JP2023093660A - Control device, control method, and program for control device - Google Patents

Abstract

To provide a control device for outputting information with as high accuracy as possible in advance relative to, for example, a situation in which a vehicle is likely to encounter a traffic event.SOLUTION: A control device: acquires (S11) own-vehicle current information based on at least own-vehicle surroundings information indicating surrounding situations of a vehicle; acquires (S10), relative to a plurality of event-encountered vehicles having encountered a traffic event, a plurality of pieces of pre-event-encountered information based on at least event-encountered vehicle surroundings information indicating surrounding situations of the event-encountered vehicle at a predetermined time before encountering the event; and causes output means of the vehicle to operate (S12 to S14) when a plurality of pieces of pre-event encounter information include information that satisfies a similar criterion set in advance relative to the own car current information.SELECTED DRAWING: Figure 13

Description

The present application belongs to the technical field of control devices, control methods, and control device programs.

Techniques have been developed for avoiding accidents involving vehicles, which are examples of moving bodies, as much as possible. For example, in Patent Document 1 below, when a vehicle approaches an accident-prone spot, it intermittently transmits to an in-vehicle terminal that the vehicle is approaching the accident-prone spot, and the in-vehicle terminal displays a map on the display. A road condition information providing system has been disclosed that displays high-accident locations and notifies them by voice.

JP-A-2005-165378

Traffic events such as accidents are related to human factors, vehicle factors, environmental factors, and the like. In the technology described in , there is a problem in that the notification is made even when the risk of an accident is low because the vehicle is notified when it approaches an accident-prone spot.

Therefore, the present application has been made in view of the above problems, and one example of the problem is to provide a control device or the like that outputs information with as high accuracy as possible in advance for situations where a traffic event is likely to occur. to do.

In order to solve the above-mentioned problems, the invention according to claim 1 provides a first acquisition means for acquiring current own vehicle current information based at least on own vehicle surrounding information indicating surrounding conditions of the vehicle; a second acquisition means for acquiring a plurality of pre-event encounter information based at least on the event encounter vehicle surrounding information indicating the circumstances surrounding the event encounter vehicle a predetermined time before the event encounter vehicle, for a plurality of the event encounter vehicles that have encountered the event; and control means for operating the output means of the vehicle when there is information among the plurality of pre-event encounter information that satisfies a preset similarity criterion to the vehicle current information. do.

According to a ninth aspect of the invention, there is provided a control method executed by a control device for operating output means of a vehicle, wherein the first acquisition means obtains current information based on at least own vehicle surrounding information indicating surrounding conditions of the vehicle. a first acquiring step of acquiring current information of the own vehicle; and a second acquiring means, for a plurality of event-encountered vehicles that have encountered a traffic event, acquires surrounding conditions of the event-encountered vehicles at a predetermined time before encountering the event. a second acquisition step of acquiring a plurality of pre-event encounter information based at least on the event encounter vehicle surrounding information shown in the second acquiring step, wherein the control means obtains similarity preset to the own vehicle current information in the plurality of pre-event encounter information; and a control step of operating the output means of the vehicle when there is information that satisfies the criteria of .

1 is a block diagram showing an example of a schematic configuration of a control device according to an embodiment; FIG. 1 is a schematic diagram showing an example of a schematic configuration of a control system according to an embodiment; FIG. 3 is a block diagram showing an example of a schematic configuration of the in-vehicle terminal device of FIG. 2; FIG. 3 is a block diagram showing an example of a schematic configuration of an information processing server device of FIG. 2; FIG. 5 is a schematic diagram showing an example of a database of the information processing server device of FIG. 4; FIG. 1 is a schematic diagram showing an example of a traffic event; FIG. 1 is a schematic diagram showing an example of a traffic event; FIG. 1 is a schematic diagram showing an example of a traffic event; FIG. 1 is a schematic diagram showing an example of a traffic event; FIG. 1 is a schematic diagram showing an example of a traffic event; FIG. 1 is a schematic diagram showing an example of a traffic event; FIG. FIG. 10 is a sequence diagram showing an example of the operation of generating event scene data; 4 is a flow chart showing an example of the operation of the control system according to the embodiment; FIG. 2 is a schematic diagram showing an example of own vehicle in a certain surrounding situation; FIG. 2 is a schematic diagram showing an example of own vehicle in a certain surrounding situation;

A mode for carrying out the present application will be described with reference to FIG. Note that FIG. 1 is a block diagram showing an example of a schematic configuration of the control device according to the embodiment.

As shown in FIG. 1, the control device 1 includes a first obtaining means 1a, a second obtaining means 1b, and a control means 1c. Here, examples of the control device 1 include an in-vehicle terminal device such as a navigation device mounted on a moving body, a server device that outputs information to the in-vehicle terminal device, and the like. Examples of mobile objects include automobiles, motorbikes, bicycles, people, railroads, ships, and aircraft.

In this configuration, the first acquiring means 1a acquires the current vehicle current information based at least on the vehicle surrounding information indicating the surrounding conditions of the vehicle.

Here, as an example of vehicle surrounding information, road attributes related to the road on which the vehicle that is the target of the output of warnings, etc. is traveling, road attributes related to the connecting road of the intersection near the current position of the vehicle, Weather information (for example, temperature, wind speed, wind direction, amount of precipitation/snowfall, etc.), time, etc. at the current position of the vehicle can be used. Examples of road attributes include the type of road, speed limit, number of lanes, gradient, entry regulation to nearby intersections, connection direction to nearby intersections, and the like. The intersection includes a confluence point where a branch road joins a main road at a point where two or more roads intersect.

Examples of road types include highways, general national roads, prefectural roads, municipal roads, farm roads, forest roads, and other roads.

As current vehicle information based at least on the vehicle surrounding information, there is current vehicle surrounding information of the vehicle to be output.

The control device 1 acquires vehicle surrounding information from various devices such as a sensor, a camera, and a microphone mounted on the vehicle, or acquires it from an in-vehicle terminal device.

In this configuration, the second acquisition means 1b obtains a plurality of event-encountering vehicles based on at least the event-encountering vehicle surrounding information indicating the surrounding conditions of the event-encountering vehicle a predetermined time before encountering the event. acquire information before the event encounter.

Examples of traffic events include an accident with an object, contact with an object, sudden braking due to abnormal approach to an object, avoidance, and the like. Objects include other mobile objects, buildings, structures, and the like. Examples of event encounter vehicles that have encountered a traffic event include a vehicle that has caused an accident with an object, a vehicle that has come into contact with the object, a vehicle that has abnormally approached the object, and the like. Examples of a predetermined time before encountering an event include 3 seconds, 5 seconds, 7 seconds, 10 seconds, 15 seconds, etc., and any time that has a strong causal relationship with the event may be used.

