JP2017146097A - Electronic device, deviation determination system, and deviation determination program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an electronic device capable of deviation determination on the basis of regulation speed information on a road.SOLUTION: An on-vehicle device obtains regulation speed information on a road when a host vehicle M passes by a roadside device, and determines a sight distance, the minimum distance until which a driver can see the road straight, from the obtained regulation speed information. Furthermore, the on-vehicle device calculates the amount of angular variation between a reference angle set for each sight distance Le and the azimuth of the host vehicle, determines that the host vehicle has deviated from the road if the amount of angular variation exceeds the reference value, and does not determine that the host vehicle has deviated from the road if the amount of angular variation is equal to or less than the reference value.SELECTED DRAWING: Figure 7

Description

  The present invention relates to a departure determination for determining whether or not a vehicle has deviated from a running road, and more particularly to a road departure determination using a visual distance that allows a driver to see a straight line.

  An optical beacon installed on a road can deliver road information in real time to a vehicle traveling in the vicinity. The road information to be distributed includes various information such as traffic jam information. In recent years, there is also an optical beacon that distributes the light color information of a series of traffic lights existing ahead. The light color information is information indicating the timing of the green light of the traffic light. The driving support device such as a navigation device uses this light color information to turn on / off the accelerator for passing the intersection with a green light. It provides guidance on timing and brake timing, etc., enabling Green Wave travel as part of passage support. Some optical beacons also deliver coordinate information indicating the distance to the traffic signal (distance to the stop line) and the position of the traffic signal to the vehicle.

  A navigation device that performs travel guidance using information distributed from a roadside machine such as an optical beacon has a function of determining whether a vehicle has deviated from a planned travel route. Patent Document 1 discloses a driving support device that performs vehicle departure determination using attribute information such as road type and road width. Patent Document 2 discloses an electronic device that determines whether or not the vehicle has deviated from the road toward the target point based on the linear distance between the vehicle position and the target point. Patent Document 3 discloses an infrastructure cooperative vehicle-mounted device that performs departure determination based on the amount of deviation between the direction of a traveling section in which a vehicle is traveling and the traveling direction of the vehicle. Patent Document 4 discloses a driving support system that determines road deviation based on information from a steering wheel steering angle sensor. Patent Document 5 discloses a vehicle driving support device that predicts a departure based on a change in the course or lane of a vehicle.

Japanese Patent Laying-Open No. 2015-14500 Japanese Patent Laying-Open No. 2015-1917 JP 2012-88262 A JP 2011-118622 A JP 2007-66179 A

There are various methods for determining the road deviation that have been performed conventionally.
(1) Method of using map data There is a method of mapping a vehicle position and traffic light coordinates on a map and determining deviation based on whether or not both are connected by a road link. That is, if the own vehicle position and the traffic signal are not connected by the road link, it is determined that the own vehicle has deviated from the road. This method has a problem that map data is required and the processing is complicated.
(2) Method of using the distance to the intersection There is a method of calculating the distance between two points of the own vehicle position and the coordinates of the intersection, and determining deviation from the change in the distance. For example, as shown in FIG. 16A, the distance L between the vehicle position and the intersection is calculated, and the subsequent changes in distances L1 and L, and L2 and L1 are calculated. If the amount of change increases, the vehicle will move away from the intersection, so it is determined that the vehicle has deviated from the road. However, with this method, there is a difference between the actually deviated position and the position where the deviation is determined. For example, even if the vehicle departs at the intersection K, the departure determination is performed when the host vehicle reaches the point P2. Furthermore, although the vehicle is actually approaching an intersection, there may be a case where the road is temporarily separated depending on the road shape. In this case, an erroneous determination is made. For example, as shown in FIG. 16 (B), when driving on a road with undulations, it is erroneously determined where the road is temporarily moving away from the intersection even though it is actually approaching the intersection. Will occur. That is, the straight line distance to the intersection when the own vehicle is at the point P1 is L1, and the straight line distances L2 and L3 to the intersection when the own vehicle reaches the points P2 and P3 by the subsequent travel are larger than L1. , It will be judged as a deviation.

(3) Method of using the amount of change in yaw angle Changes in the yaw angle of the vehicle (rotation angle around the Z axis) are observed, and it is determined that there is a deviation when a right / left turn is determined from the change. However, in the case of the road shape as shown in FIG. 16C, the amount of change in the yaw angle when the vehicle moves from the point P4 to the point P5 is approximately 90 degrees, and the vehicle is traveling along the road. Regardless, it is determined as a right turn and a departure.
(4) Method of using change in yaw angle at regular time intervals The amount of change in yaw angle is detected at regular time intervals, and it is determined that there is a deviation when determining a right or left turn from the change amount. That is, as shown in FIG. 16D, yaw angle angles θ1, θ2, θ3, and θ4 at times T1, T2, T3, and T4 at which the time interval is constant are detected, and the angle in this time interval is detected. A right / left turn is determined from the amount of change. However, in this determination method, an erroneous determination occurs because the amount of change in angle is different between when bending over time and when not bending.

