JP2020197884A - Evacuation position guide device - Google Patents

Abstract

To provide an evacuation position guide device that can set an evacuation position capable of securing safety of an occupant after getting off a vehicle, for a following vehicle.SOLUTION: An on-vehicle system comprises a vehicle position detection part 4 for detecting a one's own vehicle position; a vehicle position correction part 20; an evacuation position search part 44 for searching for an evacuation position at which there is a predetermined evacuation space that allows an occupant of a vehicle to be evacuated to, on an opposite side of a road across a shielding object for blocking the vehicle from entering, based on road information; and an automatic driving device 100 for guiding a travel of one's own vehicle along a travel route from the detected one's own vehicle position to the searched evacuation position.SELECTED DRAWING: Figure 2

Description

The present invention relates to an evacuation position guidance device that guides a vehicle to an evacuation position in an emergency.

Conventionally, when a decrease in the driver's consciousness level is detected, there are no obstacles such as guard rails, walls and other structures, cliffs, and other obstacles that make it difficult for passengers to get on and off. There is known an evacuation running support device that searches for a position where the vehicle can be secured and retracts the own vehicle (see, for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 2016-203691

By the way, in the evacuation running support device disclosed in Patent Document 1 described above, since the evacuation position is set with priority given to securing the boarding / alighting space, attention is paid to the boarding / alighting space on the expressway or the road with heavy traffic. There is a problem that an appropriate evacuation position cannot be set only by itself. For example, when the vehicle is stopped due to some abnormality while driving on the highway, it is not enough to secure the space for getting on and off, and it is necessary to consider ensuring the safety of the passengers after getting off the vehicle. ..

The present invention has been created in view of these points, and an object of the present invention is to provide an evacuation position guide that can set an evacuation position that can ensure the safety of a occupant after getting off the vehicle. To provide the equipment.

In order to solve the above-mentioned problems, the evacuation position guidance device of the present invention includes a vehicle position detecting means for detecting the position of the vehicle and a shield for partitioning the road and its surroundings to prevent vehicles on the road from entering. There is a predetermined evacuation space on the opposite side of the road from which the occupants of the vehicle can evacuate, and the evacuation position is searched based on the road information, and the vehicle position detection means detects the evacuation position. It is provided with a guiding means for guiding the traveling of the own vehicle along the traveling route from the determined own vehicle position to the evacuation position searched by the evacuation position search means. Since the evacuation position is searched in consideration of the presence or absence of the evacuation space on the back side (outside) of the shield, it is possible to set the evacuation position that can ensure the safety of the passenger after getting off the vehicle. ..

Further, it is desirable that the above-mentioned evacuation position search means searches for an evacuation position where the vehicle can be stopped and a space for the passenger to get off can be secured between the traveling lane and the shield. This makes it possible to ensure the safety of passengers when the vehicle is stopped and disembarked.

Further, it is desirable that the above-mentioned evacuation position search means searches for the evacuation position closest to the own vehicle position along the traveling direction of the own vehicle. As a result, it is possible to promptly stop the own vehicle when the driver is in poor physical condition.

Further, it is desirable that the above-mentioned evacuation position search means searches for an evacuation position within a predetermined range from the own vehicle position. This makes it possible to set the evacuation position within a range not far from the position of the own vehicle.

Further, the above-mentioned evacuation position search means is narrower than the evacuation space on the opposite side of the road across the shield when the evacuation position is not within a predetermined range from the own vehicle position, and the passenger of the vehicle comes into contact with the shield. The first alternative evacuation position where there is an evacuation space that can be evacuated in this state is searched based on the road information, and the guidance means of the own vehicle is along the traveling route to the first alternative evacuation position instead of the evacuation position. It is desirable to guide the driving. As a result, when there is no evacuation position near the position of the own vehicle that can secure a sufficient evacuation space, it is possible to set an alternative evacuation position having an evacuation space that can secure the minimum safety.

