JP2020013450A - Warning control device, navigation system, and warning control program - Google Patents

Abstract

To provide a warning control device that enables appropriate notification according to a lane on which an own vehicle is traveling.SOLUTION: A warning control device 1 comprises: a lane information acquisition unit 13 that acquires lane information in which an own vehicle travels on a road having a plurality of lanes on which vehicles can travel in the same direction; a risk information acquisition unit 14 that determines whether or not there is a situation corresponding to any one of situations which indicate a plurality of preset risk items ahead a traveling direction of the own vehicle, and acquires risk information associated with a risk item indicating the situation, among risk information associated with risk levels in the plurality of lanes for each risk item when it is determined that the situation exists; and a warning determining unit 15 that determines whether to perform a warning on the basis of the risk information acquired by the risk information acquisition unit 14 and the lane information acquired by the lane information acquisition unit 13.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a warning control device, a navigation system, and a warning control program.

  Some in-vehicle information devices, such as car navigation systems, alert you by voice output and screen display such as "Accidents frequently occur. Please be careful." is there.

  For example, Patent Literature 1 discloses a detecting unit that detects a vehicle status including current position information on a current position of a vehicle, an information providing unit that provides the vehicle status detected by the detecting unit as vehicle status information, and an information providing unit. An information acquisition unit for acquiring accident situation information including accident location information on at least one of an accident location and an accident danger location having a preset positional relationship with the current location indicated by the current location information provided by the There is disclosed a safe driving support device including a notifying unit for notifying the content of the accident situation information acquired by the acquiring unit.

JP 2004-164001 A

  The situation that requires attention when running the host vehicle may differ depending on the lane in which the host vehicle is running. However, the technology described in Patent Document 1 is to notify based on the status of the own vehicle in the own vehicle obtained by acquiring an operation of a blinker, a wiper, or the like in the own vehicle. There is a problem that an unnecessary notification is made in a certain lane.

  An object of the present invention is to solve the above-described problem, and an object of the present invention is to provide a warning control device that can perform appropriate notification according to a lane in which a host vehicle is traveling.

  A warning control device according to the present invention includes a lane information acquisition unit that acquires lane information on which a vehicle travels on a road having a plurality of lanes that can travel in the same direction, and a lane information acquisition unit that is preset in the traveling direction of the vehicle. Determines whether there is a situation that corresponds to any of the situations that indicate multiple danger items, and when it is determined that the situation exists, associates the danger level in each of multiple lanes for each danger item Among the obtained danger information, a danger information acquisition unit that acquires danger information associated with the danger item indicating the situation, a danger information acquired by the danger information acquisition unit, and lane information acquired by the lane information acquisition unit. And a warning determining unit that determines whether to perform a warning based on the determined degree of risk.

  ADVANTAGE OF THE INVENTION According to this invention, appropriate notification can be performed according to the lane in which the own vehicle is running.

FIG. 1 is a block diagram illustrating a configuration of a vehicle-mounted navigation system to which the warning control device according to the first embodiment is applied. 2A and 2B are diagrams illustrating an example of a hardware configuration of the warning control device according to the first embodiment. FIG. 3 is a diagram showing an example of danger information matrix data according to the first embodiment. FIG. 4 is a diagram illustrating an example of a warning content output by a display output unit of the navigation device in the navigation system to which the warning control device according to the first embodiment is applied. FIG. 5 is a flowchart illustrating a process of the warning control device according to the first embodiment. FIG. 6 is a block diagram illustrating a configuration of a navigation system to which the warning control device according to the second embodiment is applied. FIG. 7 is a diagram showing an example of danger information matrix data according to the second embodiment. FIG. 8 is a flowchart illustrating processing of the warning control device according to the second embodiment.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

Embodiment 1 FIG.
The warning control device 1 according to the first embodiment will be described below as being applied to an on-vehicle navigation system 3 as an example.

FIG. 1 is a block diagram showing a configuration of a vehicle-mounted navigation system 3 to which the warning control device 1 according to the first embodiment is applied.
The configuration of an in-vehicle navigation system 3 to which the warning control device 1 according to the first embodiment is applied will be described with reference to FIG.

