JP2021128580A - Alarm output controller, vehicle controller, and alarm output control method - Google Patents

Abstract

To prompt a driver to take action according to the timing dependent on each factor in the event that occurrence of a traffic event derived from plural factors is predicted at a point where a vehicle is scheduled to pass.SOLUTION: An alarm output controller 200 includes an information acquisition unit 21 that acquires event information, which represents a traffic event occurrence predictive point P along a scheduled travel route R of a vehicle 1, and factor information representing an occurrence factor of the traffic event, a factor extraction unit 22 that extracts a first factor which is an object of a first alarm at a first point P1 located in front of the occurrence predictive point P, and extracts a second factor which is an object of a second alarm at a second point P2 interposed between the first point P1 and occurrence predictive point P, and an alarm output control unit 23 that implements control of outputting the first alarm at the first point P1, and implements control of outputting the second alarm at the second point P2.SELECTED DRAWING: Figure 1

Description

The present disclosure relates to a warning output control device, a vehicle control device, and a warning output control method.

Conventionally, when a traffic event is predicted to occur at a point where the vehicle is scheduled to travel, a technique for outputting a warning to the driver before the vehicle reaches the point has been developed (for example, Patent Document 1). reference.).

Japanese Unexamined Patent Publication No. 2018-128710

At the point where the vehicle is expected to travel, it may be predicted that a traffic event will occur due to multiple factors. In this case, it is preferable that the driver responds to each factor at a timing corresponding to each factor. From the viewpoint of realizing such a response, it is preferable that the warning for each factor is output at the timing corresponding to each factor. However, in the technique described in Patent Document 1, such timing is not taken into consideration. Therefore, there is a problem that it is not possible to prompt the driver to respond at the timing according to each factor.

For example, at the point "intersection", the event "collision accident by own vehicle and other vehicles" occurs due to the first factor "excessive speed by own vehicle" and the second factor "insufficient confirmation of surroundings by the driver of own vehicle". It shall be expected. In this case, it is preferable that the warning related to the surrounding confirmation is output when the own vehicle approaches the intersection, before the own vehicle enters the intersection. On the other hand, it is preferable that the warning regarding overspeed is output before the own vehicle approaches the intersection. However, in the technique described in Patent Document 1, warnings relating to these factors are output at the same time. That is, for example, a warning "There is a risk of a head-on accident in the future. Slow down and be careful of vehicles jumping out from the right" is output (see paragraph [0147] of Patent Document 1).

The present disclosure has been made to solve the above-mentioned problems, and when it is predicted that a traffic event will occur due to a plurality of factors at a point where the vehicle is scheduled to travel, the timing according to each factor The purpose is to encourage the driver to respond.

The warning output control device according to the present disclosure includes an information acquisition unit that acquires event information indicating a predicted occurrence point of a traffic event on a planned travel route of a vehicle and factor information indicating a cause of the occurrence of a traffic event, and an information acquisition unit that acquires a factor information indicating the cause of the traffic event. The first factor that is the target of the first warning at the first point located in front of the predicted point is extracted, and the second factor that is the target of the second warning at the second point located between the first point and the predicted occurrence point. It includes a factor extraction unit that extracts factors, and a warning output control unit that executes control to output a first warning at a first point and outputs a second warning at a second point. Is.

According to the present disclosure, since it is configured as described above, when a traffic event is predicted to occur due to a plurality of factors at a point where the vehicle is scheduled to travel, the driver is dealt with at a timing according to each factor. Can be encouraged.

It is a block diagram which shows the main part of the vehicle control apparatus including the warning output control apparatus which concerns on Embodiment 1. FIG. It is explanatory drawing which shows the example of the 1st point, the 2nd point and the occurrence prediction point. It is explanatory drawing which shows the example of the traffic event. It is explanatory drawing which shows the example of the 1st warning and the 2nd warning. FIG. 5 is a block diagram showing a hardware configuration of a main part of a vehicle control device including a warning output control device according to the first embodiment. It is a block diagram which shows the other hardware configuration of the main part of the vehicle control device including the warning output control device which concerns on Embodiment 1. FIG. It is a block diagram which shows the other hardware configuration of the main part of the vehicle control device including the warning output control device which concerns on Embodiment 1. FIG. It is a flowchart which shows the operation of the warning output control device which concerns on Embodiment 1. FIG. It is a flowchart which shows the operation of the warning output control device which concerns on Embodiment 1. FIG. It is a flowchart which shows the operation of the vehicle control part in the vehicle control device which includes the warning output control device which concerns on Embodiment 1. FIG. It is a block diagram which shows the system configuration of the main part of the vehicle control apparatus including the warning output control apparatus which concerns on Embodiment 1. FIG. It is a block diagram which shows the other system configuration of the main part of the vehicle control device including the warning output control device which concerns on Embodiment 1. FIG. It is a block diagram which shows the other system configuration of the main part of the vehicle control device including the warning output control device which concerns on Embodiment 1. FIG. It is a block diagram which shows the other system configuration of the main part of the vehicle control device including the warning output control device which concerns on Embodiment 1. FIG. It is a block diagram which shows the other system configuration of the main part of the vehicle control device including the warning output control device which concerns on Embodiment 1. FIG. It is a block diagram which shows the other system configuration of the main part of the vehicle control device including the warning output control device which concerns on Embodiment 1. FIG. It is a block diagram which shows the system configuration of the main part of the warning output control device which concerns on Embodiment 1. FIG. It is a block diagram which shows the main part of the vehicle control apparatus including the warning output control apparatus which concerns on Embodiment 2. FIG. It is explanatory drawing which shows the example of the 1st point, the 2nd point, the occurrence prediction point and a section. It is a flowchart which shows the operation of the warning output control device which concerns on Embodiment 2. FIG. It is a flowchart which shows the operation of the warning output control device which concerns on Embodiment 2. FIG. It is a flowchart which shows the operation of the warning output control device which concerns on Embodiment 2. FIG. It is a block diagram which shows the main part of the vehicle control apparatus including the warning output control apparatus which concerns on Embodiment 3. FIG. It is explanatory drawing which shows the example of the 1st point, the 2nd point and the occurrence prediction point. It is a flowchart which shows the operation of the warning output control device which concerns on Embodiment 3. It is a flowchart which shows the operation of the warning output control device which concerns on Embodiment 3. It is a block diagram which shows the main part of the vehicle control apparatus including the warning output control apparatus which concerns on Embodiment 4. FIG. It is a block diagram which shows the main part of the learning apparatus for the warning output control apparatus which concerns on Embodiment 4. FIG. It is a block diagram which shows the hardware configuration of the main part of the learning apparatus for the warning output control apparatus which concerns on Embodiment 4. FIG. It is a block diagram which shows the other hardware configuration of the main part of the learning apparatus for the warning output control apparatus which concerns on Embodiment 4. FIG. It is a block diagram which shows the other hardware configuration of the main part of the learning apparatus for the warning output control apparatus which concerns on Embodiment 4. FIG. It is a flowchart which shows the operation of the warning output control device which concerns on Embodiment 4. FIG. It is a flowchart which shows the operation of the learning apparatus for the warning output control apparatus which concerns on Embodiment 4. FIG. It is a block diagram which shows the main part of the vehicle control apparatus including the warning output control apparatus which concerns on Embodiment 5. It is a flowchart which shows the operation of the warning output control device which concerns on Embodiment 5. It is a flowchart which shows the operation of the warning output control device which concerns on Embodiment 5. It is a block diagram which shows the main part of the vehicle control apparatus including the warning output control apparatus which concerns on Embodiment 6. It is a block diagram which shows the main part of the learning apparatus for the warning output control apparatus which concerns on Embodiment 6. It is a flowchart which shows the operation of the warning output control device which concerns on Embodiment 6. It is a flowchart which shows the operation of the learning device for the warning output control device which concerns on Embodiment 6.

Embodiment 1.
FIG. 1 is a block diagram showing a main part of a vehicle control device including a warning output control device according to the first embodiment. A vehicle control device including the warning output control device according to the first embodiment will be described with reference to FIG.

As shown in FIG. 1, the vehicle 1 has an information source 2, an output device 3, and a vehicle control device 100.

The information source 2 includes, for example, a camera for in-vehicle imaging, a camera for out-of-vehicle imaging, sensors, and a GNSS (Global Navigation Satellite System) receiver. Further, the information source 2 includes, for example, a navigation system and a DMS (Drive Monitoring System). The sensors include, for example, a wheel speed sensor and a steering angle sensor. Further, the sensors include, for example, at least one of a millimeter wave radar, a laser radar, and an ultrasonic sensor.

The output device 3 includes at least one of a display and a speaker. The display is composed of, for example, a liquid crystal display, an organic EL (Electro-Lumisense) display, or a HUD (Head-Up Display). The display is provided, for example, on the dashboard of the vehicle 1. The speaker is provided, for example, on the dashboard of the vehicle 1.

The output device 3 outputs a warning to the driver of the vehicle 1. That is, the display included in the output device 3 displays a warning image. Further, the speaker included in the output device 3 outputs a warning voice.

As shown in FIG. 1, a storage device 4 is provided outside the vehicle 1. The storage device 4 is composed of a memory. The storage device 4 has a database storage unit 11.

The database storage unit 11 stores a database (hereinafter referred to as "traffic event database") showing a history of traffic events that have occurred in the past. That is, the traffic event database is formed by associating information indicating points where individual traffic events have occurred in the past with information indicating factors that have caused these traffic events. The traffic event database is, for example, maintained by the state or police.

Here, the "traffic event" may include all events that may affect the driving of the vehicle. For example, traffic events include traffic accidents and disasters. Traffic accidents include serious accidents and ordinary accidents. Serious accidents include fatal accidents. Normal accidents include rear-end collisions, collisions and contact accidents.

Specific examples of factors that cause individual traffic events are as follows. That is, in the case of a rear-end collision between vehicles, inattentiveness by the driver of at least one vehicle can be a factor. In addition, in the case of a bicycle accident involving a right-turning vehicle, insufficient confirmation of the surroundings by the driver of the right-turning vehicle may be a factor. In addition, in the case of an accident in which the vehicle cannot turn a curve, excessive speed due to the vehicle may be a factor. In addition, in the case of a collision accident caused by a right-turning vehicle or a straight-ahead vehicle, excessive speed due to the right-turning vehicle and insufficient confirmation of the surroundings by the driver of the right-turning vehicle may occur.

In addition, the traffic event database shows the state of the vehicle in the section from when the vehicle approaches the point where the traffic event occurs to when the vehicle reaches the point where the traffic event occurs for the vehicle that caused the individual traffic event. Information indicating (traveling speed, steering angle, traveling position, traveling lane, vehicle type, vehicle width, etc.), surrounding conditions of the vehicle in the section (presence or absence of other vehicles, position of other vehicles, road shape, road width, etc.) Etc.), and information indicating the state (line-of-sight direction, etc.) of the driver of the vehicle in the section may be further included. Hereinafter, the vehicle may be referred to as an "event vehicle". Hereinafter, an example in which such information is included in the traffic event database will be mainly described.

As shown in FIG. 1, the vehicle control device 100 includes an information acquisition unit 21, a factor extraction unit 22, a warning output control unit 23, and a vehicle control unit 24. The information acquisition unit 21 has a first information acquisition unit 31 and a second information acquisition unit 32. The information acquisition unit 21, the factor extraction unit 22, and the warning output control unit 23 constitute the main part of the warning output control device 200.

The first information acquisition unit 31 uses the information source 2 to indicate information indicating the state of the vehicle 1 (hereinafter referred to as “vehicle information”) and information indicating the surrounding state of the vehicle 1 (hereinafter referred to as “surrounding information”). , And information indicating the state of the driver of the vehicle 1 (hereinafter referred to as "driver information") is acquired. Hereinafter, this information may be collectively referred to as "state information".

The vehicle information includes, for example, information indicating the traveling speed of the vehicle 1, information indicating the steering angle in the vehicle 1, information indicating the traveling position of the vehicle 1, information indicating the traveling lane of the vehicle 1, information indicating the vehicle type of the vehicle 1, and the like. And information indicating the width of the vehicle 1. The surrounding information includes, for example, information indicating the presence or absence of another vehicle around the vehicle 1, information indicating the position of another vehicle around the vehicle 1, information indicating the shape of the road around the vehicle 1, and surrounding the vehicle 1. It contains information that indicates the width of the road. The driver information includes, for example, information indicating the line-of-sight direction of the driver of the vehicle 1.

Various known techniques can be used to acquire vehicle information, surrounding information, and driver information. Detailed description of these techniques will be omitted.

The second information acquisition unit 32 uses the vehicle information acquired by the first information acquisition unit 31 to predict the occurrence of a traffic event on the route (hereinafter referred to as “planned travel route”) R on which the vehicle 1 is scheduled to travel. Information indicating the point (hereinafter referred to as "predicted occurrence point") P (hereinafter referred to as "event information") and information indicating the cause of the traffic event (hereinafter referred to as "factor information") are acquired. Is. Event information and factor information are acquired from the traffic event database.

In addition, the second information acquisition unit 32 includes information indicating the state of the event vehicle related to the traffic event, information indicating the surrounding state of the event vehicle related to the traffic event, and the driver of the event vehicle related to the traffic event. Further information indicating the state may be acquired. Hereinafter, this information may be collectively referred to as "incidental information". Ancillary information is obtained from the traffic event database. Hereinafter, an example in which incidental information is acquired by the second information acquisition unit 32 will be mainly described.

Hereinafter, the point P1 located in front of the predicted occurrence point P when viewed from the vehicle 1 is referred to as a “first point”. Further, the point P2 located between the first point P1 and the predicted occurrence point P is referred to as a "second point". That is, the first point P1 is a point located in front of the second point P2 when viewed from the vehicle 1.

