JP2020076704A - Driving assist device, driving assist system, driving assist method, and program - Google Patents

Abstract

To assist appropriate driving by presenting a course enabling a vehicle to pass therethrough at a point where it is difficult to find a course enabling a vehicle to pass therethrough.SOLUTION: A driving assist device comprises: a vehicle information acquisition unit 230 which acquires vehicle information including the current position information of a vehicle and map information around the vehicle; an appropriate data acquisition unit 236 which, when it is determined that the vehicle is approaching a point where it is difficult to find a course which a vehicle can pass through, acquires appropriate travel trajectory information indicating a travel trajectory for traveling a course which a vehicle can pass through using the travel trajectory information acquired from a plurality of vehicles; a video generation unit 237 generating an appropriate trajectory video that indicates a travel trajectory for traveling the course which a vehicle can pass through, on the basis of the appropriate travel trajectory information acquired by the appropriate data acquisition unit 236; and a display control unit 238 which causes a display unit 22 to display the appropriate trajectory video generated by the video generation unit 237.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a driving support device, a driving support system, a driving support method, and a program.

  When a driver who has little driving experience drives, or when driving on a strange land, it becomes easier to drive when a preceding vehicle exists in front of the own vehicle. There is known a technique of complementing a traveling locus of a preceding vehicle with a traveling locus of an own vehicle to set a target traveling route for the own vehicle to follow (for example, refer to Patent Document 1). The technique described in Patent Document 1 can set the target travel route only when the preceding vehicle exists.

Japanese Patent Laid-Open No. 2017-076234

  For example, if there is no preceding vehicle at the entrance / exit point of the one-way road, the place where the entry prohibition is set, or the place where the out-of-designated direction prohibition is set, it may be difficult to understand the route that the vehicle can pass through. It is desirable to support a proper driving by presenting a route that can be passed at a point where the route that can be passed is difficult to understand.

  The present invention has been made in view of the above, and it is an object of the present invention to assist a proper driving by presenting a course that can be passed at a point where the route that can be passed is difficult to understand.

  In order to solve the above-mentioned problems and achieve the object, the driving support device according to the present invention is a vehicle information acquisition unit that acquires vehicle information including current vehicle position information and map information around the vehicle, On the basis of the vehicle information acquired by the vehicle information acquisition unit, when it is determined that the course through which the vehicle can pass approaches an unclear point, from the traveling locus information acquired from a plurality of vehicles, Based on the excellent data acquisition unit that obtains the excellent running locus information indicating the running locus that travels on the road, and the excellent locus image that shows the running locus that travels in a passable route based on the excellent running locus information acquired by the excellent data acquisition unit. And a display control unit for displaying the excellent trajectory image generated by the image generation unit on the display unit.

  A driving support device according to the present invention is based on a vehicle information acquisition unit that acquires vehicle information including current vehicle position information and map information around the vehicle, and the vehicle information acquired by the vehicle information acquisition unit. When it is determined that the vehicle is approaching a difficult route, a good traveling locus information indicating a traveling locus traveling on the traversable route is acquired from the traveling locus information acquired from a plurality of vehicles. An excellent data acquisition unit, an image generation unit that generates an excellent locus image indicating a traveling locus that travels in a passable route based on the excellent traveling locus information acquired by the excellent data acquisition unit, and the projection unit And a projection control unit that controls the projection of the excellent trajectory image so that the virtual image of the excellent trajectory image generated by the image generation unit can be visually recognized.

  A driving support device according to the present invention is based on a vehicle information acquisition unit that acquires vehicle information including current vehicle position information and map information around the vehicle, and the vehicle information acquired by the vehicle information acquisition unit. When it is determined that the vehicle is approaching a difficult route, a good traveling locus information indicating a traveling locus traveling on the traversable route is acquired from the traveling locus information acquired from a plurality of vehicles. An excellent data acquisition unit, and a traveling control unit that controls traveling of the vehicle so as to match a traveling locus traveling on a passable route based on the excellent traveling locus information acquired by the excellent data acquisition unit. ..

  A driving assistance method according to the present invention is based on a vehicle information acquisition step of acquiring vehicle information including current vehicle position information and map information around the vehicle, and based on the vehicle information acquired in the vehicle information acquisition step. When it is determined that the vehicle is approaching a difficult route, a good traveling locus information indicating a traveling locus traveling on the traversable route is acquired from the traveling locus information acquired from a plurality of vehicles. An excellent data acquisition step, an image generation step of generating an excellent trajectory image showing a traveling locus traveling on a passable route based on the excellent traveling locus information acquired in the excellent data acquisition step, and a generation in the image generation step And a display control step of displaying the excellent locus image on the display unit.

  A program according to the present invention is a vehicle information acquisition step of acquiring vehicle information including current vehicle position information and map information around the vehicle, and based on the vehicle information acquired in the vehicle information acquisition step, When it is determined that the vehicle can approach a difficult-to-understand path, the excellent data that obtains excellent travel path information that indicates the travel path along which the vehicle can travel from the travel path information acquired from multiple vehicles. An image generation step of generating an excellent locus image showing a traveling locus traveling on a passable route based on the acquisition step and the excellent traveling locus information acquired in the superior data acquisition step; and the superiority generated in the image generation step. A display control step of displaying a trajectory image on a display unit is executed by a computer operating as a driving support device.

  Advantageous Effects of Invention According to the present invention, it is possible to assist a proper driving by presenting a passable route at a point where the passable route is difficult to understand.