In addition, as an example of the event-encounter vehicle surrounding information, the road attribute of the road on which the event-encounter vehicle was traveling, the road attribute of the connecting road of the intersection near the current position of the vehicle, and the current position of the vehicle Weather information, time, etc. are mentioned.

An example of the pre-event encounter information based at least on the event encounter vehicle surrounding information is the event encounter surrounding information of the event encounter vehicle a predetermined time before the event encounter.

The control device 1 acquires, for example, information on the surroundings of the event-encountered vehicle from various devices such as a sensor, camera, and microphone mounted on the event-encountered vehicle, or acquires it from an in-vehicle terminal device.

In this configuration, the control means 1c operates the output means of the vehicle when there is information that satisfies a preset similarity criterion to the vehicle current information among the plurality of pre-event encounter information.

Here, as an example of similarity criteria, it is sufficient to be able to determine the similarity between the vehicle current information and the pre-incident information. For example, it is sufficient to determine whether the calculated similarity is equal to or greater than a predetermined value. Each similarity between each pre-event encounter information and current vehicle information is determined. Information that satisfies preset similarity criteria is extracted from the plurality of pre-event encounter information.

Further, the degree of similarity with the vehicle current information may be calculated based on the comparison result between the vehicle current information and the pre-encounter information, and it may be determined whether or not a preset similarity criterion is satisfied. Here, as an example of the results of matching the vehicle current information and the pre-incident information, the same items of information in the vehicle current information and the pre-incident information are compared with each other to determine whether or not they match. whether the values belong to the same range of values, and so on. Further, the degree of similarity with the vehicle current information is calculated from, for example, the number of matching items and the number of belonging items. The degree of similarity is, for example, the ratio of matched items, the ratio of belonging items, and the like. Similarity may also be calculated by assigning a weight to each item. The degree of similarity may be calculated by matching only specific items.

Examples of vehicle output means include a display for displaying messages such as warnings, a speaker for outputting audio messages such as warnings, a control signal for decelerating the vehicle to a predetermined speed, and a control signal for preparing to apply the brakes. A drive control device and the like can be mentioned.

In addition, the first acquiring means 1a may acquire, as the vehicle current information, information based at least on the vehicle surrounding information and the vehicle state information indicating the current running condition of the vehicle.

Here, as examples of the own vehicle state information, information on the type of own vehicle, information on the running speed of the own vehicle, information on the acceleration of the own vehicle, information on the traveling direction of the own vehicle, and information on the state of the headlights of the own vehicle. , direction indicator information of the own vehicle, wiper state, horn state, distance information to an intersection near the own vehicle, and the like.

In addition, the second acquisition means 1b obtains, as a plurality of pre-incident information, information about the surroundings of the incident-encountered vehicle, and an event-encountered vehicle that indicates the driving situation of the incident-encountered vehicle that encountered the traffic event a predetermined time before the event was encountered. Information based at least on the encountered vehicle state information may be obtained.

Here, as examples of event encounter vehicle state information, event encounter vehicle type information, event encounter travel speed information, event encounter acceleration information, event encounter traveling direction information, and event encounter headlight state information. information, turn signal information of the event encounter, wiper state, horn state, information of the distance to the intersection near the event encounter, information of the type of traffic regulation violation, and the like.

Further, the host vehicle state information may include host vehicle travel information relating to the travel speed, travel direction, and distance to an intersection near the vehicle.

Here, an example of the own vehicle running information is the information of the vehicle when the own vehicle is running. , information on the state of the headlights of the own vehicle, information on the direction indicator of the own vehicle, information on the distance to an intersection near the own vehicle, and the like.

The event-encountered vehicle state information may include event-encountered vehicle travel information relating to the traveling speed and traveling direction of the event-encountered vehicle, and the distance to an intersection near the event-encountered vehicle.

Here, an example of the event-encountered vehicle travel information is vehicle information when the event-encountered vehicle is traveling. information on the direction of travel of the vehicle, information on the state of the headlights of the vehicle encountering the incident, information on the direction indicator of the vehicle encountering the incident, information on the distance to an intersection near the vehicle encountering the incident, and the like.

Further, the control means 1c calculates the degree of similarity between the vehicle current information and the vehicle current information based on at least the result of collation between the vehicle running information and the event encounter vehicle running information, and finds information that satisfies a preset similarity criterion. When doing so, the output means of the vehicle may be operated.

Here, as an example of the results of matching the own vehicle traveling information and the incident encounter vehicle traveling information, the same items of information in the own vehicle traveling information and the incident encounter vehicle traveling information are collated with each other, and whether or not they match is determined. For example, whether the values of the items belong to the same range of values.

The vehicle surrounding information may also include vehicle surrounding road attributes related to the road on which the vehicle is traveling and other roads connected to intersections near the vehicle.

Here, as an example of the attributes of the surrounding roads of the vehicle, there are the attributes of the road on which the vehicle is traveling and the attributes of other roads connected to intersections near the vehicle.

In addition, the event-encountering vehicle surrounding information may include the event-encountering vehicle surrounding road attributes related to the road on which the event-encountering vehicle was traveling and other roads connected to the intersection near the event-encountering vehicle.

Here, examples of road attributes around the event-encountered vehicle include road attributes of the road on which the event-encountered vehicle is traveling, and road attributes of other roads connected to intersections near the event-encountered vehicle.

Further, the control means 1c calculates the degree of similarity with the current information of the vehicle based on at least the comparison result between the attributes of the road surrounding the vehicle and the attributes of the road surrounding the event-encountered vehicle, and calculates information that satisfies a preset similarity criterion. is present, the output means of the vehicle may be operated.

Here, as an example of the matching result between the attributes of the road surrounding the vehicle and the road attributes surrounding the incident encounter vehicle, the same items of information in the attributes of the road surrounding the vehicle and the road attributes surrounding the incident encounter vehicle are compared, and whether or not they match. or whether the values of the information items belong to the same range of values.

In addition, the own vehicle surrounding information may include the attributes of an object approaching an intersection near the vehicle and the own vehicle object information regarding the distance of the object to the intersection.