The first point P1 is set to, for example, a point located in front of the predicted occurrence point P by a predetermined distance L1. The second point P2 is set to, for example, a point located in front of the predicted occurrence point P by a predetermined distance L2. FIG. 2 shows an example of a first point P1, a second point P2, and an occurrence prediction point P.

Hereinafter, the warning output by the output device 3 at the first point P1 may be referred to as a “first warning”. That is, the first warning is output at the timing when the vehicle 1 passes the first point P1. Further, the warning output by the output device 3 at the second point P2 may be referred to as a "second warning". That is, the second warning is output at the timing when the vehicle 1 passes the second point P2.

Hereinafter, among the occurrence factors indicated by the factor information, the occurrence factor that is the target of the first warning may be referred to as "first factor". Further, among the occurrence factors indicated by the factor information, the occurrence factor that is the target of the second warning may be referred to as a "second factor".

The factor extraction unit 22 executes a process of extracting the first factor by using the factor information acquired by the second information acquisition unit 32. Further, the factor extraction unit 22 executes a process of extracting the second factor by using the factor information acquired by the second information acquisition unit 32. Specifically, for example, the factor extraction unit 22 extracts each of the first factor and the second factor as follows.

That is, the factor extraction unit 22 has a table T showing the correspondence relationship between each occurrence factor and the timing at which the corresponding warning should be output (that is, the point at which the corresponding warning should be output). The factor extraction unit 22 uses the table T to determine whether or not the corresponding warning should be output at the first point P1 for each occurrence factor indicated by the factor information, and also determines whether or not the corresponding warning should be output, and the corresponding warning. Determines whether or not should be output at the second point P2. In this way, the first factor is extracted and the second factor is extracted.

When at least one first factor is extracted by the factor extraction unit 22, the warning output control unit 23 determines the necessity of a warning (that is, the first warning) for the extracted first factor. The state information acquired by the first information acquisition unit 31 and the incidental information acquired by the second information acquisition unit 32 are used for determining the necessity. The warning output control unit 23 executes control to output the first warning when the vehicle 1 passes the first point P1 when it is determined that the first warning is necessary. For the control to output the first warning, the vehicle information acquired by the first information acquisition unit 31 and the event information acquired by the second information acquisition unit 32 are used.

Further, when at least one second factor is extracted by the factor extraction unit 22, the warning output control unit 23 determines whether or not a warning (that is, a second warning) for the extracted second factor is necessary. be. The state information acquired by the first information acquisition unit 31 and the incidental information acquired by the second information acquisition unit 32 are used for determining the necessity. The warning output control unit 23 executes control to output the second warning when the vehicle 1 passes the second point P2 when it is determined that the second warning is necessary. For the control to output the second warning, the vehicle information acquired by the first information acquisition unit 31 and the event information acquired by the second information acquisition unit 32 are used.

In this way, the warning output control unit 23 determines the necessity of each of the first warning and the second warning. Hereinafter, a method for determining the necessity will be described.

First, the warning output control unit 23 compares the state of the vehicle 1 indicated by the vehicle information with the state of the event vehicle indicated by the incidental information (that is, the state of the event vehicle when the corresponding traffic event has occurred in the past). .. Based on the result of such comparison, the warning output control unit 23 determines whether or not the state of the vehicle 1 corresponds to the first factor, and the state of the vehicle 1 corresponds to the second factor. Judge whether or not.

Secondly, the warning output control unit 23 uses the surrounding state indicated by the surrounding information (that is, the surrounding state of the vehicle 1) and the surrounding state indicated by the incidental information (that is, the event vehicle when the corresponding traffic event has occurred in the past). Compare with the surrounding condition). Based on the result of such comparison, the warning output control unit 23 determines whether or not the state around the vehicle 1 corresponds to the first factor, and the state around the vehicle 1 corresponds to the second factor. Judge whether or not it is in a state of

Third, in the warning output control unit 23, the driver's state indicated by the driver information (that is, the driver's state of the vehicle 1) and the driver's state indicated by the incidental information (that is, the corresponding traffic event has occurred in the past). Event at the time Compare with the state of the driver of the vehicle). Based on the results of these comparisons, the warning output control unit 23 determines whether or not the state of the driver of the vehicle 1 corresponds to the first factor, and the state of the driver of the vehicle 1 is the second. Determine if the condition corresponds to the factor.

Hereinafter, these determinations may be collectively referred to as "state determination". The warning output control unit 23 determines the necessity of the first warning based on the result of the state determination. For example, when at least one of the state of the vehicle 1, the state of the surroundings of the vehicle 1, and the state of the driver of the vehicle 1 corresponds to the first factor, the warning output control unit 23 needs the first warning. Is determined to be. If not, the warning output control unit 23 determines that the first warning is unnecessary.

Further, the warning output control unit 23 determines the necessity of the second warning based on the result of the state determination. For example, when at least one of the state of the vehicle 1, the state of the surroundings of the vehicle 1, and the state of the driver of the vehicle 1 corresponds to the second factor, the warning output control unit 23 needs a second warning. Is determined to be. If not, the warning output control unit 23 determines that the second warning is unnecessary.

Here, a specific example of the state determination will be described with reference to FIGS. 3 and 4. In addition, specific examples of the first warning and the second warning will be described.

FIG. 3 shows an example of a traffic event included in the traffic event database. That is, an example of a traffic event that has occurred in the past is shown. When the right-turning vehicle V1 enters the intersection I, it is assumed that the temporary stop is ignored because the driver of the vehicle V1 neglects to decelerate the vehicle V1 and check the surroundings. As a result, it is assumed that a collision accident has occurred between the right-turning vehicle V1 and the straight-ahead vehicle V2. In the figure, R1 indicates a traveling route of the right-turning vehicle V1. Further, R2 indicates a traveling route of the straight-ahead vehicle V2.

On the other hand, the information indicating the point "intersection I" where the event "collision accident by the right-turning vehicle V1 and the straight-ahead vehicle V2" occurred, and the factor "excessive speed by the right-turning vehicle V1" and the factor "by the driver of the right-turning vehicle V1" It is assumed that the information indicating "insufficient confirmation of surroundings" is registered in the traffic event database. Further, it is assumed that the information indicating the traveling speed v1 of the right-turning vehicle V1, the information indicating the traveling lane of the right-turning vehicle V1, and the information indicating the line-of-sight direction of the driver of the right-turning vehicle V1 are registered in the traffic event database.

After that, as shown in FIG. 4, it is assumed that the vehicle 1 approaches the intersection I by the same travel route R as the travel route R1 of the vehicle V1. At this time, the second information acquisition unit 32 acquires event information indicating the predicted occurrence point P (that is, the intersection I) of the collision accident, and also causes the factor "excessive speed due to the right-turning vehicle" and the factor "driver of the right-turning vehicle". Factor information indicating "insufficient surrounding confirmation due to" is acquired.

In the table T, the factor "excessive speed due to the right-turning vehicle" is associated with the first point P1. This is from the viewpoint of securing the braking distance of the vehicle 1. On the other hand, in the table T, the factor "insufficient confirmation of surroundings by the driver of the right-turning vehicle" is associated with the second point P2. This is because it is generally considered that the surrounding confirmation when entering the intersection I is preferably performed at the timing immediately before the vehicle 1 enters the intersection I. That is, from the viewpoint of concentrating the driver's consciousness on the surrounding confirmation, it is considered that the surrounding confirmation is preferably performed in a state where the vehicle 1 is sufficiently decelerated.

Therefore, the factor extraction unit 22 extracts the factor "excessive speed due to the right-turning vehicle" as the first factor. In addition, the factor extraction unit 22 extracts the factor "insufficient surrounding confirmation by the driver of the right-turning vehicle" as the second factor.

Next, the warning output control unit 23 determines the necessity of the first warning. For example, it is assumed that the first information acquisition unit 31 has acquired travel information including information indicating the traveling speed v of the vehicle 1 and information indicating the traveling lane of the vehicle 1. Further, it is assumed that the second information acquisition unit 32 has acquired incidental information including information indicating the traveling speed v1 of the event vehicle V1 and information indicating the traveling lane of the event vehicle V1. In this case, the warning output control unit 23 compares the traveling speed v with the traveling speed v1 and compares the traveling lane of the vehicle 1 with the traveling lane of the event vehicle V1 in the state determination. When the traveling speed v exceeds the traveling speed v1 and the traveling lane of the vehicle 1 is the same as the traveling lane of the vehicle V1, the warning output control unit 23 is in a state where the state of the vehicle 1 corresponds to the first factor. Is determined to be. That is, the warning output control unit 23 determines that the first warning is necessary. If not, the warning output control unit 23 determines that the first warning is unnecessary.

When it is determined that the first warning is necessary, the warning output control unit 23 executes control to output a warning relating to overspeed when the vehicle 1 passes the first point P1. As a result, the first warning is output at the first point P1 (see FIG. 4).

Next, the warning output control unit 23 determines the necessity of the second warning. For example, it is assumed that the first information acquisition unit 31 has acquired the driver information including the information indicating the line-of-sight direction of the driver of the vehicle 1. Further, it is assumed that the second information acquisition unit 32 has acquired incidental information including information indicating the line-of-sight direction of the driver of the event vehicle V1. It is highly probable that the line of sight of the driver of the event vehicle V1 is not directed in the direction to be seen (for example, the front right). Therefore, the warning output control unit 23 compares the line-of-sight direction of the driver of the vehicle 1 with the line-of-sight direction of the driver of the event vehicle V1 in the state determination, so that the line-of-sight direction of the driver of the vehicle 1 should be seen ( For example, it is determined whether or not the vehicle is directed to the front right. When the line of sight of the driver of the vehicle 1 is not directed in the direction to be seen, the warning output control unit 23 determines that the state of the driver of the vehicle 1 corresponds to the second factor. That is, the warning output control unit 23 determines that the second warning is necessary. If not, the warning output control unit 23 determines that the second warning is unnecessary.

When it is determined that the second warning is necessary, the warning output control unit 23 executes control to output a warning related to the surrounding confirmation when the vehicle 1 passes the second point P2. As a result, a second warning is output at the second point P2 (see FIG. 4).

Hereinafter, at least one of the first factor that has not been resolved by the first warning and the second factor that has not been resolved by the second warning may be collectively referred to as “unresolved factor”. The vehicle control unit 24 uses the vehicle information acquired by the first information acquisition unit 31 to determine whether or not there is an unsolved factor that can be resolved by the operation of the vehicle 1. When it is determined that there is such an unsolved factor, the vehicle control unit 24 determines the necessity of control for operating the vehicle 1 according to the unsolved factor (hereinafter, may be referred to as "vehicle control"). Is. The vehicle control unit 24 executes vehicle control when it is determined that vehicle control is necessary.

For example, when the vehicle 1 passes the first point P1, it is assumed that the first warning regarding the overspeed is output. However, it is assumed that the vehicle 1 does not decelerate thereafter. In this case, the vehicle control unit 24 determines that the first factor related to the overspeed has not been resolved. The vehicle control unit 24 determines that it is necessary to control the vehicle 1 to decelerate the unsolved factor. The vehicle control unit 24 executes control for decelerating the vehicle 1 by operating the brake in the vehicle 1 or by operating the throttle opening degree in the vehicle 1.

Hereinafter, the reference numeral "F1" may be used for the function of the information acquisition unit 21. In addition, the code of "F2" may be used for the function of the factor extraction unit 22. Further, the code of "F3" may be used for the function of the warning output control unit 23. Further, the reference numeral "F4" may be used for the function of the vehicle control unit 24.

Next, the hardware configuration of the main part of the vehicle control device 100 will be described with reference to FIGS. 5 to 7.

As shown in FIG. 5, the vehicle control device 100 has a processor 41 and a memory 42. Programs corresponding to a plurality of functions F1 to F4 are stored in the memory 42. The processor 41 reads and executes the program stored in the memory 42. As a result, a plurality of functions F1 to F4 are realized.

Alternatively, as shown in FIG. 6, the vehicle control device 100 has a processing circuit 43. The processing circuit 43 executes processing corresponding to the plurality of functions F1 to F4. As a result, a plurality of functions F1 to F4 are realized.

Alternatively, as shown in FIG. 7, the vehicle control device 100 includes a processor 41, a memory 42, and a processing circuit 43. A program corresponding to a part of the plurality of functions F1 to F4 is stored in the memory 42. The processor 41 reads and executes the program stored in the memory 42. As a result, some of these functions are realized. Further, the processing circuit 43 executes processing corresponding to the remaining functions of the plurality of functions F1 to F4. As a result, such a residual function is realized.

The processor 41 is composed of one or more processors. As the individual processor, for example, a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), a microprocessor, a microcontroller, or a DSP (Digital Signal Processor) is used.

The memory 42 is composed of one or more non-volatile memories. Alternatively, the memory 42 is composed of one or more non-volatile memories and one or more volatile memories. That is, the memory 42 is composed of one or more memories. The individual memory uses, for example, a semiconductor memory or a magnetic disk. More specifically, each volatile memory uses, for example, a RAM (Random Access Memory). The individual non-volatile memory includes, for example, a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable ReadOnly Memory), an EEPROM (Electrically Erasable Programmory), a hard disk using an EEPROM (Electrically Erasable Programmory), a solid drive, or a solid state drive. Is.

The processing circuit 43 is composed of one or more digital circuits. Alternatively, the processing circuit 43 is composed of one or more digital circuits and one or more analog circuits. That is, the processing circuit 43 is composed of one or more processing circuits. The individual processing circuits are, for example, ASIC (Application Special Integrated Circuit), PLD (Programmable Logic Device), FPGA (Field Programmable Gate Array), System LSI (System) System Is.

Here, when the processor 41 is composed of a plurality of processors, the correspondence between the plurality of functions F1 to F4 and the plurality of processors is arbitrary. That is, each of the plurality of processors may read and execute a program corresponding to one or more corresponding functions among the plurality of functions F1 to F4.