  The present invention solves such a conventional problem, and an object thereof is to provide an electronic device, a departure determination system, and a departure determination program capable of making a departure determination based on road regulation speed information.

  An electronic device according to the present invention is configured to acquire road traffic information including regulated speed information of at least one target road, and to determine a viewing distance that is a distance through which a straight line can be seen based on the regulated speed information. Means for detecting an angle that is the direction of the own vehicle, a calculating means for calculating an angle change amount of the own vehicle based on a detection result of the detection means, an angle change amount calculated by the calculation means, and a reference Determining means for comparing the value and determining whether or not the vehicle has deviated from the target road while traveling the distance specified by the visual distance.

  Preferably, when the angle change amount exceeds a reference value, it is determined that the angle has deviated. Preferably, the calculation means resets the angle change amount each time the own vehicle travels the viewing distance. Preferably, when the host vehicle travels a distance specified by the visual distance, the determination unit performs a deviation determination of the target road while traveling the distance specified by the next visual distance. Preferably, the road traffic information includes light color information of one or more traffic lights existing ahead, and the target road is a road where the one or more traffic lights exist. Preferably, the road traffic information includes position information of a traffic light existing ahead, and the electronic device further includes a distance calculation means for calculating a change amount of a distance from the vehicle position to the traffic light, and the determination means includes Even if the angle change amount is equal to or less than a reference value, when the distance change amount increases, it is determined that the vehicle deviates from the target road, the angle change amount is equal to or less than a reference value, and the When the distance change amount decreases, it is determined that the own vehicle has not deviated from the target road. Preferably, the distance calculation means calculates the amount of change between the distance to the traffic signal when the host vehicle is at the current reference position and the distance to the traffic signal when the host vehicle is at the next reference position. The reference position is estimated based on the reference angle at the current reference position and the vector of the visual distance. Preferably, the acquisition means acquires road traffic information distributed from a roadside machine.

  A departure determination system according to the present invention includes an electronic device having the above configuration and a roadside device capable of communicating with the electronic device, and the roadside device distributes the road traffic information to the electronic device. The acquisition means acquires the road traffic information distributed by the distribution means.

  The departure determination program according to the present invention is executed by an electronic device having a program processing function, and the departure determination program acquires road traffic information including restriction speed information of at least one target road; Determining a viewing distance that is a distance through which a straight line can be seen based on the regulated speed information; calculating an angle change amount of the host vehicle based on a detection result of an angle that is a direction of the host vehicle; and the calculation Comparing the angle change amount and the reference value, and determining whether or not the vehicle has deviated from the target road while traveling the distance specified by the visual distance.

  The departure determination method according to the present invention is in an electronic device having a route departure determination function, and the departure determination method acquires road traffic information including restriction speed information of at least one target road; Determining a viewing distance that is a distance through which a straight line can be seen based on the regulated speed information; calculating an angle change amount of the own vehicle based on an angle detection result that is the direction of the own vehicle; And a step of comparing the angle change amount with a reference value to determine whether or not the vehicle has deviated from the target road while traveling the distance specified by the visual distance.

  According to the present invention, the viewing distance is determined based on the regulated speed information of the target road, and the deviation determination is performed by comparing the angle change amount of the vehicle according to the viewing distance and the reference value. Thus, the departure determination can be performed without using the map data, and the departure determination can be performed with higher accuracy compared with the conventional method using the yaw angle.

It is a figure which shows an example of the driving assistance system which concerns on the Example of this invention. It is a block diagram which shows the structure of the vehicle-mounted apparatus which concerns on 1st Example of this invention. It is a figure which shows the example which acquires information from another delivery site. It is a figure which shows the functional structure of the deviation determination program which concerns on a 1st Example. It is a figure explaining the road traffic information provided from a roadside machine. It is a table which shows the relationship between regulation speed and visual distance. FIG. 6 is a diagram for explaining a reference position, a reference angle, and an angle change amount in departure determination of the first embodiment. It is a flow which shows the operation | movement of the deviation determination which concerns on 1st Example of this invention. It is a figure explaining the misjudgment at the time of performing deviation determination using the fixed distance whose deviation is larger than the visual distance. It is a figure explaining the misjudgment at the time of performing deviation determination using the fixed distance whose deviation is smaller than a visual distance. It is a figure explaining the misjudgment which may arise when the departure determination by a 1st Example is performed. It is a figure which shows the functional structure of the deviation determination program which concerns on 2nd Example of this invention. It is a figure explaining the calculation method of the distance variation | change_quantity of the distance calculation part which concerns on a 2nd Example. It is a flowchart which shows operation | movement of the deviation determination which concerns on 2nd Example of this invention. It is a flowchart which shows operation | movement of the deviation determination which concerns on 2nd Example of this invention. It is a figure explaining the conventional deviation determination method.

