JP3432812B2 - Pre-presentation device for road-related information for vehicles - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is mounted on a vehicle such as an automobile or a moving body, calculates a recommended traveling route to an arbitrary starting point or current position and destination, and calculates the current position, route or course. The present invention relates to a vehicle road related information pre-presentation device to be presented.

[0002]

2. Description of the Related Art As a conventional device of this type, there is one proposed by the Institute of Electronics and Communication Engineers 8 / '79, P870-P887 "Automotive Integrated Control System". This is because the vehicle's current location data and destination data are input, the shortest route between them is calculated, and 10 to 15 points of the points where the required action should be taken.
When it was about two seconds before, it was instructed to turn right or left according to the route data. Besides, for example, JP-A-5
There is one disclosed in Japanese Unexamined Patent Publication No. 8-223017. This is to input the vehicle's current location data and destination data, calculate the shortest route between them, and when the vehicle's display position is a certain distance before a predetermined intersection, give an instruction such as right turn / left turn according to the route data. there were.

[0003]

However, since the conventional vehicle road related information pre-presentation device is configured as described above, in any of the devices, the position detection error varies in the presentation timing. Since it is included, there is a fatal problem in so-called route guidance such as presenting after passing an intersection or presenting a right turn / left turn at a different intersection far before the intersection to be presented. Alternatively, it had a problem that it could not be realized unless the infrastructure on the road was developed. Furthermore, when a certain distance is presented in advance, it takes a certain amount of judgment time, operation time, etc. to perform a predetermined operation when the speed is high. Therefore, at a characteristic point, for example, a course change (turn right or turn left, etc.) ) Had to be performed before the deceleration was completed, which was a fatal problem. Further, since the one presented before a predetermined time, that is, the one presented in advance by a distance proportional to the vehicle speed, presents the recommended course at a predetermined time, for example, a predetermined time predicted from the vehicle speed at which the vehicle turns right or left. For example, when approaching an intersection slowly and slowly, the course will be presented only after reaching the position just before, so the operation of the turn signal will be delayed, or too soon before the intersection. However, there was a fatal safety problem that the driver couldn't change lanes or the driver would panic. On the other hand, when the vehicle speed is high, there is still a serious problem that, for example, if the vehicle speed is only presented in advance for a certain period of time, the vehicle speed cannot be lowered enough to make a right turn or a left turn.

The present invention has been made to solve the above problems, and detects and estimates the road / intercept / position on the road data of the vehicle based on the road map data, and at the same time estimates the position detection error. Then, a vehicle road related information pre-presentation device having a step of presenting a recommended route or future road network related information to the driver at an appropriate timing before a predetermined distance or a predetermined time in consideration of the position detection error is obtained. The purpose is to Then, not only a fixed distance in advance or a fixed advance, that is, a distance in advance that is simply proportional to the vehicle speed, but in advance at a low speed, at a predetermined distance or more, and at a high speed, at a timing that can be expressed by a predetermined function of the vehicle speed of a predetermined time or more By doing so, it is an object of the present invention to provide a vehicle road related information pre-presentation device that eliminates fatal drawbacks of both and presents the advantages of both to the maximum. The purpose is almost the same in the case where the route searches are arranged side by side.

[0005]

A vehicle road related information pre-presentation device according to the present invention detects a position of a vehicle and a map storage means for storing road related information and corresponds to a position where the vehicle is traveling. Position-related information detection means for estimating the position on the map of the map storage means and for obtaining such an error ,
The curvature of the curve,
Based on the road-related information, a feature on the road network or road configuration including at least one of road slope, slope, and road width change and its feature position are obtained, and based on the contents of the feature and feature position and the vehicle speed of the vehicle. And a presenting means for performing control to reduce the vehicle speed when the deceleration timing in which the error is predicted and the error is predicted is reached.

Further, the vehicle road related information pre-presentation apparatus according to the present invention includes a map storage means for storing road related information and a map storage means for detecting the position of the vehicle and corresponding to the position where the vehicle is traveling. While estimating the position on the map,
The position-related information detecting means for obtaining such an error and the curvature of the curve, road gradient,
A feature of a road on a road network or a road form including at least one of inclination and road width change and its characteristic position are obtained based on road-related information, and based on the contents of the feature and the characteristic position and the vehicle speed of the vehicle. The present invention further includes a presenting unit that predicts that the motion of the vehicle should be changed and, when a control timing that allows for an error is reached, performs control for changing the motion of the vehicle.