Further, when the memory 42 is composed of a plurality of memories, the correspondence between the plurality of functions F1 to F4 and the plurality of memories is arbitrary. That is, each of the plurality of memories may store a program corresponding to one or more corresponding functions among the plurality of functions F1 to F4.

Further, when the processing circuit 43 is composed of a plurality of processing circuits, the correspondence between the plurality of functions F1 to F4 and the plurality of processing circuits is arbitrary. That is, each of the plurality of processing circuits may execute processing corresponding to one or more corresponding functions among the plurality of functions F1 to F4.

Next, with reference to the flowchart of FIG. 8, the operation of the warning output control device 200 will be described focusing on the operations of the factor extraction unit 22 and the warning output control unit 23.

The process shown in FIG. 8 is repeatedly executed when a predetermined condition is satisfied (for example, when the ignition power supply in the vehicle 1 is turned on). At this time, vehicle information, surrounding information, and driver information are appropriately acquired by the first information acquisition unit 31. In addition, event information, factor information, and incidental information are appropriately acquired by the second information acquisition unit 32.

First, the warning output control device 200 determines whether or not the planned travel route R of the vehicle 1 includes the predicted occurrence point P of a traffic event (step ST1). For such a determination, the vehicle information acquired by the first information acquisition unit 31 and the event information acquired by the second information acquisition unit 32 are used.

When it is determined that the expected occurrence point P is included in the planned travel route R (step ST1 “YES”), the factor extraction unit 22 executes a process of extracting the first factor (step ST2). Factor information acquired by the second information acquisition unit 32 is used for such processing.

When at least one first factor is extracted (step ST3 “YES”), the warning output control unit 23 determines the necessity of the first warning (step ST4). The state information acquired by the first information acquisition unit 31 and the incidental information acquired by the second information acquisition unit 32 are used for determining the necessity. That is, the determination of necessity is based on the state determination.

When it is determined that the first warning is necessary (step ST4 “YES”), the warning output control unit 23 executes control to output the first warning at the first point P1 (step ST5). For such control, vehicle information acquired by the first information acquisition unit 31, event information acquired by the second information acquisition unit 32, and the like are used.

Next, the process of the warning output control device 200 proceeds to step ST6. That is, the factor extraction unit 22 executes the process of extracting the second factor (step ST6). Factor information acquired by the second information acquisition unit 32 is used for such processing. The factor extraction unit 22 may execute the process of extracting the first factor and the process of extracting the second factor in step ST2. In this case, the process of step ST6 is unnecessary.

When at least one second factor is extracted (step ST7 “YES”), the warning output control unit 23 determines the necessity of the second warning (step ST8). The state information acquired by the first information acquisition unit 31 and the incidental information acquired by the second information acquisition unit 32 are used for determining the necessity. That is, the determination of necessity is based on the state determination.

When it is determined that the second warning is necessary (step ST8 “YES”), the warning output control unit 23 executes control to output the second warning at the second point P2 (step ST9). For such control, vehicle information acquired by the first information acquisition unit 31, event information acquired by the second information acquisition unit 32, and the like are used.

Next, the operation of the vehicle control unit 24 will be described with reference to the flowchart of FIG. The process shown in FIG. 9 is executed when the first warning or the second warning is output.

First, the vehicle control unit 24 determines whether or not there is an unsolved factor that can be resolved by operating the vehicle 1 (step ST11). Vehicle information acquired by the first information acquisition unit 31 is used for determining the presence or absence of such a condition. When it is determined that there is such an unsolved factor (step ST11 “YES”), the vehicle control unit 24 determines the necessity of vehicle control (step ST12). When it is determined that vehicle control is necessary (step ST12 “YES”), the vehicle control unit 24 executes vehicle control (step ST13).

Next, a modified example of the vehicle control device 100 will be described with reference to FIGS. 10 to 15. Further, a modified example of the warning output control device 200 will be described with reference to FIG.

The vehicle 1 may be equipped with the in-vehicle information device 5. The in-vehicle information device 5 is composed of, for example, an ECU (Electronic Control Unit). Further, the mobile information terminal 6 may be brought into the vehicle 1. The mobile information terminal 6 is composed of, for example, a smartphone.

The in-vehicle information device 5 and the mobile information terminal 6 may be capable of communicating with each other. The in-vehicle information device 5 may be capable of communicating with the server 7 provided outside the vehicle 1. The mobile information terminal 6 may be capable of communicating with a server 7 provided outside the vehicle 1. That is, the server 7 may be capable of communicating with at least one of the in-vehicle information device 5 and the mobile information terminal 6. As a result, the server 7 may be capable of communicating with the vehicle 1.

Each of the plurality of functions F1 to F3 may be realized by the in-vehicle information device 5, may be realized by the portable information terminal 6, and may be realized by the server 7. It may be the one that is realized by the cooperation of the in-vehicle information device 5 and the mobile information terminal 6, and is realized by the cooperation of the in-vehicle information device 5 and the server 7. It may be realized by the cooperation of the mobile information terminal 6 and the server 7. Further, the function F4 may be realized by the in-vehicle information device 5, may be realized by linking the in-vehicle information device 5 and the mobile information terminal 6, or may be realized by the in-vehicle information device 5. It may be realized by the cooperation of the 5 and the server 7.

That is, as shown in FIG. 10, the main part of the vehicle control device 100 may be configured by the in-vehicle information device 5. Alternatively, as shown in FIG. 11, the main part of the vehicle control device 100 may be configured by the in-vehicle information device 5 and the mobile information terminal 6. Alternatively, as shown in FIG. 12, the main part of the vehicle control device 100 may be configured by the in-vehicle information device 5 and the server 7. Alternatively, as shown in FIGS. 13, 14 or 15, the main part of the vehicle control device 100 may be composed of the in-vehicle information device 5, the mobile information terminal 6 and the server 7.

Further, as shown in FIG. 16, the main part of the warning output control device 200 may be configured by the server 7. In this case, for example, the server 7 receives the state information from the vehicle 1, and the server 7 receives the event information, the factor information, and the incidental information from the storage device 4, so that the server 7 receives the function F1 of the information acquisition unit 21. Is realized. Further, for example, when the server 7 transmits a control signal to the vehicle 1, the function F3 of the warning output control unit 23 is realized in the server 7. Then, in the vehicle 1, the output device 3 outputs the first warning and the second warning. That is, the first warning and the second warning are output by the vehicle 1 under the control of the server 7.

Next, another modification of the warning output control device 200 will be described.

The state determination relating to the necessity of the first warning may be based on at least one of the state of the vehicle 1, the state of the surroundings of the vehicle 1, and the state of the driver of the vehicle 1. In other words, the state determination relating to the necessity of the first warning may use at least one of vehicle information, surrounding information, and driver information.

The state determination relating to the necessity of the second warning may be based on at least one of the state of the vehicle 1, the state of the surroundings of the vehicle 1, and the state of the driver of the vehicle 1. In other words, the state determination relating to the necessity of the second warning may use at least one of the vehicle information, the surrounding information, and the driver information.

That is, the state information may include at least one of vehicle information, surrounding information, and driver information. Further, the incidental information may include at least one of information indicating the state of the event vehicle, information indicating the state around the event vehicle, and information indicating the state of the driver of the event vehicle.

The state determination relating to the necessity of the first warning may not use incidental information. In this case, the warning output control unit 23 determines whether or not the state indicated by the state information is a predetermined state, thereby determining whether or not the state indicated by the state information is a state corresponding to the first factor. It may be something to do.

The state determination relating to the necessity of the second warning may not use incidental information. In this case, the warning output control unit 23 determines whether or not the state indicated by the state information is a predetermined state, thereby determining whether or not the state indicated by the state information is a state corresponding to the second factor. It may be something to do.

That is, the second information acquisition unit 32 may not acquire incidental information.

The warning output control unit 23 may not determine the necessity of the first warning. That is, when at least one first factor is extracted by the factor extraction unit 22 (step ST3 “YES”), the warning output control unit 23 executes control to output the first warning at the first point P1. It may be one (step ST5). However, from the viewpoint of avoiding the output of an unnecessary first warning, it is preferable to determine the necessity of the first warning.

The warning output control unit 23 may not determine the necessity of the second warning. That is, when at least one second factor is extracted by the factor extraction unit 22 (step ST7 “YES”), the warning output control unit 23 executes control to output the second warning at the second point P2. It may be one (step ST9). However, from the viewpoint of avoiding the output of an unnecessary second warning, it is preferable to determine the necessity of the second warning.
From this point of view, it is preferable to determine the necessity of the first warning.

Next, another modification of the warning output control device 200 will be described.

In addition to extracting the first factor and the second factor, the factor extraction unit 22 warns at a point (hereinafter referred to as "third point") P3 located between the first point P1 and the second point P2 (hereinafter referred to as "third point"). It may be the one that extracts the factor (hereinafter sometimes referred to as "third factor") that is the target of the "third warning"). The warning output control unit 23 may execute the control to output the third warning at the third point P3.

In addition to extracting the first factor, the second factor, and the third factor, the factor extraction unit 22 extracts a point located between the first point P1 and the third point P3 (hereinafter referred to as "fourth point"). ) A factor (hereinafter sometimes referred to as "fourth factor") subject to the warning in P4 (hereinafter sometimes referred to as "fourth warning") may be extracted. The warning output control unit 23 may execute the control to output the fourth warning at the fourth point P4.

In addition, the factor extraction unit 22 extracts the first factor, the second factor, and the third factor, or in addition to extracting the first factor, the second factor, the third factor, and the fourth factor. , Factors subject to warnings (hereinafter sometimes referred to as "fifth warnings") at points (hereinafter referred to as "fifth points") P5 located between the third point P3 and the second point P2 (hereinafter referred to as "fifth points"). It may be called "5 factors"). The warning output control unit 23 may execute the control to output the fifth warning at the fifth point P5.

The method of extracting the third factor by the factor extraction unit 22 is the same as the method of extracting the first factor or the second factor by the factor extraction unit 22. Therefore, detailed description thereof will be omitted. The same applies to the fourth factor and the fifth factor.

As described above, the warning realized by the warning output control device 200 is not limited to the two-stage warning by the first warning and the second warning. The warning output control device 200 may realize a warning of three or more stages. That is, the warning output control device 200 may realize a multi-step warning.

As described above, the warning output control device 200 according to the first embodiment acquires the event information indicating the occurrence prediction point P of the traffic event on the planned travel route R of the vehicle 1 and the factor information indicating the cause of the traffic event. The information acquisition unit 21 and the first factor that is the target of the first warning at the first point P1 located in front of the occurrence prediction point P among the occurrence factors are extracted, and between the first point P1 and the occurrence prediction point P. The factor extraction unit 22 that extracts the second factor that is the target of the second warning at the second point P2 located at, and the control that outputs the first warning at the first point P1 are executed, and at the second point P2. A warning output control unit 23 that executes control for outputting a second warning is provided. As a result, when it is predicted that a traffic event will occur due to a plurality of factors at a point where the vehicle 1 is scheduled to travel, a warning can be output at a timing corresponding to each factor. As a result, it is possible to urge the driver to respond at a timing according to each factor.

Further, the information acquisition unit 21 includes information indicating the state of the vehicle 1 (vehicle information), information indicating the surrounding state of the vehicle 1 (surrounding information), and information indicating the state of the driver of the vehicle 1 (driver information). By acquiring the state information including at least one of them, the warning output control unit 23 determines whether or not the state indicated by the state information corresponds to the first factor, and thus whether or not the first warning is necessary. To judge. As a result, it is possible to avoid outputting an unnecessary first warning depending on the state of the vehicle 1, the surrounding state of the vehicle 1, or the state of the driver of the vehicle 1.

Further, the information acquisition unit 21 includes information indicating the state of the vehicle 1 (vehicle information), information indicating the surrounding state of the vehicle 1 (surrounding information), and information indicating the state of the driver of the vehicle 1 (driver information). By acquiring the state information including at least one of them, the warning output control unit 23 determines whether or not the state indicated by the state information corresponds to the second factor, and thus whether or not the second warning is necessary. To judge. As a result, it is possible to avoid outputting an unnecessary second warning depending on the state of the vehicle 1, the surrounding state of the vehicle 1, or the state of the driver of the vehicle 1.

Further, the information acquisition unit 21 is at least one of information indicating the state of the event vehicle that caused the traffic event in the past, information indicating the state around the event vehicle, and information indicating the state of the driver of the event vehicle. The warning output control unit 23 acquires the incidental information including To judge. Thereby, in determining the necessity of the first warning, the state of the event vehicle, the state around the event vehicle, or the state of the driver of the event vehicle can be taken into consideration. As a result, the necessity of the first warning can be determined more accurately.

Further, the information acquisition unit 21 is at least one of information indicating the state of the event vehicle that caused the traffic event in the past, information indicating the state around the event vehicle, and information indicating the state of the driver of the event vehicle. The warning output control unit 23 acquires the incidental information including To judge. Thereby, in determining the necessity of the second warning, the state of the event vehicle, the state around the event vehicle, or the state of the driver of the event vehicle can be taken into consideration. As a result, the necessity of the second warning can be determined more accurately.

Further, the factor extraction unit 22 extracts the third factor that is the target of the third warning at the third point P3 located between the first point P1 and the second point P2 from the generated factors, and the warning output control unit 22. 23 executes a control for outputting a third warning at the third point P3. As a result, a three-stage warning can be realized. That is, it is possible to realize a multi-step warning.

Further, the vehicle control device 100 according to the first embodiment responds to at least one of the warning output control device 200, the first factor unresolved by the first warning, and the second factor unresolved by the second warning. It includes a vehicle control unit 24 that executes control (vehicle control) for operating the vehicle 1. As a result, it is possible to more reliably prevent the occurrence of a traffic event at the predicted occurrence point P.

