus further includes a traveling state information receiving unit including weather information,
The stop distance calculation unit may calculate the stop distance based on the travel speed related data and the weather information.

  The stopping distance varies depending on the road surface condition mainly influenced by the weather. Therefore, according to this configuration, a more accurate stop distance can be calculated, and highly reliable safe speed information can be generated.

  In the above safe speed information generation device, the probe data may include attribute information of the driver of the probe car, and the line-of-sight distance and / or the stop distance may change according to the attribute information of the driver.

  According to this configuration, the line-of-sight distance and / or the stop distance can be determined finely according to driver attributes, and highly reliable safe speed information can be generated.

  A safe speed information generation method according to another aspect of the present invention is a method for generating safe speed information in a predetermined road section based on data collected from a probe car, from a data collection device mounted on the probe car. Receiving probe data including travel speed related data of the probe car and sensing data from a sensor mounted on the probe car, and the probe car in a predetermined road section based on the received sensing data Determining a line-of-sight distance, calculating a stop distance of the probe car in the road section based on the received traveling speed-related data, and the shorter of the line-of-sight distance and the stop distance. The safe stop possible speed is determined based on the distance, and the safe stop possible speed is distributed. Hazuki, and has a configuration in which the step of generating a safe speed information in the road section.

  A program according to another aspect of the present invention is a program for generating safety speed information in a predetermined road section based on data collected from a probe car, and is a data collection device mounted on a probe car on a computer. Receiving probe data including travel speed related data of the probe car and sensing data from a sensor mounted on the probe car, and the probe in a predetermined road section based on the received sensing data A step of determining a line-of-sight distance of the car, a step of calculating a stop distance of the probe car in the road section based on the received traveling speed-related data, and a shorter one of the line-of-sight distance and the stop distance The safe stop speed is determined based on the distance of the Based on the distribution of the velocity, and a step of generating a safe speed information in the road section.

  According to the present invention, it is possible to generate highly reliable safe speed information by using travel speed related data of a probe car that performs stable acceleration and deceleration. Various configurations of the above-described safe speed information generation device can be applied to the program of the present invention.

The figure which shows the structure of the safe speed information generation system of 1st Embodiment. The figure which shows an example of the road link information memorize | stored in the map database of 1st Embodiment Illustration for explaining the concept of critical traffic The figure which shows the hardware constitutions of a safe speed information generation apparatus The flowchart which shows operation | movement of the safe speed production | generation apparatus of 1st Embodiment. The figure which shows the example of the traveling speed data transmitted from the probe car The figure which shows the structure of the safe speed information generation system of 2nd Embodiment. The flowchart which shows operation | movement of the safe speed information generation apparatus of 2nd Embodiment. The figure which shows the example of the average traveling speed distribution in the road link The figure which shows the example of a display of the map data to which safe speed information was added The figure which shows the structure of a route information provision apparatus Flow chart showing operation of route information providing device The figure which shows the structure of the safe speed information generation system of 3rd Embodiment. Diagram for explaining the concept of safe stop possible speed The flowchart which shows operation | movement of the safe speed information generation apparatus of 3rd Embodiment.

  Hereinafter, a safe speed information generation device and a safe speed information generation system according to an embodiment of the present invention will be described with reference to the drawings.

(First embodiment)
[Configuration of Safe Speed Information Generating System of First Embodiment]
FIG. 1 is a diagram illustrating a configuration of a safe speed information generation system 1 according to the first embodiment. The safe speed information generation system 1 includes a data collection device 10 mounted on a so-called probe car and a safe speed information generation device 20 that is a server. The data collection device 10 and the safe speed information generation device 20 are connected via a network and are configured to be able to transmit and receive data.

  The data collection device 10 includes a current position detection unit 11, a traveling speed detection unit 12, a date / time information acquisition unit 13, and a communication unit 14. The current position detection unit 11 detects the current position of the vehicle based on GPS information received by a GPS receiver (not shown) and outputs the current position to the communication unit 14. The traveling speed detector 12 detects the traveling speed of the vehicle and outputs it to the communication unit 14. The date / time information acquisition unit 13 acquires date / time information from a clock (not shown) and outputs the date / time information to the communication unit 14. The communication unit 14 transmits the date / time data, the current position data of the vehicle, and the traveling speed data of the vehicle at the current position to the safe speed information generation device 20.

  The safe speed information generating apparatus 20 includes a probe data receiving unit 21, a traffic information receiving unit 22, a travel speed data selecting unit 23, a safe speed information generating unit 24, a critical traffic volume database 25, and a map database 26. The probe data receiving unit 21 receives the position data, date / time data, and traveling speed data transmitted from the data collection device 10, and outputs them to the traveling speed data selecting unit 23. The traffic information receiving unit 22 receives traffic information including traffic data at a predetermined road point from, for example, VICS (registered trademark) (Vehicle Information and Communication System) and outputs the traffic information to the traveling speed data selecting unit 23.

