JP4572944B2 - Driving support device, driving support method, and driving support program - Google Patents

Driving support device, driving support method, and driving support program Download PDF

Info

Publication number
JP4572944B2
JP4572944B2 JP2008084042A JP2008084042A JP4572944B2 JP 4572944 B2 JP4572944 B2 JP 4572944B2 JP 2008084042 A JP2008084042 A JP 2008084042A JP 2008084042 A JP2008084042 A JP 2008084042A JP 4572944 B2 JP4572944 B2 JP 4572944B2
Authority
JP
Japan
Prior art keywords
road
vehicle
operation
information
section
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
JP2008084042A
Other languages
Japanese (ja)
Other versions
JP2009236725A (en
Inventor
裕記 石川
Original Assignee
アイシン・エィ・ダブリュ株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by アイシン・エィ・ダブリュ株式会社 filed Critical アイシン・エィ・ダブリュ株式会社
Priority to JP2008084042A priority Critical patent/JP4572944B2/en
Priority claimed from PCT/JP2009/000605 external-priority patent/WO2009118987A1/en
Publication of JP2009236725A publication Critical patent/JP2009236725A/en
Application granted granted Critical
Publication of JP4572944B2 publication Critical patent/JP4572944B2/en
Application status is Active legal-status Critical
Anticipated expiration legal-status Critical

Links

Images

Description

  The present invention relates to a driving support apparatus, method, and program for supporting driving of a vehicle.

Conventionally, a technique for performing guidance corresponding to the case where a plurality of traffic lights are turned on in conjunction with each other is known. For example, in Patent Document 1, up to two nodes before is used as a reference range, and traffic lights within the reference range are provided. There is disclosed a technique for calculating a traffic light cost when it is not interlocked and not calculating a traffic light cost.
JP 2001-165684 A

When a vehicle travels on a road that is affected by factors outside the vehicle, such as a road that is controlled by a traffic light that lights up in conjunction, it is estimated that a plurality of vehicles will perform the same operation with a certain degree of probability. . However, conventionally, it has been impossible to accurately estimate the operation and perform driving support based on the estimation.
In other words, in the prior art, it is determined whether or not the traffic light cost is calculated with reference to the previous two nodes, and only whether or not the traffic light is linked is reflected in the cost. However, an important factor that determines the behavior of the vehicle on an actual road is not the fact that the traffic lights are linked, but whether or not the vehicle is traveling at a timing at which it can smoothly pass through a plurality of signalized intersections controlled in conjunction with each other. . Therefore, the conventional technology is insufficient to provide driving support so that the vehicle can smoothly travel on a road affected by factors outside the vehicle.
The present invention has been made in view of the above problems, and an object of the present invention is to assist driving by accurately estimating the operation of a vehicle traveling on a road.

  In order to achieve the above object, in the present invention, information indicating an initial motion of the vehicle when starting traveling on a road in a predetermined section is acquired, and information indicating an estimated motion of the vehicle associated with the initial motion To get. The information indicating the estimated operation of the vehicle is information indicating the estimated operation of the vehicle on the road in the predetermined section after the initial operation, and supports driving when traveling on the road in the predetermined section based on the information indicating the estimated operation. The guidance part mounted on the vehicle is made to perform guidance.

  That is, there is a high possibility that the operation when traveling on a road in a predetermined section depends on the initial operation of the vehicle when traveling on the road in the predetermined section is started. For example, when controlling a plurality of traffic lights that exist within a predetermined section, if the initial operation on the road in the predetermined section is an operation that passes a specific traffic signal, then the traffic lights are stopped at a plurality of intersections. There is a high possibility of being able to travel without having to. Further, even when control is performed to link a plurality of traffic lights existing in a predetermined section, the initial operation becomes a stop operation by the traffic light depending on the travel start timing on the road in the predetermined section. Therefore, in the present invention, information that associates the initial motion of the vehicle when starting to travel on a road in a predetermined section with the estimated motion thereafter is defined in advance, and the information is selected according to the initial motion. Thus, the operation of the vehicle on the road in the predetermined section is estimated. As a result, it is possible to accurately estimate the operation of the vehicle on the road in the predetermined section.