Further, in the warning output control method according to the first embodiment, the information acquisition unit 21 provides event information indicating the occurrence prediction point P of the traffic event on the planned travel route R of the vehicle 1 and factor information indicating the cause of the traffic event. Upon acquisition, the factor extraction unit 22 extracts the first factor that is the target of the first warning at the first point P1 located in front of the occurrence prediction point P, and also generates the first point P1. The warning output control unit 23 executes control to output the first warning at the first point P1 by extracting the second factor that is the target of the second warning at the second point P2 located between the prediction points P. At the same time, the control to output the second warning is executed at the second point P2. As a result, when it is predicted that a traffic event will occur due to a plurality of factors at a point where the vehicle 1 is scheduled to travel, a warning can be output at a timing corresponding to each factor. As a result, it is possible to urge the driver to respond at a timing according to each factor.

Embodiment 2.
FIG. 17 is a block diagram showing a main part of the vehicle control device including the warning output control device according to the second embodiment. A vehicle control device including the warning output control device according to the second embodiment will be described with reference to FIG. In FIG. 17, the same blocks as those shown in FIG. 1 are designated by the same reference numerals, and the description thereof will be omitted.

As shown in FIG. 17, the vehicle 1 has a vehicle control device 100a. The vehicle control device 100a includes an information acquisition unit 21, a factor extraction unit 22, a warning output control unit 23a, and a vehicle control unit 24. The information acquisition unit 21, the factor extraction unit 22, and the warning output control unit 23a constitute a main part of the warning output control device 200a.

The warning output control unit 23a is provided with the following functions added to the warning output control unit 23.

That is, when the first warning is output at the first point P1, the warning output control unit 23a is the first factor when the vehicle 1 is traveling in the section S between the first point P1 and the second point P2. Is designed to determine whether or not the problem has been resolved. The state information acquired by the first information acquisition unit 31 is used for determining whether or not the first factor has been eliminated.

When the warning output control unit 23a determines that the first factor has not been resolved in the section S (that is, when it is determined that the first factor has not been resolved at the second point P2), the vehicle 1 is the first. When passing through the two points P2, the control to output the first warning again is executed. As a result, at the second point P2, at least one of the first warning and the second warning can be output (see FIG. 18).

For example, it is assumed that the factor extraction unit 22 has extracted the first factor related to overspeed and the second factor related to insufficient surrounding confirmation. Then, it is assumed that the warning output control unit 23a determines that the first warning is necessary, and a warning relating to overspeed is output at the first point P1. Further, it is assumed that the warning output control unit 23a determines that the second warning is necessary.

In this case, when the vehicle 1 is traveling in the section S, the warning output control unit 23a uses the vehicle information acquired by the first information acquisition unit 31 to exceed the speed based on the traveling speed v of the vehicle 1. It is determined whether or not the first factor is resolved. When the first factor is eliminated in the section S, the warning output control unit 23a executes control to output a warning related to the surrounding confirmation at the second point P2. On the other hand, if the first factor is not resolved in the section S, the warning output control unit 23a executes control to output a warning related to overspeed again at the second point P2, and warns about checking the surroundings. Executes the control to output.

Hereinafter, the reference numeral “F3a” may be used for the function of the warning output control unit 23a.

The hardware configuration of the main part of the vehicle control device 100a is the same as that described with reference to FIGS. 5 to 7 in the first embodiment. Therefore, detailed description thereof will be omitted. That is, the vehicle control device 100a has a plurality of functions F1, F2, F3a, F4. Each of the plurality of functions F1, F2, F3a, and F4 may be realized by the processor 41 and the memory 42, or may be realized by the processing circuit 43.

Next, with reference to the flowchart of FIG. 19, the operation of the warning output control device 200a will be described focusing on the operations of the factor extraction unit 22 and the warning output control unit 23a. In FIG. 19, the same steps as those shown in FIG. 8 are designated by the same reference numerals, and the description thereof will be omitted.

The processes of steps ST1 to ST9 in FIG. 19 are the same as the processes of steps ST1 to ST9 in FIG. 8, respectively. However, when the process of step ST5 is executed, the process of the warning output control device 200a proceeds to step ST21.

That is, the factor extraction unit 22 executes a process of extracting the second factor (step ST21). Factor information acquired by the second information acquisition unit 32 is used for such processing. The factor extraction unit 22 may execute the process of extracting the first factor and the process of extracting the second factor in step ST2. In this case, the process of step ST21 is unnecessary.

When at least one second factor is extracted (step ST22 “YES”), the warning output control unit 23a determines the necessity of the second warning (step ST23). The state information acquired by the first information acquisition unit 31 and the incidental information acquired by the second information acquisition unit 32 are used for determining the necessity. That is, the determination of necessity is based on the state determination.

When it is determined that the second warning is necessary (step ST23 “YES”), the warning output control unit 23a determines whether or not the first factor has been resolved (step ST24). For such a determination, the state information acquired by the first information acquisition unit 31 in the section S is used. When it is determined that the first factor has not been resolved (step ST24 “YES”), the warning output control unit 23a executes control to output the first warning and the second warning at the second point P2 (step). ST25). On the other hand, when it is determined that the first factor has been eliminated (step ST24 “NO”), the warning output control unit 23a executes control to output the second warning at the second point P2 (step ST26). .. For these controls, vehicle information acquired by the first information acquisition unit 31 and event information acquired by the second information acquisition unit 32 are used.

When no second factor is extracted (step ST22 “NO”), or when it is determined that the second warning is unnecessary (step ST23 “NO”), the warning output control unit 23a uses the first warning output control unit 23a. It is determined whether or not the factor has been eliminated (step ST27). For such a determination, the state information acquired by the first information acquisition unit 31 in the section S is used. When it is determined that the first factor has not been resolved (step ST27 “YES”), the warning output control unit 23a executes control to output the first warning at the second point P2 (step ST28).

Next, a modified example of the vehicle control device 100a will be described. Further, a modified example of the warning output control device 200a will be described.

As the vehicle control device 100a, various modifications similar to those described in the first embodiment can be adopted. Further, as the warning output control device 200a, various modifications similar to those described in the first embodiment can be adopted.

For example, the vehicle-mounted information device 5 may constitute a main part of the vehicle control device 100a. Alternatively, the main part of the vehicle control device 100a may be configured by the vehicle-mounted information device 5 and the mobile information terminal 6. Alternatively, the main part of the vehicle control device 100a may be configured by the in-vehicle information device 5 and the server 7. Alternatively, the main part of the vehicle control device 100a may be composed of the in-vehicle information device 5, the mobile information terminal 6, and the server 7.

Further, for example, the plurality of functions F1, F2, F3a may be realized by the server 7. That is, the main part of the warning output control device 200a may be configured by the server 7.

As described above, in the warning output control device 200a according to the second embodiment, when the first factor is not resolved by the first warning at the first point P1, the warning output control unit 23a is at the second point P2. The control to output the first warning and the second warning is executed. Thereby, the first factor can be more reliably eliminated. As a result, the probability of occurrence of a traffic event at the predicted occurrence point P can be further reduced.

Embodiment 3.
FIG. 20 is a block diagram showing a main part of the vehicle control device including the warning output control device according to the third embodiment. A vehicle control device including the warning output control device according to the third embodiment will be described with reference to FIG. In FIG. 20, the same blocks as those shown in FIG. 1 are designated by the same reference numerals, and the description thereof will be omitted.

As shown in FIG. 20, the vehicle 1 has a vehicle control device 100b. The vehicle control device 100b includes an information acquisition unit 21a, a factor extraction unit 22, a warning output control unit 23b, and a vehicle control unit 24. The information acquisition unit 21a has a first information acquisition unit 31, a second information acquisition unit 32, and a third information acquisition unit 33. The information acquisition unit 21a, the factor extraction unit 22, and the warning output control unit 23b constitute the main part of the warning output control device 200b.

The third information acquisition unit 33 includes information indicating the driving tendency of the driver of the vehicle 1 (hereinafter referred to as "first driving tendency information") and information indicating a variable factor of the driving tendency (hereinafter referred to as "second driving tendency information"). ".) Is acquired. Hereinafter, this information may be collectively referred to as "driving tendency information".

The first driving tendency information includes, for example, information indicating an acceleration tendency by the driver, information indicating a deceleration tendency by the driver, information indicating straight-line stability by the driver, information indicating cornering stability by the driver, and the like. It's a waste. In addition, the first driving tendency information includes, for example, the same information as that described in paragraph [0048] of Patent Document 1.

The second driving tendency information is, for example, information indicating the personality of the driver, information indicating the mood of the driver, information indicating the presence or absence of a passenger in the vehicle 1, and information indicating the destination of the vehicle 1 (that is, the movement of the driver). It includes information indicating the purpose) and information indicating the driver's schedule (that is, information indicating the degree of impatience by the driver).

The driving tendency information is acquired by using, for example, the information source 2. In FIG. 20, the connection line between the information source 2 and the third information acquisition unit 33 is not shown. Alternatively, the driving tendency information is input by, for example, the driver of the vehicle 1.

The warning output control unit 23b is provided with the following functions added to the warning output control unit 23.

That is, when the warning output control unit 23b determines that the first warning is necessary based on the state determination, the warning output control unit 23b does not output the first warning by using the driving tendency information acquired by the third information acquisition unit 33. In both cases, the probability X1 that the first factor is eliminated is calculated. That is, the warning output control unit 23b determines the probability X1 that the driver of the vehicle 1 voluntarily eliminates the first factor based on the driving tendency indicated by the first driving tendency information and the fluctuation factor indicated by the second driving tendency information. Calculate.

When the probability X1 is high (for example, when the probability X1 is a value equal to or higher than a predetermined threshold value Xth), the warning output control unit 23b determines that the first warning is unnecessary regardless of the necessity determination result based on the state determination. judge. As a result, the warning output control unit 23b cancels the execution of the control for outputting the first warning. On the other hand, when the probability X1 is low (for example, when the probability X1 is a value less than the threshold value Xth), the warning output control unit 23b determines that the first warning is necessary. As a result, the warning output control unit 23b executes control to output the first warning at the first point P1.

Further, when the warning output control unit 23b determines that the second warning is necessary based on the state determination, the warning output control unit 23b does not output the second warning by using the driving tendency information acquired by the third information acquisition unit 33. In both cases, the probability X2 that the second factor is eliminated is calculated. That is, the warning output control unit 23b determines the probability X2 that the driver of the vehicle 1 voluntarily eliminates the second factor based on the driving tendency indicated by the first driving tendency information and the fluctuation factor indicated by the second driving tendency information. Calculate.

When the probability X2 is high (for example, when the probability X2 is a value equal to or higher than the threshold value Xth), the warning output control unit 23b determines that the second warning is unnecessary regardless of the necessity determination result based on the state determination. .. As a result, the warning output control unit 23b cancels the execution of the control for outputting the second warning. On the other hand, when the probability X2 is low (for example, when the probability X2 is a value less than the threshold value Xth), the warning output control unit 23b determines that the second warning is necessary. As a result, the warning output control unit 23b executes the control to output the second warning at the second point P2.

For example, it is assumed that it is determined that the first warning regarding overspeed is necessary based on the result of the state determination. In this case, the warning output control unit 23b determines the probability X1 that the first factor is eliminated based on the deceleration tendency indicated by the first driving tendency information. That is, the warning output control unit 23b determines the probability X1 that the driver of the vehicle 1 voluntarily decelerates the vehicle 1. When the probability X1 is a value equal to or higher than the threshold value Xth, the warning output control unit 23b determines that the first warning is unnecessary regardless of the necessity determination result based on the state determination. On the other hand, when the probability X1 is a value less than the threshold value Xth, the warning output control unit 23b determines that the first warning is necessary.

At this time, the warning output control unit 23b may have different probabilities X1 based on the driver's schedule indicated by the second driving tendency information. That is, the warning output control unit 23b may have different probabilities X1 depending on the degree of impatience by the driver. For example, even when it is determined that the probability X1 that the driver of the vehicle 1 decelerates the vehicle 1 is high based on the deceleration tendency indicated by the first driving tendency information, the schedule indicated by the second driving tendency information is used. When it is determined that the degree of impatience by the driver is large, the probability X1 may be determined to be low.

As described above, at the first point P1, the first warning can be output according to the driving tendency of the driver of the vehicle 1 (see FIG. 21). Similarly, at the second point P2, the second warning can be output according to the driving tendency of the driver of the vehicle 1 (see FIG. 21).

Hereinafter, the code "F1a" may be used for the function of the information acquisition unit 21a. Further, the code of "F3b" may be used for the function of the warning output control unit 23b.

The hardware configuration of the main part of the vehicle control device 100b is the same as that described with reference to FIGS. 5 to 7 in the first embodiment. Therefore, detailed description thereof will be omitted. That is, the vehicle control device 100b has a plurality of functions F1a, F2, F3b, and F4. Each of the plurality of functions F1a, F2, F3b, and F4 may be realized by the processor 41 and the memory 42, or may be realized by the processing circuit 43.

Next, with reference to the flowchart of FIG. 22, the operation of the warning output control device 200b will be described focusing on the operations of the factor extraction unit 22 and the warning output control unit 23b. In FIG. 22, the same steps as those shown in FIG. 8 are designated by the same reference numerals, and the description thereof will be omitted.

First, the processes of steps ST1 and ST2 are executed. When at least one first factor is extracted (step ST3 “YES”), the warning output control unit 23b determines the necessity of the first warning (step ST4a). The necessity determination in step ST4a may include the necessity determination based on the probability X1 in addition to the necessity determination by the state determination. When it is determined that the first warning is necessary (step ST4a “YES”), the process of step ST5 is executed.