FIG. 1 is a schematic diagram showing a configuration example of a driving support system including the driving support device according to the first embodiment. FIG. 2 is a block diagram showing a configuration example of the management server according to the first embodiment. FIG. 3 is a block diagram showing a configuration example of the driving support device according to the first embodiment. FIG. 4 is a diagram showing an example of an excellent locus image displayed when the vehicle is traveling at an entrance / exit point of a one-way road. FIG. 5 is a flowchart showing the flow of processing in the driving support device according to the first embodiment. FIG. 6 is a block diagram showing a configuration example of the driving support device according to the second embodiment. FIG. 7: is a figure which shows an example of the projection unit of the driving assistance device which concerns on 2nd embodiment. FIG. 8 is a diagram showing an example of a virtual image of a virtual vehicle image visually recognized by a driver when the vehicle is traveling at an entrance / exit point of a one-way road. FIG. 9 is a flowchart showing the flow of processing in the driving support device according to the second embodiment. FIG. 10 is a block diagram showing a configuration example of the driving support device according to the third embodiment. FIG. 11 is a flowchart showing the flow of processing in the driving support device according to the third embodiment.

  Embodiments of a driving support device, a driving support method, and a program according to the present invention will be described in detail below with reference to the accompanying drawings. The present invention is not limited to the embodiments described below.

[First embodiment]
FIG. 1 is a schematic diagram showing a configuration example of a driving support system including the driving support device according to the first embodiment. FIG. 2 is a block diagram showing a configuration example of the management server according to the first embodiment. FIG. 3 is a block diagram showing a configuration example of the driving support device according to the first embodiment. The driving support system 1 collects traveling locus information indicating traveling loci of a plurality of vehicles V as probe data, and displays excellent locus information indicating traveling loci on which the vehicle V can pass. The driving support system 1 includes a management server 10 and a driving support device 20. In the following description, the vehicle on which the driving support device 20 is mounted will be referred to as the host vehicle V when the driving support device 20 is described.

  The probe data is data capable of recognizing the traveling locus of the vehicle V. The probe data includes at least one of the current position information of the vehicle V and the vehicle direction information associated with the time. The current position information can recognize the trajectory of the vehicle V traveling at, for example, an entrance / exit point of a one-way road, a point where entry is prohibited, or a point where travel outside the designated direction is prohibited. More specifically, the current position information is acquired with high accuracy so that the trajectory of the route traveled by the vehicle V can be recognized as a road and a lane. Further, the current position information is acquired with high accuracy so that the route of the route traveled by the vehicle V can be recognized as a main line and a side road.

  The probe data may include information about the owner or driver of the vehicle V. The information regarding the owner or the driver is, for example, information indicating the history of traffic violations or the history of accidents of the owner or the driver. The information about the owner or the driver is, for example, information indicating the degree of driving skill of the owner or the driver.

  The probe data may include information on a place where the vehicle V is mainly used, or information on an address of an owner or a driver of the vehicle V.

  The probe data may include vehicle type information, size information, height information, or displacement information of the vehicle V.

  The probe data may include information on the destination of the vehicle V or information on the traveling direction.

  The probe data may include day of the week information during traveling, traveling time information, weather information during traveling, or road surface state information during traveling.

  The management server 10 is a server device that stores and manages, as probe data, travel locus information indicating travel loci collected by the driving support devices 20 mounted on the plurality of vehicles V in the database (travel locus information storage unit) 13. .. More specifically, the management server 10 collects, for example, probe data collected by the driving support devices 20 mounted on the plurality of vehicles V. The management server 10 stores the collected probe data in the database 13. The management server 10 has a communication unit 11, a control unit 12, and a database 13.

  The communication unit 11 is a communication unit. The communication unit 11 connects the driving support device 20 and an external device so that data can be transmitted and received.

  The control unit 12 includes a probe data acquisition unit 121, a storage control unit 122, and an excellent data learning unit 123. The management server 10 includes an internal memory (not shown), and the internal memory is used for temporary storage of data in the management server 10. The management server 10 can transmit / receive data to / from the driving support device 20 and an external device via the communication unit 11.

  The probe data acquisition unit 121 acquires the probe data received from the driving support device 20. The probe data acquisition unit 121 outputs the acquired probe data to the storage control unit 122.

  The storage control unit 122 stores the probe data acquired by the probe data acquisition unit 121 in the database 13.

  The excellent data learning unit 123 learns the traveling locus of excellent traveling for each predetermined section with respect to the probe data stored in the database 13, and stores it in the excellent data storage unit 14 as excellent probe data (excellent traveling locus information). The excellent data learning unit 123 learns the excellent probe data at predetermined time intervals such as every day.

  Good traveling is traveling that indicates a course through which the vehicle V can pass. Good running is, for example, running in the correct direction on a one-way road. The excellent traveling is, for example, traveling in a designated direction at a point where prohibition of traveling outside the designated direction is set. In other words, good running is model driving.

  The excellent probe data is probe data that indicates a course through which the vehicle V can pass.

  In the present embodiment, the excellent data learning unit 123, for example, with respect to the probe data stored in the database 13, the entrance / exit point of the one-way road, the point where the entry prohibition is set, or the point where the travel outside the designated direction is set prohibited. As described above, the traveling locus of excellent traveling is learned for each predetermined section including a point where it is difficult to understand the course to be traversed and stored in the superior data storage unit 14 as excellent probe data. The predetermined section is, for example, several tens of meters or more and several hundreds of meters or less.

  For example, the excellent data learning unit 123 may set the average value of the probe data stored in the database 13 as the excellent probe data. More specifically, the excellent data learning unit 123 calculates the average value of the position information of the probe data and the average value of the vehicle orientation information at each point in the predetermined section. The excellent data learning unit 123 sets the data of the traveling locus represented by the average value of the position information and the average value of the vehicle direction information as the excellent probe data. By using the average value of the probe data as the excellent probe data, the probe data that has erroneously entered the route that is not accessible is excluded from the excellent probe data.