[0007]

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of the present invention will be described below with reference to the drawings. The present invention has a functional block configuration as schematically shown in FIG. 1, and can be configured to operate with a combination of a hard logic circuit, sensors, an input device, a map storage device, and an output device. Since it is practical to realize the characteristic means of the present invention by a computer program stored in a semiconductor memory, that is, by sequential processing, using a processing device based on a microcomputer instead of a logic circuit. As a more detailed embodiment, a system using the microcomputer shown in FIG. 2 will be described.
In FIG. 1, 1 is a map storage unit, 2 is a position-related information detection unit interconnected to the map storage unit 1, and 3 is a presentation unit interconnected to the map storage unit 1 and the position-related information detection unit 2. is there. In FIG. 2, 100 is a vehicle speed sensor, 200 is a direction sensor, 210 is a GPS receiver, 22
0 is a beacon receiver, 300 is a CRT, 400 is a touch panel, 500 is a speaker, 600 is a CD-ROM that stores a map database and a driver that drives it.
700 is a traffic information receiver, 1000 is a CPU 1100
Is a microcomputer system that has various sensors, a CD-ROM drive, an interface circuit with a touch panel, a CRT controller, a resource 1200 such as an image memory, and a RAM 1300 that stores an intermediate result of calculation and a program. RO to remember
Not only M1400 but also non-volatile memory RA not shown
M, system timer, clock source, etc. ROM
A computer program whose processing procedure is shown in FIGS. 3, 4, and 5 is incorporated in the 1400, for example.

The operation of one embodiment will be described below with reference to FIGS.
This will be described using the processing flowchart of the computer program shown in FIG. First, these programs are interrupted at predetermined time intervals such as 0.1 seconds by the system timer. In FIG. 3, in step 1, the vehicle speed sensor 1 is generated every time the vehicle travels a certain distance.
Moving distance ΔL from the count-up value of the output pulse of 00
Is calculated. In step 2, the vehicle speed V is calculated.