Here, examples of objects approaching an intersection near the vehicle include surrounding objects such as moving objects existing around the vehicle and moving objects approaching the intersection near the vehicle. The peripheral object is, for example, a peripheral vehicle in the case of a peripheral moving body or a vehicle. The number of objects approaching the intersection near the vehicle may be multiple or zero depending on the situation. Examples of the attributes of the object include the type of object, the running speed of the object, the acceleration of the object, the traveling direction of the object, and the like. The type of object includes, for example, the type of vehicle, a person, and the like. Types of vehicles include, for example, large-sized vehicles, medium-sized vehicles, small-sized vehicles, and two-wheeled vehicles. When the object is a vehicle, examples of attributes of the object include information on the state of headlights of surrounding vehicles, information on direction indicators of surrounding vehicles, and information on violations of traffic rules by surrounding vehicles. Examples of information about traffic rule violations include no violations, speeding, stop violations, and the like.

The event encounter vehicle surrounding information may also include the event encounter vehicle object information related to the attributes of an object approaching an intersection near the event encounter vehicle and the distance of the object to the intersection.

Here, examples of the event-encountered vehicle object information include peripheral objects such as mobile objects existing around the event-encountered vehicle, and mobile objects approaching an intersection near the event-encountered vehicle.

Further, the control means 1c calculates the degree of similarity between the vehicle current information and the vehicle current information based on at least the result of collation between the vehicle object information and the event encounter vehicle object information, and calculates information satisfying a preset similarity criterion. is present, the output means of the vehicle may be operated.

Here, as an example of the results of matching the own vehicle object information and the event encounter vehicle object information, the same items of information in the own vehicle object information and the event encounter vehicle object information are compared with each other, and whether or not they match. or whether the values of the information items belong to the same range of values.

In addition, the first acquiring means 1a may further acquire own vehicle driving tendency information regarding the driving tendency of the driver of the vehicle as the own vehicle current information.

Here, as an example of the driving tendency of the driver of the vehicle, the acceleration tendency of the driver's driving (for example, the number of sudden accelerations per unit distance), the deceleration tendency of the driver's driving (for example, the number of rapid decelerations per unit distance), the driver's Driving steering operation tendency (e.g., sudden deceleration per unit distance), driver's continuous driving time (e.g., driving duration from start of driving), driver's driving speed tendency (e.g., relative to legal speed average speed ratio), degree of violation of driver's driving stop (e.g. rate of violation of stop), straight line stability of driver's driving (e.g. magnitude of lateral sway on a straight road), cornering stability of driver's driving characteristics (e.g., speed on curves, magnitude of left/right sway), inter-vehicle distance of driver driving (e.g., average inter-vehicle distance based on camera images), frequency of lane crossing of driver driving (e.g., lane per unit distance) number of crossings), traffic signal passing characteristics of the driver's driving (for example, frequency of passing through a yellow traffic light without stopping), and the like.

The second acquiring means 1b may further acquire event encounter vehicle driving tendency information regarding the driving tendency of the driver of the event encounter vehicle as the pre-incident encounter information.

An example of the driving tendency of the driver of the event-encountered vehicle is the acceleration tendency of the driver of the event-encountered vehicle.

Further, the control means 1c calculates the degree of similarity with the present vehicle information based on at least the result of collation between the vehicle driving tendency information and the event-encountering vehicle driving tendency information, and information satisfying a preset similarity criterion. is present, the output means of the vehicle may be operated.

Here, as an example of the results of matching the subject vehicle driving tendency information and the event encounter vehicle driving tendency information, the same items of information in the subject vehicle driving tendency information and the event encounter vehicle driving tendency information are compared, and whether or not they match. or whether the values of the information items belong to the same range of values.

The second acquisition unit 1b may further acquire event type information relating to the event type corresponding to the pre-event encounter information.

Here, as examples of traffic event type information, human-to-vehicle, single-vehicle, head-on (mutual-vehicle) collision, rear-end collision, crossing, accident with object such as left turn, right turn, contact with object, object Sudden braking due to abnormal approach to an object, avoidance, etc. can be mentioned.

Further, the control means 1c selects an event having the highest degree of similarity with the vehicle current information when there is information among the plurality of pre-event encounter information that satisfies a preset similarity criterion to the vehicle current information. A warning based on the event type information corresponding to the pre-encounter information may be notified by notification means of the vehicle.

The event type information corresponding to the pre-event encounter information having the highest degree of similarity is selected from at least one piece of pre-event encounter information that satisfies a preset similarity criterion. For example, as an example of the warning based on the event type information, it is the content of notifying the selected event type information. An example of the output means of the vehicle includes a display, a speaker, and the like mounted on the own vehicle.

Further, the control means 1c controls the output means of the vehicle when the partial information of the plurality of pre-event encounter information and the partial information of the corresponding current vehicle information satisfy a preset similarity criterion. may operate.

A predetermined item of the items of the pre-event encounter information is an example of the partial information of the plurality of pre-event encounter information. An example of the corresponding partial information of the vehicle current information is an information item corresponding to the predetermined information item of the pre-incident information.

As described above, according to the operation of the control device 1 according to the embodiment, when the pre-incident information similar to the vehicle current information exists, the output means of the vehicle is operated. It is possible to output information with the highest possible accuracy in advance for situations that are likely to occur.

[1. Control system configuration and functional overview]
Next, specific examples corresponding to the above-described embodiments will be described with reference to the drawings. The embodiment described below is an embodiment in which the present application is applied to an information processing server device or an in-vehicle terminal device.

FIG. 2 is a schematic diagram showing an example of a schematic configuration of a control system according to the embodiment.

As shown in FIG. 2, the control system S according to the embodiment includes an in-vehicle terminal device 10 (an example of a control device 1) mounted on a vehicle 5 (an example of a mobile body) and a vehicle 7 (an example of a mobile body), An information processing server device 20 that collects information on the vehicles 5 and 7 from the in-vehicle terminal device 10 and provides information processing results, and an external server device SV that provides weather information, traffic information, etc. to the information processing server device 20. I have. Here, the in-vehicle terminal device 10 is an example of the control device 1 . The information processing server device 20 is an example of the control device 1 .

The vehicle 5 is an example of a moving body and an example of an event encounter vehicle. The vehicle 7 is an example of a moving body and an example of the own vehicle. It should be noted that they are classified into vehicles 5 and 7 for convenience. The information processing server device 20 communicates with the plurality of vehicles 5 and 7 .

When the vehicle 5 encounters a traffic event, the vehicle-mounted terminal device 10 of the vehicle 5 transmits pre-event information to the information processing server device 20 .

The in-vehicle terminal device 10 of the vehicle 7 transmits current vehicle information to the information processing server device 20 and receives information processing results from the information processing server device 20 . Also, the in-vehicle terminal device 10 may have a navigation function. The in-vehicle terminal device 10 wirelessly communicates with a network NW having wireless base stations.