  For example, the excellent data learning unit 123 may set the maximum value of the probe data stored in the database 13 as the excellent probe data. More specifically, the excellent data learning unit 123 calculates the maximum value of the position information of the probe data and the maximum value of the vehicle orientation information at each point in the predetermined section. The excellent data learning unit 123 sets the data of the traveling locus indicated by the maximum value of the position information and the maximum value of the vehicle orientation information as the excellent probe data. By setting the maximum value of the probe data as the excellent probe data, the probe data that has erroneously entered the course that cannot be entered is excluded from the excellent probe data.

  Further, the excellent data learning unit 123 may learn a plurality of excellent probe data at branch points into a plurality of paths, for example. More specifically, the excellent data learning unit 123 acquires a probe data group including a predetermined number or more of probe data for each route, in other words, for each direction. Then, the excellent data learning unit 123 sets the traveling locus indicated by the average value or the maximum value for each probe data group as the excellent probe data.

  The excellent data learning unit 123 may learn the excellent probe data by excluding abnormal values significantly deviated from the average value from the probe data stored in the database 13. More specifically, the good data learning unit 123 may learn the good probe data by excluding the abnormal value of the position information of the probe data and the abnormal value of the vehicle direction information at each point in the predetermined section. By learning the excellent probe data by excluding the abnormal value of the probe data, the probe data that has erroneously entered the course that is not accessible is excluded from the excellent probe data.

  Further, the good data learning unit 123 excludes probe data having a history of traffic violations or a history of accidents of the owner or the driver from the probe data stored in the database 13 and learns the good probe data. Good. The good data learning unit 123 learns the good probe data by reducing the weight of the probe data in which the history of the traffic violation or the history of the accident of the owner or the driver exists in the probe data stored in the database 13. Good.

  Further, the excellent data learning unit 123 may learn the excellent probe data by weighting the probe data stored in the database 13 according to the driving skill of the owner or the driver. For example, the good data learning unit 123 learns good probe data by weighting probe data with a high degree of driving skill and reducing weight of probe data with a low degree of driving skill.

  Further, the excellent data learning unit 123 learns the excellent probe data for the probe data stored in the database 13 for each address of the owner or the driver or each address registered as the main use place of the vehicle V. Good.

  Further, the excellent data learning unit 123 may learn the excellent probe data for the probe data stored in the database 13 for each vehicle type, size, height, or displacement of the vehicle V.

  Further, the excellent data learning unit 123 may learn the excellent probe data for the probe data stored in the database 13 for each destination or each traveling direction.

  The excellent data learning unit 123 may learn the excellent probe data for the probe data stored in the database 13 for each traveling time, day of the week, weather, or the state of the road surface.

  The good data learning unit 123, regarding the probe data stored in the database 13, when the traffic regulation information acquired from the navigation system indicates that temporary traffic regulation is being implemented due to an accident or construction, for example, traffic regulation is performed. The excellent probe data may be learned based on the probe data after the specified time.

  The database 13 stores the traveling locus information acquired from the plurality of vehicles V as probe data. The database 13 stores the probe data acquired by the probe data acquisition unit 121.

  The excellent data storage unit 14 stores the excellent probe data learned by the excellent data learning unit 123.

  The driving assistance device 20 displays excellent locus information indicating a running locus through which the vehicle V can pass. The driving support device 20 generates probe data. The driving support device 20 may be assembled in the own vehicle V or may be portable and brought into the own vehicle V. The driving support device 20 loads a program stored in a storage unit (not shown) into the memory and executes the instructions included in the program. The driving support device 20 includes an internal memory (not shown), and the internal memory is used for temporary storage of data in the driving support device 20. The driving support device 20 includes a communication unit 21, a display unit 22, and a control unit 23. The driving support device 20 can transmit the generated probe data to the management server 10 via the communication unit 21.

  The communication unit 21 is a communication unit. The communication unit 21 connects the management server 10 and an external device so that data can be transmitted and received.

  The display unit 22 is, for example, a display including a liquid crystal display (LCD: Liquid Crystal Display) or an organic EL (Organic Electro-Luminescence) display. The display unit 22 may be dedicated to the driving support device 20 or may be used together with another system including a navigation system, for example. The display unit 22 displays the excellent trajectory image 300 based on the control signal output from the display control unit 238 of the control unit 23.

  The control unit 23 is, for example, an arithmetic processing device including a CPU and the like. The control unit 23 includes an internal memory (not shown), and the internal memory is used for temporary storage of data in the control unit 23. The control unit 23 loads the program stored in the storage unit (not shown) into the memory and executes the instructions included in the program. The control unit 23 includes a vehicle information acquisition unit 230, a probe data generation unit 234, a transmission control unit 235, an excellent data acquisition unit 236, a video generation unit 237, a display control unit 238, and a travel evaluation unit 239. Have.

  The vehicle information acquisition unit 230 acquires vehicle information including the current position information of the host vehicle V and the vehicle orientation information from a CAN (Controller Area Network) or various sensors that sense the state of the host vehicle V. The vehicle information acquisition unit 230 acquires map information including road information and lane information around the vehicle V from the navigation system. The vehicle information acquisition unit 230 outputs the acquired vehicle information to the probe data generation unit 234.

  The probe data generation unit 234 generates probe data to be transmitted to the management server 10. More specifically, the probe data generation unit 234 generates probe data from the vehicle information acquired by the vehicle information acquisition unit 230.

  The probe data generation unit 234 generates probe data capable of recognizing the current position information of the host vehicle V and the vehicle direction information in time series.

  The probe data generation unit 234 may generate probe data, which is stored in advance in the storage unit and includes information about the owner or driver of the vehicle V. The probe data generation unit 234 may generate probe data including information on the skill level of the driver evaluated by the travel evaluation unit 239.

  The probe data generation unit 234 generates probe data which is stored in advance in the storage unit and includes information on the place where the host vehicle V is mainly used or information on the address of the owner or driver of the host vehicle V. May be.

  The probe data generation unit 234 may generate probe data that is stored in advance in the storage unit and includes vehicle type information, size information, height information, or displacement information of the host vehicle V. ..