V = ΔL / Δt

In step 3, the moving average Vav of the vehicle speed V
Is calculated. In step 4, the azimuth sensor 200, for example, the geomagnetic azimuth sensor, or the rate gyro sensor, detects the geomagnetic azimuth or the relative azimuth to estimate the vehicle azimuth Ω. In step 5, the movement vector represented by the vehicle direction and the movement distance is added to the previous position to calculate the new position of the vehicle. The initial value of the previous position is used by reading the battery backup memory that stores the position immediately before the system was stopped. In addition, when a new absolute position is detected or a corrected position is detected by operating the GPS receiver 210, the beacon receiver 220, or the touch panel 400, the position is corrected. In step 6, the traveling distance L after the vehicle on the new road on the road network of the CD-ROM 1600 map is located
1, the elapsed time T1 is integrated. In step 7, the position is corrected or corrected (expected error is reduced)
The traveled distance L2 and the elapsed time T2 are integrated. In step 8, it is checked whether or not it is the time of collation, that is, whether or not the vehicle has traveled a predetermined distance, such as 10 meters, from the position where the previous pass 1 was executed. If it is the collation time, the process proceeds to step 9, and if it is not the collation time, the process proceeds to step 24. In step 9, the correlation coefficient between the loci, that is, the position series and the shape of the nearby road on the map corresponding to the latest position (for example, for each of the nearby roads, the standard deviation of the orientation of each of the trajectory segment and the road segment). Is calculated, and the degree of similarity is calculated using them), and based on the correlation coefficient, the road, the position on the road, the traveling direction on the road, etc. are estimated and calculated, and the position sequence is calculated backward. When the obtained locus is bent at a predetermined angle such as 45 to 135 degrees, and the road on the map is also bent in such a bending range, the position is corrected on the road. Here, it is expected that the accumulated error of the estimated position at the position after the bending is reduced. In addition,
If there are multiple curved roads in the vicinity and the correlation coefficient is similar, the position correction is suspended, and when the correlation coefficient becomes significantly larger than the others, the position is corrected. To be done. Note that the position correction here is performed by using the absolute position information from the various receivers in step 5 here, and the position correction is further performed or the pending position correction is referred to as the absolute position. It may be corrected to the proper position. In step 10, the turning (bending) in step 9 is checked. If you are turning, step 11
If it is not turning, proceed to step 12. In step 11, the value corresponding to the turning angle for position error calculation stored in an appropriate storage means such as the constant table of the ROM 1400 is read and the parameter K22 is read.
Set. In step 12, it is checked whether the absolute position has been newly detected. That is, the reception result of the GPS receiver 210 or the beacon receiver 220 in step 5 is checked here. If detected, the process proceeds to step 13, and if not detected, the process proceeds to step 14.
In step 13, a value corresponding to the absolute position detection accuracy is set in the parameter K22. For example, when the GPS receiver 210 detects the absolute position, a value proportional to the DOP (position detection accuracy deterioration index) value is set. In step 14, it is checked whether or not the position is corrected by being operated by an appropriate means such as the touch panel 400. If it has been modified, the process proceeds to step 15, and if it has not been modified, the process proceeds to step 17. In step 15,
The accuracy of position correction is set to the value of parameter K22. This accuracy is set by the user when the position is corrected, or an appropriate value is determined in advance. In step 16, the travel distance L2 after the position correction or correction is performed.
Is cleared. In step 17, it is checked whether the vehicle position has moved to a new road on the map. If so, the process proceeds to step 18, and if not, the process proceeds to step 24. In step 18, in the traveling direction of the newly transferred road, with respect to an arbitrary destination that is predicted to arrive, for example, a road up to three intersections ahead, a road other than the road at the next intersection Is the CD-RO as the map storage means for information about the road to the next intersection.
It is searched from M600. Data of facilities or the like having the attribute of position is similarly searched under the condition that the predicted arrival road is nearby. In the case of an application in which a recommended route is separately obtained, information on roads constituting the recommended route to an arbitrary distant road according to a user's designation is searched. This search may be performed when the route is searched.
In step 19, for example, the road length CL to the next intersection (feature point A) of the road or the required time TL is CD.
-Retrieved from ROM 600. In the case of an application in which the recommended route is separately obtained, the length of the recommended route, that is, the length of the road to the destination, or the required time is calculated in advance. Alternatively, it may be a road or a point where the traveling ends, that is, a branch point or an intersection, and the recommended route does not follow the road (characteristic point A).
The length of the route up to, or the required time is retrieved or further calculated. If there is road traffic information received by the traffic information receiver 700 from the outside, it is also used. In step 20, the attribute of the predicted arrival road is checked, and, for example,
If there is a section in which a certain speed limit is set and there is a section that has been made into data, the content (meaning), presentation start time, presentation end time, presentation interval, etc. are registered for each content. In step 21, the feature of the road shape of the predicted arrival road is calculated and extracted, and the content (meaning), the feature, the presentation time / position, etc. are registered. For example, the bending angle of the road segment is evaluated, and the angle and the position 200 meters before the bending (example of XS described later) are registered.
In steps 22 and 23, the traveling distance L1 and the elapsed time T1 after the position is newly moved to the road are cleared. In step 24, the estimation error g of the vehicle position is calculated by the following equation, for example.

G = K21.L + K22 where K21 is the maximum error rate of the vehicle speed sensor, for example,
It is 0.005.

In step 25, a positive estimation error is expected in the traveling distance L1 or the elapsed time T1.

L1 '= L1 + g T1 '= T1 + g / Vav

In step 26, the estimated error g is expected to be negative in the traveling distance L1.

L1 "= L1-g T1 ″ = T1 + g / Vav

In step 27, for example, the road length CL to the characteristic point A or the required time TL is standardized, and the position DL of the vehicle on the road deformed and displayed on the arbitrary scale D or the required time DT is calculated. .

DL = D. (CL-L1 ') / CL DT = D ・ (TL-T1 ') / CL

In step 28, the standardized position error g1 or the standardized time error gt is calculated from the estimated error g in the same manner.

G1 = D · g / CL gt = D · g (Vav · TL)

In FIG. 4, in step 29, the presentation start position Xth or the presentation start time Tth is calculated.

Xth = CL- (CL-XS) * {Vav /
V0 + exp (-Vav / V1)} Tth = CT- (CT-XS) * {1 / V0 + exp (-Va
v / V1) / Vav} V0 and V1 are arbitrary speeds (constants)