The information processing server device 20 collects pre-incident information from the vehicle-mounted terminal device 10 of the vehicle 5 and updates the database. The information processing server device 20 acquires current vehicle information from the on-vehicle terminal device 10 of the vehicle 7 , compares the current vehicle information with a plurality of pre-encounter information, and stores the information processing result in the vehicle 7 . Output to the terminal device 10 .

The information processing server device 20 acquires the weather information of the current positions of the vehicles 5 and 7, the latest traffic information of each road, and the like from the external server device SV. The information processing server device 20 receives information about the weather (for example, temperature, wind speed, wind direction, precipitation/snowfall amount, etc.) at the event site from the external server device SV based on the position coordinates of the vehicle 5 that encountered the event and the date and time of the event. to get

The external server device SV provides the information processing server device 20 with traffic information of each road of VICS (registered trademark), traffic information collected from the in-vehicle terminal devices 10 of other vehicles, and the like. For example, the information processing server device 20 acquires traffic information from the external server device SV in real time. The information processing server device 20 may acquire traffic information at predetermined time intervals (for example, 0.1 second unit, second unit, etc.).

The in-vehicle terminal device 10, the information processing server device 20, and the external server device SV can mutually transmit and receive data via the network NW using, for example, TCP/IP as a communication protocol. The network NW is constructed by, for example, the Internet, a dedicated communication line (for example, a CATV (Community Antenna Television) line), a mobile communication network (including base stations, etc.), gateways, and the like.

[2. Configuration and function of each device]
(2.1 Configuration and functions of in-vehicle terminal device 10)
Next, the configuration and functions of the in-vehicle terminal device 10 will be described with reference to FIG.

FIG. 3 is a block diagram showing an example of a schematic configuration of the in-vehicle terminal device 10. As shown in FIG.

As shown in FIG. 3, the in-vehicle terminal device 10 functioning as a computer includes a communication unit 11, a display unit 12, a camera unit 13, a storage unit 14, a sensor unit 15, an operation unit 16, and a speaker unit 17. , a microphone section 18 and a control section 19 .

The communication unit 11 has a wireless communication function. The communication unit 11 connects to the mobile communication network of the network NW and controls the state of communication with the information processing server device 20 and the like. The communication unit 11 performs wireless communication using radio waves for communication with the information processing server device 20 .

The display unit 12 is configured by, for example, a liquid crystal display element or an EL (Electro Luminescence) element. The display unit 12 displays map information, guidance information, warning information, and the like. The display unit 12 is an example of output means and notification means.

The camera unit 13 is, for example, a color digital camera having an imaging device such as a CCD (Charge Coupled Device) image sensor or a CMOS (Complementary Metal Oxide Semiconductor) image sensor. The camera unit 13 shoots still images or moving images. The camera unit 13 photographs surrounding conditions of the vehicle 5 and the vehicle 7 . The camera unit 13 photographs, for example, front, rear, and side situations.

The storage unit 14 is composed of, for example, a silicon disk drive, a hard disk drive, or the like. The storage unit 14 stores various programs and the like for controlling the in-vehicle terminal device 10 . Various programs include an operating system, navigation, application software for music playback, and the like. The storage unit 14 may store map information and music data for navigation. In addition, the storage unit 14 may store information (for example, vehicle type, engine displacement, etc.) regarding the own vehicle in which the in-vehicle terminal device 10 is mounted. Some or all of the map information for navigation, music data, and information about the vehicle on which the in-vehicle terminal device 10 is mounted are stored in an external storage device (not shown) connected for communication via the communication unit 11. may be configured.

In order to calculate the driving tendency of the driver, the driving tendency of the driver is accumulated in the storage section 14 based on various data from the sensor section 15 .

Various programs may be acquired via a network such as a wireless communication network, or may be recorded on a recording medium such as a CD (Compact Disc) or a DVD (Digital Versatile Disc) and stored in a drive device. It may be loaded via

The sensor unit 15 obtains vehicle position information (latitude/longitude information), moving direction information, speed information, altitude information, and current time from the GPS sensor, direction sensor, speed sensor, altitude sensor, and timer installed in the vehicle 5 . Get information such as

The operation unit 16 includes various buttons such as a mechanical power button and volume button, and the display unit 12 is a touch switch type display panel such as a touch panel.

The speaker unit 17 outputs, for example, warning information, guidance information, music, and sounds such as voice. The speaker unit 17 is an example of output means and notification means.

The microphone unit 18 collects sounds of the vehicle itself and sounds around the vehicle.

The control unit 19 has, for example, a CPU (Central Processing Unit), a ROM (Read Only Memory), and a RAM (Random Access Memory). The control unit 19 is such that the CPU
Various programs stored in the ROM, RAM, and storage unit 14 are read and executed. It controls the operation of each part of the in-vehicle terminal device 10 .

The control unit 19 performs image analysis on image data from the camera unit 13 . The control unit 19 analyzes various data from the sensor unit. The control unit 19 performs sound analysis on sound data from the microphone unit 18 . In these image analysis and sound analysis, image data from the camera unit 13 and sound data from the microphone unit 18 are transmitted to an external analysis device (not shown) via the communication unit 11, and analyzed by the analysis device. The result may be configured to be received via the communication unit 11 .

The control unit 19 may control a driving device of the vehicle as an example of output means. The drive controls the amount of acceleration to control the speed and acceleration of the vehicle. The driving device controls the steering angle to change the traveling direction of the vehicle. The drive controls the amount of braking to decelerate and stop the vehicle. The drive also controls lights, turn signals and the like.

(2.2 Configuration and functions of information processing server device 20)
Next, the configuration and functions of the information processing server device 20 will be described with reference to FIGS. 4 to 11. FIG.

FIG. 4 is a block diagram showing an example of a schematic configuration of the information processing server device 20. As shown in FIG. FIG. 5 is a schematic diagram showing an example of the database of the information processing server device 20. As shown in FIG. 6 to 11 are schematic diagrams showing examples of traffic events.

As shown in FIG. 4 , the information processing server device 20 functioning as a computer has a communication section 21 , a storage section 22 , a display section 23 , an operation section 24 and a control section 25 .

The communication unit 21 is connected to the network NW and controls the state of communication with the in-vehicle terminal device 10 and the external server device SV.

The storage unit 22 is configured by, for example, a hard disk drive, a silicon disk drive, or the like. The storage unit 22 has a database 22a.

The database 22a stores pre-event encounter information as event scene data for each event that has occurred. For example, as shown in FIG. 5, event type information (an example of event type information), information on the surrounding environment of the event encounter vehicle (an example of event encounter vehicle surrounding information), event Information on surrounding objects of the encountered vehicle (an example of incident vehicle surrounding information and an example of incident vehicle object information), information on the vehicle state of the incident vehicle (an example of incident vehicle state information), driver of the incident vehicle (an example of incident encounter vehicle driving tendency information) and the like are stored.