  Next, embodiments of the present invention will be described in detail with reference to the drawings. The electronic device according to the present invention can be an in-vehicle device mounted in a moving body such as a vehicle. In a preferred aspect, the electronic device is road traffic information (regulated speed information, traffic jam information, traffic accident information, lane information, traffic light color information, distance to traffic lights, provided from roadside devices such as optical beacons and external servers, A driving support function for supporting driving based on the traffic signal position information). The driving support function is, for example, a passing support (Green Wave function) for passing a traffic light in blue based on the light color information of the traffic light included in the road traffic information. And accelerator on / off guidance. In addition to the driving support function, the electronic device can have, for example, a navigation function, a function of reproducing audio / video data, a function of receiving television / radio, a data communication function, and the like.

  In a preferred embodiment, the roadside device is provided near the road and distributes road traffic information to the vehicle passing there by short-range wireless communication or an optical beacon. The roadside machine is connected to a network or an external server or the like, and can receive the latest road traffic information to the vehicle by periodically receiving information therefrom.

  Next, examples of the present invention will be described. FIG. 1 is a diagram illustrating an example of a driving support system according to an embodiment of the present invention. The driving support system 1 includes an in-vehicle device 10 mounted on the host vehicle M and a roadside device 20 that distributes road traffic information to the in-vehicle device 10. The roadside machine 20 is installed in the vicinity of a road, and distributes road traffic information to the own vehicle M when the own vehicle M traveling on the road passes. The in-vehicle device 10 of the host vehicle M performs driving support using the received road traffic information.

  FIG. 2 is a block diagram showing the configuration of the in-vehicle device according to the first embodiment of the present invention. The in-vehicle device 10 includes, for example, an input unit 100, a position information calculation unit 110, a navigation unit 120, an angle sensor unit 130, a display unit 140, an audio output unit 150, a communication unit 160, a storage unit 170, and a control unit 180. Composed.

  The input unit 100 receives an instruction from the user through an input key device, a voice input recognition device, a touch panel, and the like, and provides this to the control unit 180. The position information calculation unit 110 calculates the current location of the host vehicle based on GPS signals transmitted from GPS satellites and sensor outputs such as a gyro sensor and an acceleration sensor mounted on an angle sensor unit 130 described later. In addition, the angle sensor unit 130 can also detect the direction of the host vehicle from the coordinates calculated by the position information calculation unit 110. For example, when the X and Y coordinates of the own vehicle are calculated from the GPS signal, the azimuth may be calculated from changes in the X and Y coordinates of the own vehicle position. For example, the navigation unit 120 calculates a route from the current location to the destination calculated by the location information calculation unit 110, provides voice guidance of the calculated route, and displays a road map around the vehicle position on the display unit 140. Or display it.

  The display unit 140 includes a display device such as a liquid crystal display or an organic EL. For example, the display unit 140 displays a road map image generated by the navigation unit 120, or displays a setting screen or menu screen for performing user settings. To do. Further, the display unit 140 can display driving support information by the driving support function. The driving support information is not particularly limited, and is, for example, the light color information of the next signal, an appropriate traveling speed, or the like. The voice output unit 150 outputs voice guidance for guiding the route calculated by the navigation unit 120, or performs voice guidance of driving support information to the driver.

  The communication unit 160 enables data transmission / reception with various external devices. In the first embodiment, the communication unit 160 performs wireless communication with a roadside device 20, such as an optical beacon, installed on a general road or an expressway as shown in FIG.

  Further, for example, as illustrated in FIG. 3, the communication unit 160 accesses the position information distribution site 162 via the network NW, acquires the vehicle position information from there, or accesses the map data distribution site 164, Necessary map data can be acquired from there, or the road traffic information distribution site 166 can be accessed from which detailed information regarding road traffic information can be acquired. The road traffic information distributed from the road traffic information distribution site 166 may overlap with the road traffic information provided from the roadside machine 20 or may be different.

  The storage unit 170 can store application software and programs executed by the control unit 180, map data required by the navigation unit 120, and the like. The map data can include node data indicating intersections, link data indicating roads between nodes, facility data indicating facilities, and the like.

  In a preferred embodiment, the control unit 180 includes a microcontroller including a ROM, a RAM, and the like, and the ROM or the RAM can store various programs for controlling the operation of each unit of the in-vehicle device 10. In the present embodiment, the control unit 180 executes a program that supports driving based on the road traffic information distributed from the roadside machine 20, but here, has it deviated from the target road included in the driving support program? The details of the departure determination program for determining whether or not will be described.