  The probe data generation unit 234 may generate probe data including information on the destination of the vehicle V or information on the traveling direction acquired from the navigation system.

  The probe data generation unit 234 includes probe data obtained from the control unit 23 or an external device, including traveling time information, traveling day of the week, traveling weather information, or road surface state information during traveling. May be generated.

  The transmission control unit 235 transmits the probe data generated by the probe data generation unit 234 to the management server 10 via the communication unit 21. The transmission control unit 235 may transmit the probe data to the management server 10 at predetermined time intervals, for example. The transmission control unit 235 transmits the probe data to the management server 10 when the host vehicle V passes through a predetermined section, when the host vehicle V returns to the home, or when reaching the destination, for example. Good.

  Based on the vehicle information acquired by the vehicle information acquisition unit 230, the excellent data acquisition unit 236, when it is determined that a route through which the vehicle can pass is difficult to understand, outputs the excellent probe data around the own vehicle V. , From the management server 10 via the communication unit 21.

  In the present embodiment, the good data acquisition unit 236 indicates the good probe data around the own vehicle V in the database of the management server 10 when indicating that the course through which the own vehicle V can pass is located in front of a point that is difficult to understand. Get from 13. More specifically, for example, when the current position information and the map information of the own vehicle V indicate that the own vehicle V is located in front of the entrance / exit point of the one-way road, the excellent data acquisition unit 236 identifies the own vehicle V. Excellent peripheral probe data is acquired from the database 13 of the management server 10. For example, when the current position information and the map information of the own vehicle V indicate that the own vehicle V is located in front of the entrance / exit point of the prohibited road, the excellent data acquisition unit 236 outputs the excellent probe data of the entrance / exit point. get. For example, when the current position information and the map information of the own vehicle V indicate that the own vehicle V is located in front of the intersection prohibited from traveling outside the designated direction, the excellent data acquisition unit 236 obtains the excellent probe data of the intersection. get. The excellent data acquisition unit 236, for example, when the current position information and the map information of the own vehicle V indicate that the own vehicle V is located in front of a branch point to a course passing through an inappropriate point for traffic, Obtain excellent probe data for the branch. The inappropriate points for passage include, for example, points where passage is impossible such as dead ends, points where the road width is narrow, points where construction is underway, or points where roads are bad. The inappropriate point for traffic is, for example, a school road during a group schooling time of elementary school students and a point where traffic is not recommended.

  Further, in the present embodiment, the excellent data acquisition unit 236 acquires excellent probe data whose traveling direction matches that of the host vehicle V.

  The excellent data acquisition unit 236 may acquire the excellent probe data when it is determined that the vehicle V is the first traveling point based on the vehicle information acquired by the vehicle information acquisition unit 230.

  The excellent data acquisition unit 236 may acquire the excellent probe data only when the driver of the own vehicle V is low in driving skill. This is because when the driver of the own vehicle V has a high level of driving skill, it is considered that it is not necessary to show a good running locus.

  Furthermore, the excellent data acquisition unit 236 determines the excellent probe data of the local vehicle V, in other words, the address of the owner or the driver, or the address registered as the main place of use, around the current position information of the vehicle V. You may acquire the excellent probe data which is a region. The excellent data acquisition unit 236 may acquire excellent probe data in which the vehicle type, size, height, or displacement of the host vehicle V matches. The excellent data acquisition unit 236 may acquire excellent probe data in which the own vehicle V and the destination or the traveling direction match. The excellent data acquisition unit 236 may acquire excellent probe data in which the current state and the traveling time, the day of the week, the weather, or the state of the road surface match.

  The image generation unit 237 generates an excellent locus image 300 showing a traveling locus of excellent traveling on a passable route based on the excellent probe data acquired by the excellent data acquisition unit 236. More specifically, the image generation unit 237 generates an excellent trajectory image 300 in which the excellent probe data acquired by the excellent data acquisition unit 236 is superimposed on the map image around the vehicle V. For example, the image generation unit 237 indicates that the host vehicle V is located in front of the entrance / exit point of the one-way road, indicates that the host vehicle V is located in front of the entrance / exit point of the prohibited road, or When it is shown that the host vehicle V is located in front of an intersection where traveling outside the designated direction is prohibited, an excellent trajectory image 300 is generated.

  The excellent trajectory image 300 shows a traveling trajectory along which the vehicle V can travel. More specifically, the excellent trajectory image 300 shows the roads and lanes on which the vehicle V can pass, based on the excellent probe data. Based on the excellent probe data, the excellent locus image 300 shows a route through which the vehicle V can travel, so that the main line and the side road can be recognized.

  In addition, the image generation unit 237 may superimpose the probe data acquired when the vehicle V travels on the excellent trajectory image 300. For example, the image generation unit 237 indicates that the host vehicle V is located in front of the entrance / exit point of the one-way road, indicates that the host vehicle V is located in front of the entrance / exit point of the prohibited road, or When it is shown that the host vehicle V is located in front of an intersection where the vehicle cannot travel outside the designated direction, the excellent trajectory image 300 is superimposed on the already generated superior trajectory image 300 while the probe data acquired when the vehicle V is traveling is displayed. May be generated.

  The excellent trajectory image 300 will be described with reference to FIG. FIG. 4 is a diagram showing an example of an excellent locus image displayed when the vehicle is traveling at an entrance / exit point of a one-way road. The excellent trajectory image 300 includes a traveling trajectory image 301 showing a traveling trajectory of the excellent probe data. The traveling locus image 301 shows all paths that can be passed at the intersection. In FIG. 4, it is possible to pass in four directions. When there are a plurality of traversable routes, the excellent locus image 300 includes a traveling locus image 301 in which all the routes are indicated by arrows. When the destination of the host vehicle V is set, the traveling locus image 301 is an image showing a passable route corresponding to the route of the host vehicle V.