Information such as person-to-vehicle, single-vehicle, head-on collision, rear-end collision, crossing, left turn, right turn, and others is stored in the traffic event type item of the database 22a.

The surrounding environment includes road information about the road on which the event-encountering vehicle (for example, vehicle 5) was traveling, road information about each connecting road at an intersection near the position where the event-encountering vehicle encountered the event, It includes weather information near the location where a

Further, the items of the road information include road type, speed limit, number of lanes, gradient, entry regulation to nearby intersections, connection direction to nearby intersections, and the like.

The road type item of the database 22a stores, for example, information as to whether the road is an expressway, a general national road, a prefectural road, a municipal road, a farm road, a forest road, or other roads. The speed limit item of the database 22a stores values and ranges of road speed limits. The number of lanes of the road is stored in the item of the number of lanes of the database 22a. The gradient information of the road is stored in the gradient item of the database 22a. In the database 22a, information such as a red light, a temporary stop, and no regulation is stored in the item of entry regulation to a nearby intersection. In the database 22a, information on directions such as north, northeast, east, southeast, south, southwest, west, or northwest is stored in the item of connection direction to nearby intersections.

Surrounding objects include the type of moving object whose event encounter vehicle (for example, vehicle 5) is an example of an object related to a traffic event, information on the running speed of the moving object, information on the acceleration of the moving object, If the moving object is a vehicle, information on the headlight status of the vehicle, information on the direction indicator of the vehicle, distance to an intersection near the moving object, information on the type of violation of traffic regulations, etc. include.

The database 22a stores information as to whether it is, for example, a large-sized vehicle, a medium-sized vehicle, a small-sized vehicle, a two-wheeled vehicle, a bicycle, a person, or the like. The value and range of the traveling speed of the mobile object are stored in the item of the traveling speed of the mobile object of the database 22a. For example, numerical examples of the running speed of the moving object include over 80 km/80 to 60/60 to 40/40 to less than 20/20 km.

The value and range of the acceleration of the moving body are stored in the item of the acceleration of the moving body of the database 22a. For example, as numerical examples of the acceleration of the moving object, over 0.5 G/0.4 to 0.2 G/0.2 to 0 G/0 to -0.2 G/-0.2 to -0.4 G/-0. less than 4, and the like.

Information on directions such as north, northeast, east, southeast, south, southwest, west, and northwest is stored in the item of traveling direction of the moving object in the database 22a.

The item of vehicle headlights in the database 22a stores the state of the headlights of the vehicle of the object when the event encounter vehicle encounters the moving body. Examples of the state of the headlights include high beam lighting/low beam lighting/small lights lighting/no lighting.

The vehicle direction indicator item of the database 22a stores the state of the direction indicator of the object vehicle when the event encounter vehicle encounters a moving body. An example of the state of the direction indicator includes left actuation/right actuation/no actuation.

The item of the distance to the intersection near the moving object in the database 22a stores information on the corresponding distance such as over 100 m, about 100 m, 50 m to 100 m, and less than 50 m. Information such as no violation, excessive speed, violation of stoppage, ignoring traffic lights, etc. is stored in the database 22a in the item of violation type of traffic regulation of the mobile body.

The vehicle state includes information on the vehicle type of the incident vehicle, information on the running speed of the incident vehicle, information on the acceleration of the incident vehicle, information on the traveling direction of the incident vehicle, information on the state of the headlights on the incident vehicle, and event information. It includes information on the direction indicator of the encounter vehicle, the distance to the intersection near the event encounter vehicle, and the like.

The driving tendency includes acceleration tendency, deceleration tendency, steering operation tendency, continuous driving time, speed tendency, stop violation degree, straight line stability, cornering stability, inter-vehicle distance, lane crossing frequency, traffic signal passing characteristics, and the like.

In the item of acceleration tendency of the database 22a, information such as high, normal, and low sudden acceleration tendency is stored.

As shown in FIG. 6, in the case of a head-on collision between the vehicle 5 on the road r1 and the object vehicle T1 on the road r3 at the intersection c1, the intersection c1 is the nearby intersection. The vehicle 5 on the road r1 indicated by the dashed line indicates the position of the vehicle 5, which is the event encounter vehicle, a predetermined time ago. The intersection c1 is an intersection ahead of the vehicle 5, which is the event encounter vehicle, from a position a predetermined time before. Road information such as the item value "2" for the number of lanes of the road r1 on which the vehicle 5 was traveling a predetermined time ago and the item value "North" for the connection direction of the road r1 to this intersection c1 are stored in the database 22a. remembered. The database 22a stores road information such as the number of lanes and connecting directions for each of the roads r2, r3, and r4 connected to the intersection c1.

As shown in FIG. 7, when the vehicle 5 turning right from the road r1 to the road r4 collides head-on with the object vehicle T1 on the road r4, the intersection c1 is the nearby intersection. The vehicle 5 on the road r1 indicated by the dashed line indicates the position of the vehicle 5, which is the event encounter vehicle, a predetermined time ago. The intersection c1 is an intersection ahead of the vehicle 5, which is the event encounter vehicle, from a position a predetermined time before. Roads r1, r2, r3, and r4 are connected to the intersection c1. Road information such as the item value "1" for the number of lanes of the road r1 on which the vehicle 5 was traveling a predetermined time ago and the item value "northwest" for the connection direction of the road r1 to the intersection c1 are stored in the database 22a. remembered. The database 22a stores road information such as the number of lanes and connecting directions for each of the roads r2, r3, and r4 connected to the intersection c1.

As shown in FIG. 8, when a vehicle T1 exiting from a side road r3 collides with a vehicle 5 traveling on a main road r1, the intersection c1 is a nearby intersection. The vehicle 5 on the road r1 indicated by the dashed line indicates the position of the vehicle 5, which is the event encounter vehicle, a predetermined time ago. The intersection c1 is an intersection ahead of the vehicle 5, which is the event encounter vehicle, from a position a predetermined time before. Roads r1, r2, and r3 are connected to the intersection c1.

As shown in FIG. 9, when a vehicle T1 rear-ends a vehicle 5 stopped at an intersection c1 on a road r1, the intersection c1 is a nearby intersection. Two-lane roads r1, r2, r3, and r4 are connected to the intersection c1.