  FIG. 4 is a diagram illustrating a functional configuration of the departure determination program according to the first embodiment. The departure determination program 200 includes a road traffic information acquisition unit 210, a viewing distance determination unit 220, a reference position determination unit 230, a reference angle determination unit 240, an angle change amount calculation unit 250, and a departure determination unit 260.

  The road traffic information acquisition unit 210 acquires road traffic information distributed from the roadside device 20 via the communication unit 160. The road traffic information includes various types of information about the road targeted by the roadside device 20, but includes, for example, road speed limit information, and traffic signal information regarding the position and light color of one or more traffic lights existing ahead.

  FIG. 5 is a diagram for explaining road traffic information. In a preferred embodiment, the roadside machine 20 delivers road traffic information including speed regulation information and traffic signal information to the own vehicle M passing through the road R1. The traffic signal information includes position information of a traffic signal located in front, and lamp color information of the traffic signal (for example, a red signal, a yellow signal, a blue signal change or cycle time information). When the host vehicle M passes the roadside device 20, the signal color information, position information, and distance of traffic lights S1, S2, S3... Sn (n is a natural number) at the intersection of the roads R1, R2, R3,. Information (specifically, the distance to the stop line of the traffic signal) Ln is distributed to the in-vehicle device 10. Roads H1, H2, H3,... Hn represent roads that intersect with roads R1, R2, R3,... Rn, and traffic lights S1, S2, S3,.

  The roadside device 20 distributes the regulated speed information of the roads R1, R2, R3,... Rn in addition to the above traffic signal information. The regulated speed information can be set for each section of the roads R1, R2, R3,... Rn related to the light color information of the traffic signal ahead, for example. However, the present invention is not limited to this, and when the own vehicle travels through each section, the restriction speed information of the section or the preceding section may be distributed from the next roadside machine 20. Further, the restricted speed information may be distributed from a road traffic information site 166 shown in FIG. 3 other than the roadside machine as long as the road on which the vehicle is traveling can be identified.

  The viewing distance determination unit 220 determines the viewing distance of the road based on the acquired regulated speed information. Preferably, when the restriction speed information of a plurality of sections (in the case of FIG. 5, roads R1, R2, R3,... Rn) can be acquired, the viewing distance of each section is determined collectively when acquired. be able to. It is required by law to secure a braking stop viewing distance as a road design requirement (Road Structure Ordinance). Therefore, if the road regulation speed is known, it is possible to obtain the minimum viewing distance on the road, that is, the almost straight distance that the driver can see. The viewing distance determination unit 220 uniquely determines the viewing distance from the regulated speed information. For example, the viewing distance determination unit 220 calculates the viewing distance every time the regulated speed information is acquired according to a predetermined mathematical formula. Alternatively, a table indicating the relationship between the regulation speed and the viewing distance may be prepared, and the viewing distance may be determined with reference to the table. FIG. 6 is an example of a table that defines the relationship between the regulation speed and the viewing distance, and this relationship is held in the storage unit 170. For example, if the speed limit is 60 km / h, the visual distance is determined to be 75 m. This distance is the lowest value at which a straight line can be seen at least. If the speed limit is 40 km / h, the visual distance is determined to be 40 m.

  The reference position determination unit 230 determines a reference position when a reference angle is determined by a reference angle determination unit 240 described later. FIG. 7 shows a method for determining the reference position. The reference position determination unit 230 sets the vehicle position calculated by the position information calculation unit 110 as the first reference position P1 when the in-vehicle device 10 obtains the regulated speed information from the roadside device 20, and thereafter travels the viewing distance. The reference position is determined every time. In the example of FIG. 7, the first reference position when the restricted speed information is received is P1, and thereafter, the own vehicle position when traveling the visual distance Le is the reference positions P2, P3, P4, and P5, respectively. It is determined. The determination of the reference position determination unit 230 is provided to the reference angle determination unit 240 and the departure determination unit 260.

  When the reference position is determined by the reference position determination unit 230, the reference angle determination unit 240 acquires an angle that is the azimuth of the host vehicle from the angle sensor unit 130, and determines this as the reference angle. In the example of FIG. 7, when the reference positions P1, P2, P3, P4, and P5 are determined, the angles that are the directions of the vehicle detected by the angle sensor unit 130 are the reference angles θ1, θ2, θ3, θ4. , Θ5.