The navigation system 3 includes a GPS receiver 31, a map database 32, a navigation device 2, and a warning control device 1.
The GPS receiver 31 is a receiving device that receives GPS information from a positioning satellite used in GPS.
The map database 32 is a storage device that stores map information in which information on a road map is described. In this embodiment, the map information stored in the map database 32 includes at least information indicating the number of road lanes.

The navigation device 2 includes a GPS information acquisition unit 21, a map information acquisition unit 22, a navigation unit 23, an output control unit 24, a display output unit 25, and an audio output unit 26.
The GPS information acquisition unit 21 acquires the GPS information received by the GPS receiver 31.
The map information acquisition unit 22 acquires map information from the map database 32. The map database 32 only needs to be able to acquire the map data by the map information acquisition unit 22, and is not necessarily installed in the own vehicle. For example, the map database 32 may exist on a cloud, and the map information acquisition unit 22 may acquire the map information from the map database 32 via the Internet, a public network such as a public line, or the like.
The navigation unit 23 is based on the GPS information acquired by the GPS information acquisition unit 21 and the map information acquired by the map information acquisition unit 22 and stores information on a point on a road on which the vehicle travels (hereinafter referred to as “travel point information”). ), And information on the direction in which the host vehicle travels (hereinafter referred to as “traveling direction information”). Hereinafter, the traveling point information and the traveling direction information will be referred to as traveling information.

The output control unit 24 includes: a map image generated based on the map information acquired via the navigation unit 23; a point on a road on which the vehicle travels generated based on the travel information generated by the navigation unit 23; A guide image is generated by superimposing an image indicating the direction in which the vehicle is traveling. Further, the output control unit 24 generates a guidance voice based on the map information and the travel information.
The display output unit 25 displays the guide image generated by the output control unit 24.
The audio output unit 26 outputs the guidance audio generated by the output control unit 24.

  The navigation unit 23 may determine a travel route to a preset destination and generate route guidance information based on the determined travel route. In this case, the output control unit 24 may use the route guidance information generated by the navigation unit 23 when generating the above-described guidance image. The output control unit 24 may use the route guidance information generated by the navigation unit 23 when generating the above-described guidance voice.

  The warning control device 1 includes a traveling information acquisition unit 11, a positioning correction information acquisition unit 12, a lane information acquisition unit 13, a danger information acquisition unit 14, and a warning determination unit 15.

  The traveling information acquisition unit 11 acquires, from the navigation device 2, the traveling information generated by the navigation unit 23 and the map information acquired by the navigation unit 23 via the map information acquisition unit 22. The map information acquired by the traveling information acquisition unit 11 is, for example, information within a predetermined range including a point where the own vehicle travels. More specifically, for example, the predetermined range is a range surrounded by a substantially circle having a radius of 300 m and centered on a point where the host vehicle travels. The range within the predetermined range is not limited to this. In this embodiment, in addition to the information indicating the shape of the road and the information indicating the intersection of the roads, the map information includes, for example, information indicating the number of road lanes, information indicating the position of the bus stop, and a right or left turn. It is assumed that information indicating the presence or absence of a dedicated lane is included. In this embodiment, the traveling information acquisition unit 11 shows a mode in which the traveling information and the map information are acquired from the navigation device 2, but the invention is not limited thereto. For example, the traveling information acquisition unit 11 has a function similar to that of the map information acquisition unit 22 provided in the navigation device 2 described above, and the traveling information acquisition unit 11 acquires map information from the map database 32 using the function. Is also good. In addition, for example, the traveling information acquisition unit 11 has the same functions as those of the GPS information acquisition unit 21, the map information acquisition unit 22, and the navigation unit 23 provided in the above-described navigation device 2, and The unit 11 may generate the travel information using the function.