As shown in FIG. 10, at an intersection c1 of a five-way intersection, in the case of a head-on collision between the vehicle 5 and the target vehicle T1, the intersection c1 is a nearby intersection. Vehicle 5 on road r5 indicated by a dashed line indicates the position of vehicle 5, which is the event encounter vehicle, a predetermined time ago. The intersection c1 is an intersection ahead of the vehicle 5, which is the event encounter vehicle, from a position a predetermined time before. Roads r1, r2, r3, r4, and r5 are connected to the intersection c1.

As shown in FIG. 11, when the vehicle 5 and the vehicle T1 contact each other at the junction c1, the junction c1 is the nearby intersection. The intersection c1 is an intersection ahead of the vehicle 5, which is the event encounter vehicle, from a position a predetermined time before. Roads r1 and r2 with two lanes on one side are connected to road r3 at intersection c1.

The storage unit 22 also stores map information, traffic information obtained from the external server device SV, weather information, and the like.

The storage unit 22 also stores various programs such as an operating system and a server program. Various programs may be acquired from other server devices or the like via the network NW, or may be recorded on a recording medium and read via a drive device.

The display unit 23 is configured by, for example, a liquid crystal display element or an EL element.

The operation unit 24 is composed of, for example, a keyboard and a mouse.

The control unit 25 has, for example, a CPU, ROM, RAM, and the like. The control unit 25 controls the operation of each unit of the information processing server device 20 . The control unit 25 executes various processes by reading and executing various programs stored in the storage unit 22 . The control unit 25 is an example of output means and notification means.

[3. Operation of Guidance System]
Next, operation of the control system S according to the embodiment will be described with reference to FIGS. 12 to 15. FIG.
(3.1 Operation for generating event scene data)
The operation of the control system S to collect pre-incident information from the in-vehicle terminal device 10 of each vehicle (for example, each vehicle 5) that encountered the event and generate event scene data will be described with reference to FIG. Although the on-vehicle terminal device 10 of the vehicle 7 may transmit pre-event information even when the vehicle 7 encounters an event, the on-vehicle terminal device 10 of the vehicle 5 will be described here for the sake of convenience. .

FIG. 12 is a sequence diagram showing an example of the operation of generating event scene data.

While the vehicle 5 is traveling on the road, the on-vehicle terminal device 10 of the vehicle 5 acquires various data such as incident encounter vehicle surrounding information and event encounter vehicle traveling information. For example, the camera unit 13 captures a moving image of the surroundings and the microphone unit 18 collects sounds in order to collect information on the surroundings of the vehicle that encountered the event. In addition, the sensor unit 15 measures various data such as position information, traveling speed, acceleration, traveling direction, etc. of the vehicle 5 in order to collect incident encounter vehicle traveling information.

In addition, moving images, various sensor data, and sound data are stored in the storage unit 14 or the like for a time longer than a predetermined time (3 seconds, 5 seconds, 7 seconds, 10 seconds, 15 seconds, etc.) from the current time. Recorded. Assume that an event occurs when the vehicle 5 collides or contacts an object such as another vehicle.

As shown in FIG. 12, the control system S detects an event (step S1). Specifically, the control unit 19 of the in-vehicle terminal device 10 in the vehicle 5 acquires acceleration data from the acceleration sensor of the sensor unit 15, and if the acceleration data is equal to or greater than a predetermined value, it is determined that an impact has occurred and that an event has been encountered. do. If the control unit 19 acquires sound data such as an impact sound from the microphone unit 18 and the sound data resembles a predetermined waveform such as a horn sound, and if the volume of the surrounding environmental sound is equal to or greater than a predetermined value, an event is encountered. It may be detected that Also, the control unit 19 may analyze the moving image from the camera unit 13 to determine whether or not an event has been encountered.

Next, the control system S acquires information such as a moving image from a predetermined time ago (step S2). Specifically, the control unit 19 acquires from the storage unit 14 or the like information from the vehicle 5 a predetermined time before the time when the event was encountered. More specifically, the control unit 19 controls moving images from the camera unit 13, vehicle travel information data from the sensor unit 15, and data from the microphone unit 18 within a predetermined time period including a predetermined time period before the time when the event was encountered. is obtained from the storage unit 14 or the like. If the sensor itself of the sensor unit 15 has a memory, the control unit 19 may acquire from the memory of each sensor.

Further, the control unit 19 refers to the storage unit 14 to acquire information on the vehicle type of the vehicle 5 and information on the driving tendency of the driver of the vehicle 5 .

Next, the control system S transmits the acquired information to the information processing server device 20 (step S3). Specifically, the control unit 19 of the in-vehicle terminal device 10 in the vehicle 5, through the communication unit 11, the location information of the place where the event was encountered, the time when the event was encountered, the video, the sound information, the vehicle running information, the vehicle 5 The acquired information, such as vehicle type information and driving tendency information, is transmitted to the information processing server device 20 together with the vehicle ID.

Next, the control system S receives information from the in-vehicle terminal device 10 (step S4). Specifically, the control unit 25 of the information processing server device 20, through the communication unit 21, from the in-vehicle terminal device 10 in the vehicle 5, the location information of the place where the event was encountered, the time when the event was encountered, video, sound information, Acquired information such as vehicle travel information, vehicle type information, and driving tendency information is received.

Next, the control system S acquires weather information such as the weather, temperature, amount of precipitation, etc. at the place and time when the event was encountered from the external server device SV (step S5). Specifically, based on the location information of the place where the event was encountered and the time when the event was encountered, the control unit 25 receives weather information such as weather, temperature, precipitation, etc. at the place and time when the event was encountered from the external server device SV. Get information.

Next, the control system S analyzes the information from the in-vehicle terminal device 10 and the information from the external server device SV to generate pre-event encounter information (step S6). Specifically, in the case of information on the surrounding environment of the vehicle 5, the control unit 25 identifies the position of the vehicle 5 a predetermined time ago from the position information at which the event was encountered, and further refers to the map information in the storage unit 22. , identify an intersection near the position of the vehicle 5 a predetermined time ago. Examples of the identified intersection include the intersection closest to the position of the vehicle 5 a predetermined time ago, the intersection ahead of the position of the vehicle 5 a predetermined time ago, and the like.

Based on the specified intersection and map information, the control unit 25 determines the type of road, speed limit, number of lanes, gradient, entry regulation to nearby intersections, and connection to nearby intersections for each road connecting to the intersection. Pre-encounter information is generated by extracting road information such as directions.

In addition, the control unit 25 calculates the time a predetermined time before the time when the event was encountered as an example of the surrounding environment information to generate pre-event encounter information.