  The angle change amount calculation unit 250 calculates a change amount between the reference angle determined by the reference angle determination unit 240 and the azimuth angle of the host vehicle. The angle change amount calculation unit 250 receives the azimuth angle of the host vehicle detected at a constant detection cycle from the angular velocity sensor 130, accumulates or accumulates the azimuth angles, and calculates a change amount with respect to the reference angle. The change amount calculation by the angle change amount calculation unit 250 can be performed in a predetermined time period, and this time period may be the same as the detection cycle of the angle sensor unit 130, for example. May be a long period of time. However, the angle change amount of the angle change amount calculation unit 250 is reset every time the reference angle is determined, that is, every time the viewing distance is traveled.

In the example of FIG. 7, θ1 ₁ , θ1 ₂ , θ1 ₃ ... Θ1 _n (the vehicle acquired between the reference positions P1 and P2 by the angle sensor 130 during traveling between the reference positions P1 and P2. When the azimuth angle of the host vehicle is detected (azimuth angle, n is a natural number), the angle change amount calculation unit 250 detects the angle change amounts | θ1 ₁ −θ1 |, | θ1 ₂ −θ1 |, | θ1 with respect to the reference angle θ1. ₃ −θ1 | and | θ1 _n −θ1 | can be calculated. Similarly, in traveling between the reference positions P2 and P3, θ2 ₁ , θ2 ₂ , θ2 ₃ ... Θ2 _n (the azimuth angle of the vehicle acquired between the reference positions P2 and P3, n Is the natural number), the angle change amount calculation unit 250 detects the angle change amounts | θ2 ₁ −θ2 |, | θ2 ₂ −θ2 |, | θ2 ₃ −θ2 | with respect to the reference angle θ2. , | Θ2 _n −θ2 | can be calculated. The angle change amount calculation unit 250 can calculate the angle change amount between the reference angle determined immediately before and the current azimuth angle of the vehicle at any time. The maximum interval of the angle change amount is the angle change amount | θ2−θ1 | between the reference angles. At the same time, when a new reference angle is determined, the angle change amount is reset.

  The departure determination unit 260 determines whether or not the vehicle M has deviated from the road at the timing when the angle change amount is calculated based on the angle change amount calculated by the angle change amount calculation unit 250. That is, the deviation determination unit 260 compares the angle change amount with the reference value, and determines that a deviation has occurred when the angle change amount exceeds the reference value, and when the angle change amount is equal to or less than the reference value. Determines that no deviation has occurred. If the vehicle is traveling at a sight distance, the vehicle travels on a substantially straight road, and therefore the angle change amount of the vehicle is expected to be less than or equal to the reference value. On the other hand, when the vehicle deviates from the road due to turning left or right, the amount of change in angle between the reference angle of the immediately preceding reference position and the azimuth angle of the vehicle at that time becomes extremely large and exceeds the reference value. It is expected to be.

  Next, FIG. 8 shows an operation flow of deviation determination of the in-vehicle device of the present embodiment. When the road traffic information is acquired from the roadside machine 20 while the host vehicle M is traveling (S100), the viewing distance determination unit 220 determines the viewing distance based on the regulated speed information included in the road traffic information (S102). When the restriction speed information of a plurality of road sections ahead is acquired in a lump, all the visual distances of these sections are determined. At this time, the reference position determination unit 220 determines the vehicle position calculated by the position information calculation unit 110 as a reference position (S104), and the reference angle determination unit 230 determines from the angle sensor unit 130 at the reference position. The acquired vehicle direction is determined as a reference angle (S106). Next, the angle change amount calculation unit 250 calculates the angle change amount between the most recently determined reference angle and the current azimuth angle of the vehicle (S108), and the departure determination unit 260 calculates the calculated angle change. The amount is compared with the reference value (S110), and if the amount of change in angle exceeds the reference value, it is determined that the vehicle has deviated from the road (S112). This determination result is used, for example, for a driving support function, and when the function (Green Wave function) that supports passing a traffic light ahead in blue as shown in FIG. Terminated or reset. Furthermore, when the navigation unit 120 guides the searched route to the destination, this determination result can also be used for determining a departure from the route. On the other hand, when the angle change amount is equal to or less than the reference value, the same deviation determination is performed in the next travel at the visual distance. In this case, driving support functions such as Green Wave are continued.

  When the angle change amount is equal to or smaller than the reference value, the reference position determination unit 230 determines whether or not the vehicle has traveled the sight distance based on, for example, speed pulse information or a change in the calculated position of the GPS signal ( S114). If the distance is not traveling, the process returns to S108, and the deviation determination is repeated by comparing the angle change amount with the reference value. On the other hand, when it is determined that the vehicle has traveled the sight distance and not all sections targeted by the acquired road traffic information have been completed (S116), the vehicle position is determined as the next reference position. (S118). When the reference position is determined, in synchronization with this, the reference angle determination unit 230 acquires an angle that is the direction of the host vehicle, and determines this as the next reference angle (S120). Next, the angle change amount is calculated by the angle change amount calculation unit 250 (S108). In the above determination, an example in which the calculated amount of change in angle is compared with the reference value as needed is shown. However, in addition to this, for example, for each reference angle as | θ2−θ1 | shown in FIG. In other words, the departure determination may be performed for each viewing distance. In addition, since the road traffic information acquired in S100 includes distance information to each traffic light, the travel distance is determined from speed pulse information or the like, and the current traveling section is ended. In addition, the determination of the visual distance is updated when the visual distance (regulation speed) of the next travel section changes.