  The display control unit 238 controls the display unit 22 to display the excellent trajectory image 300 generated by the image generation unit 237. More specifically, the display control unit 238 outputs a video signal for displaying the excellent trajectory image 300 on the display unit 22.

  The traveling evaluation unit 239 compares the excellent probe data acquired by the excellent data acquisition unit 236 with the probe data acquired when the host vehicle V travels, and evaluates whether or not the vehicle is traveling on a passable route. .. More specifically, the traveling evaluation unit 239 compares the current position information and the vehicle direction with respect to the excellent probe data of the predetermined section and the probe data of the own vehicle V when the own vehicle V travels in the predetermined section. When the difference between the excellent probe data and the probe data of the host vehicle V is equal to or less than the threshold value, the traveling evaluation unit 239 evaluates that the vehicle is traveling on a passable route. When the difference between the excellent probe data and the probe data of the host vehicle V is larger than the threshold value, the traveling evaluation unit 239 evaluates that the vehicle is not traveling on a passable route. The traveling evaluation unit 239 stores the evaluation result in the storage unit. The evaluation result by the traveling evaluation unit 239 can be used as information indicating the degree of driving skill of the driver.

  The traveling evaluation unit 239 compares the model probe data stored in advance in a predetermined section with the probe data acquired when the vehicle V travels in the predetermined section, and travels in a passable path. You may evaluate whether or not.

  Next, the flow of processing in the management server 10 will be described. The processing in the management server 10 is regularly executed.

  The flow of probe data storage processing in the management server 10 will be described. The management server 10 uses the probe data acquisition unit 121 to acquire probe data from the driving support devices 20 mounted on the plurality of vehicles V. Then, the management server 10 causes the storage controller 122 to store the acquired probe data in the database 13.

  The flow of learning processing of excellent data in the management server 10 will be described. The management server 10 causes the excellent data learning unit 123 to learn, from the probe data stored in the database 13, the excellent probe data indicating the traveling locus of excellent traveling for each predetermined section stored in advance. The management server 10 stores the excellent probe data obtained by the excellent data learning unit 123 in the excellent data storage unit 14.

  Next, a flow of processing in the driving support device 20 will be described with reference to FIG. FIG. 5 is a flowchart showing the flow of processing in the driving support device according to the first embodiment. While the vehicle V equipped with the driving support device 20 is operating, the driving support device 20 operates. The fact that the host vehicle V equipped with the driving support device 20 is operating means that the drive source of the host vehicle V is operating, such as the engine being turned on or the power being turned on. Say that. Here, the entrance / exit point of the one-way road will be described as an example of a point where the route through which the traffic can pass is difficult to understand.

  The control unit 23 acquires the vehicle information of the host vehicle V (step S101). More specifically, the control unit 23 causes the vehicle information acquisition unit 230 to acquire the current position information of the host vehicle V and the map information around the host vehicle V from the navigation system. The control unit 23 proceeds to step S102.

  The control unit 23 determines whether or not the route through which the host vehicle V can pass is located at an unclear point (step S102). More specifically, the control unit 23 controls the vehicle V based on the current position information of the own vehicle V and the map information around the own vehicle V acquired by the vehicle information acquisition unit 230 so that the own vehicle V can enter and exit the one-way street. It is determined whether it is located in front of. When the host vehicle V is located in front of the entrance / exit point of the one-way road (Yes in step S102), the control unit 23 proceeds to step S103. When the host vehicle V is not located in front of the entrance / exit point of the one-way road (No in step S102), the control unit 23 proceeds to step S107.

  The control unit 23 causes the excellent data acquisition unit 236 to acquire the excellent probe data of the predetermined section including the entrance / exit point of the one-way road (step S103). The control unit 23 proceeds to step S104.

  The control unit 23 generates the excellent trajectory image 300 (step S104). More specifically, the control unit 23 causes the image generation unit 237 to generate an excellent trajectory image 300 in which the excellent probe data acquired by the excellent data acquisition unit 236 is superimposed on the map image around the vehicle V. When the own vehicle V is traveling in a predetermined section including the entrance / exit point of the one-way road, the control unit 23 is acquired by the image generation unit 237 in the already generated excellent trajectory image 300 when the own vehicle V is traveling. The excellent trajectory image 300 may be generated while superimposing the probe data. The control unit 23 proceeds to step S105.

  The control unit 23 displays the excellent trajectory image 300 (step S105). More specifically, the control unit 23 causes the display control unit 238 to display the generated excellent trajectory image 300 on the display unit 22. The control unit 23 proceeds to step S106.

  The control unit 23 evaluates the traveling of the host vehicle V (step S106). More specifically, the control unit 23 compares the excellent probe data of the predetermined section with the probe data acquired when the host vehicle V travels in the predetermined section by the traveling evaluation unit 239 to determine the course that the vehicle can pass through. Evaluate whether you are driving. The control unit 23 proceeds to step S107.

  The controller 23 causes the probe data generator 234 to generate probe data (step S107). The control unit 23 proceeds to step S108.

  The control unit 23 causes the transmission control unit 235 to transmit the generated probe data to the management server 10 (step S108). The control unit 23 proceeds to step S109.

  The control unit 23 determines whether there is an end trigger (step S109). The end trigger is a trigger for stopping the processing by the control unit 23. For example, terminating the operation of the vehicle serves as a termination trigger. For example, a combination of the engine being off, the gear being parked, the side brake being operated, and the like is a termination trigger. When the control unit 23 determines that there is an end trigger (Yes in step S109), the process ends. When determining that there is no end trigger (No in step S109), the control unit 23 proceeds to step S101.