Next, the process of step ST6 is executed. When at least one second factor is extracted (step ST7 “YES”), the warning output control unit 23b determines the necessity of the second warning (step ST8a). The necessity determination in step ST8a may include the necessity determination based on the probability X2 in addition to the necessity determination by the state determination. When it is determined that the second warning is necessary (step ST8a “YES”), the process of step ST9 is executed.

Next, a modified example of the vehicle control device 100b will be described. Further, a modified example of the warning output control device 200b will be described.

As the vehicle control device 100b, various modifications similar to those described in the first embodiment can be adopted. Further, as the warning output control device 200b, various modifications similar to those described in the first embodiment can be adopted.

For example, the vehicle-mounted information device 5 may constitute a main part of the vehicle control device 100b. Alternatively, the main part of the vehicle control device 100b may be configured by the vehicle-mounted information device 5 and the mobile information terminal 6. Alternatively, the main part of the vehicle control device 100b may be configured by the in-vehicle information device 5 and the server 7. Alternatively, the main part of the vehicle control device 100b may be configured by the vehicle-mounted information device 5, the mobile information terminal 6, and the server 7.

Further, for example, the plurality of functions F1a, F2, and F3b may be realized by the server 7. That is, the main part of the warning output control device 200b may be configured by the server 7.

Next, another modification of the warning output control device 200b will be described.

When the vehicle 1 is shared by a plurality of users (that is, when the vehicle 1 is driven by one selected user among the plurality of users), the driving tendency information is the user. It may be prepared for each. On the other hand, the warning output control unit 23b may acquire driving tendency information corresponding to the user who is currently driving the vehicle 1. This makes it possible to calculate the probabilities X1 and X2 corresponding to the user who is currently driving the vehicle 1.

For example, when the first user among a plurality of users is driving the vehicle 1, it is assumed that the first warning regarding the overspeed is required based on the state determination. Further, it is assumed that the first driving tendency information corresponding to the first user indicates a deceleration tendency that the first user is unlikely to voluntarily decelerate the vehicle 1. In this case, it is determined that the probability X1 that the first factor is voluntarily eliminated is low, and it is determined that the first warning is necessary.

On the other hand, when the second user among the plurality of users is driving the vehicle 1, it is assumed that the first warning relating to the overspeed is required based on the state determination. Further, it is assumed that the first driving tendency information corresponding to the second user indicates a deceleration tendency that the second user has a high possibility of voluntarily decelerating the vehicle 1. In this case, it is determined that the probability X1 that the first factor is voluntarily eliminated is high, and it is determined that the first warning is unnecessary.

The calculation of the probabilities X1 and X2 may not use the second driving tendency information. That is, the calculation of the probabilities X1 and X2 may use only the first driving tendency information of the first driving tendency information and the second driving tendency information. In this case, the driving tendency information may include only the first driving tendency information.

The warning output control unit 23b may determine the necessity of the first warning based on the probability X1 without determining the necessity by the state determination. Further, the warning output control unit 23b may determine the necessity of the second warning based on the probability X2 without determining the necessity by the state determination.

The warning output control unit 23b is the same as the control executed by the warning output control unit 23a when the first warning is output at the first point P1 and the first factor is not eliminated in the section S. It may be the one that executes control. That is, the warning output control unit 23b may execute the control to output the first warning and the second warning at the second point P2.

As described above, in the warning output control device 200b according to the third embodiment, the information acquisition unit 21a acquires the driving tendency information including the information indicating the driving tendency by the driver of the vehicle 1 (first driving tendency information). Therefore, the warning output control unit 23b determines the necessity of the first warning by calculating the probability X1 that the first factor is eliminated based on the driving tendency. As a result, it is possible to avoid outputting an unnecessary first warning according to the driving tendency of the driver of the vehicle 1.

Further, the information acquisition unit 21a acquires driving tendency information including information indicating the driving tendency by the driver of the vehicle 1 (first driving tendency information), and the warning output control unit 23b obtains the second factor based on the driving tendency. The necessity of the second warning is determined by calculating the probability X2 that the above is eliminated. As a result, it is possible to avoid outputting an unnecessary second warning according to the driving tendency of the driver of the vehicle 1.

Further, the driving tendency information includes information indicating a fluctuation factor of the driving tendency (second driving tendency information), and the warning output control unit 23b calculates the probability X1 based on the driving tendency and the fluctuation factor. As a result, it is possible to more reliably avoid the output of an unnecessary first warning according to the driving tendency of the driver of the vehicle 1.

Further, the driving tendency information includes information indicating a fluctuation factor of the driving tendency (second driving tendency information), and the warning output control unit 23b calculates the probability X2 based on the driving tendency and the fluctuation factor. As a result, it is possible to more reliably avoid the output of an unnecessary second warning according to the driving tendency of the driver of the vehicle 1.

Embodiment 4.
FIG. 23 is a block diagram showing a main part of the vehicle control device including the warning output control device according to the fourth embodiment. FIG. 24 is a block diagram showing a main part of the learning device for the warning output control device according to the fourth embodiment. A vehicle control device including the warning output control device according to the fourth embodiment will be described with reference to FIG. 23. Further, the learning device for the warning output control device according to the fourth embodiment will be described with reference to FIG. 24. In FIG. 23, the same blocks as those shown in FIG. 1 are designated by the same reference numerals, and the description thereof will be omitted.

As shown in FIG. 23, the vehicle 1 has a vehicle control device 300. The vehicle control device 300 includes an information acquisition unit 51, a factor extraction unit 52, a warning output control unit 53, and a vehicle control unit 54. The information acquisition unit 51 has a first information acquisition unit 61 and a second information acquisition unit 62. The information acquisition unit 51, the factor extraction unit 52, and the warning output control unit 53 constitute the main part of the warning output control device 400.

The first information acquisition unit 61 is the same as the first information acquisition unit 31. The second information acquisition unit 62 is the same as the second information acquisition unit 32. That is, the information acquisition unit 51 is the same as the information acquisition unit 21. Therefore, detailed description of the information acquisition unit 51 will be omitted.

The factor extraction unit 52 executes a process of extracting the first factor by using the state information acquired by the first information acquisition unit 61 and the factor information and incidental information acquired by the second information acquisition unit 62. be. Further, the factor extraction unit 52 executes a process of extracting the second factor by using the information.

Here, the factor extraction unit 52 uses the trained models M1 and M2 by machine learning. The trained models M1 and M2 are configured by, for example, a neural network. The trained models M1 and M2 accept input of factor information, state information, and incidental information. The trained model M1 outputs a value (hereinafter, referred to as “first factor value”) C1 indicating the first factor to these inputs. The trained model M2 outputs a value (hereinafter, referred to as “second factor value”) C2 indicating a second factor to these inputs.

In this way, the first factor is extracted and the second factor is extracted. Hereinafter, the extracted values may be collectively referred to as “factor value”.

The warning output control unit 53 executes control to output a first warning when the vehicle 1 passes the first point P1 when at least one first factor is extracted by the factor extraction unit 52. .. Further, the warning output control unit 53 executes control to output a second warning when the vehicle 1 passes the second point P2 when at least one second factor is extracted by the factor extraction unit 52. Is. For these controls, vehicle information acquired by the first information acquisition unit 61, event information acquired by the second information acquisition unit 62, and the like are used.

That is, the warning output control unit 53 does not need to determine the necessity of the first warning based on the state determination. Further, the warning output control unit 53 does not need to determine the necessity of the second warning based on the state determination.

As described above, the trained models M1 and M2 accept the input of the state information and the incidental information in addition to the input of the factor information. The trained model M1 is trained to output the following first factor value C1 for these inputs. That is, in the trained model M1, the state indicated by the state information (the state of the vehicle 1, the state around the vehicle 1, the state of the driver of the vehicle 1) and the state indicated by the incidental information (the state of the event vehicle, the surroundings of the event vehicle). The first factor value C1 indicating the first factor to be warned at the first point P1 should be output after considering the necessity according to the correlation with the state of the event vehicle and the driver's state of the event vehicle. It was learned. As a result, the warning output control unit 53 can eliminate the need to determine the necessity of the first warning based on the state determination.

Further, the trained model M2 is trained to output the following second factor value C2 in response to these inputs. That is, in the trained model M2, the state indicated by the state information (the state of the vehicle 1, the state around the vehicle 1, the state of the driver of the vehicle 1) and the state indicated by the incidental information (the state of the event vehicle, the surroundings of the event vehicle). The second factor value C2 indicating the second factor to be warned at the second point P2 should be output after considering the necessity according to the correlation with the state of the event vehicle and the driver's state of the event vehicle. It was learned. As a result, the warning output control unit 53 can eliminate the need for determining the necessity of the second warning based on the state determination.

The vehicle control unit 54 is the same as the vehicle control unit 24. Therefore, detailed description of the vehicle control unit 54 will be omitted.

As shown in FIG. 24, the storage device 8 has a learning information storage unit 12. The storage device 8 is composed of a memory. Further, the learning device 500 has a learning information acquisition unit 71, a factor extraction unit 72, and a learning unit 73.

The learning information storage unit 12 stores information (hereinafter referred to as “learning information”) used for learning the models M1 and M2 in the factor extraction unit 72. The learning information is collected using, for example, a vehicle similar to the vehicle 1.

That is, the learning information includes a plurality of data sets (hereinafter, referred to as "learning data sets"). Each learning data set includes, for example, learning data corresponding to factor information, learning data corresponding to state information, and learning data corresponding to incidental information. The learning data corresponding to the state information includes at least one of the learning data corresponding to the vehicle information, the learning data corresponding to the surrounding information, and the learning data corresponding to the driver information. The learning data corresponding to the incidental information indicates the learning data corresponding to the information indicating the state of the event vehicle, the learning data corresponding to the information indicating the surrounding state of the event vehicle, and the state of the driver of the event vehicle. It contains at least one of the learning data corresponding to the information.

The learning information acquisition unit 71 acquires learning information. More specifically, the learning information acquisition unit 71 acquires individual learning data sets. The individual learning data sets are acquired from the learning information storage unit 12.

The factor extraction unit 72 is the same as the factor extraction unit 52. That is, the factor extraction unit 72 has models M1 and M2 that can be freely learned by machine learning. The models M1 and M2 accept the input of the learning data set acquired by the learning information acquisition unit 71. The model M1 outputs the first factor value C1 for such an input. The model M2 outputs the second factor value C2 in response to such an input.

The learning unit 73 learns the models M1 and M2 by machine learning. Specifically, for example, the learning unit 73 learns the models M1 and M2 by supervised learning.

That is, the learning unit 73 acquires data indicating the correct answer related to the extraction of the first factor (hereinafter referred to as "first correct answer data" or "correct answer data"). More specifically, the learning unit 73 acquires the first correct answer data corresponding to the learning data set acquired by the learning information acquisition unit 71. In other words, the learning unit 73 acquires the first correct answer data corresponding to the learning data set used for the extraction of the first factor by the factor extraction unit 72.

Next, the learning unit 73 compares the extraction result of the first factor (that is, the first factor value C1) by the factor extraction unit 72 with the correct answer indicated by the acquired first correct answer data. The learning unit 73 selects one or more of the plurality of parameters in the model M1 according to the result of the comparison, and updates the value of the selected parameter. The individual parameters in the model M1 correspond, for example, to the weight values between the layers in the neural network.

In addition, the learning unit 73 acquires data indicating the correct answer related to the extraction of the second factor (hereinafter referred to as "second correct answer data" or "correct answer data"). More specifically, the learning unit 73 acquires the second correct answer data corresponding to the learning data set acquired by the learning information acquisition unit 71. In other words, the learning unit 73 acquires the second correct answer data corresponding to the learning data set used for the extraction of the second factor by the factor extraction unit 72.

Next, the learning unit 73 compares the extraction result of the second factor (that is, the second factor value C2) by the factor extraction unit 72 with the correct answer indicated by the acquired second correct answer data. The learning unit 73 selects one or more of the plurality of parameters in the model M2 according to the result of the comparison, and updates the value of the selected parameter. The individual parameters in the model M2 correspond, for example, to the inter-layer weight values in the neural network.

Here, the correct answer indicated by the first correct answer data corresponds to the state (state of vehicle 1, the state around vehicle 1, the state of the driver of vehicle 1) and incidental information indicated by the learning data corresponding to the state information. A warning is given at the first point P1 after considering the necessity according to the correlation with the state indicated by the learning data (state of the event vehicle, state around the event vehicle, state of the driver of the event vehicle). It shows the factors that should be taken. In addition, the correct answer indicated by the second correct answer data indicates a factor that should be warned at the second point P2, taking into consideration the necessity according to the correlation.

Therefore, by executing the learning by the learning unit 73 a plurality of times (that is, by sequentially executing the learning using the plurality of learning data sets), the trained models M1 and M2 as described above are generated. Will be done. That is, the trained model M1 that accepts the input of the factor information, the state information, and the incidental information and outputs the first factor value C1 indicating the factor to be warned at the first point is generated. Further, a trained model M2 that accepts input of factor information, state information, and incidental information and outputs a second factor value C2 indicating a factor to be warned at the second point is generated. The generated trained models M1 and M2 are used in the warning output control device 400.

In addition, various known techniques related to supervised learning can be used for learning the models M1 and M2. Detailed description of these techniques will be omitted.

Hereinafter, the reference numeral "F11" may be used for the function of the information acquisition unit 51. Further, the reference numeral "F12" may be used for the function of the factor extraction unit 52. Further, the code of "F13" may be used for the function of the warning output control unit 53. Further, the reference numeral "F14" may be used for the function of the vehicle control unit 54.

Hereinafter, the code of "F21" may be used for the function of the learning information acquisition unit 71. Further, the reference numeral "F22" may be used for the function of the factor extraction unit 72. Further, the code of "F23" may be used for the function of the learning unit 73.