  As described above, in this embodiment, the viewing distance is determined from the regulation speed, and the departure determination is performed using the fact that the viewing distance is substantially straight. Therefore, the map data is used for the departure determination as in the past. There is no need. As a result, the deviation determination process can be simplified and the cost can be reduced.

  In the above embodiment, the reference position / reference angle is determined every time the viewing distance is traveled, and the deviation is determined based on the angle change amount of the section. However, the reference position / reference angle does not necessarily match the viewing distance. The reference position / reference angle may be determined when the vehicle travels a distance larger or smaller than the visual distance, and the departure determination may be performed at that timing. However, if the reference position / reference angle is determined at a distance that has a remarkably large amount of deviation from the viewing distance and the deviation determination is performed, the accuracy is somewhat lowered, and erroneous determination is likely to occur. For example, as shown in FIG. 9, when a road with a curve C ahead has a regulated speed of 20 km / h and a viewing distance of 25 m, the vehicle travels a fixed distance 40 m that is much larger than the viewing distance. It is assumed that the reference position / reference angle is determined. The reference angles θ1, θ2, and θ3 are determined at the reference positions P1, P2, and P3, and when passing through the curve C in the travel section from the reference position P2 to P3, the angle change amount | θ3-θ2 | at the reference position P3 is It becomes very large, and there is a high possibility that it is erroneously determined that the vehicle has deviated from the road.

  On the other hand, when the reference position is determined every time the viewing distance is traveled, the reference angles θ1, θ2, θ3, θ4, and θ5 are determined at the reference positions P1, P2, P3, P4, and P5, and the curve C Even if the vehicle travels, the vehicle travels in a substantially straight line, and therefore, the amount of change in angle at each reference position is small. Therefore, it is determined that the vehicle is traveling along the road, and the possibility of erroneous determination is reduced.

  FIG. 10 shows an example in which the reference position / reference angle is determined at a fixed distance much smaller than the viewing distance, and the departure determination is performed at that timing. It is assumed that the vehicle travels on a highway Ra having a regulated speed of 100 km / h and a visual distance of 160 m, and then travels on a branch road Rb. The reference position / reference angle is determined every time the vehicle travels a fixed distance of 40 m that is much smaller than the visual distance, that is, the reference angles θ1, θ2, θ3, at the reference positions P1, P2, P3, P4, P5, and P6. When θ4, θ5, and θ6 are determined, the amount of change in angle at each reference position is small, and there is a high possibility that it is erroneously determined that the vehicle does not deviate from the road. On the other hand, when the reference position / reference angle is determined every time the viewing distance travels, the reference angles θ1, θ2, and θ3 are determined at the reference positions P1, P2, and P3, and the angle change amount | θ3-θ2 | Becomes relatively large, and there is a high possibility that it is determined that the vehicle deviates from the road (runs on the branch road Rb). Thus, when the reference position / reference angle is determined at a distance that is very large or very small with respect to the viewing distance, the amount of angular change is calculated with a period larger than necessary or a fine period. This makes it impossible to effectively use the linearity of visual distance. Therefore, the determination of the reference position / reference angle does not necessarily coincide with the viewing distance, but is desirably performed within a range in which the amount of deviation from the viewing distance does not increase.

  Next, a second embodiment of the present invention will be described. In the first embodiment, deviation determination is performed based on whether or not the angle change amount calculated according to the visual distance exceeds a reference value. In the second embodiment, in addition to the angle change amount, The deviation determination is performed in consideration of the amount of change in the linear distance from the reference position to the next traffic light. As shown in FIG. 11, when the vehicle M deviates from a road Ra that curves to the right to a road Rb that branches to the left, the angle change amount | θ3-θ2 | between the reference positions P2 and P3 and the reference angle and the vehicle If the amount of change in the angle between the azimuths of the car is small, it is difficult to determine departure. Therefore, in the second embodiment, the distance between the reference position and the traffic light S is calculated, and the change amount of the distance is added to the deviation determination.