Further, the above-mentioned evacuation position search means allows a vehicle to stop between the traveling lane and a shield when neither the evacuation position nor the first alternative evacuation position exists within a predetermined range from the own vehicle position. Then, a second alternative evacuation position where a passenger can get off the vehicle can be secured based on the road information, and the guidance means is a second alternative evacuation position instead of the evacuation position and the first alternative evacuation position. It is desirable to guide the traveling of the own vehicle along the traveling route up to. As a result, even if there is no evacuation position near the position of the own vehicle that can secure a sufficient or minimum evacuation space, the vehicle can be quickly stopped at a position that does not interfere with the running of other vehicles. Become.

Further, it is desirable that the above-mentioned guidance means guides the traveling of the own vehicle by automatically driving the own vehicle. Alternatively, it is desirable that the above-mentioned guidance means guides the traveling of the own vehicle along the traveling route to be guided by at least one of display and voice. This makes it possible to quickly and surely guide the own vehicle to the evacuation position when the driver is in poor physical condition.

Further, the road information storage means for storing the road information including the position of the shield described above is further provided, and the evacuation position search means may search based on the road information stored in the road information storage means. desirable. This makes it possible to easily set the evacuation position based on the road information held by the own device.

Further, the first receiving means for receiving the road information including the position of the shield described above from the outside of the own vehicle is further provided, and the evacuation position searching means searches based on the road information received by the first receiving means. Is desirable. This makes it possible to acquire the latest road information and set the evacuation position.

In addition, the above-mentioned road information includes the shield obtained by analyzing the image of the outside of the vehicle with the camera provided in the own vehicle, the information around the shield, and the shield detected by the sensor provided in the own device and its surroundings. It is desirable that at least one of the surrounding information is included. In addition, information on the shield and its surroundings obtained by analyzing the image of the outside of the vehicle with a camera installed in another vehicle other than the own vehicle, and information on the shield and its surroundings detected by the sensor installed in the other vehicle. It is desirable that the road information includes the information received by the second receiving means, further comprising a second receiving means for receiving at least one of the above. In particular, it is desirable that the above-mentioned second receiving means performs at least one of vehicle-to-vehicle communication and road-to-vehicle communication to receive information. As a result, it is possible to accurately grasp the situation of the shield and its surroundings including the presence or absence of the evacuation space, and it is possible to ensure sufficient safety of the passengers after getting off the vehicle.

It is a figure which shows the structure of the vehicle-mounted system of one Embodiment. It is a figure which shows the structure of the navigation device. It is a figure which shows the situation around the shield corresponding to the evacuation position information A, B, C. It is a flow chart which shows the operation procedure which searches the evacuation position and performs automatic operation in an emergency.

Hereinafter, an in-vehicle system according to an embodiment to which the retracted position guidance device of the present invention is applied will be described with reference to the drawings.

FIG. 1 is a diagram showing a configuration of an in-vehicle system of one embodiment. As shown in FIG. 1, the in-vehicle system of the present embodiment includes an automatic driving device 100, a navigation device 200, a signal generation unit 300, a driving switching device 400, and a retracted position guidance control device 600.

The automatic driving device 100 performs automatic driving in which the own vehicle is driven along the traveling route (guidance route) to the destination set by the navigation device 200 without the driving operation of the driver. For example, in this embodiment, level 3 or level 4 automatic operation is assumed. Further, since the specific method for realizing automatic driving is not directly related to the content of the present invention, the description thereof will be omitted, but the present invention will be applied to automatic driving using various techniques realized at present or in the future. be able to.

The navigation device 200 performs a navigation operation for guiding the traveling of the vehicle (own vehicle) on which the navigation device 200 is mounted based on the map data. Details of the navigation device 200 will be described later.

The signal generation unit 300 generates various operation signals corresponding to the operation contents such as steering wheel operation, accelerator pedal operation, and brake pedal operation during manual driving in which the vehicle is driven according to the driving operation of the driver. Further, the signal generation unit 300 generates an operation signal equivalent to the operation signal generated during the manual operation in response to the automatic operation operation by the automatic operation device 100 during the automatic operation. These operation signals are input to an engine ECU (not shown) or the like, and steering angle control, engine control, brake control, etc. necessary for traveling of the vehicle are performed.