The positioning correction information acquiring unit 12 acquires positioning correction information from a positioning correction information providing device 41 described later based on the traveling information acquired by the traveling information acquiring unit 11.
The positioning correction information providing device 41 is, for example, a quasi-zenith satellite system. The quasi-zenith satellite system provides, for example, positioning correction information capable of performing high-accuracy positioning correction with an error of about several centimeters. The positioning correction information providing device 41 is not limited to the quasi-zenith satellite system. For example, the positioning correction information providing device 41 may be a device that provides positioning correction information capable of performing high-accuracy positioning correction generated based on GPS information received from a plurality of positioning satellites. . Further, for example, the positioning correction information providing device 41 acquires image data captured by an imaging device (not shown) that captures the surroundings of the vehicle mounted on the vehicle, and analyzes the acquired image data by a known method. Alternatively, the apparatus may provide positioning correction information generated by estimating the position of the host vehicle in the road width direction.

The lane information acquisition unit 13 acquires lane information on which a host vehicle travels on a road having a plurality of lanes that can travel in the same direction.
The lane information is information indicating a position of a lane such as a left lane, a center lane, and a right lane on a road having a plurality of lanes that can travel in the same direction. As described above, since the map information includes information indicating the number of road lanes, the lane information acquisition unit 13 causes the own vehicle to travel based on the travel information and the map information acquired by the travel information acquisition unit 11. The number of lanes that can travel in the same direction on the road can be obtained. In addition, the lane information acquisition unit 13 can accurately estimate the position where the host vehicle travels in the road width direction based on the positioning correction information acquired by the positioning correction information acquisition unit 12. Therefore, the lane information acquisition unit 13 can acquire the lane in which the host vehicle travels from among a plurality of lanes that can travel in the same direction on the road on which the host vehicle travels.

The danger information acquisition unit 14 determines whether there is a situation corresponding to any of a plurality of preset danger items ahead of the traveling direction of the host vehicle, and determines that the situation exists. At that time, the danger information associated with the danger item indicating the situation is acquired from the danger information in which the danger level in each of the plurality of lanes is associated with each danger item.
The danger item is an item indicating a situation that requires attention when the host vehicle is driven such as a bus stop, a pedestrian, a parked vehicle, or a lane dedicated to right turn.
The degree of danger indicates the degree of caution required when running the host vehicle.
The details of the danger information will be described later.

  In this embodiment, the description will be given assuming that the danger information acquisition unit 14 acquires the danger information from the danger information database 42. However, the danger information database 42 may be configured as long as the danger information acquisition unit 14 can acquire the danger information. Often, it is not always installed in the own vehicle. For example, the danger information database 42 may exist on a cloud, and the danger information acquisition unit 14 may acquire danger information from the danger information database 42 via the Internet, a public network such as a public line, or the like.

  In this embodiment, the danger information acquisition unit 14 indicates a plurality of preset danger items ahead of the own vehicle in the traveling direction based on the traveling information and the map information acquired by the traveling information acquisition unit 11. It is determined whether there is a situation corresponding to any of the situations. Specifically, for example, the danger information acquiring unit 14 indicates the traveling point information and the traveling direction information included in the traveling information, and the information indicating the position of the bus stop included in the map information, or indicates the presence or absence of a right-turn-only lane. Based on the information or the like, it is determined whether or not there is a situation corresponding to any one of a plurality of situations indicating a plurality of preset danger items ahead of the traveling direction of the host vehicle. More specifically, for example, the danger information acquisition unit 14 determines the direction in which the host vehicle travels based on the travel point information and the travel direction information included in the travel information, and based on the map information, determines a bus stop and a walking distance. It is determined whether or not there is a situation that requires attention when running the own vehicle, which corresponds to a preset danger item such as a driver, a parked vehicle, or a right turn lane, in the traveling direction of the own vehicle. .

Further, as described above, when it is determined that there is a situation that requires attention when running the host vehicle, which corresponds to a preset risk item, a plurality of lanes are provided for each risk item. Is obtained from the danger information database 42 associated with the danger item indicating the situation, among the danger information associated with the danger degree in each of the above.
The details of the danger information will be described later.

