JP2024003521A - Navigation control device and navigation method - Google Patents

Abstract

To support avoidance of danger by guiding an appropriate route according to the vehicular weight ratio.SOLUTION: A navigation control device 20 comprises: a route search section 25 for searching for a route to a destination; a map information acquisition section 24 for acquiring map information including at least a deceleration point on the route; a vehicle information acquisition section 22 for acquiring vehicle information including at least a vehicle type of a vehicle; a weight information acquisition section 21 for acquiring weight information of the vehicle; a weight ratio calculation section 31 for calculating a weight ratio of the vehicle; a weight ratio determination section 32 for determining whether the weight ratio is appropriate; a limit speed calculation section 33 for calculating a limit speed at the deceleration point on the route when the weight ratio is determined to be inappropriate; and a passage determination section 34 for determining whether the vehicle can pass the deceleration point at a speed equal to or less than the limit speed. The route search section 25 searches for an avoidance route to avoid the deceleration point when it is determined that the passage is impossible.SELECTED DRAWING: Figure 2

Description

The present invention relates to a navigation control device and a navigation method.

The rollover limit speed, which is the lower limit of the speed at which a vehicle can roll over, is calculated based on the vehicle's center of gravity information, the vehicle's tread width, and the radius of curvature of the curve that appears on the route from the departure point to the destination on the road the vehicle is traveling on. , a technique is known in which a rollover limit speed is output in association with all curves on a route from a departure point to a destination of a vehicle (see, for example, Patent Document 1).

Patent No. 5844555

If the vehicle is driven with an imbalance in the left and right weight ratios in the direction of travel, it becomes difficult to control the vehicle. As a result, there is a risk that the vehicle will not be able to drive safely, such as falling over or running out of the lane, especially on curves or slopes. Therefore, it is desirable to guide an appropriate route according to the weight ratio of the vehicle to avoid danger.

The present invention has been made in view of the above, and an object of the present invention is to provide a navigation control device and a navigation method that guide an appropriate route according to the weight ratio of a vehicle and assist in avoiding danger. shall be.

In order to solve the above-mentioned problems and achieve the purpose, a navigation control device according to the present invention provides information on a route of a vehicle to a destination, an expected passing time at each point on the route, and information on how to reach the destination. a route search unit that searches for an expected arrival time; a map information acquisition unit that acquires map information including at least deceleration points on the route; and a vehicle information acquisition unit that acquires vehicle information that includes at least the model of the vehicle. , a weight information acquisition unit that acquires weight information indicating the weight of the weighed vehicle; the vehicle information acquired by the vehicle information acquisition unit; and the weight information acquired by the weight information acquisition unit. a weight ratio calculation unit that calculates a weight ratio in a longitudinal direction and a left and right direction of the vehicle; a weight ratio determination unit that determines whether the weight ratio calculated by the weight ratio calculation unit is appropriate; When the weight ratio determination unit determines that the weight ratio is inappropriate, the vehicle information acquired by the vehicle information acquisition unit, the weight information acquired by the weight information acquisition unit, and the map a limit speed calculation unit that calculates a limit speed at which the vehicle can safely travel at the deceleration point on the route based on the map information on the route acquired by the information acquisition unit; and the route search unit a passage determination unit that determines whether or not it is possible to pass at the limit speed calculated by the limit speed calculation unit or less at the expected passage time when passing the deceleration point on the route searched by; The route search unit searches for an avoidance route that avoids the deceleration point when the passage determination unit determines that the vehicle cannot pass.

The navigation method according to the present invention includes a route searching step of searching for a route for a vehicle to a destination, an expected passing time at each point on the route, and an expected arrival time at the destination; a map information acquisition step of acquiring map information including deceleration points on the route; a vehicle information acquisition step of acquiring vehicle information including at least the model of the vehicle; and acquisition of weight information indicating the weighed weight of the vehicle. Calculating the weight ratio of the vehicle in the front-rear direction and the left-right direction based on the weight information acquisition step, the vehicle information acquired in the vehicle information acquisition step, and the weight information acquired in the weight information acquisition step. a weight ratio calculation step of determining whether the weight ratio calculated by the weight ratio calculation step is appropriate; and a weight ratio determination step of determining whether the weight ratio calculated by the weight ratio determination step is inappropriate. If determined, the vehicle information acquired in the vehicle information acquisition step, the weight information acquired in the weight information acquisition step, and the map information on the route acquired in the map information acquisition step. a limit speed calculation step of calculating a limit speed at which the vehicle can safely travel at the deceleration point on the route based on the above, and a limit speed calculation step of calculating the limit speed at which the vehicle can safely travel at the deceleration point on the route; a passage determination step of determining whether or not it is possible to pass at a speed less than or equal to the limit speed calculated by the limit speed calculation step at the expected passage time; If it is determined that there is, an avoidance route that avoids the deceleration point is searched.