The operation switching device 400 controls when switching between automatic operation by the automatic operation device 100 and manual operation in which the driver himself operates the steering wheel 500, the accelerator pedal 502, the brake pedal 504, and the like to drive his own vehicle. The driver can operate the operation unit 506 to give an instruction for this switching. For example, when the "automatic operation" button included in the operation unit 506 is pressed, the operation is switched to automatic operation, and when the pressed state of the "automatic operation" button is released or when a predetermined release condition is satisfied, the operation is automatic. The operation is canceled and switched to manual operation.

The evacuation position guidance control device 600 performs control for setting a traveling route to a retracting position near the position of the own vehicle and for guiding the traveling of the own vehicle along the traveling route. For example, the retracted position guidance control device 600 indicates that the driver's health condition is not normal based on the driver's image captured by the in-vehicle camera 610 and the driver's blood pressure and heart rate detected by the in-vehicle sensor 612. When the determination is made, an instruction is sent to the operation switching device 400 to switch to automatic operation, and the navigation device 200 is instructed to set the traveling route to the evacuation position where the safety of the passenger can be ensured after getting off. An instruction is sent to the operation switching device 400 to cause the automatic operation device 100 to perform automatic operation along this traveling path to guide the own vehicle to the retracted position.

FIG. 2 is a diagram showing the configuration of the navigation device 200. As shown in FIG. 2, the navigation device 200 includes a navigation controller 1, a map data storage device 2, an operation unit 3, a vehicle position detection unit 4, a display device 5, an audio unit 6, a receiver 7, and communication devices 8A and 8B. It is configured to include an external camera 9A and an external sensor 9B.

The navigation controller 1 sets a map image display operation around the position of the own vehicle and a traveling route (guidance route) connecting the starting point and the destination by executing a predetermined operation program using a CPU, ROM, RAM, or the like. Various functions such as route search processing to be performed, route guidance operation to guide the vehicle to travel along this travel route, and operation to search the evacuation position and set the vehicle travel route to that point in an emergency such as poor physical condition of the driver. To realize. The detailed configuration of the navigation controller 1 will be described later.

The map data storage device 2 is a storage medium in which map data is stored and a reading device thereof. The map data storage device 2 stores map data in units of rectangular map leaves divided into appropriate sizes by longitude and latitude. In addition, this map data includes road information (specific contents of this road information will be described later) necessary for searching the evacuation position. The map data of each map leaf can be specified and read by specifying the map leaf number. The map data storage device 2 is realized by a hard disk device or a semiconductor memory, or by a DVD and its reading device. Further, the map data storage device 2 may be replaced with a communication device to acquire map data from an external map distribution server (not shown).

The operation unit 3 is for receiving user's instructions (operations) regarding navigation operations such as setting a destination required for a route search operation and performing a route search, and is provided with various operation buttons and operation knobs. ing. Further, the operation unit 3 includes a touch panel attached to the screen of the display device 5, and the user can directly point a part of the screen with a finger or the like to give an operation instruction. There is. The vehicle position detection unit 4 includes, for example, a GPS receiver, a direction sensor, a distance sensor, etc., detects the position (longitude, latitude) of the own vehicle at a predetermined timing, and outputs the detection result.

The display device 5 is composed of, for example, an LCD (liquid crystal display device), and displays a map image or the like around the position of the own vehicle based on a video signal output from the navigation controller 1. The audio unit 6 outputs a guidance voice or the like generated based on the voice signal input from the navigation controller 1 into the vehicle interior.

The receiver 7 assumes that the road information necessary for searching for the evacuation position by performing road-to-vehicle communication is stored in an external organization (for example, VICS (Vehicle Information and Communication System, registered trademark) center or the like. Receive from). Specifically, a DSRC on-board unit (Dedicated Short Range Communications) or the like is used as the receiver 7. In this external organization, when road-to-vehicle communication with many vehicles is performed, these vehicles (for example, an in-vehicle device having a road information collecting function equivalent to that of the navigation device 200 of the own vehicle) are installed. It is possible to receive and accumulate the above road information collected by (assumed).