The hardware configuration of the main part of the vehicle control device 300 is the same as that described with reference to FIGS. 5 to 7 in the first embodiment. Therefore, detailed description thereof will be omitted. That is, the vehicle control device 300 has a plurality of functions F11 to F14. Each of the plurality of functions F11 to F14 may be realized by the processor 41 and the memory 42, or may be realized by the processing circuit 43.

Next, the hardware configuration of the main part of the learning device 500 will be described with reference to FIGS. 25 to 27.

As shown in FIG. 25, the learning device 500 includes a processor 81 and a memory 82. Programs corresponding to a plurality of functions F21 to F23 are stored in the memory 82. The processor 81 reads and executes the program stored in the memory 82. As a result, a plurality of functions F21 to F23 are realized.

Alternatively, as shown in FIG. 26, the learning device 500 has a processing circuit 83. The processing circuit 83 executes processing corresponding to the plurality of functions F21 to F23. As a result, a plurality of functions F21 to F23 are realized.

Alternatively, as shown in FIG. 27, the learning device 500 includes a processor 81, a memory 82, and a processing circuit 83. A program corresponding to a part of the plurality of functions F21 to F23 is stored in the memory 82. The processor 81 reads and executes the program stored in the memory 82. As a result, some of these functions are realized. Further, the processing circuit 83 executes processing corresponding to the remaining functions of the plurality of functions F21 to F23. As a result, such a residual function is realized.

The specific example of the processor 81 is the same as the specific example of the processor 41. The specific example of the memory 82 is the same as the specific example of the memory 42. The specific example of the processing circuit 83 is the same as the specific example of the processing circuit 43. Detailed description of these specific examples will be omitted.

Next, with reference to the flowchart of FIG. 28, the operation of the warning output control device 400 will be described focusing on the operations of the factor extraction unit 52 and the warning output control unit 53.

The process shown in FIG. 28 is repeatedly executed when a predetermined condition is satisfied (for example, when the ignition power supply in the vehicle 1 is turned on). At this time, vehicle information, surrounding information, and driver information are appropriately acquired by the first information acquisition unit 61. In addition, event information, factor information, and incidental information are appropriately acquired by the second information acquisition unit 62.

First, the warning output control device 400 determines whether or not the planned travel route R of the vehicle 1 includes the predicted occurrence point P of a traffic event (step ST31). Vehicle information acquired by the first information acquisition unit 61 and event information acquired by the second information acquisition unit 62 are used for such determination.

When it is determined that the expected occurrence point P is included in the planned travel route R (step ST31 “YES”), the factor extraction unit 52 executes a process of extracting the first factor (step ST32). In such processing, the state information acquired by the first information acquisition unit 61 and the factor information and incidental information acquired by the second information acquisition unit 32 are used. That is, the trained model M1 accepts the input of these information and outputs the first factor value C1.

When at least one first factor is extracted (step ST33 “YES”), the warning output control unit 53 executes control to output the first warning at the first point P1 (step ST34). For such control, vehicle information acquired by the first information acquisition unit 61, event information acquired by the second information acquisition unit 62, and the like are used.

Next, the process of the warning output control device 400 proceeds to step ST35. That is, the factor extraction unit 52 executes the process of extracting the second factor (step ST35). In such processing, the state information acquired by the first information acquisition unit 61 and the factor information and incidental information acquired by the second information acquisition unit 62 are used. That is, the trained model M2 accepts the input of these information and outputs the second factor value C2.

When at least one second factor is extracted (step ST36 “YES”), the warning output control unit 53 executes control to output the second warning at the second point P2 (step ST37). For such control, vehicle information acquired by the first information acquisition unit 61, event information acquired by the second information acquisition unit 62, and the like are used.

Next, with reference to the flowchart of FIG. 29, the operation of the learning device 500 will be described focusing on the operations of the factor extraction unit 72 and the learning unit 73. The process shown in FIG. 29 is executed when the learning information is acquired by the learning information acquisition unit 71.

First, the factor extraction unit 72 executes a process of extracting the first factor (step ST41). Next, the factor extraction unit 72 executes a process of extracting the second factor (step ST42). For these processes, the learning information acquired by the learning information acquisition unit 71 is used. That is, the model M1 accepts the input of the acquired learning information and outputs the first factor value C1. Further, the model M2 accepts the input of the acquired learning information and outputs the second factor value C2.

Next, the learning unit 73 determines whether or not the parameters need to be updated for each of the models M1 and M2 (step ST43).

That is, the learning unit 73 acquires the first correct answer data. The learning unit 73 determines whether or not the parameter in the model M1 needs to be updated by comparing the acquired first correct answer data with the first factor value C1 output in step ST41. In addition, the learning unit 73 acquires the second correct answer data. The learning unit 73 determines whether or not the parameters in the model M2 need to be updated by comparing the acquired second correct answer data with the second factor value C2 output in step ST42.

When it is determined that the parameter update in the model M1 is necessary (step ST43 “YES”), the learning unit 73 updates the parameter in the model M1 (step ST44). Further, when it is determined that the parameter update in the model M2 is necessary (step ST43 “YES”), the learning unit 73 updates the parameter in the model M2 (step ST44).

Next, a modified example of the vehicle control device 300 will be described. Further, a modified example of the warning output control device 400 will be described.

As the vehicle control device 300, various modifications similar to those described in the first embodiment can be adopted. Further, the warning output control device 400 can employ various modifications similar to those described in the first embodiment.

For example, the main part of the vehicle control device 300 may be configured by the vehicle-mounted information device 5. Alternatively, the main part of the vehicle control device 300 may be configured by the in-vehicle information device 5 and the mobile information terminal 6. Alternatively, the main part of the vehicle control device 300 may be configured by the in-vehicle information device 5 and the server 7. Alternatively, the main part of the vehicle control device 300 may be composed of the in-vehicle information device 5, the mobile information terminal 6, and the server 7.

Further, for example, the plurality of functions F11 to F13 may be realized by the server 7. That is, the main part of the warning output control device 400 may be configured by the server 7.

Next, another modification of the warning output control device 400 will be described. Further, a modified example of the learning device 500 will be described.

The warning output control device 400 may have a learning unit 73. That is, the factor extraction unit 52 may have models M1 and M2 that can be freely learned by machine learning. The learning unit 73 of the warning output control device 400 uses the information acquired by the information acquisition unit 51 (that is, factor information, state information, and incidental information) as learning information to learn the models M1 and M2 in the factor extraction unit 52. It may be something that does.

The learning of the models M1 and M2 by the learning unit 73 is not limited to supervised learning. For example, the learning unit 73 may learn the models M1 and M2 by unsupervised learning. Alternatively, for example, the learning unit 73 may learn the models M1 and M2 by reinforcement learning.

Next, another modification of the warning output control device 400 will be described. Further, another modification of the learning device 500 will be described.

Vehicle information may not be input to the trained model M1. Peripheral information may not be input to the trained model M1. Driver information may not be input to the trained model M1. That is, the trained model M1 accepts input of factor information, at least one of vehicle information, surrounding information, and driver information, and input of incidental information, and outputs the first factor value C1. You may.

Vehicle information may not be input to the trained model M2. Peripheral information may not be input to the trained model M2. Driver information may not be input to the trained model M2. That is, the trained model M2 accepts the input of the factor information, the input of at least one of the vehicle information, the surrounding information and the driver information, and the input of the incidental information, and outputs the second factor value C2. You may.

That is, the state information may include at least one of vehicle information, surrounding information, and driver information. Further, the incidental information may include at least one of information indicating the state of the event vehicle, information indicating the state around the event vehicle, and information indicating the state of the driver of the event vehicle.

Ancillary information may not be input to the trained model M1. That is, the trained model M1 may accept the input of the factor information and the state information and output the first factor value C1. Alternatively, the trained model M1 may not be input with state information and incidental information. That is, the trained model M1 may accept the input of the factor information and output the first factor value C1. However, from the viewpoint of avoiding the output of an unnecessary first warning, it is preferable to use the state information and the incidental information.

Ancillary information may not be input to the trained model M2. That is, the trained model M2 may accept the input of the factor information and the state information and output the first factor value C1. Alternatively, the trained model M2 may not be input with state information and incidental information. That is, the trained model M2 may accept the input of the factor information and output the second factor value C2. However, from the viewpoint of avoiding the output of an unnecessary second warning, it is preferable to use the state information and the incidental information.

In these cases, the individual training data sets may not include training data corresponding to information that is not input to the trained models M1 and M2. That is, each learning data set may not include learning data corresponding to incidental information. Alternatively, the individual learning data sets may not include the learning data corresponding to the state information and the learning data corresponding to the incidental information.

Next, another modification of the warning output control device 400 will be described. Further, another modification of the learning device 500 will be described.

The factor extraction unit 52 may extract a third factor in addition to extracting the first factor and the second factor. The warning output control unit 53 may execute the control to output the third warning at the third point P3.

In this case, the warning output control unit 53 uses the trained model M3 in addition to using the trained models M1 and M2. The trained model M3 accepts the input of the same information as the information input to the trained models M1 and M2, and outputs a value C3 indicating a third factor (hereinafter, may be referred to as a “third factor value”). It was learned to do. The learning unit 73 learns the model M3 in addition to learning the models M1 and M2. The learning method of the model M3 is the same as the learning method of the models M1 and M2. Therefore, detailed description thereof will be omitted.

Further, the factor extraction unit 52 may extract a fourth factor in addition to extracting the first factor, the second factor, and the third factor. The warning output control unit 53 may execute the control to output the fourth warning at the fourth point P4.

In this case, the warning output control unit 53 uses the trained model M4 in addition to using the trained models M1, M2, and M3. The trained model M4 accepts input of the same information as the information input to the trained models M1, M2, and M3, and is a value indicating a fourth factor (hereinafter, may be referred to as a “fourth factor value”) C4. Was learned to output. The learning unit 73 learns the model M4 in addition to learning the models M1, M2, and M3. The learning method of the model M4 is the same as the learning method of the models M1, M2, and M3. Therefore, detailed description thereof will be omitted.

In addition, the factor extraction unit 52 extracts the first factor, the second factor, and the third factor, or in addition to extracting the first factor, the second factor, the third factor, and the fourth factor. , The fifth factor may be extracted. The warning output control unit 53 may execute the control to output the fifth warning at the fifth point P5.

In this case, the warning output control unit 53 uses the trained model M5 in addition to using the trained models M1, M2, M3 or the trained models M1, M2, M3, and M4. The trained model M5 accepts the input of the same information as the information input to the trained models M1, M2, M3 or the trained models M1, M2, M3, M4, and indicates a value indicating the fifth factor (hereinafter, "the fifth factor"). It is sometimes called "five factor values".) It was learned to output C5. The learning unit 73 learns the model M5 in addition to learning the model M1, M2, M3 or the model M1, M2, M3, M4. The learning method of the model M5 is the same as the learning method of the model M1, M2, M3 or the model M1, M2, M3, M4. Therefore, detailed description thereof will be omitted.

As described above, the warning realized by the warning output control device 400 is not limited to the two-stage warning by the first warning and the second warning. The warning output control device 400 may realize a warning of three or more stages. That is, the warning output control device 400 may realize a multi-step warning.

As described above, the warning output control device 400 according to the fourth embodiment acquires the event information indicating the occurrence prediction point P of the traffic event on the planned travel route R of the vehicle 1 and the factor information indicating the cause of the traffic event. The information acquisition unit 51 and the first factor that is the target of the first warning at the first point P1 located in front of the occurrence prediction point P among the occurrence factors are extracted, and between the first point P1 and the occurrence prediction point P. The factor extraction unit 52 that extracts the second factor that is the target of the second warning at the second point P2 located at, and the control that outputs the first warning at the first point P1 are executed, and at the second point P2. The warning output control unit 53 that executes the control to output the second warning is provided, and the factor extraction unit 52 uses the trained models M1 and M2 by machine learning, and the trained models M1 and M2 are It accepts the input of factor information and outputs the factor values C1 and C2 indicating the first factor and the second factor. As a result, when it is predicted that a traffic event will occur due to a plurality of factors at a point where the vehicle 1 is scheduled to travel, a warning can be output at a timing corresponding to each factor. As a result, it is possible to urge the driver to respond at a timing according to each factor.

Further, the information acquisition unit 51 includes information indicating the state of the vehicle 1 (vehicle information), information indicating the surrounding state of the vehicle 1 (surrounding information), and information indicating the state of the driver of the vehicle 1 (driver information). The trained models M1 and M2 acquire the state information including at least one of them, receive the input of the factor information and the state information, and output the factor values C1 and C2. As a result, it is possible to avoid outputting an unnecessary warning depending on the state of the vehicle 1, the surrounding state of the vehicle 1, or the state of the driver of the vehicle 1.

Further, the information acquisition unit 51 is at least one of information indicating the state of the event vehicle that caused the traffic event in the past, information indicating the state around the event vehicle, and information indicating the state of the driver of the event vehicle. The trained models M1 and M2 receive the input of the factor information, the state information, and the incidental information, and output the factor values C1 and C2. By using the incidental information, it is possible to realize the trained models M1 and M2 in which more appropriate factor values C1 and C2 are output.

Further, the factor extraction unit 52 extracts the third factor that is the target of the third warning at the third point P3 located between the first point P1 and the second point P2 from the generated factors, and the warning output control unit 52. 53 executes a control to output a third warning at the third point P3, and the trained models M1, M2 and M3 have factor values C1, C2 and C2 indicating the first factor, the second factor and the third factor. It outputs C3. As a result, a three-stage warning can be realized. That is, it is possible to realize a multi-step warning.

Further, the vehicle control device 300 according to the fourth embodiment responds to at least one of the warning output control device 400, the first factor unresolved by the first warning, and the second factor unresolved by the second warning. It includes a vehicle control unit 54 that executes control for operating the vehicle 1. As a result, it is possible to more reliably prevent the occurrence of a traffic event at the predicted occurrence point P.