According to the present invention, it is possible to provide a navigation control device and a navigation method that can guide an appropriate route according to the weight ratio of a vehicle and can assist in avoiding danger.

FIG. 1 is a schematic diagram of a driving support system according to an embodiment. FIG. 2 is a block diagram schematically showing a navigation device including a navigation control device according to an embodiment. FIG. 3 is a flowchart showing the flow of processing in the navigation control device according to the embodiment.

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of a navigation control device and a navigation method according to the present invention will be described in detail below with reference to the accompanying drawings. Note that the present invention is not limited to the following embodiments.

[Embodiment]
<Driving support system>
FIG. 1 is a schematic diagram of a driving support system according to an embodiment. The driving support system 1 measures the weight of a vehicle and presents a safe route to the user according to the weight ratio of the vehicle. The driving support system 1 includes a navigation device 10 installed in a vehicle and a weight sensor 50.

Weight sensor 50 detects the weight of the vehicle. The weight sensor 50 detects the weight of the right front, right rear, left front, and left rear of the vehicle. Weight sensor 50 detects the weight of each wheel of the vehicle. The number of arrangement, position, interval, measurement area, etc. of the weight sensor 50 may be arbitrarily set so that weight measurement can be performed even on vehicles with different numbers and positions of wheels.

As shown in FIG. 1, the weight sensor 50 is placed, for example, at a loading/unloading area or on a road surface such as a road. Four weight sensors 50 shown in FIG. 1 are arranged, each mounting a right front wheel, a right rear wheel, a left front wheel, and a left rear wheel. In this case, the weight sensor 50 detects the weight of the vehicle located above the weight sensor 50. The weight sensor 50 wirelessly transmits detection data as weight information to the navigation device 10.

Weight sensor 50 may be placed in a vehicle, for example. The weight sensor 50 detects, for example, the amount of depression of the suspension of the vehicle. In this case, the weight sensor 50 transmits the detection data as weight information to the navigation device 10 via a CAN (Controller Area Network) or the like.

<Navigation device>
FIG. 2 is a block diagram schematically showing a navigation device 10 including a navigation control device 20 according to an embodiment. The navigation device 10 presents a safe route to the user according to the weight ratio of the vehicle.

The navigation device 10 may be mounted on a vehicle, or may be portable and brought into the vehicle. The navigation device 10 may be configured as a portable terminal, a device installed in a vehicle, or a combination of several devices. The navigation device 10 includes a GNSS (Global Navigation Satellite System) receiving section 11, a map information storage section 12, a display section 18, a communication section 19, and a navigation control device 20.

The GNSS receiving unit 11 includes a GNSS receiver that receives GNSS signals from GNSS satellites. The GNSS reception unit 11 outputs the received GNSS signal to the position information acquisition unit 23.

The map information storage unit 12 stores map information. The map information includes at least deceleration points. The map information may include, for example, curve curvature, slope, and number of lanes. The map information storage unit 12 outputs the stored map information to the map information acquisition unit 24 of the navigation control device 20. The map information storage unit 12 may be a storage device such as an external server that acquires map information via a communication function.

A deceleration point is a point where a vehicle decelerates or temporarily stops while traveling on a road. The deceleration point is, for example, a curve point on a road, a corner, an intersection, a temporary stop point, a starting point of a slope, or a railroad crossing.

The display unit 18 is, for example, a display device specific to the driving support system 1 or a display device shared with other systems including a car audio. The display unit 18 is a display including, for example, a liquid crystal display or an organic EL (Electro-Luminescence) display. When the driving support system 1 is installed in a vehicle, the display unit 18 is arranged on a dashboard, an instrument panel, a center console, etc. in front of the driver of the vehicle. The display unit 18 displays a route guidance image based on the video signal output from the display control unit 35 of the navigation control device 20.