The communication device 8A performs vehicle-to-vehicle communication with peripheral vehicles located in the vicinity of the own vehicle. For example, one-to-one vehicle-to-vehicle communication is performed using IEEE802.11p, which is a wireless LAN standard, and an in-vehicle device having a road information collecting function equivalent to that of a vehicle in the vicinity of the communication partner (for example, the navigation device 200 of the own vehicle). The above-mentioned road information collected by (assuming that the vehicle is installed) is received by the communication device 8A. In the case of the above-mentioned IEEE802.11p, the communication range is about 300 m, and it is necessary to include peripheral vehicles within this communication range. The peripheral vehicle to be the communication partner does not have to be a specific vehicle, and may be an unspecified vehicle that happens to exist within the communication range. Further, the number of peripheral vehicles is not limited to one, and may be a plurality of vehicles.

The communication device 8B is for transmitting and receiving road information to and from the external road information server 700. For example, the communication unit 8B can connect to the road information server 700 via the mobile phone network, and can receive road information from the road information server 700 via an external mobile terminal device (not shown) and a surrounding base station. At the same time as receiving, the road information collected by the navigation device 200 is transmitted to the road information server 700. The road information server 700 transmits and receives road information to and from a plurality of vehicles to be communicated, and updates the accumulated road information to the latest contents.

The out-of-vehicle camera 9A captures an image of a shield provided to demarcate the road on which the own vehicle is traveling and its surroundings and prevent the entry of vehicles on the road. For example, assuming that the vehicle is driven on an expressway, a guardrail or a guard cable provided to separate the shoulder on the outermost side of the leftmost driving lane from the outside thereof corresponds to this "shield". .. In the present embodiment, since it is necessary to search for a guardrail or the like that has an evacuation space on the outside of the guardrail or the like (opposite to the traveling lane) so that passengers of the own vehicle can evacuate. The outside camera 9A is installed at a position where the presence or absence of the ground and the area can be confirmed. A plurality of external cameras 9A may be used to capture a guardrail or the like and its surroundings in a more detailed and wide range.

The vehicle exterior sensor 9B is a radar using ultrasonic waves or infrared rays, and detects the presence / absence and area of the above-mentioned guardrail as a shield and the ground outside the guardrail. A plurality of external sensors 9B may be used to detect the state of the guardrail or the like and its surroundings in a more detailed and wide range.

Next, the detailed configuration of the navigation controller 1 will be described. The navigation controller 1 shown in FIG. 1 includes a map buffer 10, a map read control unit 12, a map drawing unit 14, a vehicle position correction unit 20, a route search processing unit 30, a route guidance processing unit 32, a road information acquisition unit 40, and a shield. It includes an analysis unit 42, a save position search unit 44, an input processing unit 60, and a display processing unit 70.

The map buffer 10 temporarily stores the map data read from the map data storage device 2. This map data includes at least data necessary for drawing a map image, data necessary for route search and route guidance, road information stored in advance in the map data storage device 2, and the like. The map read control unit 12 is a map data storage device that makes a request to read map data in a predetermined range according to the position of the own vehicle calculated by the vehicle position correction unit 20 and the position specified by the user by operating the operation unit 3. Output to 2. Based on the map data stored in the map buffer 10, the map drawing unit 14 performs drawing processing necessary for displaying the map image on the display device 5 to create the map drawing data.

The vehicle position correction unit 20 calculates the vehicle position based on the detection data output from the vehicle position detection unit 4, and if the calculated vehicle position is not on the road in the map data, the vehicle position is calculated. Perform map matching processing to be modified.

The route search processing unit 30 calculates a guidance route having the lowest cost from the departure point to the destination by a route search process using a predetermined search condition. In the present embodiment, when the evacuation position is searched in an emergency, the route search process with the evacuation position as the destination is performed, and the traveling route from the own vehicle position to the evacuation position is set.

The route guidance processing unit 32 creates guidance route drawing data for displaying the guidance route obtained by the search processing by the route search processing unit 30 on the map image and displaying the guide map of the right / left turn intersection. At the same time, it generates voice signals such as intersection guidance necessary for guiding the vehicle to travel along the guidance route. In the present embodiment, the guidance route set by the route search processing unit 30 is used as a "traveling route" to the destination during automatic operation, and during manual operation, the route guidance operation by the route guidance processing unit 32 is performed. It is used as an "induction route" as a target. Further, the route guidance operation by the route guidance processing unit 32 may be performed by using either the display or the voice output.