Embodiment 5.
FIG. 30 is a block diagram showing a main part of the vehicle control device including the warning output control device according to the fifth embodiment. A vehicle control device including the warning output control device according to the fifth embodiment will be described with reference to FIG. In FIG. 30, the same blocks as those shown in FIG. 23 are designated by the same reference numerals, and the description thereof will be omitted.

As shown in FIG. 30, the vehicle 1 has a vehicle control device 300a. The vehicle control device 300a includes an information acquisition unit 51, a factor extraction unit 52, a warning output control unit 53a, and a vehicle control unit 54. The information acquisition unit 51, the factor extraction unit 52, and the warning output control unit 53a constitute a main part of the warning output control device 400a.

The warning output control unit 53a is obtained by adding a function similar to the function of the warning output control unit 23a to the warning output control unit 53.

That is, when the first warning is output at the first point P1, the warning output control unit 53a is the first factor when the vehicle 1 is traveling in the section S between the first point P1 and the second point P2. Is designed to determine whether or not the problem has been resolved. The state information acquired by the first information acquisition unit 61 is used for determining whether or not the first factor has been eliminated.

When the warning output control unit 53a determines that the first factor has not been resolved in the section S (that is, when it is determined that the first factor has not been resolved at the second point P2), the vehicle 1 is the first. When passing through the two points P2, the control to output the first warning again is executed. As a result, at the second point P2, at least one of the first warning and the second warning can be output.

Hereinafter, the reference numeral “F13a” may be used for the function of the warning output control unit 53a.

The hardware configuration of the main part of the vehicle control device 300a is the same as that described with reference to FIGS. 5 to 7 in the first embodiment. Therefore, detailed description thereof will be omitted. That is, the vehicle control device 300a has a plurality of functions F11, F12, F13a, and F14. Each of the plurality of functions F11, F12, F13a, and F14 may be realized by the processor 41 and the memory 42, or may be realized by the processing circuit 43.

Next, with reference to the flowchart of FIG. 31, the operation of the warning output control device 400a will be described focusing on the operations of the factor extraction unit 52 and the warning output control unit 53a. In FIG. 31, the same steps as those shown in FIG. 28 are designated by the same reference numerals, and the description thereof will be omitted.

The processing of steps ST31 to ST37 in FIG. 31 is the same as the processing of steps ST31 to ST37 in FIG. 28, respectively. However, when the process of step ST34 is executed, the process of the warning output control device 400a proceeds to step ST51.

That is, the factor extraction unit 52 executes the process of extracting the second factor (step ST51). In such processing, the state information acquired by the first information acquisition unit 61 and the factor information and incidental information acquired by the second information acquisition unit 62 are used.

When at least one second factor is extracted (step ST52 “YES”), the warning output control unit 53a determines whether or not the first factor has been eliminated (step ST53). In such a determination, the state information acquired by the first information acquisition unit 61 in the section S is used. When it is determined that the first factor has not been resolved (step ST53 “YES”), the warning output control unit 53a executes control to output the first warning and the second warning at the second point P2 (step). ST54). On the other hand, when it is determined that the first factor has been eliminated (step ST53 “NO”), the warning output control unit 53a executes control to output the second warning at the second point P2 (step ST55). .. For these controls, vehicle information acquired by the first information acquisition unit 61, event information acquired by the second information acquisition unit 62, and the like are used.

When no second factor is extracted (step ST52 “NO”), the warning output control unit 53a determines whether or not the first factor has been eliminated (step ST56). In such a determination, the state information acquired by the first information acquisition unit 61 in the section S is used. When it is determined that the first factor has not been resolved (step ST56 “YES”), the warning output control unit 53a executes control to output the first warning at the second point P2 (step ST57).

Next, a modified example of the vehicle control device 300a will be described. Further, a modified example of the warning output control device 400a will be described.

As the vehicle control device 300a, various modifications similar to those described in the first embodiment can be adopted. Further, as the warning output control device 400a, various modifications similar to those described in the first embodiment can be adopted.

For example, the vehicle-mounted information device 5 may constitute a main part of the vehicle control device 300a. Alternatively, the main part of the vehicle control device 300a may be configured by the vehicle-mounted information device 5 and the mobile information terminal 6. Alternatively, the main part of the vehicle control device 300a may be configured by the in-vehicle information device 5 and the server 7. Alternatively, the main part of the vehicle control device 300a may be composed of the in-vehicle information device 5, the mobile information terminal 6, and the server 7.

Further, for example, the plurality of functions F11, F12, and F13a may be realized by the server 7. That is, the main part of the warning output control device 400a may be configured by the server 7.

Next, another modification of the vehicle control device 300a will be described. Further, another modification of the warning output control device 400a will be described.

As the vehicle control device 300a, various modifications similar to those described in the fourth embodiment can be adopted. Further, as the warning output control device 400a, various modifications similar to those described in the fourth embodiment can be adopted.

As described above, in the warning output control device 400a according to the fifth embodiment, when the first factor is not resolved by the first warning at the first point P1, the warning output control unit 53a is at the second point P2. The control to output the first warning and the second warning is executed. Thereby, the first factor can be more reliably eliminated. As a result, the probability of occurrence of a traffic event at the predicted occurrence point P can be further reduced.

Embodiment 6.
FIG. 32 is a block diagram showing a main part of the vehicle control device including the warning output control device according to the sixth embodiment. FIG. 33 is a block diagram showing a main part of the learning device for the warning output control device according to the sixth embodiment. A vehicle control device including the warning output control device according to the sixth embodiment will be described with reference to FIG. 32. Further, the learning device for the warning output control device according to the sixth embodiment will be described with reference to FIG. 33. In FIG. 32, the same blocks as those shown in FIG. 23 are designated by the same reference numerals, and the description thereof will be omitted.

As shown in FIG. 32, the vehicle 1 has a vehicle control device 300b. The vehicle control device 300b includes an information acquisition unit 51a, a factor extraction unit 52a, a warning output control unit 53, and a vehicle control unit 54. The information acquisition unit 51a has a first information acquisition unit 61, a second information acquisition unit 62, and a third information acquisition unit 63. The information acquisition unit 51a, the factor extraction unit 52a, and the warning output control unit 53 constitute the main part of the warning output control device 400b.

The third information acquisition unit 63 is the same as the third information acquisition unit 33. That is, the information acquisition unit 51a is the same as the information acquisition unit 21a. Therefore, detailed description of the information acquisition unit 51a will be omitted.

The factor extraction unit 52a collects the state information acquired by the first information acquisition unit 61, the factor information and incidental information acquired by the second information acquisition unit 62, and the driving tendency information acquired by the third information acquisition unit 63. It is used to execute a process of extracting the first factor. Further, the factor extraction unit 52a executes a process of extracting the second factor by using the information.

Here, the factor extraction unit 52a uses the trained models M1a and M2a by machine learning. The trained models M1a and M2a are configured by, for example, a neural network. The trained models M1a and M2a accept input of factor information, state information, incidental information, and driving tendency information. The trained model M1a outputs the first factor value C1 for these inputs. The trained model M2a outputs the second factor value C2 for these inputs.

The trained model M1a is trained to output the following first factor value C1 for these inputs. That is, in the trained model M1a, the state indicated by the state information (the state of the vehicle 1, the state around the vehicle 1, the state of the driver of the vehicle 1) and the state indicated by the incidental information (the state of the event vehicle, the surroundings of the event vehicle). Considering the necessity according to the correlation with the state of the driver of the event vehicle and the state of the driver of the event vehicle, and also considering the driving tendency of the driver of the vehicle 1 and the necessity according to the fluctuation factor of the driving tendency. It is learned to output the first factor value C1 indicating the first factor to be warned at the first point P1. As a result, it is not necessary for the warning output control unit 53 to determine the necessity of the first warning based on the state determination, and it is also unnecessary to determine the necessity of the first warning based on the probability X1. can do.

Further, the trained model M2a is trained to output the following second factor value C2 in response to these inputs. That is, in the trained model M2a, the state indicated by the state information (the state of the vehicle 1, the state around the vehicle 1, the state of the driver of the vehicle 1) and the state indicated by the incidental information (the state of the event vehicle, the surroundings of the event vehicle). Considering the necessity according to the correlation with the state of the driver of the event vehicle and the state of the driver of the event vehicle, and also considering the driving tendency of the driver of the vehicle 1 and the necessity according to the fluctuation factor of the driving tendency. It is learned to output the second factor value C2 indicating the second factor to be warned at the second point P2. As a result, it is not necessary for the warning output control unit 53 to determine the necessity of the second warning based on the state determination, and it is also unnecessary to determine the necessity of the second warning based on the probability X2. can do.

As shown in FIG. 33, the storage device 8a has a learning information storage unit 12a. The storage device 8a is composed of a memory. Further, the learning device 500a has a learning information acquisition unit 71a, a factor extraction unit 72a, and a learning unit 73a.

The learning information storage unit 12a stores learning information. The learning information includes a plurality of learning data sets. Each learning data set includes learning data corresponding to the information used for extracting the first factor and the second factor by the factor extraction unit 72a. That is, each learning data set includes, for example, learning data corresponding to factor information, learning data corresponding to state information, learning data corresponding to incidental information, and learning data corresponding to driving tendency information. It includes. The learning data corresponding to the driving tendency information includes the learning data corresponding to the first driving tendency information and the learning data corresponding to the second driving tendency information.

The learning information acquisition unit 71a acquires learning information. More specifically, the learning information acquisition unit 71a acquires individual learning data sets. The individual learning data sets are acquired from the learning information storage unit 12a.

The factor extraction unit 72a is the same as the factor extraction unit 52a. That is, the factor extraction unit 72a has models M1a and M2a that can be freely learned by machine learning. The models M1a and M2a accept the input of the learning data set acquired by the learning information acquisition unit 71a. The model M1a outputs the first factor value C1 in response to such an input. The model M2a outputs the second factor value C2 in response to such an input.

The learning unit 73a learns the models M1a and M2a by machine learning. Specifically, for example, the learning unit 73a learns the models M1a and M2a by supervised learning.

The learning method of the model M1a by the learning unit 73a is the same as the learning method of the model M1 by the learning unit 73. That is, it is based on the comparison between the first correct answer data and the first factor value C1. Therefore, detailed description thereof will be omitted. Further, the learning method of the model M2a by the learning unit 73a is the same as the learning method of the model M2 by the learning unit 73. That is, it is based on the comparison between the second correct answer data and the second factor value C2. Therefore, detailed description thereof will be omitted.

Here, the correct answer indicated by the first correct answer data corresponds to the state (state of vehicle 1, the state around vehicle 1, the state of the driver of vehicle 1) and incidental information indicated by the learning data corresponding to the state information. Considering the necessity according to the correlation with the state indicated by the learning data (state of the event vehicle, state around the event vehicle, state of the driver of the event vehicle), the driving tendency by the driver of the vehicle 1 and the relevant state. It shows the factors that should be warned at the first point P1 in consideration of the necessity according to the fluctuation tendency of the driving tendency. In addition, the correct answer indicated by the second correct answer data is the first, after considering the necessity according to the correlation and the driving tendency by the driver of the vehicle 1 and the necessity according to the fluctuation factor of the driving tendency. It shows the factors that should be warned at the two points P2.

Therefore, by executing the learning by the learning unit 73a a plurality of times (that is, by sequentially executing the learning using the plurality of learning data sets), the trained models M1a and M2a as described above are generated. Will be done. That is, a trained model M1a that accepts input of factor information, state information, incidental information, and driving tendency information and outputs a first factor value C1 indicating a factor to be warned at the first point is generated. .. Further, a trained model M2a that accepts input of factor information, state information, incidental information, and driving tendency information and outputs a second factor value C2 indicating a factor to be warned at the second point is generated. .. The generated trained models M1a and M2a are used for the warning output control device 400b.

Hereinafter, the reference numeral “F11a” may be used for the function of the information acquisition unit 51a. Further, the reference numeral "F12a" may be used for the function of the factor extraction unit 52a.

Hereinafter, the code of "F21a" may be used for the function of the learning information acquisition unit 71a. Further, the reference numeral "F22a" may be used for the function of the factor extraction unit 72a. Further, the code of "F23a" may be used for the function of the learning unit 73a.

The hardware configuration of the main part of the vehicle control device 300b is the same as that described with reference to FIGS. 5 to 7 in the first embodiment. Therefore, detailed description thereof will be omitted. That is, the vehicle control device 300b has a plurality of functions F11a, F12a, F13, and F14. Each of the plurality of functions F11a, F12a, F13, and F14 may be realized by the processor 41 and the memory 42, or may be realized by the processing circuit 43.

The hardware configuration of the main part of the learning device 500a is the same as that described with reference to FIGS. 25 to 27 in the fourth embodiment. Therefore, detailed description thereof will be omitted. That is, the learning device 500a has a plurality of functions F21a, F22a, and F23a. Each of the plurality of functions F21a, F22a, and F23a may be realized by the processor 81 and the memory 82, or may be realized by the processing circuit 83.

Next, with reference to the flowchart of FIG. 34, the operation of the warning output control device 400b will be described focusing on the operations of the factor extraction unit 52a and the warning output control unit 53. In FIG. 34, the same steps as those shown in FIG. 28 are designated by the same reference numerals, and the description thereof will be omitted.

First, the process of step ST31 is executed. When it is determined that the expected occurrence point P is included in the planned travel route R (step ST31 “YES”), the factor extraction unit 52a executes a process of extracting the first factor (step ST32a). For such processing, state information acquired by the first information acquisition unit 61, factor information and incidental information acquired by the second information acquisition unit 62, and driving tendency information acquired by the third information acquisition unit 63 are used. Be done. That is, the trained model M1a accepts the input of these information and outputs the first factor value C1. Next, the processes of steps ST33 and ST34 are executed.