In step 30, the running distance L1 ', which is positive for the error, is the presentation start position Xt considering the average vehicle speed.
Compared with h. Alternatively, the similar elapsed time T1 ′ is compared with the presentation start time Tth. If L1 ′ ≧ Xth, the process proceeds to step 31, and if not, the process proceeds to step 35. In step 31, it is checked whether the estimation error g is larger than a predetermined value. If it is larger , the process proceeds to step 32, and if it is not larger, the process proceeds to step 33. Step 3
In 2, it is checked whether or not there is an intersection around the position within the error range. Step 3 if there is no intersection
3. If so, proceed to step 34. In step 33, the information related to the predicted arrival road is deformed in any form according to the registered contents, for example, the feature point of the road being traveled, the first intersection, and nearby facilities are deformed, and the traveling direction is turned up. Then, it is arbitrarily enlarged or reduced to a part of the screen, superimposed, and presented. In that case, for example, the information is superimposed displayed on the CRT 300 together with a notice sound from the speaker 500, or is announced by a voice after the notice is previously given from the speaker 500. Also, "presenting" is added to the registration. The information related to the predicted arrival road is further presented as follows, for example. Centrifugal force is predicted and calculated on the basis of the curvature of the curved road and the current vehicle speed V extracted from the features.
If it exceeds a predetermined value, a warning will be issued. further,
The reason for the warning and the distance or time that allows for an error to the dangerous position are presented. Alternatively, the vehicle speed in the safe area is further calculated, and the safe vehicle speed is presented. Alternatively,
Control is performed to reduce the vehicle speed via a vehicle speed braking device (not shown), and the vehicle speed is gradually reduced. In this case, it is desirable that the vehicle speed is reduced to a safe (recommended) speed. The risk factor may be a curvature, a slope, a slope, a road width change, or the like, or a combination thereof. Further, not only the control of the vehicle such as deceleration or acceleration, but also the control of changing the direction of the vehicle when the estimation accuracy is high may be performed. In step 34, for example,
The presentation is canceled and the registration is deleted. Alternatively, it is presented that the error is large, or the semantic information is expressed in a positional range. In step 35, it is checked whether there is any other registration other than the one being presented. If registered, the process returns to step 29, and if not registered, the process proceeds to step 36. In step 36, the traveling distance L1 "in which the error is expected to be negative
Is compared with the presentation end position XE. Alternatively, the elapsed time T1 "is compared with a similar presentation end time TE. L
If 1 "> XE or T1"> TE, the process proceeds to step 37. If vice versa, the process proceeds to step 38. At step 37, the presentation is stopped and the registration is deleted. Step 38
Then, it is checked whether there is any unregistered registration that is being presented. If there is no unerased registration, the process returns to step 36, and if there is, the process returns. In FIG. 5, step 39
Then, for example, the position of the vehicle is set as the center of the screen of the CRT 300, and the display map is scrolled as the position moves.
That is, the window that determines which part of the display buffer memory (not shown) is displayed is shifted as it moves. Then, when an area where a map shortage is predicted is formed in the display buffer memory, the subsequent display map data is newly read from the CD-ROM 600. CRT3
At the center of the screen of 00, the vehicle symbol is displayed in the direction of the vehicle in the map coordinate system. Further, the information on the standardized position DL and the standardized position error g1 is displayed in an overlapping manner on the display of the road having the length D to the characteristic point A. Alternatively, information on the standardized elapsed time TL and the standardized time error gt is displayed in an overlapping manner. These may be displayed numerically instead of graphically. In step 40, it is checked whether or not there is newly registered content (semantic information such as an attribute, a feature or position on the road network or road form). Those already presented are not included. If there is registered content, the process proceeds to step 41, otherwise returns. In step 41, the processing of the data is started for prompt presentation of the contents (semantic information) whose processing takes time. Alternatively, if it takes a long time to search, for example, for reading fairly complicated graphic data, data reading from the CD-ROM 600 is started. A flag is set at the end of processing. And then return. In FIG. 6, in step 42, it is checked whether or not the route is displayed according to the content held by the user's selection result. If it is the route display mode, the process proceeds to step 43, otherwise returns. Step 4
At 3, it is checked whether the starting point or the destination has been set. If already set, the process proceeds to step 45, and if not, the process proceeds to step 44. In step 44,
The origin or destination is set. In step 45, it is checked whether the route should be modified. If the route is to be modified, proceed to step 46, otherwise return. In step 46, a recommended route from the starting point to the destination is searched for in consideration of traffic information, and then the process returns.

[0023]