  In this embodiment, the danger information acquisition unit 14 determines whether or not there is a situation corresponding to any of the situations indicating a plurality of preset danger items ahead in the traveling direction of the vehicle. Although the example in which the traveling information acquisition unit 11 determines based on the traveling information and the map information acquired is shown, the invention is not limited thereto. For example, the danger information acquisition unit 14 determines whether or not a situation corresponding to any of a plurality of preset danger items exists ahead of the own vehicle in the traveling direction. By acquiring image data captured by an imaging device (not shown) that captures the front of the subject vehicle and analyzing the acquired image data by a known method, a bus stop, a pedestrian, and the like in the traveling direction of the subject vehicle. It may be determined whether or not there is a situation that requires attention when driving the own vehicle, which corresponds to a preset danger item such as a parked vehicle, a right turn lane, or the like.

The warning determination unit 15 determines whether to give a warning based on the danger information determined by the danger information acquired by the danger information acquisition unit 14 and the lane information acquired by the lane information acquisition unit 13. More specifically, for example, the warning determination unit 15 determines to perform a warning when the risk is equal to or more than a preset threshold, and issues a warning when the risk is smaller than the preset threshold. It is determined that there is not.
The details of the danger information will be described later.
When determining to issue a warning, the warning determination unit 15 notifies the navigation device 2 of the content of the warning. Details of the warning content will be described later.

  In the navigation device 2, the output control unit 24 generates at least one of a display image and an output sound based on the warning content notified by the warning determination unit 15, and outputs the generated image from the display output unit 25 and the sound output unit 26 as appropriate. .

  2A and 2B are diagrams illustrating an example of a hardware configuration of the warning control device 1 according to the first embodiment.

In the first embodiment, the functions of the traveling information acquisition unit 11, the positioning correction information acquisition unit 12, the lane information acquisition unit 13, the danger information acquisition unit 14, and the warning determination unit 15 are realized by the processing circuit 201. That is, the warning control device 1 determines whether or not a warning is to be issued by the warning determining unit 15 based on the information obtained by the traveling information obtaining unit 11, the positioning correction information obtaining unit 12, and the danger information obtaining unit 14. In addition, a processing circuit 201 for notifying the content of the warning to the navigation device 2 is provided.
The processing circuit 201 may be dedicated hardware as shown in FIG. 2A or a CPU (Central Processing Unit) 206 that executes a program stored in the memory 205 as shown in FIG. 2B.

  When the processing circuit 201 is dedicated hardware, the processing circuit 201 includes, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), and an FPGA (Field-Programmable). Gate Array) or a combination thereof.

  When the processing circuit 201 is the CPU 206, the functions of the traveling information acquisition unit 11, the positioning correction information acquisition unit 12, the lane information acquisition unit 13, the danger information acquisition unit 14, and the warning determination unit 15 are software, firmware, or It is realized by a combination of software and firmware. That is, the traveling information acquisition unit 11, the positioning correction information acquisition unit 12, the lane information acquisition unit 13, the danger information acquisition unit 14, and the warning determination unit 15 are stored in the HDD (Hard Disk Drive) 202, the memory 205, and the like. It is realized by a processing circuit such as a CPU 206 that executes a program or a system LSI (Large-Scale Integration). The programs stored in the HDD 202, the memory 205, and the like include the functions of the driving information acquisition unit 11, the positioning correction information acquisition unit 12, the lane information acquisition unit 13, the danger information acquisition unit 14, and the warning determination unit 15, That is, it can be said that the computer causes the computer to execute the traveling information acquisition function, the positioning correction information acquisition function, the lane information acquisition function, the danger information acquisition function, and the warning determination function. Here, the memory 205 is, for example, a random access memory (RAM), a read only memory (ROM), a flash memory, an EPROM (Erasable Programmable Read Only Memory), an EEPROM (Electrically Random Memory, or a non-volatile memory). A volatile or volatile semiconductor memory, a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, a DVD (Digital Versatile Disc), or the like is applicable.