In the case of information on objects around the vehicle 5, the control unit 25 performs image analysis on the moving image, extracts objects, and extracts objects around the vehicle 5 during a period of time including a predetermined time from the time when the event was encountered. Identify things. The control unit 25 analyzes the image to determine the type of the specified object, the distance to the object, speed, acceleration, direction of travel, the presence or absence of a headlight point, the presence or absence of a turn indicator, and the distance to the specified intersection. and the like to generate pre-event encounter information.

The control unit 25 also performs image analysis on the moving image to estimate road conditions such as dry, wet, frozen, and covered snow, and generates pre-event encounter information.

In the case of the vehicle information of the vehicle 5, the control unit 25 determines the traveling speed of the vehicle 5, the acceleration of the vehicle 5, the traveling direction of the vehicle 5, the state of the headlights of the vehicle 5, based on the vehicle traveling information data from the sensor unit 15. , the state of the direction indicator of the vehicle 5, and the distance to the intersection near the vehicle 5 are calculated.

The type of event encountered by the vehicle 5 is calculated by, for example, the control unit 19 analyzing the moving image of the camera unit 13 and from the direction of collision with the object.

Also, the control unit 19 processes the weather information for the database 22a.

Next, the control system S saves it as event scene data for verification (step S7). Specifically, the control unit 25 associates the generated pre-event encounter information with the event number and additionally stores it in the database 22a.

(3.2 Operation for Determining Present Vehicle Information)
Next, the operation of determining the own vehicle current information of the vehicle 7 will be described with reference to FIGS. 13 to 15. FIG.

FIG. 13 is a flowchart illustrating an example of the operation of the control system according to the embodiment; 14 and 15 are schematic diagrams showing an example of the own vehicle in a certain surrounding situation.

As shown in FIG. 13, the control system S acquires event scene data for determination from the information processing server device 20 (step S10). Specifically, the control unit 19 of the in-vehicle terminal device 10 of the vehicle 7 acquires from the information processing server device 20 event scene data for determination indicating pre-event encounter information stored in the database 22a.

Next, the control system S acquires information such as moving images (step S11). Specifically, the control unit 19 of the in-vehicle terminal device 10 of the vehicle 7 acquires information such as a moving image of the in-vehicle terminal device 10 of the vehicle 7 at the current time, as in step S2. Here, unlike step S2, data is acquired from the camera section 13, the sensor section 15, and the microphone section 18 for a predetermined period from the current time.

Next, the control system S generates vehicle current information (step S12). Specifically, the control unit 19 of the in-vehicle terminal device 10 of the vehicle 7, instead of the information before the event encounter, receives the moving image from the vehicle 7, the positional information of the vehicle 7, the driving situation of the vehicle 7, etc., as in step S6. Based on the information, current vehicle information is generated.

As shown in FIG. 14, when the vehicle 7 travels on a road r10 and approaches an intersection c2, the control unit 19 controls the attributes of the road r10 on which the vehicle 7 is traveling and the road attributes of the intersection c2 in front of the vehicle 7. , the attributes of roads r11, r12, and r13 connected to the vehicle are generated. If the target vehicle T2 is captured in the moving image, the control unit 19 generates the attribute of the target approaching the intersection c2.

As shown in FIG. 15, when the vehicle 7 travels on a road r10 and approaches an intersection c2, the control unit 19 controls the attributes of the surrounding roads of the vehicle 7 on the road r10 on which the vehicle 7 is traveling and the intersection c2 in front of the vehicle 7. , the attributes of roads r11 and r12 connected to the vehicle are generated.

Note that the control unit 19 may transmit the information such as the moving image acquired in step S11 to the information processing server device 20, and the information processing server device 20 may generate the vehicle current information. Here, each item of the own vehicle current information and each item of the pre-incident information are the same except for the event type item.

Regarding the driving tendency of the driver of the vehicle 7, the control unit 19 of the in-vehicle terminal device 10 of the vehicle 7 sends a request for acquiring the driving tendency together with the vehicle ID of the vehicle 7 or the user ID of the driver of the vehicle 7 to the information processing server device. 20 , information on the driving tendency of the driver of the vehicle 7 may be obtained from the information processing server device 20 . The control unit 19 may acquire the weather information from the information processing server device 20, may acquire it from the external server device SV, or may determine the weather and road conditions from the image of the camera unit 13. good.

Next, the control system S calculates the degree of similarity between the pre-encounter information of each elephant in the event scene data for determination and the current vehicle information (step S13). Specifically, the control unit 19 obtains the value of each item of the vehicle current information and the value of each item of the pre-incident information for each pre-incident information of the event number of the corresponding event scene data for judgment. After collation, the number of matching items is calculated, and the value obtained by dividing by the number of items is calculated as the degree of similarity. Some items may be used for similarity calculation. Also, the items used to calculate the degree of similarity may be changed according to the event type.

Next, the control system S determines whether or not the degree of similarity is greater than or equal to a threshold (step S14). Specifically, the control unit 19 determines whether the ratio of matching items is equal to or greater than a predetermined value (eg, 70%, 80%, 85%).

If the degree of similarity is greater than or equal to the threshold (step S14; YES), the control system S outputs a warning (step S15). Specifically, the control unit 19 extracts the pre-event encounter information having the highest similarity from the pre-event encounter information having the similarity greater than or equal to the threshold. The control unit 19 obtains the event type information of the pre-event encounter information with the highest degree of similarity. The control unit 19 generates a warning with content based on the event type, and outputs the warning to the speaker unit 17 and the display unit 12 . For example, the warning content "There is a danger of a head-on collision ahead. Let's slow down and watch out for vehicles jumping out from the right." is output.

If the degree of similarity is less than the threshold (step S14; NO), the control system S returns to the process of step S11.

As described above, according to the operation according to the embodiment, the output means of the vehicle 7 is operated when the pre-incident information similar to the vehicle current information of the vehicle 7 exists. It is possible to output information with the highest possible accuracy in advance for situations that are likely to occur. Therefore, even in a place where an event has never occurred, a warning or the like can be notified. If the vehicle current information including the vehicle state and surrounding conditions of the vehicle 7 satisfies similarity criteria with respect to an event such as an accident that actually occurred in the past, the occurrence of the event can be determined for the vehicle 7. . That is, since the base data of the event can be increased compared to the case of comparing with the event that occurred at the same place, the degree of occurrence of the event can be determined with higher accuracy.

In addition, since pre-event encounter information is collected for a predetermined time before the event is encountered, it is possible to determine the occurrence of the event in advance.

Further, information based on at least own vehicle surrounding information and own vehicle state information indicating the current running condition of the vehicle 7 is acquired as current information of the own vehicle, and information around the incident encounter vehicle as a plurality of pre-incident information, and When acquiring information based at least on the event encounter vehicle state information indicating the running situation of the vehicle 5 that encountered the traffic event a predetermined time before the event was encountered, the own vehicle state information and the event encounter vehicle state information increase. Accordingly, information for similarity determination increases, and information with higher accuracy can be output.