  The travel speed data selection unit 23 refers to the map database 26 and associates the travel speed data received from the probe car with the road link ID. Here, the map database 26 stores map data and road link information. FIG. 2 is a diagram illustrating an example of road link information stored in the map database 26. As shown in FIG. 2, the road link information includes a road link ID, starting and ending node position data of each road link, link length, and the like. Therefore, by referring to the position data received together with the traveling speed data from the probe car, it can be specified which traveling speed data corresponds to the passing speed of which road link. It is possible to identify which lane (up / down) the vehicle has traveled. It is also possible to calculate the link travel time when traveling on the road link at a certain speed.

  The traveling speed data selection unit 23 also calculates the amount of change in the acceleration of each probe car in each road link based on the received traveling speed data, and the amount of acceleration change through one road link is equal to or less than a predetermined threshold value. The travel speed data of the probe car is selected and output to the safe speed information generator 24. At that time, when the traveling speed data selection unit 23 determines that a certain road point is in a traffic congestion critical state at a certain date and time based on the received traffic data and the critical traffic data stored in the critical traffic database 25. The travel speed data of the probe car that has passed the road point at that date is excluded and output to the safe speed information generation unit 24. The critical traffic volume database 25 stores critical traffic volume data at a certain road point in association with position data. The critical traffic data is represented by the number of vehicles passing through the point per unit time, and it is known that the traffic congestion critical state immediately before the occurrence of the traffic jam occurs when the traffic volume exceeds this value.

  FIG. 3 is a diagram schematically showing the state of traffic at a certain road point A. As shown in FIG. The traffic volume state can be classified into three states: a non-restrained area (state) that does not lead to traffic congestion, a critical area (state) where the traffic volume and traffic density are high, and a congestion area (state). it can. It is known that when the traffic volume continues to increase from the unrestrained area and reaches the critical traffic volume, the traveling speed suddenly decreases (this causes the speed to vary from vehicle to vehicle) and enters the critical area. ing. In the example of FIG. 3, the critical traffic volume is X units / 5 minutes, and this value is stored in the database 26 as the critical traffic volume at the point A. When the traffic volume at point A output from the traffic information receiving unit 22 exceeds X units / 5 minutes, the traveling speed data selection unit 23 determines that the point A is in a traffic congestion critical state, and the same date and time or a time close to it The traveling speed data of the probe car that has passed the point A is excluded.

  Returning to FIG. 1, the safe speed information generation unit 24 generates safe speed information for each road link based on the selected speed data, and the attribute of each road link is stored in the road link information stored in the map database 26. As a safe speed information is added to map data. For each probe car, the safe speed information generation unit 24 calculates an average passing speed that is an average value of travel speed data in each road link, and determines a median value of the average passing speed distribution as a safe speed in the road link. .

  FIG. 4 is a diagram illustrating a hardware configuration of the safe speed information generation device 20 according to the present embodiment. The safe speed information generation apparatus 20 is configured by a CPU 40, a memory 41, a ROM 42, an external storage device 44, an input device 45, and a communication unit 46 connected by a bus 47. The ROM 42 stores a program 43 for realizing the functions of the safe speed information generation device 20 described above. Such a program 53 is also included in the scope of the present invention. The external storage device 44 constitutes the critical traffic volume database 25 and the map database 26. The communication unit 46 provides an interface for communicating with the data collection device 10.

[Operation of Safe Speed Information Generating Device of First Embodiment]
Next, the operation of the safe speed information generation device 20 will be described. FIG. 5 is an operation flow diagram of the safe speed information generation device 20 in the first embodiment. The safe speed information generation apparatus 20 first receives and accumulates probe data and traffic information (step S101). Subsequently, the safe speed information generation device 20 associates the travel speed data with the road link ID based on the position data included in the received probe data (step S102). At this time, the up / down of each traveling data is also identified. Next, the safe speed information generation device 20 determines whether or not there is a road link whose road link ID is i (step S103). The initial value of i is set to 1. If road link i does not exist (No in step S103), the process ends. However, reception of the probe data and traffic information in step S101 may be continued or repeated, and the safety speed information may be updated as needed in response to reception of new probe data or traffic information.

  When the road link i exists (Yes in Step S103), the safe speed information generation device 20 determines whether safe speed information is generated for the road link i (up / down) (Step S104). If safe speed information has been generated (Yes in step S104), i is incremented and the process returns to step S113. If safe speed information has not been generated (No in step S104), travel speed data to be used for generating safe speed information is selected by the subsequent processes from step S105 to step S108.

  The safe speed generation device 20 calculates an amount of change in acceleration for each travel speed data associated with link ID = i (up / down) in step S112 (step S105), and the amount of change in acceleration is a predetermined threshold value. It is determined whether or not the following is true (step S106). If the predetermined threshold is exceeded (No in step S106), the data is deleted (step S107). On the other hand, even if the acceleration change amount is equal to or less than the predetermined threshold value (Yes in step S106), it is determined whether or not a point in the critical state has been passed (step S108). If determined, the traveling speed data of the probe car is similarly deleted (step S107).