Since the present invention is as described above, the following effects can be achieved. 1. Since it is possible to present arbitrary meaning information regarding the predicted arrival road or the recommended route at a timing that allows for the position estimation error, the user can accurately grasp the meaning information. 2. Since the remaining distance to the arbitrary point on the predicted road to reach or the recommended route or the estimated required time can be presented at a timing that allows for a position estimation error, the user can judge the remaining distance or the estimated required time without delay. . 3. Since the presentation form of arbitrary semantic information regarding the predicted arrival road or the recommended route can be changed according to the position estimation error, the user can trust the presented content. 4. Since it is possible to present any semantic information regarding the predicted arrival road or the recommended route at a predetermined distance or more at low speed and at a predetermined timing or more at high speed,
It is presented at a more accurate timing at low speed or high speed. Alternatively, since the control for changing the motion of the vehicle is performed at the same timing, the problem of changing the motion does not occur at any vehicle speed. 5. Since the presentation form of arbitrary semantic information regarding the predicted arrival road can be changed according to the degree of the estimated position error and the density of the road network, the user can trust the presented content more. 6. Arbitrary semantic information regarding the predicted arrival road or the recommended route can be processed in advance of the point of time to be presented, so that the presentation timing is not lost. Alternatively, more complicated presentation contents can be presented. 7. Since the presentation start timing and the presentation end timing can be given to each arbitrary attribute information regarding the predicted arrival road or the recommended route, more detailed presentation can be realized. 8. Since any semantic information about the predicted arrival road or the recommended route can be used as a function of the average vehicle speed, the presentation form by the instantaneous vehicle speed does not fluctuate. 9. Since any semantic information regarding the predicted arrival road or the recommended route is presented after the warning sound is emitted, the user can lean the attention from immediately before listening to the announcement, so that the user does not miss it. 10. The danger is predicted from any characteristic information about the predicted arrival road or the recommended route and the vehicle speed, and a warning is issued at the timing when the position estimation error is expected, so that the user can perform reliable vehicle operation for danger prevention in advance. it can. 11. The user predicts the danger from arbitrary characteristic information about the predicted arrival road or recommended route and the vehicle speed, and presents a warning and a safe (recommended) speed at the timing when the position estimation error is expected, so the user has a highly reliable prior timing. To
It is possible to know the degree of vehicle operation for risk prevention. 12. The risk is predicted from arbitrary characteristic information about the predicted arrival road or the recommended route and the vehicle speed, and control is performed to reduce the vehicle speed at the timing when the position estimation error is expected. It automatically decelerates to make driving easier and safer. 13. It predicts that the movement of the vehicle should be changed based on any characteristic information on the predicted arrival road or recommended route and the vehicle speed, and controls the movement of the vehicle at the timing when the position estimation error is taken into consideration. At a highly reliable advance timing, exercise change control is automatically performed to prevent danger, making driving easier.

[Brief description of drawings]

FIG. 1 is a block diagram showing an outline of a functional configuration of an embodiment of the present invention.

FIG. 2 is a block diagram showing an actual hardware configuration of an embodiment of the present invention.

FIG. 3 is a flowchart showing a processing program incorporated in the ROM according to the embodiment of the present invention.

FIG. 4 is a flowchart showing a processing program incorporated in the ROM according to the embodiment of the present invention.

FIG. 5 is a flowchart showing a processing program incorporated in the ROM according to the embodiment of the present invention.

FIG. 6 is a flowchart showing a processing program incorporated in the ROM according to the embodiment of the present invention.

[Explanation of symbols]

1 map storage means, 2 position related information detection means, 3 presentation means.

Front page continued (58) Fields surveyed (Int.Cl. ⁷ , DB name) G08G 1/16 G01C 21/00 G08G 1/0969 G09B 29/00 G09B 29/10

Claims (2)

(57) [Claims] 1. A map storage means for storing road-related information, a vehicle position is detected , a position on the map of the map storage means corresponding to a traveling position of the vehicle is estimated, and such an error is detected. Position-related information detecting means to be obtained, and a feature on the road network or road form including at least one of a curvature of a curve, a road gradient, a slope and a road width change and a feature position of the road predicted to be reached by the vehicle Is determined based on the road-related information, the risk is predicted based on the contents of the characteristic and the characteristic position and the vehicle speed of the vehicle, and when the deceleration timing in consideration of the error is reached, the control for reducing the vehicle speed is performed. An apparatus for pre-presenting road-related information for a vehicle, which comprises a presenting means for performing. 2. A map storage means for storing road-related information, a vehicle position is detected , a position on the map of the map storage means corresponding to a position where the vehicle is traveling is estimated, and the error is A position-related information detecting unit to be obtained, and a road characteristic on a road network or a road configuration including at least one of a curvature of a curve, a road gradient, a slope, and a road width change regarding the road predicted to arrive by the vehicle, and its characteristics. A characteristic position is obtained based on the road-related information, and it is predicted that the motion of the vehicle should be changed based on the characteristic and the contents of the characteristic position and the vehicle speed of the vehicle, and the control timing is adjusted in consideration of the error. A vehicle road related information pre-presentation device comprising: a presentation unit that performs control to change the motion of the vehicle when the vehicle arrives.