In addition, about each function of the driving | running information acquisition part 11, the positioning correction information acquisition part 12, the lane information acquisition part 13, the danger information acquisition part 14, and the warning determination part 15, one part is implement | achieved by exclusive hardware, The unit may be realized by software or firmware. For example, the functions of the traveling information acquisition unit 11 and the positioning correction information acquisition unit 12 are realized by the processing circuit 201 as dedicated hardware, and the lane information acquisition unit 13, the danger information acquisition unit 14, and the warning The function of the determination unit 15 can be realized by the processing circuit reading and executing the program stored in the memory 205.
Further, the warning control device 1 includes an input interface device 203 and an output interface device 204 for performing communication with the navigation device 2, the positioning correction information providing device 41, the danger information database 42, and the like.
In the above description, the hardware configuration of the warning control device 1 has been described as using the HDD 202 as shown in FIG. 2B. However, an SSD (Solid State Drive) is used instead of the HDD 202. There may be.

The danger information will be described.
As described above, the danger information is information in which a danger level in each of a plurality of lanes is associated with each preset danger item such as a bus stop, a pedestrian, a parked vehicle, or a right-turn-only lane. More specifically, for example, the danger information is recorded in the danger information database 42 in the form of matrix data (hereinafter, referred to as “danger information matrix data”) in which the danger level in each of a plurality of lanes is associated with each danger item. Have been.

FIG. 3 is a diagram showing an example of danger information matrix data according to the first embodiment.
In FIG. 3, the danger information matrix data indicates a case where the lanes that can travel in the same direction on the road on which the host vehicle travels are three lanes: a left lane, a center lane, and a right lane. The danger information matrix data indicates a case where the preset danger items are four items of a bus stop, a pedestrian, a parked vehicle, and a lane dedicated to right turn.
In the danger information matrix data column shown in FIG. 3, the marks “×” and “X” indicate the degree of danger, respectively, and the mark “〇” indicates that the degree of danger is higher than that of the mark “X”. That is, the symbol “〇” indicates that the degree of danger associated with the danger item in the lane is high. Similarly, a cross indicates that the risk associated with the risk item in the lane is low.

  For example, in FIG. 3, when the danger item is a right-turn-only lane, it indicates that the danger level in the center lane and the right lane is higher than the danger level in the left lane. More specifically, for example, when the danger item is a right-turn only lane, and the vehicle is traveling in the right lane, that is, when the right-turn only lane is running, the other vehicle that is going to make a right turn has its own vehicle from the center lane. There is a possibility that the lane may be changed by interrupting the right turn lane for driving. Further, for example, when the danger item is a right-turn only lane, and the own vehicle is running in the center lane, another vehicle that is going to go straight from the right-turn only lane into the center lane in which the own vehicle is running changes lanes. There is a possibility that it will come. Assuming such a case, as shown in FIG. 3, the danger information matrix data indicates that the danger level in the center lane and the right lane when the danger item is the right turn lane is smaller than the danger level in the left lane. , Is preset to a high value.

  For example, when the danger degree determined by the danger information acquired by the danger information acquisition unit 14 and the lane information acquired by the lane information acquisition unit 13 is a height indicated by a triangle, the warning determination unit 15 issues a warning. Decide to do. Similarly, for example, the warning determination unit 15 determines not to perform a warning when the degree of danger is a height indicated by an X mark. For example, in the case where the danger item is a right-turn-only lane and the lane in which the host vehicle travels is the left lane, the danger level is indicated by x, so that the warning determination unit 15 determines that no warning is given. Further, for example, when the danger item is a right-turn-only lane, and when the lane in which the vehicle travels is the center lane or the right lane, the danger degree is indicated by a triangle, the warning determination unit 15 issues a warning. decide.

FIG. 4 is a diagram illustrating an example of a warning content output by the display output unit 25 of the navigation device 2 in the navigation system 3 to which the warning control device 1 according to the first embodiment is applied.
4 shows a warning content output based on the danger information matrix data shown in FIG. 3 when, for example, a right-turn-only lane exists ahead of the own vehicle in the traveling direction and the own vehicle runs in the right lane. ing. As shown in FIG. 4, the warning determination unit 15 notifies the navigation device 2 of the warning content that, for example, there is a right-turn-only lane ahead. Be careful of vehicles that change lanes from the center lane. . The content of the warning is an example, and the present invention is not limited to this.
In the navigation device 2, the output control unit 24 generates a display image based on the warning content notified from the warning determination unit 15, and the display output unit 25 displays and outputs the display image. In this embodiment, the description has been given of the form in which the contents of the warning are displayed and output from the display output unit 25, but the contents of the warning may be in the form of sound output from the sound output unit 26.