  Here, the significance of the threshold processing from step S105 to step S107 will be described with reference to FIG. 6 showing an example of speed data transmitted from the probe car. FIG. 6A is an example of speed data transmitted from a probe car operated by a driver X who is accustomed to driving the vehicle, and FIG. 6B is an example of speed data transmitted from a probe car operated by a driver Y who is unfamiliar with driving. It is an example of the transmitted speed data. As shown in FIG. 6A, the speed data of X changes smoothly in the running speed, whereas as shown in FIG. 6B, the speed data of Y applies sudden braking. For example, the speed change is unstable. In other words, the amount of change in acceleration calculated from the driving speed data of a driver who is good at driving is small, and the amount of change of acceleration calculated from the driving speed data of a driver who is not good at driving is large. Therefore, the safe speed information generation device 20 of the present embodiment performs threshold processing from step S105 to S107 in order to extract only the traveling speed data of the probe car that is considered to be driving safely and driving safely. ing.

  Note that speed data similar to that shown in FIG. 6B can be output when the vehicle is traveling while searching for a store along the road, or when sudden braking is performed due to a pedestrian jumping out. Even if the driver is accustomed to driving, the speed when driving in such a situation cannot be the safe speed of the road link. According to the threshold processing of the present embodiment, such speed data that cannot be removed depending on the driver attribute information (for example, whether the driver is a beginner or an experienced driver) can be accurately removed.

  Returning to FIG. 5, the safety information generation device 20 generates safety speed information by the processing from step S109 to step S111 described below. First, for each of the travel speed data of the probe cars selected in the data selection process up to step S108, an average travel speed on the road link i is calculated (step S109), and selected on the road link i (up / down). The median value of the average travel speed distribution of all the probe cars is calculated, and the safe speed is determined for each of the up / down road links i (step S110). The determined safe speed on the road link i is added to the road link information as safe speed information, and is stored in the map database 26 in association with the map data (step S111). The above processing is repeated for each road link (up / down).

  As described above, the safe speed information generation device 20 according to the first embodiment selects and selects speed data whose acceleration change amount is equal to or less than a predetermined threshold from the speed data collected from the probe car. The average value of the average travel speed distribution for each road link is determined as the safe speed for each road link, and safe speed information is generated. Therefore, a reliable safe speed that reflects the actual road conditions Information can be provided.

  Moreover, since the safe speed information generating apparatus 20 of the first embodiment generates the safe speed information by excluding the speed data of the probe car that has passed the point in the traffic jam critical state, the safe speed with higher reliability. Information can be provided.

[Modification of First Embodiment]
In the first embodiment, the case where the traffic information receiving unit and the critical traffic volume database are provided has been described. However, these may not be provided, and it is determined whether or not the vehicle has passed a critical point. It does not have to be. At that time, if the vehicle is decelerating more than a predetermined threshold in the adjacent road section, it is judged that the vehicle has been decelerated due to traffic congestion, and the threshold processing for the acceleration change amount is cleared in the road section before deceleration. In this case, traveling speed data and the like may be excluded. In this case, further, when it is determined that such deceleration is a result of complying with the speed limit based on the speed limit information in the road section, the traveling speed data is obtained even when the speed is not less than a predetermined threshold. It does not have to be excluded. In the above embodiment, the traveling speed related data exceeding the speed limit may be excluded, and the steering angle data is acquired from the probe car, and the amount of change per predetermined time of the steering angle in the road section is predetermined. Data related to the traveling speed of the probe car that is equal to or greater than the threshold value may be excluded. In addition, data indicating the presence of dangerous driving such as accidents, near misses, and sudden braking, warning history data, etc., recorded on a drive recorder or digital operation recorder, etc. are obtained from the probe car, and such dangerous driving is performed. You may exclude the traveling speed data in the performed road section and the surrounding road sections. Furthermore, a plurality of such traveling speed data exclusion processes may be combined.

  In the above-described embodiment, the example in which the safe speed information generation device 20 generates the safety information separately for each uplink / downlink for each road link has been described. However, the safe speed information is generated in units other than that. The safe speed information may be generated for a road section longer or shorter than one road link. Further, the safe speed information may be generated without distinguishing the up lane and the down lane of a predetermined road section such as a road link.

  In the above embodiment, the example in which the safe speed information generation device 20 determines the median value of the average travel speed distribution as the safe speed has been described. However, a value higher than the median value such as −1σ, + 1σ, or the like A low value may be used as the safe speed, or another representative value such as an average value may be used. In 1st Embodiment, although the safe speed information generation apparatus 20 deleted the speed data of the probe car which passed the point in a traffic jam critical state, and demonstrated the example which produces | generates safe speed information, a sag part When generating safe speed information for road sections that include points near traffic-prone points, such as (concaves that run from downhill to uphill) and curve parts, do not delete such data. It may be used to generate safe speed information. In that case, a value lower than the median, such as a −1σ value, may be determined as the safe speed. The safe speed may not be a single value, but may be a speed within a predetermined range (for example, from a speed corresponding to −1σ to a speed corresponding to + 1σ in the average speed distribution).

  Further, in the case of a manual vehicle, the acceleration fluctuation at the time of starting is larger than that of an automatic vehicle. Therefore, in the above embodiment, the vehicle type information is received as probe data, and the selection process based on the threshold value of the speed data is performed. You may carry out by dividing into the kind of probe car.

