JP3432813B2 - 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 Patent Laid-Open 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, a device that presents a certain distance in advance can provide a predetermined distance when the speed is high. Since a certain amount of judgment time and operation time are required to make a motion, a fatal problem that a characteristic change, for example, a change of course (right turn, left turn, etc.) must be performed before deceleration is completed. Had a point. 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 in order to solve the above-mentioned problems, and it is not a fixed distance in advance, or a fixed advance, that is, a distance in advance proportional to the vehicle speed, but a predetermined distance or more at low speed. , At the time of high speed, by showing in advance only the timing that can be expressed by a predetermined function of the vehicle speed for a predetermined time or more, eliminating fatal defects of both,
It is also an object of the present invention to provide a vehicle road related information pre-presentation device that can present both advantages to the maximum extent in advance. 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 and arbitrary semantic information about the road where the vehicle is predicted to arrive are obtained based on the road-related information, and a predetermined distance or more at low speed and a predetermined time at high speed The above presentation timing is calculated as a function of the average vehicle speed during traveling, and the presentation means for presenting the semantic information or changing the movement of the vehicle is provided when the presentation or control timing is reached for each semantic information. It is a thing.

Further, the vehicle road related information pre-presentation apparatus according to the present invention detects the position of the vehicle by the map storage means for storing the road related information and the position on the map corresponding to the position where the vehicle is traveling. Position-related information detecting means for estimating
Eventually after any semantic information about the road on which the arrival of the vehicle is predicted prediction of the risk on the basis of the content and the vehicle speed calculated based on the road-related information, it cautioned in advance notice sound, based on the semantic information it is obtained by a presentation unit that performs control for changing the motion of the vehicle as announced by voice, to prevent the risk Te.

[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.

When a new absolute position 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 CD-ROM 16
The travel distance L1 and the elapsed time T1 since the vehicle on the new road on the road network of 00 map is located are added up. In step 7, the traveling distance L2 and the elapsed time T2 since the position is corrected or corrected (the expected value of the error is reduced) 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, a locus, that is, a position series, and a correlation coefficient between the shapes of neighboring roads on the map corresponding to the latest position (for example, for each neighboring road, the orientations of the trajectory segment and the road segment). The standard deviation of is calculated and the similarity is calculated using them) is calculated.
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 trajectory obtained by back-calculating the position series is bent at a predetermined angle such as 45 degrees to 135 degrees, and the map When the upper road is also bent in such a corner 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. If there are several curved roads near each other 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. Is corrected to. 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.

At step 10, the turning (bending) at step 9 is checked. If it is turning, the process proceeds to step 11, and if it is not turning, the process proceeds to step 12. In step 11, a 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 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 it is detected, the process proceeds to step 13; otherwise, step 14 is performed.
Proceed to. In step 13, a value corresponding to the absolute position detection accuracy is set in the parameter K22. For example, G
If the PS receiver 210 detects the absolute position, the DOP
A value proportional to the (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. Step 1 if corrected
5. If not modified, proceed to step 17. In step 15, the accuracy of position correction is set to the value of the 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 traveling distance L2 after the position correction or correction 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, an arbitrary destination which is predicted to arrive soon, for example, a road or a road up to three intersections ahead of the other road, is excluded at the next intersection. Information about roads up to the next intersection, the CD-RO as a map storage means.
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 if there is a section in which a certain speed limit is set and there is a data-converted section, its content (meaning), presentation start time, presentation The end time or the presentation interval is 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.

[0027] Xth = CL- (CL-XS) * {Vav / V0 + exp (-Vav / V1)} Tth = CT- (CT-XS) * {1 / V0 + exp (-Vav / V1) / Vav}                 V0 and V1 are arbitrary speeds (constants)

In step 30, the running distance L1 'in which the error is positively estimated 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 so, step 32
And if not larger, proceed to step 33. In step 32, it is checked whether or not there is an intersection around the position in the error range. If there is no intersection, the process proceeds to step 33, and if there is no intersection, the process proceeds to step 34.