The operation will be described.
FIG. 5 is a flowchart illustrating a process of the warning control device 1 according to the first embodiment. The warning control device 1 repeatedly executes the processing shown in the flowchart.
Hereinafter, the process of the warning control device 1 according to the first embodiment will be described with reference to the flowchart.

First, the traveling information acquisition unit 11 acquires traveling information and map information as described above (step ST1).
Next, the positioning correction information acquisition unit 12 acquires the positioning correction information from the positioning correction information providing device 41 as described above (step ST2).
Next, as described above, the lane information acquisition unit 13 acquires lane information in which the own vehicle travels on a road having a plurality of lanes that can travel in the same direction (step ST3).
Next, as described above, the danger information acquisition unit 14 determines whether there is a situation corresponding to any one of a plurality of preset danger items in front of the traveling direction of the vehicle. When it is determined that the situation exists, the danger information associated with the danger item indicating the situation is obtained from the danger information associated with the danger level in each of the plurality of lanes for each danger item ( Step ST4).

Next, as described above, the warning determination unit 15 issues a warning based on the danger information determined by the danger information acquired by the danger information acquisition unit 14 and the lane information acquired by the lane information acquisition unit 13. It is determined whether or not (step ST5).
When the warning determination unit 15 determines not to perform a warning (step ST5: NO), the warning control device 1 ends the process of the flowchart and returns to the process of step ST1 again.
When the warning determining unit 15 determines to perform a warning (step ST5: YES), the warning determining unit 15 notifies the navigation device 2 of the content of the warning as described above (step ST6), and thereafter, the warning control device 1 Ends the process of the flowchart, and returns to the process of step ST1 again.

As described above, the warning control device 1 includes the lane information acquisition unit 13 that acquires the lane information of the own vehicle traveling on a road having a plurality of lanes that can travel in the same direction, It is determined whether there is a situation that corresponds to any of the situations indicating the set plurality of danger items, and when it is determined that the situation exists, the danger in each of the plurality of lanes is determined for each danger item. Among the danger information associated with the degree, the danger information acquisition unit 14 that acquires danger information associated with the danger item indicating the situation, the danger information acquired by the danger information acquisition unit 14, and the lane information acquisition unit 13 And a warning determination unit 15 that determines whether to give a warning based on the degree of danger determined by the acquired lane information.
With this configuration, it is possible to perform appropriate notification according to the lane in which the host vehicle is traveling.

Embodiment 2 FIG.
FIG. 6 is a block diagram illustrating a configuration of a navigation system 3a to which the warning control device 1a according to the second embodiment is applied.
The configuration of a navigation system 3a to which the warning control device 1a according to the second embodiment is applied will be described with reference to FIG.

The warning control device 1a according to the second embodiment is different from the configuration of the warning control device 1 according to the first embodiment in that the warning determination unit 15 of the warning control device 1 according to the first embodiment is different from the warning determination unit 15a. It is different in that it is.
In other configurations of the warning control device 1a according to the second embodiment, the same components as those of the warning control device 1 according to the first embodiment are denoted by the same reference numerals, and redundant description will be omitted. That is, the description of the configuration in FIG. 6 to which the same reference numerals as those in FIG. 1 are given is omitted.

  Details of the warning determination unit 15a will be described later.