  In the first embodiment, the case where the safe speed information generation device 20 stores the safe speed information in association with the map data has been described. However, the safe speed information may be in other formats such as voice data and text data. May be stored.

(Second Embodiment)
Next, a safe speed information generation system according to a second embodiment of this invention will be described. According to the first embodiment, for example, even when the surrounding environment of the road changes from the time when the regulated speed is set, it is possible to generate safe speed data in accordance with the environmental change. However, the safe speed can vary depending on various factors, even in shorter time units. Therefore, in the second embodiment, as a change factor of the safety speed, (i) a factor that affects the driver's field of view, (ii) a factor that affects the friction coefficient between the vehicle and the road, and (iii) traffic density Focusing on factors that affect the road, a plurality of safe speeds are generated for one road section. As the factors of (i), for example, weather (rain, snow, fog), time zone, time or time and year / month data (night, evening sun, etc.) can be considered. Moreover, as a factor of (ii), the weather (rain, snow, fog) etc. can be considered, for example. As a factor of (iii), road congestion (congestion), event holding, etc. can be considered. Therefore, in this embodiment, travel date / time information (factor of (i) and / or (iii)), weather information (factor of (i) and / or (ii)), event information (factor of (iii)) Based on the above, safe speed information is generated. In the following, any one or more of the travel date information, weather information, and event information are collectively referred to as travel status information.

[Configuration of Safe Speed Generating System of Second Embodiment]
FIG. 7 is a diagram illustrating a configuration of the safe speed information generation system 2 according to the second embodiment. Although the basic configuration is similar to that of the first embodiment, the safe speed information generation device 20 of the second embodiment has a traveling state information receiving unit 27. The traveling state information receiving unit 27 receives weather information and event information on the Internet as traveling state information and outputs the weather information and event information to the safe speed information generating unit 24. Event information is information about the date and place of events such as fireworks displays, and when such events are held, street parking increases or traffic congestion occurs and the vicinity of the venue It is thought that the traffic density of the road will be affected.

  When the safe speed information generating unit 24 generates the safe speed information from the travel speed data output from the travel speed data selecting unit 23, the safety speed information generating unit 24 converts the date / time information of the probe data and the travel state information output from the travel state information receiving unit 27. Based on the travel speed data, the travel speed data is generated for each travel situation. The safe speed information generation unit 24 stores the generated safe travel speed data in the map database 26 in association with each travel situation.

[Operation of Safe Speed Information Generating Device of Second Embodiment]
Next, the operation of the safe speed information generation device 20 according to the second embodiment will be described with reference to FIG. First, the safe speed information generation device 20 receives probe data and traveling state information (step S201), and associates the received probe data with a road link ID (step S202). Here, as in the first embodiment, uplink / downlink may be distinguished.

  Next, the safe speed information generation device 20 adds the received travel status information as metadata to each travel speed data (step S203). In the present embodiment, there are four types of metadata that are added based on the received weather information: clear or cloudy, rain, fog, and snow. Further, there are two types of metadata that are added based on the received event information: “with event” and “without event” metadata. The travel speed data associated with the road link within the predetermined distance range from the event location at the predetermined time before and after the event date and time is added with the metadata “with event”, and other travel speed data Is appended with “no event” metadata.

  In step S204 and step S205, after it is determined whether or not there is a road link for which safe speed information has not been generated, traveling speed data used for safe speed generation is selected by the process in step S206. Note that the processing in step S206 indicates the processing from step S105 to step S107 in the first embodiment.

  Subsequently, the safe speed generation device 20 calculates the link average travel speed (step S207), and classifies the travel speed data based on the added travel situation metadata (step S208). In step S208, classification is performed based on the weather and event metadata added in step S213 and date / time information added in advance in the probe car. The classification based on the date / time information is performed by dividing the time zone into one of morning, noon and night. Then, speed data having the same attribute values for the time zone, weather, and the presence / absence of an event are all collected to calculate a median value (step S209), and this is embedded in the map data as safe speed information (step S210). In the present embodiment, three types of metadata for time zones, four types of metadata for weather, and two types of metadata for events are added. Therefore, a total of 24 types of metadata are added to one road link. Safe speed data is generated.

  As described above, the safe speed information generation device 20 according to the second embodiment is the data indicating the traveling state of the probe car that affects the traveling speed with respect to the speed data whose acceleration change amount is equal to or less than the predetermined threshold. Since the safety speed data is generated for each traveling situation, more reliable safe speed information that reflects the actual road condition more finely can be provided.