  In this way, the management server 10 stores the travel locus information indicating the travel loci collected by the driving support devices 20 mounted on the plurality of vehicles V in the database 13 as probe data. The management server 10 learns a traveling locus of excellent traveling for each predetermined section with respect to the probe data stored in the database 13, and stores it in the superior data storage unit 14 as excellent probe data. The driving support device 20 displays a good trajectory image 300 showing a feasible path on the display unit 22 based on the good probe data at a point where the feasible path is difficult to understand.

  As described above, in the present embodiment, the traveling locus information indicating the traveling loci collected by the driving support devices 20 mounted on the plurality of vehicles V is stored as probe data. In the present embodiment, with respect to the probe data, a traveling locus indicating a course that can be traveled for each predetermined section is learned, and excellent probe data is stored. As a result, in the present embodiment, it is possible to display the excellent trajectory image 300 based on the excellent probe data on the display unit 22 at a point where it is difficult to understand the route that the vehicle can pass through.

  In the present embodiment, since the excellent probe data generated from the probe data when the plurality of vehicles V are actually traveling is used, it is possible to display the excellent trajectory image 300 showing the course which can be more appropriately passed. Since the present embodiment uses the excellent probe data generated from the probe data collected by the plurality of vehicles V, for example, even when a temporary traffic regulation not included in the map information is set, the route that can be traveled is set. It is possible to display the excellent locus image 300 indicating the.

  In the present embodiment, by visually recognizing the excellent trajectory image 300 displayed on the display unit 22, it is possible to easily recognize the roads and lanes on which the vehicle V can pass. In the present embodiment, by visually recognizing the excellent trajectory image 300 displayed on the display unit 22, it is possible to easily recognize the route through which the vehicle V can pass by distinguishing the main line and the side road.

  According to the present embodiment, the driver can drive the passable route at a point where the passable route is difficult to see by visually recognizing the excellent trajectory image 300 displayed on the display unit 22. In this way, the present embodiment can support appropriate driving.

  According to the present embodiment, even when the driver who has little driving experience drives, or even when driving on a strange land, by visually recognizing the excellent trajectory image 300 displayed on the display unit 22, it is possible to appropriately Can support driving.

  In the present embodiment, the excellent trajectory image 300 can be displayed based on the excellent probe data of the local vehicle V. According to the present embodiment, more appropriate driving can be assisted by visually recognizing the excellent trajectory image 300 showing the excellent traveling trajectory of the local vehicle V that is accustomed to driving on the road.

  In this embodiment, the excellent trajectory image 300 can be displayed based on the own vehicle V and the destination or the excellent probe data whose traveling direction matches. As a result, in the present embodiment, for example, it is possible to appropriately select a course toward a specific direction and travel.

  In the present embodiment, the excellent locus image 300 can be displayed based on the excellent probe data with which the information of the day of the week when traveling, the information of the traveling time, or the information of the weather when traveling matches. Thus, in the present embodiment, for example, even when the passage is prohibited or the prohibition is released due to the day of the week, the time of day, or the weather, the course is appropriately selected and the vehicle travels according to the situation. You can

  In the present embodiment, the excellent locus image 300 can be displayed based on the excellent probe data in which the vehicle type, size, height, or displacement is the same as that of the host vehicle V. As a result, the present embodiment can prevent erroneous entry into a narrow road where smooth running is difficult due to the minimum turning radius of the vehicle type, for example. In the present embodiment, for example, even on a road in which passage is prohibited and passage is possible depending on the size, height, or displacement of the vehicle, it is possible to appropriately select a route and travel.

[Second embodiment]
The driving support device 20A according to the present embodiment will be described with reference to FIGS. 6 to 9. FIG. 6 is a block diagram showing a configuration example of the driving support device according to the second embodiment. FIG. 7: is a figure which shows an example of the projection unit of the driving assistance device which concerns on 2nd embodiment. FIG. 8: is a figure which shows an example of the virtual image of the virtual vehicle image which a driver visually recognizes, when the own vehicle drives the entrance / exit point of a one-way road. FIG. 9 is a flowchart showing the flow of processing in the driving support device according to the second embodiment. The driving support device 20A has the same basic configuration as the driving support device 20 of the first embodiment. In the following description, the same components as those of the driving support device 20 are designated by the same or corresponding symbols, and detailed description thereof will be omitted.

  The driving support device 20A causes the driver to visually recognize an excellent trajectory as a virtual image 300A in front of the driver's line of sight.

  As shown in FIG. 7, the projection unit 22A has a projection unit 221A and a combiner 222A. The projection unit 22A causes the combiner 222A to reflect the display image projected on the projection unit 221A so that the driver can visually recognize it as a virtual image 300A.

  The projection unit 221A is a display including, for example, a liquid crystal display (LCD: Liquid Crystal Display) or an organic EL (Organic Electro-Luminescence) display. In the present embodiment, the projection unit 221A is arranged below the dashboard D. The projection unit 221A displays the display image on the display surface based on the image signal from the projection control unit 238A. The image display light of the display image displayed on the display surface of the projection unit 221A is projected on the combiner 222A.

  The combiner 222A reflects the image display light projected from the projection unit 221A to make the driver recognize it as the virtual image 300A. The combiner 222A is a plate-shaped member that is disposed so as to be curved in a convex shape forward in the traveling direction. In the present embodiment, the combiner 222A is arranged above the dashboard D. The combiner 222A has a front surface facing the windshield S of the vehicle V and a rear surface facing the driver.

  The camera 24A captures an image around the vehicle V. A plurality of cameras 24A may be arranged. In the present embodiment, the camera 24A is a front video camera. The camera 24A is arranged in front of the host vehicle V and captures an image around the front of the host vehicle V. The forward video data is, for example, a moving image composed of 30 frames per second. The camera 24A outputs the captured front video data to the video data acquisition unit 240A.

  The video data acquisition unit 240A acquires peripheral video data of the surroundings of the vehicle V. More specifically, the video data acquisition unit 240A acquires the video data output by the camera 24A. The video data acquisition unit 240A outputs the acquired video data to the video generation unit 237A.