The road information acquisition unit 40 uses the communication device 8A and the road-to-vehicle communication performed by reading the road information to be processed from the map data stored in the map buffer 10 or by using the receiver 7. By performing the inter-vehicle communication performed by the vehicle and the communication between the road information server 700 performed using the communication device 8B, the road information regarding the evacuation position within a predetermined range centered on the own vehicle position is acquired. .. In the present embodiment, it is assumed that the own vehicle is guided to a retreat position that can be reached within 180 seconds (within the range that can be reached when traveling for 180 seconds at an average speed corresponding to the road type). Road information regarding the evacuation position within this range is acquired. This road information includes the following three types of information.

Evacuation position information A: Information indicating the position (section) of a shield satisfying the following (1) to (3).
(1) There is a shield on the back side (opposite side of the driving lane) of the shield (guardrail, guard cable, etc.) that has sufficient room as an evacuation space where the passengers of the vehicle can evacuate. The “sufficient room” means, for example, a state in which there is ground (including the case where it is covered with asphalt or concrete) that can secure a width of 1 m or more from a guardrail or the like. In addition, when the vehicle is parked on the shoulder of a highway in an emergency, it is assumed that the passenger will evacuate to the back side of the shield, so that multiple passengers can evacuate with a margin. A width wider than 1 m may be secured as "sufficient room", and a case where the width is less than 1 m is not necessarily excluded.
(2) It is possible to secure a stop space in which the vehicle can stop between the end of the driving lane (shield side) and the shield.
(3) With the vehicle parked in the stop space, it is possible to secure a disembarkation space for the passengers of the vehicle to get off. As a stop space including a disembarkation space, if the width of a general passenger car is about 180 cm, for example, about 250 cm is considered to be sufficient. FIG. 3A shows the situation around the shield corresponding to the evacuation position information A.

Evacuation position information B: Information indicating the position (section) of the shield satisfying the following (4) and the above (2) and (3).
(4) There is a shield behind the shield (guardrail, guard cable, etc.) that does not have sufficient room for the passengers of the vehicle to evacuate, but there is a minimum room for evacuation. The "minimum room" means, for example, a state in which a width that can be evacuated (for example, a width of 50 cm to 1 m) can be secured when the passenger of the vehicle is in contact with the guardrail or the like. In addition, since there are differences in the ease of passing through the guardrail and the guard cable and the ease of holding when the passenger supports his / her body by holding it with his / her hand, the criteria for determining whether or not there is minimum room should be different. It may be. FIG. 3B shows the situation around the shield corresponding to the evacuation position information B.

Evacuation position information C: Information indicating the position (section) of a shield that does not satisfy the above (1) and (4) but satisfies the above (2) and (3). FIG. 3C shows the situation around the shield corresponding to the evacuation position information C.

The shield analysis unit 42 analyzes the shield around the own vehicle based on the image captured by the vehicle exterior camera 9A and the detection result of the vehicle exterior sensor 9B. Specifically, the shield analysis unit 42 determines the presence or absence of a shield in the imaging range or detection range around the vehicle position, and the shield based on the image captured by the vehicle exterior camera 9A and the detection result of the vehicle exterior sensor 9B. The presence or absence and width of the back side of the camera, the width from the end of the traveling lane to the shield, etc. are analyzed, and the analysis result and the position of the own vehicle at that time are combined to form the above-mentioned three types of retracted position information A. , B, or C. If there is no shield corresponding to any of the evacuation position information A, B, and C, the evacuation position information is not created. The created evacuation position information is sent to the road information acquisition unit 40 as road information.