[Modification of Second Embodiment]
In the second embodiment, an example in which the safe speed information generation apparatus 20 classifies traveling data by adding metadata indicating a traveling time zone, weather during traveling, and presence / absence of an event near a road link. However, any one or two of them may not be added, and metadata different from these may be added. For example, the day of the week and the fiftyth day that affect the mixing ratio of large vehicles can be known from the date and time information added to the probe data, so these may be added as metadata and used for classification criteria. . Also, the direction of the sun with respect to the driver at the time of driving, weather information, date and time (month and day and time) information and position data added to the probe data, map data and road link information (start node / end node position) Can be identified from The direction of the sun with respect to the driver at the time of driving is considered as a factor that affects the driver's field of view, so this may be added as metadata and used for classification criteria. Furthermore, for example, as factors affecting the driver's field of view, information other than date and time information, weather information, event information, such as information on whether it is near the tunnel exit, etc., may be obtained as driving status information, and a plurality of information May be combined as appropriate.

  In the present embodiment, a link travel speed distribution map as shown in FIG. 9 (a) can usually be obtained. However, in some cases, as shown in FIG. 9B, a distribution diagram with a large variation may be obtained. This is considered to be due to the influence of other factors not considered as metadata. Therefore, when the standard deviation of the average link travel speed is greater than or equal to a predetermined value, the classification may be performed with a finer granularity (that is, using other metadata). Alternatively, a warning may be issued to the user of the safe speed information generation device 20 instead.

  In the second embodiment, weather-related metadata may be added based on sensing data from the probe car (various sensors such as wipers and raindrop sensors). Further, based on the image data received from the probe car, it may be determined whether or not there is on-street parking, and this may be used as metadata.

  Furthermore, in 2nd Embodiment, the safe speed information generation apparatus 20 may be provided with the traffic information receiving part and the critical traffic volume database.

(Third embodiment)
Next, a safe speed information generation system according to a third embodiment of this invention will be described. As in the second embodiment, the safe speed information generation system according to the third embodiment generates safe speed information for each road link based on the probe data and the driving situation information, and associates it with map data. . In the first and second embodiments, the speed data of a driver who is good at driving is regarded as a safe speed, the speed data is selected based on the acceleration change amount, and the safe speed is determined based on the distribution state of the speed data. did. On the other hand, in the third embodiment, the safe stop possible speed that can be safely stopped even if an unexpected situation occurs is regarded as the safe speed, and the safe stop possible speed under the traveling state of each probe car is determined, A safe speed is determined for each road link from the distribution state.

[Configuration of Safe Speed Information Generating Device of Third Embodiment]
FIG. 13 is a diagram illustrating a configuration of the safe speed information generation system 3 according to the third embodiment. As shown in FIG. 10, in the safe speed information generation system 3 of the third embodiment, the data collection device 10 includes a current position detection unit 11, a travel speed detection unit 12, a date / time information acquisition unit 13, and a communication unit 14. In addition, an image data acquisition unit 15 is provided. The image data acquisition unit 15 acquires image data of each probe car and outputs it to the communication unit 14, and the communication unit 14 transmits the image data to the safe speed information generation device 20. In the present embodiment, the image data acquired by the image data acquisition unit 15 is image data captured by a camera mounted on the probe car.

  In the safe speed information generating system according to the third embodiment, the safe speed information generating apparatus 20 includes a probe data receiving unit 21, a safe speed information generating unit 24, a map database 26, and a traveling state information receiving unit 27, and a line-of-sight distance. The determination part 50, the stop distance calculation part 51, and the stop distance calculation information database 52 are provided.

  The line-of-sight determining unit 50 determines the current line-of-sight distance of each probe car based on the image data of the probe car acquired by the probe data receiving unit 21. The line-of-sight distance is distance data that indicates how far the driver of each probe car can visually recognize under the respective driving conditions. In the present embodiment, the line-of-sight distance is determined as a line-of-sight distance based on image data acquired from the camera, such that a pedestrian or another object can be identified. An upper limit is set for the line-of-sight distance.

The stop distance calculation unit 51 refers to the stop distance calculation information database 52, and based on the travel speed data of the probe car acquired by the probe data reception unit 21 and the weather information acquired by the travel state information reception unit 27, The stopping distance of each probe car, that is, the distance until the automobile stops is determined. The stopping distance is basically determined by the traveling speed at the time of braking, but is known to be affected by the road surface condition. The stop distance database 52 stores a correspondence relationship between the weather and the friction coefficient, and the stop distance calculation unit 51 determines that the stop distance = v / 3600 × 0.75 + v ² /(2×9.8×friction coefficient). The stop distance is calculated based on the following formula.

  The safe speed information generation unit 24 compares the line-of-sight distance calculated by the line-of-sight distance determination unit 50 with the stop distance calculated by the stop distance calculation unit 51, and the safe stop possible speed based on the shorter distance To decide. As described above, in the present embodiment, the speed at which safe stop is possible means a speed at which it is possible to stop safely even when an unexpected situation occurs. Since the vehicle travels a certain distance (the above-mentioned stop distance) according to the traveling speed at the time from when the driver who applied the brakes applies until the vehicle stops, as shown in FIG. When the distance ds exceeds the line-of-sight distance dl, even if the pedestrian H is visually recognized and the brake is applied at the point P0, the vehicle C cannot stop to the point P1 and there is a risk of colliding with the pedestrian H. The stopping distance is basically determined by the traveling speed at the time when the brake is applied, and a speed at which the stopping distance exceeds the line-of-sight distance is not a safe speed. Therefore, the safe speed information generation unit 24 compares the line-of-sight distance and the stop distance, and if the line-of-sight distance is shorter, the speed at which the line-of-sight distance becomes the stop distance is calculated by the calculation formula used in the stop distance calculation unit 51. If the stop distance is shorter, the travel speed of the probe car at that time is set as the safe stop possible speed.