FIG. 7 is a diagram showing an example of danger information matrix data according to the second embodiment.
In FIG. 7, the danger information matrix data indicates a case where the lanes that can travel in the same direction on the road on which the host vehicle travels are three lanes: a left lane, a center lane, and a right lane. The danger information matrix data indicates a case where the preset danger items are four items of a bus stop, a pedestrian, a parked vehicle, and a lane dedicated to right turn.
The symbols ◎, 〇, △, and X shown in the columns of the risk information matrix data shown in FIG. 7 indicate the danger levels, respectively. , X. That is, the symbol 印 indicates that the degree of danger associated with the danger item in the lane is the highest. Similarly, the symbol “〇” indicates that the risk associated with the dangerous item in the lane is the second highest after the symbol “◎”. Similarly, the symbol “△” indicates that the risk associated with the danger item in the lane is the second highest after the symbol “〇”. Similarly, the crosses indicate that the risk associated with the risk item in the lane is the lowest.

  For example, in FIG. 7, when the danger item is a right-turn-only lane, it indicates that the danger level in the right lane is higher than the danger level in the center lane. Also, for example, in FIG. 7, when the danger item is a right-turn-only lane, it indicates that the danger level in the center lane is higher than the danger level in the left lane.

The warning determination unit 15a determines whether or not to perform a warning based on the degree of danger determined by the danger information and the lane information, and when performing a warning, determines the mode of performing the warning.
More specifically, the warning determination unit 15a determines that the warning corresponding to the danger item is not to be performed when the degree of danger is “X”, and when the degree of danger is “◎”, “〇”, or “△”, It is determined that a warning corresponding to the dangerous item is issued.

  Further, when it is determined that the warning of the dangerous item is to be performed, the warning determining unit 15a determines a mode of performing the warning based on the degree of risk. The mode is an output method for notifying a user such as a driver appearing in the own vehicle of the warning content. For example, when the degree of danger is indicated by ◎, the warning determination unit 15a determines the mode as both the display output and the audio output. In addition, for example, when the degree of danger is a mark, the warning determination unit 15a determines the mode to be only the display output. Further, for example, when the degree of danger is a mark, the warning determination unit 15a determines the mode to be only the voice output.

  The warning determiner 15a notifies the navigation device 2 of the warning content and the information indicating the mode. The navigation device 2 outputs the content of the warning based on the information indicating the content and the mode of the notification notified from the warning determination unit 15a.

  In the second embodiment, an example of the function of the warning determination unit 15a is shown in FIGS. 2A and 2B in the first embodiment, similarly to the warning determination unit 15 in the warning control device 1 according to the first embodiment. The processing is implemented in the same manner as in the first embodiment by the processing circuit 201 in the hardware configuration or the CPU 206 that executes a program stored in the memory 205.

The operation will be described.
FIG. 8 is a flowchart illustrating a process performed by the warning control device 1a according to the second embodiment. The warning control device 1a repeatedly executes the processing shown in the flowchart.
Hereinafter, processing of the warning control device 1a according to the second embodiment will be described with reference to the flowchart.

First, the traveling information acquisition unit 11 acquires traveling information and map information as described above (step ST11).
Next, the positioning correction information obtaining unit 12 obtains the positioning correction information from the positioning correction information providing device 41 as described above (step ST12).
Next, as described above, the lane information acquisition unit 13 acquires lane information on which the own vehicle travels on a road having a plurality of lanes that can travel in the same direction (step ST13).
Next, as described above, the danger information acquisition unit 14 determines whether there is a situation corresponding to any one of a plurality of preset danger items in front of the traveling direction of the vehicle. When it is determined that the situation exists, the danger information associated with the danger item indicating the situation is obtained from the danger information associated with the danger level in each of the plurality of lanes for each danger item ( Step ST14).

Next, the warning determination unit 15a determines whether to perform a warning based on the danger information determined by the danger information acquisition unit 14 and the lane information acquired by the lane information acquisition unit 13. (Step ST15).
When the warning determining unit 15a determines not to perform a warning (step ST15: NO), the warning control device 1a ends the process of the flowchart, and returns to the process of step ST11 again.
When the warning determining unit 15a determines that a warning is to be issued (step ST15: YES), the warning determining unit 15a determines a mode of performing a warning based on the risk as described above (step ST16).
After the process of step ST16, the warning determination unit 15a notifies the navigation device 2 of the warning content and information indicating the mode of the warning content, as described above (step ST17). Is completed, and the process returns to step ST11.