The evacuation position search unit 44 searches for an evacuation position located around the own vehicle position based on the road information acquired by the road information acquisition unit 40. Specifically, the evacuation position search unit 44 confirms the presence or absence of a shield corresponding to the evacuation position information A within a predetermined range (for example, a range that can be reached within 180 seconds) around the vehicle position, and this shield If an object exists, the position of this shield closest to the position of the own vehicle along the traveling direction of the vehicle is set as the evacuation position. Further, the evacuation position search unit 44 confirms the presence or absence of a shield corresponding to the evacuation position information B when there is no shield corresponding to the evacuation position information A within a predetermined range around the own vehicle position, and this shield If there is, the position of this shield closest to the position of the own vehicle along the traveling direction of the vehicle is set as the evacuation position (first alternative evacuation position). Further, the evacuation position search unit 44 confirms the presence or absence of a shield corresponding to the evacuation position information C when there is no shield corresponding to the evacuation position information A and B within a predetermined range around the own vehicle position. If there is a shield, the position of the shield closest to the position of the own vehicle along the traveling direction of the vehicle is set as the evacuation position (second alternative evacuation position).

The input processing unit 60 outputs commands for performing operations corresponding to various operation instructions input from the operation unit 3 to each unit in the navigation controller 1.

The display processing unit 70 has input the map drawing data created by the map drawing unit 14, and displays a map image in a predetermined range on the screen of the display device 5 based on the drawing data. Further, when the guidance route drawing data indicating the guidance route set by the route search processing unit 30 is input, the display processing unit 70 superimposes the guidance route corresponding to the drawing data on the map image and displays the display device 5. Display on the screen.

The vehicle position detection unit 4 and the vehicle position correction unit 20 described above are used as the own vehicle position detection means, the retracted position search unit 44 is used as the retracted position search means, and the route search processing unit 30 and the automatic driving device 100 are used as the guiding means. The storage device 2 and the map buffer 10 correspond to the road information storage means, the communication device 8B corresponds to the first receiving means, and the receiver 7 and the communication device 8A correspond to the second receiving means.

The in-vehicle system of the present embodiment has such a configuration, and the operation thereof will be described next.

FIG. 4 is a flow chart showing an operation procedure for searching the evacuation position and performing automatic operation in an emergency. For example, an emergency operation procedure is shown in which the evacuation position guidance control device 600 determines that the driver's health condition is not normal and it is difficult to continue safe driving.

In an emergency, when the evacuation position guidance control device 600 instructs the navigation device 200 to set a travel route to the evacuation position where the safety of the passenger after getting off can be ensured for the following vehicle, the road information acquisition unit 40 , Acquire the road information necessary for setting the evacuation position within a predetermined range centered on the position of the own vehicle at that time (step 100).

Next, the evacuation position search unit 44 searches for an evacuation position based on the acquired road information (step 102), and there is sufficient room behind the shield (evacuation position corresponding to the evacuation position information A). It is determined whether or not it can be reached within 180 seconds (step 104). When a retreat position satisfying this condition exists, an affirmative determination is made, and the retreat position search unit 44 sets this retreat position as the destination of the route search (step 106). The route search processing unit 30 performs route search processing to calculate a travel route from the position of the own vehicle to this destination (step 108). This traveling route is sent to the automatic driving device 100, and automatic driving is performed by the automatic driving device 100 (step 110). When the own vehicle reaches the evacuation position by automatic driving, the vehicle stops with a space for getting off between the shield (guardrail, guard cable, etc.) and the own vehicle. The passengers of the own vehicle can get off and evacuate to the back side of the shield.

If the evacuation position with sufficient room cannot be reached within 180 seconds, a negative determination is made in the determination in step 104. In this case, whether or not the evacuation position search unit 44 can reach the evacuation position (the first alternative evacuation position corresponding to the evacuation position information B) with the minimum room behind the shield within 180 seconds. Is determined (step 112). If there is a retreat position satisfying this condition, an affirmative determination is made, and the process proceeds to step 106, where route search processing and automatic operation are performed with the retreat position as the destination.

If there is no evacuation position that satisfies this condition, a negative determination is made in the determination in step 112. In this case, the evacuation position search unit 44 sets a retreat position (a second alternative evacuation position corresponding to the evacuation position information C) on the road shoulder outside the traveling lane (step 114). After that, the process proceeds to step 106, and route search processing and automatic operation are performed with the evacuation position as the destination.