  The safe speed information generation unit 24 associates the safe stoppable speed data thus determined with the line-of-sight distance, weather information, and road link ID. Then, as in the first and second embodiments, the median value of the distribution of the safe stop possible speeds is calculated, the safe speed at each road link is determined, and stored in the map database 26 as the safe speed information. .

[Operation of Safe Speed Information Generating Device of Third Embodiment]
Next, the operation of the safe speed information generation device 20 according to the third embodiment will be described with reference to FIG. First, the safe speed information generation apparatus 20 receives probe data and travel state information (step S301), and associates the road speed ID with a road link ID (step S302). Then, in order to generate safe speed information for a road link (Yes in step S303 and No in step S304) with i = 1 as an initial value and no safe speed information generated, subsequent steps S305 to S309 are performed. Process up to.

  First, the line-of-sight distance is determined (step S305), and then the stop distance is calculated (step S306). Comparing the line-of-sight distance and the stop distance, the safe stop possible speed is determined based on the shorter distance (step S307), and the median of the safe stop possible speed distribution of each probe car on the road link i is calculated. Then, the safe speed on the road link i is determined (step S308). The determined safe speed is associated with the line-of-sight distance and weather information as safe speed information, added to the road link information, and stored in the map database 26 in association with the map data (step S309).

  As described above, in the safe speed information generation device 20 according to the third embodiment, the line-of-sight distance determined based on the image data and the stop distance calculated based on the speed data and the weather information are short. The safe stop possible speed is determined based on the distance, and the safe speed for each road link is determined based on the distribution of the safe stop possible speed. Therefore, highly reliable safe speed information that can be stopped safely in the event of an unforeseen situation in accordance with the actual situation of the road (line of sight, road surface condition, etc.) reflected in the image data and driving situation information. Can be generated.

[Modification of Third Embodiment]
In the third embodiment, the example in which the line-of-sight distance is determined based on the image data acquired from the probe car has been described. However, the scan data of the laser radar is acquired instead of the image data or together with the image data. The distance at which an object can be identified may be used as the line-of-sight distance. The line-of-sight distance may be determined based on the inter-vehicle distance determined from these data. Further, when it is found from these data that there is a vehicle train parked on the road ahead, the distance to the vicinity of the front of the closest parked vehicle may be used as the line-of-sight distance. This is because a pedestrian may jump out between parked vehicles on the street.

  In the third embodiment, the safe speed information generation device 20 may store the correspondence between weather, time, illuminance, and line-of-sight distance, and in this case, image data may not be acquired from the probe car. . And, when using illuminance data to determine the line-of-sight distance, the lighting information (high beam or low beam etc.) from the probe car and data from the illuminance sensor may be obtained to determine the illuminance, The illuminance around the vehicle may be estimated according to information on the area corresponding to the position data (whether it is an urban area or the like). Further, event information may be acquired in the same manner as in the second embodiment, and the line-of-sight distance around the event holding place may be reduced. Furthermore, attribute information such as the age and visual acuity of the driver may be acquired from the probe car to change the line-of-sight distance. In addition, as the speed increases, the viewing angle of the driver becomes narrower and the driver's visual acuity (moving body visual acuity) decreases. Therefore, the line-of-sight distance may be changed according to the speed data.

  In the third embodiment, the stop distance is calculated based on weather information and speed data. However, the weather information may not be used, and the stop distance may be changed using other information. The stopping distance is the distance that the vehicle travels before the brake starts when the driver feels danger and brakes are applied, and the braking distance (the distance traveled from when the brakes start to the vehicle stops) It is sum. Among these, it is known that the free running distance becomes longer depending on the age and the degree of fatigue. Therefore, information such as the age of the driver and the continuous driving time of the vehicle may be acquired from the probe car to change the stop distance. In addition, the calculation formula used for calculating the stop distance in the above embodiment is an example, and the stop distance may be obtained by another calculation formula.

  In the third embodiment, the median value of the safe stop possible speed is the safe speed, but it may be a speed higher or lower than the median, such as −1σ or + 1σ, and other values such as an average value, etc. The representative value may be used. Furthermore, the safe speed may not be a single value, but may be a speed within a predetermined range (for example, from a speed corresponding to −1σ to a speed corresponding to + 1σ in the average speed distribution). Similarly to the modification of the second embodiment, as shown in FIG. 9 (b), when a distribution map having a large variation is obtained, the classification granularity may be changed, and the safety speed information may be changed. A warning may be issued to the user of the generation device 20.