The host vehicle state information includes host vehicle travel information relating to the travel speed and traveling direction of the vehicle 7 and the distance to the intersection c2 near the vehicle 7, and the event encounter vehicle state information includes the travel speed of the vehicle 5, Similarity with current vehicle information based on at least the result of matching the vehicle running information and the event encounter vehicle running information, including the traveling direction of the vehicle and the distance to the intersection c1 near the event encounter vehicle. When the output means of the vehicle 7 is operated when the degree is calculated and there is information that satisfies a preset similarity criterion, information for similarity determination increases, and information with higher accuracy can be output. Further, by collating each item of the information in front of the vehicle and the information before the event encounter, the degree of similarity can be calculated with high accuracy.

The vehicle surrounding information includes vehicle surrounding road attributes related to the road on which the vehicle 7 is traveling and other roads connected to the intersection c2 near the vehicle 7. 5 and other roads connected to the intersection c1 near the event encounter vehicle 5, including the road attributes surrounding the subject vehicle and the road attributes surrounding the event encounter vehicle. Calculating the degree of similarity with current vehicle information based on at least the collation result of , and operating the output means of the vehicle 7 when there is information that satisfies a preset similarity criterion, similarity determination information is increased, and more accurate information can be output.

In addition, the own vehicle surrounding information includes the attributes of an object (for example, vehicle T2) approaching the intersection c2 near the vehicle 7 and own vehicle object information related to the distance of the object to the intersection c2, The event-encountering vehicle surrounding information includes event-encountering vehicle object information related to the attributes of an object approaching an intersection near the event-encountering vehicle 5 and the distance of the object (for example, vehicle T1) to the intersection, Based on at least the results of matching the vehicle object information and the event encounter vehicle object information, the degree of similarity between the vehicle current information and the vehicle current information is calculated. When the output means 7 is operated, the amount of similarity determination information increases, and more accurate information can be output.

Further, as current information of the vehicle, own vehicle driving tendency information regarding the driving tendency of the driver of the vehicle 7 is further acquired, and as pre-incident information, event encounter vehicle driving tendency information regarding the driving tendency of the driver of the event encounter vehicle 5 is further obtained. When there is information that satisfies a preset similarity criterion by calculating the degree of similarity with the current information of the vehicle based on at least the results of matching the driving tendency information of the vehicle with the driving tendency information of the incident-encounter vehicle. Moreover, when the output means of the vehicle 7 is operated, the amount of information for similarity determination increases, and information with higher accuracy can be output.

Further, when the event type information related to the type of event corresponding to the pre-event encounter information is further acquired, and information satisfying a preset similarity criterion to the vehicle current information exists in the plurality of pre-event encounter information. In the case where the warning based on the event type information corresponding to the pre-event encounter information having the highest degree of similarity with the vehicle current information is issued from the reporting means of the vehicle 7 (the display unit 12 and the speaker unit 17 of the vehicle 7), It is possible to inform in advance of information on events that the vehicle 7 is likely to encounter. In this way, by determining whether or not there is an event instance whose similarity score is equal to or higher than a predetermined value, there is an event instance that has a high degree of similarity with the vehicle current information such as the current state of the own vehicle 7 and the surrounding conditions. can notify the driver of the conditions in which an event is likely to be encountered.

Further, when operating the output means of the vehicle 7 when a part of the plurality of pre-incident information and a part of the corresponding current information of the vehicle satisfy a preset similarity criterion, The number of items to be collated can be narrowed down, and the processing speed of collation is improved. The items may be narrowed down in order to quickly determine whether or not similarity criteria are met. For example, if an event scene is determined based only on the items of the surrounding environment, it is possible to notify the occurrence of the event based on the event examples of cases in which the type and arrangement of roads in front are similar.

In order to speed up the determination process, matching of a specific element may be made a prerequisite, and event cases may be filtered to determine whether or not similarity criteria are satisfied. Since the events to be collated can be reduced, judgment can be made at a higher speed.

Note that event scene data for determination may be stored in the in-vehicle terminal device 10 in advance. As a result, event encounter determination can be made independently without communicating with the information processing server device 20 .

Further, the database 22a may store event scene data for judgment generated by classifying event cases into various items by a human's visual observation or the like.

In addition, the on-vehicle terminal device 10 of the vehicle 7 creates current vehicle information based on current vehicle state information, surrounding situation information, etc., and constantly transmits this to the information processing server device 20. The device 20 may compare event scene data for determination with current vehicle information to determine whether or not similarity criteria are met. The information processing server device 20 generates a warning message based on the type of event corresponding to the event instance whose degree of similarity is equal to or higher than a predetermined value, and transmits the warning message to the in-vehicle terminal device 10 of the vehicle 7 . The information processing server device 20 transmits a control signal to the in-vehicle terminal device 10 for outputting this warning message from the display unit 12 and the speaker unit 17 . In this case, the processing load on the in-vehicle terminal device 10 can be reduced.

In addition, the in-vehicle terminal device 10 constantly transmits the image of the camera unit 13 and the information output by the various sensors of the sensor unit 15 to the server, and the information processing server device 20 calculates road attributes and surrounding objects based on these information. After detecting the object, the present vehicle information may be created, and the judgment event scene data and the present vehicle information may be collated to determine whether or not similarity criteria are satisfied. In this case, the processing load on the in-vehicle terminal device 10 can be further reduced.

In addition to the in-vehicle car navigation system, the present invention may be used for in-vehicle drive recorders, vehicle operation management systems, vehicle telematics insurance, and the like.

1: Control Device 5, 7: Vehicle 1a: First Acquisition Means 1b: Second Acquisition Means 1c: Control Means 10: In-Vehicle Terminal Device (Control Device)
19: Control unit (first acquisition means, second acquisition means, control means)
20: Information processing server device (control device)
25: Control unit (first acquisition means, second acquisition means, control means)
S: control system

Claims (1)

a first acquisition means for acquiring current own vehicle current information based at least on own vehicle surrounding information indicating surrounding conditions of the vehicle;
(2) Acquiring a plurality of pre-event encounter information based at least on event encounter vehicle surrounding information indicating surrounding conditions of the event encounter vehicle at a predetermined time before encountering the event, with respect to a plurality of the event encounter vehicles that have encountered the traffic event; acquisition means;
control means for operating the output means of the vehicle when there is information among the plurality of pre-event encounter information that satisfies a preset similarity criterion to the present vehicle information;
A control device comprising:

Images