As described above, in the in-vehicle system of the present embodiment, the evacuation position is searched in consideration of the existence and area of the evacuation space on the back side of the shield, so that the safety of the passenger after getting off the vehicle can be ensured for the following vehicle. It is possible to set a possible evacuation position. In addition, by searching for an evacuation position where a space for the passenger to get off can be secured, it is possible to ensure safety when the passenger stops and gets off.

Further, by searching for the evacuation position closest to the position of the own vehicle along the traveling direction of the own vehicle, it is possible to quickly stop the own vehicle when the driver is in poor physical condition or the like. Further, by searching for a retracted position within a predetermined range (for example, within 180 seconds) from the own vehicle position, it is possible to set the retracted position within a range not far from the own vehicle position.

Further, when there is no evacuation position (evacuation position corresponding to the evacuation position information A) that can secure a sufficient evacuation space near the own vehicle position, an alternative evacuation position (an alternative evacuation position having an evacuation space that can ensure the minimum safety) It is possible to set the evacuation position) corresponding to the evacuation position information B.

In addition, when there is no evacuation position near the own vehicle position that can secure a sufficient or minimum evacuation space, an evacuation position (evacuation position corresponding to the evacuation position information C) that allows the vehicle to stop and disembark is set. By setting, it is possible to quickly stop the vehicle at a position that does not interfere with the running of other vehicles.

In addition, by automatically driving the own vehicle along the travel route to the evacuation position to guide the driving of the own vehicle, the own vehicle can be quickly and surely guided to the evacuation position when the driver is in poor physical condition. Is possible.

Further, by reading from the map data storage device 2 and searching for the save position based on the road information included in the map data stored in the map buffer 10, it is easy based on the road information held by the own device. It is possible to set the retracted position to. Further, by receiving the road information from the road information server 700 outside the own vehicle, it is possible to acquire the latest road information and set the evacuation position. In addition, information on the shield and its surroundings obtained by analyzing an image of the outside of the vehicle taken by the vehicle exterior camera 9A provided in the own vehicle, and information on the shield and its surroundings detected by the vehicle exterior sensor 9B provided in the own device. By using and, it is possible to accurately grasp the situation of the shield and its surroundings, including the presence or absence of the evacuation space (room behind the shield), and the passenger's sufficient safety after getting off the vehicle with respect to the following vehicle. It becomes possible to secure. In addition, by performing vehicle-to-vehicle communication and road-to-vehicle communication, the shield obtained by analyzing the image of the outside of the vehicle with the camera provided in the vehicle other than the own vehicle, the information around it, and the other vehicle are equipped. By acquiring the information on the shield and its surroundings detected by the sensor, it is possible to accurately grasp the situation of the shield and its surroundings, including the presence or absence of a shelter space, and sufficient safety after getting off the vehicle behind. It becomes possible to secure.

The present invention is not limited to the above embodiment, and various modifications can be made within the scope of the gist of the present invention. For example, in the above-described embodiment, the driving guidance of the own vehicle is performed by automatically driving the own vehicle along the traveling route to the evacuation position, but instead of performing the automatic driving, the traveling route is based on this traveling route. The route guidance may be performed by the route guidance processing unit 32. Even with such a route guidance operation, it is possible to quickly and surely guide the own vehicle to the evacuation position when the driver is in poor physical condition.

Further, in the above-described embodiment, when the road information included in the map buffer 10 is used as the road information acquisition method, and when the road information is received by the receiver 7, the communication devices 8A and 8B, the analysis result of the shield analysis unit 42 is obtained. Although the cases of using are used together, some of them may be used instead of using all of them in parallel.

Further, in the above-described embodiment, the search for the evacuation position and the guidance operation to this evacuation position are performed in an emergency when the evacuation position guidance control device 600 determines that it is difficult to continue the safe operation. The search for the evacuation position may be started when the person feels poor physical condition or the like and performs a predetermined operation (for example, when a search instruction for the evacuation position is given using the operation unit 3). ..