(Example of providing safe speed information)
The safe speed information generated by the safe speed information generating device 20 of the first to third embodiments is stored in the map database 26 in association with the map data. FIG. 10 is a diagram illustrating an example of display of map data to which safe speed information is added. Such map data is used for a car navigation device mounted on a vehicle, a car navigation service application for a smartphone vehicle, or the like. For example, when a car navigation device instructs to display a route to a destination, a safe speed is displayed for each road link, and an estimated arrival time is displayed based on the safe speed. In addition, the change of the safe speed is output by voice before the road link where the safe speed is switched during the route travel.

  FIG. 11 is a diagram illustrating a configuration of a route information providing apparatus in which safe speed information is used. As shown in FIG. 11, the route information providing device 30 includes the configuration of the safe speed information providing device 20, and further includes a route information request receiving unit 31 that receives a route information request to the destination, and a vehicle traveling speed history. Travel speed history receiving unit 32, route search unit 33 for searching map data stored in map database 26, and route information transmission unit 34 for transmitting route information determined by the route search unit. . The route information providing device 30 is connected to a terminal device equipped with a car navigation device or a car navigation application (not shown) via a network, and receives a route information request to a destination.

  FIG. 12 is a flowchart showing the operation of the route information providing apparatus 30. The route information providing device 30 first receives request data for route information from the car navigation device or the like to the destination (step S31), and receives the past travel speed history of the user who transmitted the request data (step S32). ). Then, the route information providing device 30 compares the highest speed among the safe speeds of the road links that constitute the shortest route to the destination with the normal travel speed based on the user's travel speed history. If the travel speed is equal to or lower than the maximum safe speed (Yes in step S33), the route is determined as the route to the destination, and the route information is transmitted to the user (step S35). On the other hand, when the normal traveling speed of the user is equal to or lower than the maximum safe speed (No in step S33), the route not including the road link is reset (step S34), and the process returns to step S33. .

  Thus, by providing route information based on the safe speed and the normal travel speed of the user, for example, for a driver who is unfamiliar with driving and is always driving at 40 km / h, the safe speed is A route that does not include a road link exceeding 40 km is proposed, and route information that allows each driver to drive safely can be provided. The navigation device may have map data to which safe speed information is added and may perform such route determination processing, or may receive such safe speed information from the safe speed generation device and determine such route. Processing may be performed.

  The present invention has an effect of generating highly reliable safe speed information, and can be applied to a route information providing apparatus or the like.

1 to 3 Safety speed information generation system 10 Data collection device 11 Current position detection unit 12 Travel speed detection unit 13 Date and time information acquisition unit 14 Communication unit 15 Image data acquisition unit 20 Safety speed information generation device 21 Probe data reception unit 22 Traffic information reception Unit 23 travel speed data selection unit 24 safe speed information generation unit 25 critical traffic volume database 26 map database 27 travel state information reception unit 30 route information providing device 31 route information request reception unit 32 travel speed history reception unit 33 route search unit 34 route Information transmission unit 40 CPU
41 memory 42 ROM
43 Program 44 External storage device 45 Input device 46 Communication unit 47 Bus 50 Line-of-sight distance determination unit 51 Stop distance calculation unit 52 Stop distance calculation information database

Claims (20)