The communication unit 19 is a communication unit that performs short-range wireless communication or wide-area wireless communication. The communication unit 19 communicates information with a weight sensor 50 (not shown). The communication unit 19 is configured with a communication module such as Wi-Fi (registered trademark), for example. The communication unit 19 may communicate using any method such as the Internet or a mobile phone line. Communication of the communication unit 19 is controlled by the communication control unit 36 of the navigation control device 20.

<Navigation control device>
The navigation control device 20 may be implemented as one of the functions of a vehicle driving support system. In this embodiment, the navigation control device 20 is implemented as a function of a driving support system installed in a vehicle. The navigation control device 20 is an arithmetic processing device including, for example, a CPU (Central Processing Unit). The navigation control device 20 executes instructions included in a program stored in a storage unit (not shown). The navigation control device 20 presents a safe route to the user according to the weight ratio of the vehicle. The navigation control device 20 includes a weight information acquisition section 21, a vehicle information acquisition section 22, a position information acquisition section 23, a map information acquisition section 24, a route search section 25, a route guidance section 26, and a surrounding information acquisition section. 27, a weight ratio calculation section 31, a weight ratio determination section 32, a limit speed calculation section 33, a passage determination section 34, a display control section 35, and a communication control section 36.

The weight information acquisition unit 21 acquires weight information indicating the weighed weight of the vehicle. The weight information acquisition unit 21 acquires information on the weight of each wheel of the vehicle detected by the weight sensor 50. The weight information acquisition unit 21 may acquire detection data as weight information via the communication unit 19, for example, from a weight sensor 50 disposed at a loading/unloading place or on a road surface. In this case, the weight information acquisition unit 21 acquires weight information from the weight sensor 50 through short-range communication when passing the weight sensor 50 arranged on the road surface. The weight information acquisition unit 21 may, for example, acquire detection data as weight information from a weight sensor 50 that detects the amount of depression of a suspension installed in a vehicle. In this case, the weight information acquisition unit 21 acquires weight information from the weight sensor 50 via CAN or the like.

The vehicle information acquisition unit 22 acquires vehicle information including at least the model of the vehicle. The vehicle information may include, for example, the overall length, width, height, and number/position of wheels of the vehicle. The vehicle information acquisition unit 22 acquires vehicle information from a storage unit (not shown) of the vehicle.

The position information acquisition unit 23 acquires current position information indicating the current position of the vehicle. In this embodiment, the position information acquisition unit 23 acquires the current position information of the vehicle based on the GNSS signal acquired by the GNSS reception unit 11. The position information acquisition unit 23 outputs the acquired current position information to the map information acquisition unit 24, the route search unit 25, and the route guide unit 26.

The map information acquisition unit 24 acquires map information from the map information storage unit 12. More specifically, the map information acquisition unit 24 stores map information from the current position of the vehicle to the destination in the map information storage unit based on the current position of the vehicle and the position information of the destination acquired by the position information acquisition unit 23. Obtained from 12. The map information acquisition unit 24 acquires map information including at least deceleration points on the route. The map information acquisition unit 24 may acquire map information including, for example, curve curvature, slope, and number of lanes.

The route search unit 25 searches for a route from the current location of the vehicle to the destination. The route search unit 25 searches for the route of the vehicle to the destination, the expected passing time at each point on the route, and the expected arrival time at the destination. The route search unit 25 searches for an avoidance route that avoids the deceleration point when the passage determination unit 34 determines that the vehicle cannot pass. The route search unit 25 searches for a normal route and an avoidance route. The route search unit 25 presents the searched route to the user. The route search unit 25 includes a normal route search unit 251 that searches for a normal route, and an avoidance route search unit 252 that searches for an avoidance route.

The normal route search unit 251 searches for a normal route from the current location of the vehicle to the destination based on the current location information of the vehicle and the location information of the destination. The normal route search unit 251 searches for the route of the vehicle to the destination, the expected passing time at each point on the route, and the expected arrival time at the destination. The route search method is not limited and can use any known route search method.

The avoidance route search unit 252 searches for an avoidance route that avoids the deceleration point when the passage determination unit 34 determines that the vehicle cannot pass.

When the passage determining section 34 determines that the vehicle cannot travel at a speed below the limit speed, the avoidance route search section 252 searches for an avoidance route so as to avoid a deceleration point where the vehicle cannot travel at a speed below the limit speed.