  FIG. 12 is a diagram illustrating a functional configuration of the departure determination program 200A according to the second embodiment. The departure determination program 200A of the second embodiment includes a distance calculation unit 270 in addition to the functions of the first embodiment. The distance calculation unit 270 calculates the linear distance between the reference position of the host vehicle and the traffic signal using the traffic signal position information included in the road traffic information. Taking FIG. 11 as an example, when the reference position determination unit 230 determines that the vehicle M is at the reference position P1, the distance calculation unit 270 calculates a linear distance L1 between the reference position P1 and the traffic light S. When it is determined that the host vehicle M is at the reference position P2, the distance calculation unit 270 calculates a linear distance L2 between the reference position P2 and the traffic light S, and the host vehicle M is also at the reference position P3. Is determined, the distance calculation unit 270 calculates a linear distance L3 between the reference position P3 and the traffic light S.

  Further, the distance calculation unit 270 predicts the next reference position, and calculates a linear distance between the predicted next reference position and the traffic light. The next reference position is predicted by adding a vector component determined by the current reference angle and the visual distance to the current reference position. Referring to FIG. 13A as an example, when the vehicle M is at the current reference position, the straight line distance La to the traffic light S is calculated, and the current reference position is determined by the current reference angle and the visual distance. The vectors are added, the next reference position is estimated, and the straight line distance Lb between the estimated next reference position and the traffic light S is calculated. The distance calculation unit 270 calculates the distance La to the traffic light calculated at the current reference position and the distance change | Lb−La | of the distance Lb to the traffic light calculated at the next reference position, and calculates the distance change. Provided to the departure determination unit 260.

  The departure determination unit 260 performs departure determination based on the angle change amount calculated by the angle change amount calculation unit 250 and the distance change amount calculated by the distance calculation unit 270. Even if the angle change amount is equal to or less than the reference value, the departure determination unit 260 determines that the vehicle deviates from the target road when the distance change amount increases, and the angle change amount is equal to or less than the reference value. However, when the distance change amount decreases, it is determined that the host vehicle has not deviated from the target road. As shown in FIG. 13 (A), an increase in the distance change amount | Lb−La | indicates that there is a high possibility that the vehicle is moving away from the traffic light S, that is, deviating from the route. Because.

  Further, as shown in FIG. 13B, even when the traffic signal position (intersection position) exists in a semicircular shape, if no deviation occurs, the distance Lb of the next reference position <the current reference position The relationship of distance La is established.

  In the above method, the departure determination unit 260 performs departure determination based on the distance change amount between the current reference position and the estimated next reference position. The departure determination may be performed based on the distance change amount from the previous reference position. Furthermore, the departure determination unit 260 may perform departure determination based on a plurality of distance change amounts. For example, if both the distance change amount between the previous reference position and the current reference position and the distance change amount between the current reference position and the estimated next reference position are not decreased, the deviation determination may be performed. .

  Next, the deviation determination operation according to the second embodiment will be described with reference to the flowcharts of FIGS. First, road traffic information distributed from the roadside machine 20 is acquired. This road traffic information includes the regulation speed of each section of the road up to one or more traffic lights existing ahead, traffic signal information, and the like (S200). The section is a road between traffic lights or a road (link) between intersections, for example, R1, R2, R3,... Rn in FIG. 3, and in this example, a regulated speed is set for each section. . When the road traffic information is acquired, the viewing distance of the first section is determined by the viewing distance determination unit 220 (S202), and the current vehicle position is determined as the first reference position by the reference position determination unit 230 (S204). The reference angle determination unit 230 determines the vehicle direction acquired from the angle sensor unit 130 at the reference position as the reference angle (yaw angle) (S206). Further, the distance calculation unit 270 calculates a linear distance between the first reference position and the intersection (S208).

  Next, the angle change amount calculation unit 250 calculates an angle change amount between the most recently set reference angle and the current azimuth angle of the host vehicle (S210), and the departure determination unit 260 calculates the calculated angle change amount. Is compared with the reference value (S212), and if the amount of change in angle exceeds the reference value, it is determined that the vehicle has deviated from the road (S214). If the angle change amount is less than or equal to the reference value, the reference position determination unit 230 determines whether or not the vehicle has traveled the sight distance (S216). If the vehicle has not traveled the sight distance, the process returns to S210. The deviation determination is repeated. On the other hand, when it is determined that the user has traveled the sight distance and not all the sections targeted by the acquired road traffic information have been completed (S218), the vehicle position is determined as the next reference position. (S220). When the reference position is determined, in synchronization with this, the reference angle determination unit 230 acquires an angle that is the direction of the host vehicle, and determines this as the next reference angle (S222). Further, the distance calculation unit 270 calculates the linear distance between the reference position determined in S220 and the intersection (S224). When the distance to the traffic light calculated at S224 and the distance to the traffic light calculated at the immediately preceding reference position, or the distance change amount from the next reference position is increased (S226). Then, it is determined that the vehicle has deviated from the road (S228). If the distance change amount has not increased, the process returns to S210, and the angle change amount is determined based on the reference position and reference angle reset by S220 and S222. It should be noted that it is determined whether or not the travel of all the sections in S218, that is, the section that is the target of Green Wave, has ended, and if it has ended, the departure determination operation is ended. Further, when the viewing distance of each section is set in S202, the set viewing distance may be updated in accordance with each section in step S218. Since the road traffic information acquired in S200 includes distance information to each traffic light, the travel distance is determined from the speed pulse information, etc., and the currently traveling section is completed, and The viewing distance setting can be updated when the viewing distance (regulated speed) of the next travel section changes.