Next, the factor extraction unit 52a executes a process of extracting the second factor (step ST35a). For such processing, state information acquired by the first information acquisition unit 61, factor information and incidental information acquired by the second information acquisition unit 62, and driving tendency information acquired by the third information acquisition unit 63 are used. Be done. That is, the trained model M2a accepts the input of these information and outputs the second factor value C2. Next, the processes of steps ST36 and ST37 are executed.

Next, with reference to the flowchart of FIG. 35, the operation of the learning device 500a will be described focusing on the operations of the factor extraction unit 72a and the learning unit 73a. The process shown in FIG. 35 is executed when the learning information is acquired by the learning information acquisition unit 71a.

First, the factor extraction unit 72a executes a process of extracting the first factor (step ST41a). Next, the factor extraction unit 72a executes a process of extracting the second factor (step ST42a). For these processes, the learning information acquired by the learning information acquisition unit 71a is used. That is, the model M1a accepts the input of the acquired learning information and outputs the first factor value C1. Further, the model M2a accepts the input of the acquired learning information and outputs the second factor value C2.

Next, the learning unit 73a determines whether or not the parameters need to be updated for each of the models M1a and M2a (step ST43a).

That is, the learning unit 73a acquires the first correct answer data. The learning unit 73a determines the necessity of updating the parameters in the model M1a by comparing the acquired first correct answer data with the first factor value C1 output in step ST41a. In addition, the learning unit 73a acquires the second correct answer data. The learning unit 73a determines the necessity of updating the parameters in the model M2a by comparing the acquired second correct answer data with the second factor value C2 output in step ST42a.

When it is determined that the parameter update in the model M1a is necessary (step ST43a “YES”), the learning unit 73a updates the parameter in the model M1a (step ST44a). When it is determined that the parameter update in the model M2a is necessary (step ST43a “YES”), the learning unit 73a updates the parameter in the model M2a (step ST44a).

Next, a modified example of the vehicle control device 300b will be described. Further, a modified example of the warning output control device 400b will be described.

As the vehicle control device 300b, various modifications similar to those described in the first embodiment can be adopted. Further, as the warning output control device 400b, various modifications similar to those described in the first embodiment can be adopted.

For example, the vehicle-mounted information device 5 may constitute a main part of the vehicle control device 300b. Alternatively, the main part of the vehicle control device 300b may be configured by the vehicle-mounted information device 5 and the mobile information terminal 6. Alternatively, the main part of the vehicle control device 300b may be configured by the in-vehicle information device 5 and the server 7. Alternatively, the main part of the vehicle control device 300b may be composed of the in-vehicle information device 5, the mobile information terminal 6, and the server 7.

Further, for example, the plurality of functions F11a, F12a, and F13 may be realized by the server 7. That is, the main part of the warning output control device 400b may be configured by the server 7.

Next, another modification of the warning output control device 400b will be described. Further, a modified example of the learning device 500a will be described.

When the vehicle 1 is shared by a plurality of users (that is, when the vehicle 1 is driven by one selected user among the plurality of users), the driving tendency information is the user. It may be prepared for each. On the other hand, the third information acquisition unit 63 may acquire the driving tendency information corresponding to the user who is currently driving the vehicle 1.

In this case, learning data corresponding to driving tendency information may also be prepared for each user. That is, the learning of the models M1a and M2a by the learning unit 73a may be executed for each user. As a result, the trained models M1a and M2a for each user are generated. The factor extraction unit 52a may use the trained models M1a and M2a corresponding to the user who is currently driving the vehicle 1.

Next, another modification of the warning output control device 400b will be described. Further, another modification of the learning device 500a will be described.

The second driving tendency information may not be input to the trained model M1a. That is, the trained model M1a may receive input of factor information, state information, incidental information, and first driving tendency information, and output the first factor value C1. Further, the second driving tendency information may not be input to the trained model M2a. That is, the trained model M2a may receive input of factor information, state information, incidental information, and first driving tendency information, and output the second factor value C2.

That is, the driving tendency information may not include the second driving tendency information. In other words, the driving tendency information may include only the first driving tendency information of the first driving tendency information and the second driving tendency information. In this case, the individual learning data sets may not include the learning data corresponding to the second driving tendency information.

Ancillary information may not be input to the trained model M1a. That is, the trained model M1a may receive input of factor information, state information, and driving tendency information, and output the first factor value C1. Alternatively, the trained model M1a may not be input with state information and incidental information. That is, the trained model M1a may accept the input of the factor information and the driving tendency information and output the first factor value C1.

Ancillary information may not be input to the trained model M2a. That is, the trained model M2a may receive input of factor information, state information, and driving tendency information, and output the second factor value C2. Alternatively, the trained model M2a may not be input with state information and incidental information. That is, the trained model M2a may accept the input of the factor information and the driving tendency information and output the second factor value C2.

In these cases, the individual training data sets may not include training data corresponding to information that is not input to the trained models M1a and M2a. That is, each learning data set may not include learning data corresponding to incidental information. Alternatively, the individual learning data sets may not include the learning data corresponding to the state information and the learning data corresponding to the incidental information.

Next, another modification of the warning output control device 400b will be described. Further, another modification of the learning device 500a will be described.

As the warning output control device 400b, various modifications similar to those described in the fourth embodiment can be adopted. Further, as the learning device 500a, various modifications similar to those described in the fourth embodiment can be adopted.

Next, another modification of the warning output control device 400b will be described.

The warning output control device 400b may have a warning output control unit 53a instead of the warning output control unit 53. That is, when the first warning is output at the first point P1 and the first factor is not eliminated in the section S, the first warning is output again at the second point P2. Is also good.

As described above, in the warning output control device 400b according to the sixth embodiment, the information acquisition unit 51a acquires the driving tendency information including the information indicating the driving tendency by the driver of the vehicle 1 (first driving tendency information). The trained models M1a and M2a receive input of factor information and driving tendency information and output factor values C1 and C2. As a result, it is possible to avoid outputting an unnecessary warning according to the driving tendency of the driver of the vehicle 1.

Further, the driving tendency information includes information indicating a fluctuation factor of the driving tendency (second driving tendency information). As a result, it is possible to more reliably avoid the output of unnecessary warnings according to the driving tendency of the driver of the vehicle 1.

It should be noted that, within the scope of the disclosure of the present application, it is possible to freely combine each embodiment, modify any component of each embodiment, or omit any component in each embodiment. ..

1 vehicle, 2 information source, 3 output device, 4 storage device, 5 in-vehicle information device, 6 mobile information terminal, 7 server, 8, 8a storage device, 11 database storage unit, 12, 12a learning information storage unit, 21, 12a 21a Information acquisition unit, 22 Factor extraction unit, 23, 23a, 23b Warning output control unit, 24 Vehicle control unit, 31 First information acquisition unit, 32 Second information acquisition unit, 33 Third information acquisition unit, 41 Processor, 42 Memory, 43 processing circuit, 51, 51a information acquisition unit, 52, 52a factor extraction unit, 53, 53a warning output control unit, 54 vehicle control unit, 61 first information acquisition unit, 62 second information acquisition unit, 63 third Information acquisition unit, 71,71a Learning information acquisition unit, 72,72a Factor extraction unit, 73,73a Learning unit, 81 processor, 82 memory, 83 processing circuit, 100, 100a, 100b Vehicle control device, 200, 200a, 200b Warning output control device, 300, 300a, 300b Vehicle control device, 400, 400a, 400b Warning output control device, 500, 500a learning device.

Claims (23)

An information acquisition unit that acquires event information indicating the predicted occurrence point of a traffic event on the planned travel route of the vehicle and factor information indicating the cause of the traffic event.
Among the occurrence factors, the first factor that is the target of the first warning at the first point located in front of the occurrence prediction point is extracted, and the second point located between the first point and the occurrence prediction point is extracted. Factor extraction unit that extracts the second factor that is the target of the second warning in
A warning output control unit that executes control to output the first warning at the first point and controls to output the second warning at the second point.
Warning output control unit. The warning output control unit executes control to output the first warning and the second warning at the second point when the first factor is not resolved by the first warning at the first point. The warning output control device according to claim 1. The information acquisition unit acquires driving tendency information including information indicating a driving tendency by the driver of the vehicle, and obtains driving tendency information.
The warning output control device according to claim 1, wherein the warning output control unit determines the necessity of the first warning by calculating the probability that the first factor is eliminated based on the driving tendency. .. The information acquisition unit acquires driving tendency information including information indicating a driving tendency by the driver of the vehicle, and obtains driving tendency information.
The warning output control device according to claim 1, wherein the warning output control unit determines the necessity of the second warning by calculating the probability that the second factor is eliminated based on the driving tendency. .. The driving tendency information includes information indicating a variable factor of the driving tendency.
The warning output control device according to claim 3, wherein the warning output control unit calculates the probability based on the driving tendency and the fluctuation factor. The driving tendency information includes information indicating a variable factor of the driving tendency.
The warning output control device according to claim 4, wherein the warning output control unit calculates the probability based on the driving tendency and the fluctuation factor. The information acquisition unit acquires state information including at least one of information indicating the state of the vehicle, information indicating the state around the vehicle, and information indicating the state of the driver of the vehicle.
Claim 1 is characterized in that the warning output control unit determines the necessity of the first warning by determining whether or not the state indicated by the state information is a state corresponding to the first factor. The warning output controller described. The information acquisition unit acquires state information including at least one of information indicating the state of the vehicle, information indicating the state around the vehicle, and information indicating the state of the driver of the vehicle.
Claim 1 is characterized in that the warning output control unit determines the necessity of the second warning by determining whether or not the state indicated by the state information is a state corresponding to the second factor. The warning output controller described. The information acquisition unit includes information indicating the state of the event vehicle that caused the traffic event in the past, information indicating the state around the event vehicle, and information indicating the state of the driver of the event vehicle. Get incidental information, including at least one,
The warning output control unit determines whether or not the state indicated by the state information corresponds to the first factor by comparing the state indicated by the state information with the state indicated by the incidental information. The warning output control device according to claim 7. The information acquisition unit includes information indicating the state of the event vehicle that caused the traffic event in the past, information indicating the state around the event vehicle, and information indicating the state of the driver of the event vehicle. Get incidental information, including at least one,
The warning output control unit determines whether or not the state indicated by the state information corresponds to the second factor by comparing the state indicated by the state information with the state indicated by the incidental information. The warning output control device according to claim 8. The warning output control device is composed of a server capable of communicating with the vehicle.
The warning output control device according to claim 1, wherein the first warning and the second warning are output by the vehicle under the control of the server. The factor extraction unit extracts the third factor that is the target of the third warning at the third point located between the first point and the second point among the generated factors.
The warning output control device according to claim 1, wherein the warning output control unit executes control for outputting the third warning at the third point. The warning output control device according to claim 1 and
A vehicle control unit that executes control to operate the vehicle according to at least one of the first factor unresolved by the first warning and the second factor unresolved by the second warning.
Vehicle control device. The information acquisition unit acquires event information indicating a predicted occurrence point of a traffic event on the planned travel route of the vehicle and factor information indicating the cause of the traffic event.
The factor extraction unit extracts the first factor that is the target of the first warning at the first point located in front of the predicted occurrence point among the occurrence factors, and between the first point and the predicted occurrence point. Extract the second factor that is the target of the second warning at the second point where it is located,
The warning output control unit executes a control for outputting the first warning at the first point and a control for outputting the second warning at the second point. Method. An information acquisition unit that acquires event information indicating the predicted occurrence point of a traffic event on the planned travel route of the vehicle and factor information indicating the cause of the traffic event.
Among the occurrence factors, the first factor that is the target of the first warning at the first point located in front of the occurrence prediction point is extracted, and the second point located between the first point and the occurrence prediction point is extracted. Factor extraction unit that extracts the second factor that is the target of the second warning in
It is provided with a warning output control unit that executes control for outputting the first warning at the first point and also executes control for outputting the second warning at the second point.
The factor extraction unit uses a trained model by machine learning.
The trained model is a warning output control device that receives an input of the factor information and outputs a factor value indicating the first factor and the second factor. The warning output control unit executes control to output the first warning and the second warning at the second point when the first factor is not resolved by the first warning at the first point. The warning output control device according to claim 15. The information acquisition unit acquires driving tendency information including information indicating a driving tendency by the driver of the vehicle, and obtains driving tendency information.
The warning output control device according to claim 15, wherein the trained model receives inputs of the factor information and the driving tendency information and outputs the factor value. The warning output control device according to claim 17, wherein the driving tendency information includes information indicating a fluctuation factor of the driving tendency. The information acquisition unit acquires state information including at least one of information indicating the state of the vehicle, information indicating the state around the vehicle, and information indicating the state of the driver of the vehicle.
The warning output control device according to claim 15, wherein the trained model receives inputs of the factor information and the state information and outputs the factor value. The information acquisition unit includes information indicating the state of the event vehicle that caused the traffic event in the past, information indicating the state around the event vehicle, and information indicating the state of the driver of the event vehicle. Get incidental information, including at least one,
The warning output control device according to claim 19, wherein the trained model receives inputs of the factor information, the state information, and the incidental information, and outputs the factor value. The warning output control device is composed of a server capable of communicating with the vehicle.
The warning output control device according to claim 15, wherein the first warning and the second warning are output by the vehicle under the control of the server. The factor extraction unit extracts the third factor that is the target of the third warning at the third point located between the first point and the second point among the generated factors.
The warning output control unit executes control to output the third warning at the third point, and then
The warning output control device according to claim 15, wherein the trained model outputs the factor values indicating the first factor, the second factor, and the third factor. The warning output control device according to claim 15,
A vehicle control unit that executes control to operate the vehicle according to at least one of the first factor unresolved by the first warning and the second factor unresolved by the second warning.
Vehicle control device.

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