If the passage determination unit 34 determines that driving at a speed below the limit speed will cause traffic jams and impair the movement of surrounding vehicles, the avoidance route search unit 252 locates a deceleration point where driving at a speed below the limit will impair the movement of surrounding vehicles. Search for an evasive route to avoid it.

For example, the avoidance route search unit 252 searches for an avoidance route that does not include a right curve for a vehicle whose weight ratio is such that it has a weak resistance to a right curve and may not be able to drive safely.

For example, the avoidance route search unit 252 searches for an avoidance route that will not be hit by strong winds from the right side for a vehicle having a weight ratio that may not be able to travel safely due to weak resistance to strong winds from the right side.

The route guidance section 26 provides route guidance from the current location of the vehicle to the destination. More specifically, the route guidance section 26 provides route guidance along the searched normal route. When an avoidance route is searched, the route guidance unit 26 provides route guidance along the searched normal route or avoidance route. The route guidance method is not limited and can be any known route guidance method.

The surrounding information acquisition unit 27 obtains surrounding information indicating the driving situation of the vehicle and the surrounding situation at the deceleration point on the route. Surrounding information includes, for example, driving conditions such as speed limits (minimum speed regulations), traffic volume, average vehicle speed, and inter-vehicle distance, and surrounding conditions such as weather (wind direction, wind speed, rainfall and snowfall) at deceleration points on the route. This is the information shown.

The weight ratio calculation section 31 calculates the longitudinal and lateral directions with respect to the traveling direction of the vehicle based on the vehicle information acquired by the vehicle information acquisition section 22 and the weight information acquired by the weight information acquisition section 21. Calculate the weight ratio. For example, the weight ratio calculating unit 31 may calculate the weight ratio between the total weight of the right front weight and the left front weight of the vehicle and the total weight of the right rear weight and the left rear weight. For example, the weight ratio calculation unit 31 may calculate the weight ratio between the total weight of the right front weight and the right rear weight of the vehicle and the total weight of the left front weight and the left rear weight. The weight ratio calculation unit 31 may calculate, for example, the weight ratio between the weight of the right front part of the vehicle and the weight of the left front part of the vehicle. For example, the weight ratio calculation unit 31 may calculate the weight ratio between the right rear weight and the left rear weight.

The weight ratio calculation unit 31 may calculate the front, rear, left, and right weight ratios with respect to the traveling direction of the vehicle from the vehicle weight acquired by the weight sensor, taking into account vehicle information. The weight ratio calculation unit 31 calculates the weight ratio by changing the method of totaling the weights of the front, rear, left and right sides of the vehicle, depending on the vehicle information such as the vehicle type, the total length of the vehicle, the vehicle width, the height, and the number and position of wheels. You may.

The weight ratio determination unit 32 determines whether the weight ratio calculated by the weight ratio calculation unit 31 is inappropriate. The weight ratio determination unit 32 determines whether the weight ratio calculated by the weight ratio calculation unit 31 is within the range of the weight ratio threshold value. If the weight of the vehicle is evenly balanced, the weight ratio will be 1. The weight ratio threshold value indicating an appropriate range of weight ratio is, for example, 0.9 or more and less than 1.1. For example, when the weight ratio is 0.9 or more and less than 1.1, the weight ratio determination unit 32 determines that the weight ratio is appropriate. For example, if the weight ratio is less than 0.9 or greater than or equal to 1.1, the weight ratio determination unit 32 determines that the weight ratio is inappropriate.

The weight ratio determination unit 32 may determine the weight imbalance of the vehicle. If the front weight is heavier than the rear weight, the weight ratio determination unit 32 determines that the weight is biased toward the front. If the rear weight is heavier than the front weight, the weight ratio determination unit 32 determines that the weight is biased toward the rear. If the weight on the left side is heavier than the weight on the right side, the weight ratio determination unit 32 determines that the weight is biased to the left. If the weight on the right side is heavier than the weight on the left side, the weight ratio determination unit 32 determines that the weight is biased toward the right side.