As described above, according to the present invention, since the evacuation position is searched in consideration of the existence and area of the evacuation space on the back side of the shield, the evacuation position that can ensure the safety of the following vehicle after getting off is set. It becomes possible to do.

1 Navigation controller 2 Map data storage device 4 Vehicle position detection unit 7 Receiver 8A, 8B Communication device 9A External camera 9B External sensor 10 Map buffer 20 Vehicle position correction unit 30 Route search processing unit 32 Route guidance processing unit 40 Road information acquisition unit 42 Obstruction analysis unit 44 Evacuation position search unit 100 Automatic operation device 200 Navigation device 600 Evacuation position guidance control device

Claims (13)

Vehicle position detection means for detecting the vehicle position and
There is a shield that blocks the entry of vehicles on the road by partitioning the road and its surroundings, and there is a predetermined evacuation space on the opposite side of the road from which the passengers of the vehicle can evacuate. Evacuation position search means to search based on road information,
Guidance means for guiding the traveling of the own vehicle along the traveling route from the own vehicle position detected by the own vehicle position detecting means to the evacuation position searched by the evacuation position search means.
An evacuation position guidance device characterized by being provided with. The evacuation position search means is characterized in that it searches for an evacuation position where a vehicle can be stopped and a space for a passenger to get off can be secured between the traveling lane and the shield. The evacuation position guidance device according to 1. The evacuation position guidance device according to claim 1 or 2, wherein the evacuation position search means searches for the evacuation position closest to the vehicle position along the traveling direction of the own vehicle. The evacuation position guide device according to any one of claims 1 to 3, wherein the evacuation position search means searches for the evacuation position within a predetermined range from the own vehicle position. When the evacuation position is not within a predetermined range from the own vehicle position, the evacuation position search means is narrower than the evacuation space on the opposite side of the road with the shield in between, and the passenger of the vehicle can see the shield. A first alternative evacuation position having an evacuation space that can be evacuated in contact with the road is searched based on the road information.
The evacuation position guidance device according to claim 4, wherein the guidance means guides the traveling of the own vehicle along a travel path to the first alternative evacuation position instead of the evacuation position. The evacuation position search means allows a vehicle to stop between the traveling lane and the shield when neither the evacuation position nor the first alternative evacuation position is within a predetermined range from the own vehicle position. Therefore, a second alternative evacuation position where a passenger can get off the vehicle can be secured based on the road information.
The fifth aspect of claim 5, wherein the guiding means guides the traveling of the own vehicle along a traveling route to the second alternative evacuation position instead of the retracting position and the first alternative evacuation position. Evacuation position guidance device. The evacuation position guidance device according to any one of claims 1 to 6, wherein the guidance means guides the traveling of the own vehicle by automatically driving the own vehicle. The evacuation position according to any one of claims 1 to 6, wherein the guiding means guides the traveling of the own vehicle along the traveling route to be guided by at least one of display and voice. Guidance device. Further provided with a road information storage means for storing the road information including the position of the shield,
The evacuation position guidance device according to any one of claims 1 to 8, wherein the evacuation position search means performs a search based on the road information stored in the road information storage means. A first receiving means for receiving the road information including the position of the shield from the outside of the own vehicle is further provided.
The evacuation position guidance device according to any one of claims 1 to 9, wherein the evacuation position search means performs a search based on the road information received by the first receiving means. The road information includes information on the shield and its surroundings obtained by analyzing an image of the outside of the vehicle taken by a camera provided in the own vehicle, and the shield and its surroundings detected by a sensor provided in the own device. The retracted position guide device according to any one of claims 1 to 10, wherein at least one of the information of the above is included. Information on the shield and its surroundings obtained by analyzing the image of the outside of the vehicle with a camera provided in another vehicle other than the own vehicle, and information on the shield and its surroundings detected by the sensor provided in the other vehicle. Further provided with a second receiving means for receiving at least one,
The evacuation position guidance device according to any one of claims 1 to 11, wherein the road information includes information received by the second receiving means. The evacuation position guidance device according to claim 12, wherein the second receiving means performs at least one of vehicle-to-vehicle communication and road-to-vehicle communication to receive information.

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