A probe data receiving unit for receiving probe data including travel speed related data of the probe car from a data collecting device mounted on the probe car;
A travel speed related data selection unit that selects the travel speed related data whose acceleration change amount is equal to or less than a predetermined threshold continuously from the received travel speed related data;
A safe speed information generation unit that calculates an average travel speed of the probe car in the road section from the selected travel speed-related data and generates safe speed information in the road section based on a distribution state of the average travel speed When,
A safe speed information generating device. A traffic information receiving unit for receiving traffic information including traffic data at a predetermined road point;
The travel speed related data selection unit excludes travel speed related data obtained while the traffic volume data is equal to or higher than a predetermined threshold from the travel speed related data in a road section including the road spot. Item 4. The safe speed information generation device according to Item 1.   The travel speed related data selection unit includes a first travel speed of the probe car in the first road section and a second road section in which the probe car travels following the first road section. 2. The safety according to claim 1, wherein the travel speed related data in the first and second road sections in which a difference from a second travel speed smaller than the first travel speed is equal to or greater than a predetermined threshold is excluded. Speed information generator. The probe data includes dangerous driving history data associated with the position data of the probe car,
The safety according to any one of claims 1 to 3, wherein the travel speed related data selection unit excludes the travel speed related data in the road section located within a predetermined distance from a road point corresponding to the dangerous driving history. Speed information generator.   The safe speed information generating device according to any one of claims 1 to 4, wherein the travel speed related data selection unit excludes travel speed related data exceeding a speed limit determined in the road section. The probe data includes steering angle data of the probe car,
The travel speed related data selection unit excludes the travel speed related data of a probe car having a change amount per predetermined time of the rudder angle in the road section equal to or greater than a predetermined threshold based on the rudder angle data. To 5. The safe speed information generating device according to any one of 5 to 5.   The safe speed information generator generates a safe speed in the road section as a median value, an average value, a 1σ value of the average travel speed distribution, or a speed within a predetermined range including the median value. The safe speed information generating device according to claim 1, wherein the safe speed information generating apparatus generates the safe speed information.   The safe speed information generation unit is any one of a median value, an average value, and a 1σ value of the distribution of the average travel speed in the road section located within a predetermined distance from a road point having a predetermined road shape. A safe speed information having a first speed that is lower than the first speed or a speed within a predetermined range including the first speed as a safe speed is generated, and in the other predetermined road section, the median, average 8. The safe speed information in which the second speed that is any one of the value and the 1σ value or a speed within a predetermined range including the second speed is set as the safe speed is generated. The safe speed information generator described. A driving condition data receiving unit for receiving driving condition data indicating the driving condition of the probe car;
The safe speed information generation unit calculates the average travel speed for each of the travel situation data, and generates safe speed information in the road section for each of the travel situation data based on a distribution state of the average travel speed. The safe speed information generation device according to any one of 1 to 8.   The driving situation data includes factors that affect the driver's field of view when driving the probe car on the road section, factors that affect the friction coefficient between the vehicle and the road, and factors that affect the traffic density of the road. The safe speed information generation device according to claim 9, comprising at least one of the indicated data.   The safe speed information generating apparatus according to claim 9 or 10, wherein the probe data includes at least one of the traveling state data. A method for generating safe speed information in a predetermined road section based on data collected from a probe car,
Receiving probe data including travel speed related data of the probe car from a data collection device mounted on the probe car;
A step of selecting, from the received traveling speed related data, the traveling speed related data in which the amount of change in acceleration is not more than a predetermined threshold continuously in a predetermined road section;
Calculating an average travel speed of the probe car in the road section from the selected travel speed-related data, and generating safe speed information in the predetermined road section based on a distribution state of the average travel speed;
A safe speed information generation method comprising: A program for generating safe speed information in a predetermined road section based on data collected from a probe car,
Receiving probe data including travel speed related data of the probe car from a data collection device mounted on the probe car;
A step of selecting, from the received traveling speed related data, the traveling speed related data in which the amount of change in acceleration is not more than a predetermined threshold continuously in a predetermined road section;
Calculating an average traveling speed of the probe car in the road section from the selected traveling speed-related data, and generating safe speed information in the road section based on a distribution state of the average traveling speed;
A program that executes A probe data receiving unit for receiving probe data including travel speed related data of the probe car from a data collecting device mounted on the probe car;
A travel speed related data selection unit that selects the travel speed related data whose acceleration change amount is equal to or less than a predetermined threshold continuously from the received travel speed related data;
A safe speed information generation unit that calculates an average travel speed of the probe car in the road section from the selected travel speed-related data and generates safe speed information in the road section based on a distribution state of the average travel speed When,
A traveling speed history receiving unit for receiving a traveling speed history of a vehicle that performs route search;
A route search unit that determines a route to the destination of the vehicle based on the generated safety speed information and the received traveling speed history;
A route information transmission unit for transmitting the route information determined by the route search unit;
A route information providing device. A probe data receiving unit for receiving probe data including travel speed related data of the probe car and sensing data from a sensor mounted on the probe car from a data collection device mounted on the probe car;
A line-of-sight determining unit that determines the line-of-sight distance of the probe car in a predetermined road section based on the received sensing data;
Based on the received travel speed related data, a stop distance calculating unit that calculates a stop distance of the probe car in the road section;
Safe speed information generation for determining a safe stop possible speed based on the shorter one of the line-of-sight distance and the stop distance, and generating safe speed information in the road section based on a distribution state of the safe stop possible speed And
A safe speed information generating device. It further includes a driving situation information receiving unit including weather information,
The safe speed information generation device according to claim 15, wherein the stop distance calculation unit calculates the stop distance based on the travel speed related data and the weather information.   The safe speed information generating device according to claim 15 or 16, wherein the probe data includes attribute information of a driver of the probe car, and the line-of-sight distance and / or the stop distance changes according to the attribute information of the driver. .   18. The safe speed information generating apparatus according to claim 15, wherein the sensor includes any one of a camera, a laser radar, and an illuminance sensor. A method for generating safe speed information in a predetermined road section based on data collected from a probe car,
Receiving probe data including travel speed related data of the probe car and sensing data from a sensor mounted on the probe car from a data collection device mounted on the probe car;
Determining a line-of-sight distance of the probe car in a predetermined road section based on the received sensing data;
Calculating a stop distance of the probe car in the road section based on the received traveling speed related data;
Determining a safe stoppable speed based on a shorter one of the line-of-sight distance and the stop distance, and generating safe speed information in the road section based on a distribution state of the safe stoppable speed;
A safe speed information generation method comprising: A program for generating safe speed information in a predetermined road section based on data collected from a probe car,
Receiving probe data including travel speed related data of the probe car and sensing data from a sensor mounted on the probe car from a data collection device mounted on the probe car;
Determining a line-of-sight distance of the probe car in a predetermined road section based on the received sensing data;
Calculating a stop distance of the probe car in the road section based on the received traveling speed related data;
Determining a safe stoppable speed based on a shorter one of the line-of-sight distance and the stop distance, and generating safe speed information in the road section based on a distribution state of the safe stoppable speed;
A program that executes