  Thus, in the second embodiment, when the distance change amount increases, the departure determination unit 260 determines that there is a departure even if the angle change amount is equal to or less than the reference value (S228). If the distance change amount has not increased, the process jumps to step S210.

  As described above, in the second embodiment, in addition to the determination of the angle change amount in the first embodiment, in addition to the determination of the distance change amount to the intersection, more accurate departure determination can be performed. it can.

  The preferred embodiment of the present invention has been described in detail above. However, the present invention is not limited to the specific embodiment, and various modifications and variations are possible within the scope of the gist of the invention described in the claims. It can be changed.

1: Driving support system 10: In-vehicle device 20: Roadside device 100: Input unit 110: Position information calculation unit 120: Navigation unit 130: Angle sensor unit 140: Display unit 150: Audio output unit 160: Communication unit 170: Storage unit 180 : Control unit

Claims (11)

Acquisition means for acquiring road traffic information including regulated speed information of at least one target road;
Determining means for determining a viewing distance that is a distance through which a straight line can be seen based on the regulated speed information;
Detection means for detecting an angle that is the direction of the own vehicle;
Calculation means for calculating an angle change amount of the own vehicle based on a detection result of the detection means;
A determination unit that compares the amount of change in angle calculated by the calculation unit with a reference value, and determines whether or not the vehicle deviates from the target road while traveling the distance specified by the visual distance;
An electronic device. The electronic device according to claim 1, wherein the electronic device is determined to have deviated when the angle change amount exceeds a reference value. The electronic device according to claim 1, wherein the calculation unit resets the angle change amount each time the own vehicle travels the visual range. The determination means, when the vehicle has traveled a distance specified by the visual distance, performs a deviation determination of the target road while traveling the distance specified by the next visual distance. The electronic device as described in any one. 2. The electronic device according to claim 1, wherein the road traffic information includes light color information of one or more traffic lights existing ahead, and the target road is a road where the one or more traffic lights exist. . The road traffic information includes position information of traffic lights existing ahead,
The electronic device further includes distance calculating means for calculating a change amount of the distance from the vehicle position to the traffic signal,
The determination means determines that the vehicle deviates from the target road when the distance change amount increases even if the angle change amount is less than or equal to a reference value, and the angle change amount is less than or equal to a reference value. The electronic device according to claim 1, wherein when the distance change amount decreases, the vehicle is determined not to depart from the target road. The distance calculation means calculates the amount of change between the distance to the traffic signal when the host vehicle is at the current reference position and the distance to the traffic signal when the host vehicle is at the next reference position, and the next reference The electronic device according to claim 6, wherein the position is estimated based on a reference angle at the current reference position and a vector of the visual distance. The electronic device according to claim 1, wherein the acquisition unit acquires road traffic information distributed from a roadside machine. A deviation determination system including the electronic device according to any one of claims 1 to 8 and a roadside device capable of communicating with the electronic device,
The roadside machine
Including distribution means for distributing the road traffic information to the electronic device;
The departure determination system, wherein the acquisition unit acquires road traffic information distributed by the distribution unit. A deviation determination program executed by an electronic device having a program processing function,
Obtaining road traffic information including regulated speed information of at least one target road;
Determining a viewing distance that is a distance through which a straight line can be seen based on the regulated speed information;
Calculating the amount of change in the angle of the vehicle based on the detection result of the angle that is the direction of the vehicle;
Comparing the calculated amount of change in angle with a reference value and determining whether or not the vehicle deviates from the target road while traveling the distance specified by the visual distance;
A deviation determination program. A departure determination method in an electronic device having a route departure determination function,
The deviation determination method is as follows:
Obtaining road traffic information including regulated speed information of at least one target road;
Determining a viewing distance that is a distance through which a straight line can be seen based on the regulated speed information;
Calculating the amount of change in the angle of the vehicle based on the detection result of the angle that is the direction of the vehicle;
Comparing the calculated amount of change in angle with a reference value and determining whether or not the vehicle deviates from the target road while traveling the distance specified by the visual distance;
A deviation determination method comprising:

Images