For example, if the weight ratio is biased to either the left or right side, the vehicle body may lose the weight ratio and roll over when driving around a curve, right or left turn, or on a slope. For example, if the weight ratio is biased toward the front, the stopping distance or braking distance may increase and the vehicle may not be able to stop at the intended position when going downhill or applying sudden braking. For example, if the weight ratio is biased toward the rear, the rear of the vehicle may shake, making steering operation unstable, or the front of the vehicle may lift when starting or climbing a slope. If the vehicle is a transport truck or other type of vehicle, the load may collapse due to shock or centrifugal force when making a curve or applying the brakes.

When the weight ratio determined by the weight ratio determination section 32 is determined to be inappropriate, the limit speed calculation section 33 calculates a limit speed at which the vehicle can safely travel at a deceleration point on the route. More specifically, when it is determined that the weight ratio calculated by the weight ratio calculation unit 31 is inappropriate, the limit speed calculation unit 33 calculates the vehicle information acquired by the vehicle information acquisition unit 22 and the weight information acquisition unit. Based on the weight information acquired by 21 and the map information on the route acquired by the map information acquisition unit 24, the limit speed at which the vehicle can safely travel at the deceleration point on the route is calculated.

More specifically, prior to the calculation process of the limit speed by the limit speed calculation unit 33, for example, based on past accident data, etc., for each vehicle weight information, the curvature of the curve, slope, number of lanes, etc. Also, calculate the limit speed at which the vehicle can travel safely.

The speed at which a vehicle can safely travel refers to the speed at which the vehicle can travel appropriately when traveling around a curve, etc., without running out of the lane, overturning, or slipping. If you drive above the speed limit, your vehicle is more likely to veer out of its lane, roll over, or skid.

The limit speed calculation unit 33 may calculate the limit speed from past accident information at the deceleration point stored in a storage unit (not shown).

The past accident information includes, for example, the weight information and vehicle information of the vehicle that overturned or skid, and the vehicle speed immediately before the accident, in association with the point where the overturn or slip occurred.

The limit speed calculation unit 33 calculates a limit speed based on the accident information at the deceleration point so that at least part of the weight information or vehicle information is the same, the speed limit is equal to or less than the vehicle speed of the accident information. .

The passage determining unit 34 determines whether or not it is possible to pass at a speed lower than the limit speed calculated by the limit speed calculating unit 33 at the expected passing time when passing the deceleration point on the route searched by the route search unit 25. The passage determination unit 34 determines the speed limit (minimum speed regulation) and traffic volume at the deceleration point on the route at the expected passing time when passing the deceleration point on the route based on the surrounding information acquired by the surrounding information acquisition unit 27. The determination may be made from surrounding situation information such as average speed of the vehicle, inter-vehicle distance, and weather (wind direction, wind speed, rain and snowfall).

The passage determination unit 34 further determines, based on the surrounding information acquired by the surrounding information acquisition unit 27, whether the vehicle can pass without impairing the running of other vehicles even if the vehicle travels at a speed below the limit speed. Good too. For example, when the traffic volume is large, when the average speed of the vehicle is faster than the limit speed by a predetermined speed or more, or when the inter-vehicle distance is shorter than the predetermined inter-vehicle distance, the passage determination unit 34 allows the vehicle to pass without impairing the running of other vehicles. It is determined that this is impossible. For example, when the traffic volume is low, when the average speed of the vehicle is about the same as the limit speed, or when the inter-vehicle distance is longer than a predetermined inter-vehicle distance, the passage determination unit 34 allows the vehicle to pass without impairing the running of other vehicles. It is determined that this is possible.

The display control unit 35 causes the display unit 18 to display the route searched by the route search unit 25.

The display control unit 35 displays the route guided by the route guide unit 26.

<Processing in the navigation control device>
Next, information processing in the driving support system 1 will be explained using FIG. 3. FIG. 3 is a flowchart showing the flow of processing in the navigation control device 20 according to the embodiment. Before the process of FIG. 3 is started, the navigation device 10 searches for a normal route to the destination and provides guidance along the normal route.

The navigation control device 20 determines whether weight information has been acquired (step S101). More specifically, when the weight information acquisition unit 21 acquires the detection data from the weight sensor 50 as weight information (Yes in step S101), the navigation control device 20 proceeds to step S102. If the weight information acquisition unit 21 does not acquire the detection data from the weight sensor 50 as weight information (No in step S101), the navigation control device 20 executes the process of step S101 again.