In step 33, the information relating to the predicted arrival road is deformed in any form according to the registered contents, for example, the characteristic points of the road being run, the first intersection and the nearby facilities are deformed, and the running direction is On top, the image 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. The centrifugal force is predicted and calculated based on the feature-extracted curvature of the curved road and the current vehicle speed V. If the centrifugal force exceeds a predetermined value, a warning is issued.
Further, the reason for the warning, the distance or time in which an error to the dangerous position is estimated, and the like 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. Risk factors include road curvature, slope, slope,
The road width may be changed, or a combination thereof may be used. 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. Step 2 if you have registration
9. If not, go to step 36. Step 36
Then, the traveling distance L1 ″ with a negative error is compared with the presentation end position XE. Alternatively, the elapsed time T1 ″ is
It is compared with a similar presentation end time TE. If L1 ″> XE or T1 ″> TE, the process proceeds to step 37, and if not, the process proceeds to step 38. At step 37, the presentation is stopped and the registration is deleted. In step 38, it is checked whether there is any other unsubmitted registration being presented. If there is no unerased registration, the process returns to step 36, and if there is, the process returns.

In FIG. 5, in step 39, for example, the position of the vehicle is set as the screen center 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, if there is a region where a map shortage is predicted in the display buffer memory, a new display map data will be newly added to the CD.
Read from ROM 600. At the center of the screen of the CRT 300, the symbol of the vehicle 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. Or the standardized elapsed time TL,
Information of 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 attribute, feature or position on 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. Or something that takes a long time to search, for example, C for reading complicated graphic data.
Data reading from the D-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, depending on the content of the selection result of the user. Step 4 if in route display mode
Go to 3, otherwise return. Step 43
Then, 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 starting point 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.

By the above, the following effects are 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 arbitrary semantic information regarding the predicted arrival road or recommended route at a predetermined distance or more at low speed and at a predetermined time or more at high speed, more accurate timing at low speed or high speed can be presented. Presented to. 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. In addition, 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.

[0039]

EFFECTS OF THE INVENTION Vehicle related information in advance according to the present invention
The presentation device is a map storage unit that stores road-related information,
The location of the vehicle is detected and the location corresponding to the location where the vehicle is traveling is detected.
Position-related information detection for estimating the position of map on map
Means, and roads where vehicles are expected to arrive
Meaningful meaning information is obtained based on road related information, and at low speed
Pre-presentation for a certain distance or more, or more than a certain time at high speed
The iming is calculated as a function of the average vehicle speed while driving, and the meaning
When each information is presented or the control timing is reached, the meaning
Provides control to present information or change vehicle motion
Since it has a presentation means, it can be used at low speed or high speed.
It can be presented at the right time.

Further, vehicle-related information according to the present invention
The pre-presentation device is a map storage unit that stores road-related information.
The position of the vehicle is detected and the position of the vehicle
Position-related for estimating the position on the map of the map storage means
Information detection means and roads where vehicles are expected to arrive soon
Based on the above road-related information, obtain any semantic information related to
Predict the danger based on the details and the vehicle speed, and
Alternatively, a warning sound is emitted and the danger is detected based on the above semantic information.
With a presentation means for controlling the movement of the vehicle so as to prevent a sudden
Because it was equipped, the vehicle can be reliable in advance timing,
It is possible to perform control to change exercises to prevent danger.
Wear.

[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, and a position-related information detection means for detecting the position of a vehicle and estimating the position on the map of the map storage means corresponding to the position where the vehicle is traveling. Based on the road-related information, any meaningful information about the road where the vehicle is predicted to arrive is obtained based on the road-related information.Pre-presentation timing of a predetermined distance or more at low speed and a predetermined time or more at high speed A road related information pre-presentation device for vehicles, which is provided as a function of presenting the meaning information or performing control to change the motion of the vehicle when the timing or the control timing is reached for each of the meaning information. 2. A map storage means for storing road-related information, and a position-related information detection means for detecting the position of the vehicle and estimating the position on the map of the map storage means corresponding to the traveling position of the vehicle. , After predicting the danger based on the vehicle speed and the content obtained based on the road-related information, any semantic information about the road where the vehicle is predicted to arrive, and after calling attention with a warning sound in advance,
A vehicle road related information pre-presentation device comprising: a presentation unit that announces by voice based on the above-mentioned semantic information and performs control to change the motion of the vehicle so as to prevent danger.