  With such a configuration, the warning control device 1a according to the second embodiment provides an appropriate notification according to the lane in which the host vehicle is traveling, as compared with the warning control device 1 according to the first embodiment. It can be performed more accurately.

  In the second embodiment, the risk level has been described in four stages of ◎, Δ, Δ, and X, but is not limited thereto. For example, the number of stages may be less than four or five or more.

  Further, in the second embodiment, when the degree of danger is ◎, 〇, and △, the warning determination unit 15a sets each mode to both display output and audio output, only display output, and audio output. Although the form to determine only is shown, it is not limited to this. For example, the size of the displayed warning content, the color of the displayed warning content, and the like may be determined according to the degree of danger, and the warning content may be notified by adding information indicating the display method. Further, for example, a sound output method such as a sound volume of a warning content to be outputted as a sound may be determined according to the degree of danger, and information indicating the sound output method may be added to the warning content to be notified.

  Further, in the second embodiment, the mode in which the warning determination unit 15a issues a warning determined based on the degree of danger is a mode determined based on a predetermined setting, but is not limited thereto. For example, the mode in which the warning determination unit 15a issues a warning determined based on the degree of danger may be set by designation by a user such as a driver. Further, for example, the mode in which the warning determination unit 15a issues a warning determined based on the degree of danger may be dynamically set based on information such as the driver's skill level and frequently-traveled routes.

  Further, in the second embodiment, the warning determining unit 15a has described the mode in which, when the degree of danger is ◎, 〇, and △, a warning corresponding to a danger item is performed, but this is not restrictive. Absent. For example, the threshold value of the degree of risk for the warning determination unit 15a to determine whether to give a warning may be set by a user such as a driver. Further, for example, the threshold value of the risk for the warning determination unit 15a to determine whether or not to give a warning is dynamically set based on information such as the driver's skill level and frequently-traffic routes. No problem.

  In the present invention, within the scope of the invention, any combination of the embodiments can be freely selected, or any component of each embodiment can be modified, or any component can be omitted in each embodiment.

  1, 1a warning control device, 2 navigation device, 3, 3a navigation system, 11 driving information obtaining unit, 12 positioning correction information obtaining unit, 13 lane information obtaining unit, 14 danger information obtaining unit, 15, 15a warning determining unit, 21 GPS information acquisition unit, 22 map information acquisition unit, 23 navigation unit, 24 output control unit, 25 display output unit, 26 audio output unit, 31 GPS receiver, 32 map database, 41 positioning correction information providing device, 42 danger information database , 201 processing circuit, 202 HDD, 203 input interface device, 204 output interface device, 205 memory, 206 CPU.

Claims (4)

A lane information acquisition unit that acquires lane information in which the host vehicle travels on a road having a plurality of lanes that can travel in the same direction,
It is determined whether or not there is a situation corresponding to any of a plurality of preset danger items ahead of the traveling direction of the host vehicle, and when it is determined that the situation exists, Among the danger information associated with the degree of danger in each of the plurality of lanes for each danger item, a danger information acquisition unit that acquires the danger information associated with the danger item indicating the situation,
The danger information acquired by the danger information acquisition unit, based on the degree of danger determined by the lane information acquired by the lane information acquisition unit, a warning determination unit that determines whether to give a warning,
A warning control device comprising: When determining to perform the warning, the warning determination unit determines a mode to perform the warning based on the degree of danger,
The warning control device according to claim 1, wherein:   A navigation system comprising the warning control device according to claim 1 or 2. On the computer,
A lane information acquisition function for acquiring lane information in which the host vehicle travels on a road having a plurality of lanes that can travel in the same direction,
It is determined whether or not there is a situation corresponding to any of a plurality of preset danger items ahead of the traveling direction of the host vehicle, and when it is determined that the situation exists, Among the danger information associated with the danger level in each of the plurality of lanes for each danger item, a danger information acquisition function for acquiring the danger information associated with the danger item indicating the situation,
The danger information acquired by the danger information acquisition function, based on the degree of danger determined by the lane information acquired by the lane information acquisition function, a warning determination function to determine whether to give a warning ,
Warning control program for realizing.

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