When the detection data is acquired as weight information from the weight sensor 50 (Yes in step S101), the navigation control device 20 calculates a weight ratio (step S102). More specifically, the navigation control device 20 uses the weight ratio calculation unit 31 to determine the traveling direction of the vehicle based on the vehicle information acquired by the vehicle information acquisition unit 22 and the weight information acquired by the weight information acquisition unit 21. Calculate the weight ratio in the front-rear direction and left-right direction. The navigation control device 20 proceeds to step S103.

The navigation control device 20 determines whether the weight ratio is appropriate (step S103). More specifically, in the navigation control device 20, the weight ratio determination unit 32 determines whether the weight ratio calculated by the weight ratio calculation unit 31 is within the range of the weight ratio threshold value. If the weight ratio determining unit 32 determines that the weight ratio is appropriate (Yes in step S103), the navigation control device 20 proceeds to step S101. If the weight ratio determining unit 32 does not determine that the weight ratio is appropriate (No in step S103), the navigation control device 20 proceeds to step S104.

If it is not determined that the weight ratio is appropriate (No in step S103), the navigation control device 20 calculates the limit speed (step S104). More specifically, the navigation control device 20 uses the limit speed calculation unit 33 to calculate the vehicle information acquired by the vehicle information acquisition unit 22, the weight information acquired by the weight information acquisition unit 21, and the map information acquisition unit 24. Based on map information on the route, the limit speed at which the vehicle can safely travel at deceleration points on the route is calculated. The navigation control device 20 proceeds to step S105.

The navigation control device 20 determines whether the deceleration point can be passed safely (step S105). More specifically, the navigation control device 20 determines, by the passage determination unit 34, that the speed is below the limit speed calculated by the limit speed calculation unit 33 at the expected passing time when passing the deceleration point on the route searched by the route search unit 25. Determine whether it is possible to pass. If the passage determining unit 34 determines that the deceleration point can be passed safely (Yes in step S105), the navigation control device 20 proceeds to step S101. If the passage determining unit 34 does not determine that the deceleration point can be passed safely (No in step S105), the navigation control device 20 proceeds to step S106.

If it is not determined that the deceleration point can be passed safely (No in step S105), the navigation control device 20 searches for an avoidance route (step S106). More specifically, the navigation control device 20 uses the avoidance route search unit 252 to search for an avoidance route that avoids the deceleration point when the passage determination unit 34 determines that the passage is impossible. The navigation control device 20 uses the avoidance route search unit 252 to search for an avoidance route so as to avoid a deceleration point where the vehicle cannot travel at a speed below the limit speed. The navigation control device 20 uses the avoidance route search unit 252 to search for an avoidance route so as to avoid a deceleration point that would impair the running of surrounding vehicles if the vehicle travels below the limit speed. The navigation control device 20 proceeds to step S107.

The navigation control device 20 displays the avoidance route (step S107). More specifically, the navigation control device 20 causes the display control unit 35 to display the avoidance route on the display unit 18. The navigation control device 20 uses the route guidance section 26 to provide route guidance along the avoidance route.

<Effect>
As described above, according to the present embodiment, when it is determined that the weight ratio of the vehicle is inappropriate, the limit speed at the deceleration point on the route is calculated. In the present embodiment, it is determined whether or not the vehicle can pass at a speed below the limit speed at the expected passing time when passing a deceleration point on the route. According to this embodiment, when the weight ratio of the vehicle is inappropriate, it is possible to guide the vehicle through a route that can be passed at a speed below the limit speed. The present embodiment can assist in avoiding danger by guiding an appropriate route according to the weight ratio of the vehicle.

In the present embodiment, it is further determined based on surrounding information whether the vehicle can pass without impairing the running of other vehicles even if the vehicle travels at a speed below the limit speed. According to the present embodiment, it is possible to guide the vehicle to an avoidance route that avoids deceleration points that impede the travel of surrounding vehicles if the vehicle travels at a speed below the limit speed, thereby assisting in avoiding danger.

In this embodiment, the limit speed is calculated from past accident information at the deceleration point. In this embodiment, the limit speed can be calculated more appropriately.

Each component of the illustrated driving support system 1 is functionally conceptual, and does not necessarily have to be physically configured as illustrated. In other words, the specific form of each device is not limited to what is shown in the diagram, and all or part of it may be functionally or physically distributed or integrated into arbitrary units depending on the processing load and usage status of each device. You can.