  The image generation unit 237A generates a projection image for visually recognizing the virtual image 300A of the excellent trajectory projected by the projection unit 22A. The projected image includes a reference vehicle image showing a virtual vehicle traveling in front of the own vehicle V along the excellent probe data and an excellent trajectory image showing an excellent trajectory. The reference vehicle image may be an image of a virtual vehicle traveling on each route when there are a plurality of traversable routes. When the destination of the own vehicle V is set, the reference vehicle image is an image of a virtual vehicle traveling on a passable route corresponding to the route of the own vehicle V.

  As shown in FIG. 8, the projection control unit 238A visually recognizes the virtual image 301A of the virtual vehicle image generated by the image generation unit 237A and the virtual image 302A of the traveling locus image in front of the vehicle V by the projection unit 22A. To control the projection of the projected image. More specifically, the projection control unit 238A projects the virtual vehicle image and the excellent trajectory image so that the virtual image 301A of the virtual vehicle image and the virtual image 302A of the traveling locus image are visually recognized in front of the own vehicle V. To the projection unit 22A. In FIG. 8, four virtual vehicle images 301A1, 301A2, 301A3, and 301A4, and four-direction traveling locus image virtual images 302A1, 302A2, 302A3, and 302A4 travel in four directions. Indicates that it is possible.

  Next, the flow of processing in the driving support device 20A will be described with reference to FIG. The processes of steps S111 to S113 and steps S116 to S119 of the flowchart shown in FIG. 9 are the same as the processes of steps S101 to S103 and steps S106 to S109 of the flowchart shown in FIG.

  The control unit 23A causes the image generation unit 237A to generate a projection image for visually recognizing the virtual image 300A of the excellent trajectory (step S114). The control unit 23A proceeds to step S115.

  The control unit 23A projects an excellent locus image in front of the host vehicle V so that the virtual image 300A of the excellent locus is visually recognized (step S115). More specifically, the control unit 23A uses the projection control unit 238A so that the virtual vehicle image and the excellent trajectory image are displayed such that the virtual image 301A of the virtual vehicle image and the virtual image 302A of the traveling trajectory image are visually recognized in front of the own vehicle V. A video signal for projecting is output to the projection unit 22A. The control unit 23A proceeds to step S116.

  As described above, in the present embodiment, the virtual image 300A of the excellent locus is visually recognized in front of the host vehicle V at a point where the route through which the vehicle can pass is difficult to understand. According to this embodiment, the driver can follow the virtual image 301A of the virtual vehicle image traveling in front of the host vehicle V along the excellent probe data, and travel on a passable path. This embodiment can support appropriate driving.

[Third embodiment]
The driving support device 20B according to the present embodiment will be described with reference to FIGS. FIG. 10 is a block diagram showing a configuration example of the driving support device according to the third embodiment. FIG. 11 is a flowchart showing the flow of processing in the driving support device according to the third embodiment. The driving support device 20B has the same basic configuration as the driving support device 20 of the first embodiment.

  The traveling control unit 241B controls the speed and the steering angle so that the host vehicle V travels along a course that can pass along an excellent trajectory. The traveling control unit 241B has a speed control unit 242B and a steering control unit 243B.

  The speed control unit 242B outputs a control signal for controlling the speed of the host vehicle V so as to match the excellent probe data acquired by the excellent data acquisition unit 236.

  The steering control unit 243B outputs a control signal for controlling the steering angle of the host vehicle V so as to match the excellent probe data acquired by the excellent data acquisition unit 236.

  Next, the flow of processing in the driving support device 20B will be described with reference to FIG. The processing of steps S121 to S123 and S125 of the flowchart shown in FIG. 11 is the same as the processing of steps S101 to S103 and step S109 of the flowchart shown in FIG.

  The control unit 23B controls the automatic traveling of the vehicle V by the traveling control unit 241B so as to match the excellent trajectory (step S124). More specifically, the control unit 23B controls the speed of the vehicle V so that the speed control unit 242B matches the excellent probe data acquired by the excellent data acquisition unit 236. The control unit 23B controls the steering angle of the host vehicle V so that the steering control unit 243B matches the excellent probe data acquired by the excellent data acquisition unit 236. The control unit 23B proceeds to step S125.

  As described above, in the present embodiment, the travel of the host vehicle V can be controlled so as to match the excellent probe data at a point where the route that can be traversed is difficult to understand. This embodiment can support more appropriate driving.

  Now, the driving support device 20 according to the present invention has been described so far, but it may be implemented in various different forms other than the above-described embodiment.

  Each component of the illustrated driving support device 20 is functionally conceptual, and does not necessarily have to be physically configured as illustrated. That is, the specific form of each device is not limited to the one shown in the figure, and all or part of the device may be functionally or physically dispersed or integrated in arbitrary units according to the processing load and usage of each device. May be.

  The configuration of the driving support device 20 is realized, for example, as software by a program loaded in a memory. In the above embodiments, the functional blocks are described as the functional blocks realized by the cooperation of these hardware or software. That is, these functional blocks can be realized in various forms by only hardware, only software, or a combination thereof.

  The components described above include those that can be easily conceived by those skilled in the art and those that are substantially the same. Furthermore, the configurations described above can be appropriately combined. In addition, various omissions, substitutions, or changes in the configuration are possible without departing from the scope of the present invention.

  Although the driving support device 20 has been described as acquiring the current position information of the vehicle from the navigation system, the present invention is not limited to this. The driving support device 20 may include a current position information acquisition unit that acquires current position information of the vehicle acquired by a GPS (Global Positioning System) receiver mounted on the vehicle.

  When the traveling evaluation unit 239 evaluates that the vehicle is not properly driven, a warning sound may be output from a speaker (not shown). More specifically, if the vehicle makes an erroneous entry into a route that cannot be traveled, a warning sound may be output from the speaker.