The configuration of the driving support system 1 is realized by, for example, a program loaded into a memory as software. The above embodiments have been described as functional blocks realized by cooperation of these hardware or software. That is, these functional blocks can be implemented in various forms using only hardware, only software, or a combination thereof.

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

1 Driving support system 11 GNSS receiving section 12 Map information storage section 18 Display section 19 Communication section 20 Navigation control device 21 Weight information acquisition section 22 Vehicle information acquisition section 23 Position information acquisition section 24 Map information acquisition section 25 Route search section 251 Normal route Search unit 252 Avoidance route search unit 26 Route guide unit 27 Surrounding information acquisition unit 31 Weight ratio calculation unit 32 Weight ratio determination unit 33 Limit speed calculation unit 34 Passage determination unit 35 Display control unit 36 Communication control unit

Claims (5)

a route search unit that searches for a route for a vehicle to a destination, an expected passing time at each point on the route, and an expected arrival time at the destination;
a map information acquisition unit that acquires map information including at least deceleration points on the route;
a vehicle information acquisition unit that acquires vehicle information including at least the model of the vehicle;
a weight information acquisition unit that acquires weight information indicating the weighed weight of the vehicle;
a weight ratio calculation unit that calculates a weight ratio in a longitudinal direction and a left-right direction of the vehicle based on the vehicle information acquired by the vehicle information acquisition unit and the weight information acquired by the weight information acquisition unit; ,
a weight ratio determination unit that determines whether the weight ratio calculated by the weight ratio calculation unit is appropriate;
When the weight ratio determination unit determines that the weight ratio is inappropriate, the vehicle information acquired by the vehicle information acquisition unit, the weight information acquired by the weight information acquisition unit, and the map a limit speed calculation unit that calculates a limit speed at which the vehicle can safely travel at the deceleration point on the route based on the map information on the route acquired by the information acquisition unit;
a passage determination unit that determines whether or not it is possible to pass at the speed limit calculated by the speed limit calculation unit or less at the predicted passage time when passing the deceleration point on the route searched by the route search unit; ,
Equipped with
The route search unit searches for an avoidance route that avoids the deceleration point when the passage determination unit determines that the deceleration point cannot be passed.
Navigation control device. The deceleration point is at least one of a road curve point, a turning corner, an intersection, a temporary stop point, a slope starting point, and a railroad crossing.
The navigation control device according to claim 1. a surrounding information acquisition unit that obtains surrounding information indicating the driving situation of the vehicle and the surrounding situation at the deceleration point on the route;
Equipped with
The passage determination unit further determines whether the vehicle can pass without impairing the running of other vehicles even if the vehicle runs at a speed below the limit speed, based on the surrounding information acquired by the surrounding information acquisition unit. judge,
The navigation control device according to claim 1. The limit speed calculation unit calculates the limit speed from past accident information at the deceleration point.
A navigation control device according to any one of claims 1 to 3. a route search step of searching for a route for the vehicle to a destination, an expected passing time at each point on the route, and an expected arrival time at the destination;
a map information acquisition step of acquiring map information including at least deceleration points on the route;
a vehicle information acquisition step of acquiring vehicle information including at least the model of the vehicle;
a weight information acquisition step of acquiring weight information indicating the weighed weight of the vehicle;
a weight ratio calculation step of calculating a weight ratio in a longitudinal direction and a lateral direction of the vehicle based on the vehicle information obtained in the vehicle information obtaining step and the weight information obtained in the weight information obtaining step; ,
a weight ratio determining step of determining whether the weight ratio calculated in the weight ratio calculating step is appropriate;
If the weight ratio is determined to be inappropriate in the weight ratio determination step, the vehicle information acquired in the vehicle information acquisition step, the weight information acquired in the weight information acquisition step, and the map a limit speed calculation step of calculating a limit speed at which the vehicle can safely travel at the deceleration point on the route based on the map information on the previous route acquired in the information acquisition step;
a passage determination step of determining whether or not it is possible to pass at a speed equal to or less than the limit speed calculated by the limit speed calculation step at the expected passing time when passing the deceleration point on the route searched by the route search step; ,
including;
The route searching step searches for an avoidance route that avoids the deceleration point when it is determined by the passage determination step that the deceleration point cannot be passed.
navigation method.

Images