  The projection unit 22A may reflect the display image projected on the projection unit 221A by the windshield S without using a combiner so that the driver recognizes it as the virtual image 300A.

  When the excellent data acquisition unit 236 learns the excellent probe data, the course in which the erroneously entered probe data existed may be stored in the storage unit. When generating the excellent trajectory image 300, the image generation unit 237 may generate an image in which a map image is overlaid with an image that emphasizes that the course in which an incorrect entry is detected is prohibited from entering. .. Alternatively, in step S102 of the flowchart shown in FIG. 5, it may be determined whether or not the route through which the vehicle V can pass is located at a position where it is difficult to understand and the route including the incorrect entry is included. By doing so, it becomes possible to more reliably suppress erroneous entry.

DESCRIPTION OF SYMBOLS 1 Driving support system 10 Management server 11 Communication part 12 Control part 121 Probe data acquisition part 122 Storage control part 123 Excellent data learning part 13 Database (travel locus information storage part)
14 Excellent data storage unit 20 Driving support device 21 Communication unit 22 Display unit 23 Control unit 230 Vehicle information acquisition unit 234 Probe data generation unit 235 Transmission control unit 236 Excellent data acquisition unit 237 Video generation unit 238 Display control unit 239 Travel evaluation unit 300 Excellent trajectory image 301 Driving trajectory image V Vehicle

Claims (10)

A vehicle information acquisition unit that acquires vehicle information including current vehicle position information and map information around the vehicle;
On the basis of the vehicle information acquired by the vehicle information acquisition unit, when it is determined that the course through which the vehicle can pass approaches an unclear point, from the traveling locus information acquired from a plurality of vehicles, the route through which the vehicle can pass An excellent data acquisition unit that acquires excellent traveling locus information indicating a traveling locus traveling on
An image generation unit for generating an excellent trajectory image showing a traveling trajectory traveling on a passable route based on the excellent traveling trajectory information acquired by the superior data acquisition unit;
A display control unit for displaying the excellent trajectory image generated by the image generation unit on the display unit;
A driving support device comprising: A vehicle information acquisition unit that acquires vehicle information including current vehicle position information and map information around the vehicle;
On the basis of the vehicle information acquired by the vehicle information acquisition unit, when it is determined that the course through which the vehicle can pass approaches an incomprehensible point, from the traveling locus information acquired from a plurality of vehicles, An excellent data acquisition unit that acquires excellent traveling locus information indicating a traveling locus traveling on
An image generation unit that generates an excellent trajectory image showing a traveling trajectory traveling on a course that can be passed, based on the excellent traveling trajectory information acquired by the superior data acquisition unit,
A projection control unit that controls the projection of the excellent trajectory image so that the virtual image of the excellent trajectory image generated by the image generation unit is visually recognized in front of the vehicle by the projection unit;
A driving support device comprising: A vehicle information acquisition unit that acquires vehicle information including current vehicle position information and map information around the vehicle;
On the basis of the vehicle information acquired by the vehicle information acquisition unit, when it is determined that the course through which the vehicle can pass approaches an unclear point, from the traveling locus information acquired from a plurality of vehicles, the route through which the vehicle can pass An excellent data acquisition unit that acquires excellent traveling locus information indicating a traveling locus traveling on
Based on the excellent traveling locus information acquired by the excellent data acquisition unit, a traveling control unit that controls traveling of the vehicle so as to coincide with a traveling locus traveling on a passable route,
A driving support device comprising: The traveling locus information includes at least one of position information and vehicle direction information of the plurality of vehicles,
The driving assistance device according to any one of claims 1 to 3. The excellent data acquisition unit acquires an average value or the maximum value of the traveling locus information acquired from a plurality of vehicles as excellent traveling locus information,
The driving assistance device according to any one of claims 1 to 4. The excellent data acquisition unit, based on the traveling locus information that is the address of the owner or driver of the vehicle, or the address registered as the main place of use is the surrounding area of the current position information of the vehicle, excellent traveling Get trajectory information,
The driving assistance device according to any one of claims 1 to 5. The excellent data acquisition unit acquires, from the traveling locus information obtained from a plurality of vehicles, day of the week, time zone, weather, traveling direction or excellent traveling locus information in which the destination matches.
The driving assistance device according to any one of claims 1 to 6. A driving assistance device according to any one of claims 1 to 7,
A traveling locus information storage unit that stores traveling locus information acquired from a plurality of vehicles,
Driving assistance system. A vehicle information acquisition step of acquiring vehicle information including current vehicle position information and map information around the vehicle;
Based on the vehicle information acquired in the vehicle information acquisition step, when it is determined that the course through which the vehicle can pass approaches an unclear point, from the traveling locus information acquired from a plurality of vehicles, A superior data acquisition step of obtaining superior traveling locus information indicating a traveling locus traveling on a vehicle,
An image generating step of generating an excellent trajectory image showing a traveling trajectory traveling on a passable route based on the excellent traveling trajectory information acquired in the superior data acquiring step;
A display control step of displaying the excellent trajectory image generated in the image generation step on a display unit,
Driving assistance method including. A vehicle information acquisition step of acquiring vehicle information including current vehicle position information and map information around the vehicle;
Based on the vehicle information acquired in the vehicle information acquisition step, when it is determined that the course through which the vehicle can pass approaches an unclear point, from the traveling locus information acquired from a plurality of vehicles, A superior data acquisition step of obtaining superior traveling locus information indicating a traveling locus traveling on a vehicle,
An image generating step of generating an excellent trajectory image showing a traveling trajectory traveling on a passable route based on the excellent traveling trajectory information acquired in the superior data acquiring step;
A display control step of displaying the excellent trajectory image generated in the image generation step on a display unit,
A program for causing a computer that operates as a driving support device to execute.

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