  Here, in the initial motion acquisition means, it is only necessary to be able to acquire information indicating the initial motion of the vehicle when starting to travel on the road of the predetermined section, the vehicle enters the road of the predetermined section, It is only necessary that when a specific operation is performed, the operation can be acquired as an initial operation. Therefore, it is possible to specify the motion of the vehicle immediately before or immediately after entering the road of the predetermined section, or to specify the operation in the road section when driving is started in any of the road sections constituting the road of the predetermined section. You may do it. The entry position of the road in the predetermined section may be the starting point of the road in the predetermined section, or may be a position between the starting point and the end point of the road in the predetermined section.

  Moreover, the road of a predetermined area should just be determined previously, and can be determined based on various criteria. For example, a road of a predetermined section may be constituted by a plurality of continuous road sections between two predetermined points. Of course, the road in the predetermined section constituted by a plurality of continuous road sections may have various shapes, may be a straight road, or may be curved. For example, if the road section is a continuous straight section, a road constituted by a plurality of road sections becomes a straight road, and if a crossing road section is adopted as a continuous road section, a plurality of road sections The road constituted by becomes a curved road.

  Furthermore, both ends of a road constituted by a plurality of continuous road sections can be determined based on various guidelines. As an example of the configuration, it is possible to adopt a configuration in which the definition in the map information used in the navigation device or the like is used in the present invention. For example, the higher the hierarchy, the smaller the node density (number of nodes per unit area). It is possible to adopt a configuration that refers to map information that is hierarchized in such a way. That is, with reference to the node of the specific hierarchy in the said map information, the both ends in each of the several road area continuous by the node prescribed | regulated to the said specific hierarchy are specified. Further, referring to a node in a higher hierarchy than the specific hierarchy, two points corresponding to both ends of a road constituted by a plurality of continuous road sections are selected, and the road between the two points is defined as a road in a predetermined section. It is possible to adopt a configuration to

  In the map information hierarchized as described above, the node is information including coordinate information of each point set on the road. Generally, with specific exceptions, the node has a high density of nodes. Nodes are set at shorter intervals on the road than the upper hierarchy, which has a lower node density than the hierarchy. Therefore, the higher the higher level, the longer the road section delimited by the node. Generally, the main road is more important (wide, heavy traffic, etc.) than the road defined by the lower level node. Nodes are set at intersections. Therefore, when both ends of a road section are configured by nodes defined in a specific hierarchy, if two nodes defined in a hierarchy higher than the specific hierarchy are selected, a plurality of continuous road sections It becomes possible to easily define the road to be constructed.

  Furthermore, the initial operation of the vehicle only needs to be defined as an operation that can affect the subsequent operation of the vehicle, and the operation can be acquired based on various information such as various sensors, cameras, and various communications. For example, the position, speed, acceleration, etc. of the vehicle are specified by a sensor or camera, the position of the vehicle, the vehicle's position, speed, A configuration for acquiring acceleration and the like can be employed.

  The estimated motion acquisition means only needs to be able to acquire information for estimating the motion of the vehicle after the initial motion on the road in the predetermined section, and the information is defined in advance in association with various initial motions. Just do it. The information may be information for estimating a series of motions in the vehicle after the initial motion, may be information specifying the motion performed after the initial motion on the road in a predetermined section, or a plurality of motions Information indicating the probability of performing either of the above may be used. In addition, information indicating the estimation operation may be acquired indirectly by acquiring information defined according to the probability (for example, cost information for route search), and various configurations may be employed. .

  The guidance control means only needs to be able to provide guidance for supporting driving when traveling on a road in a predetermined section based on information indicating the estimation operation. In other words, it is only necessary that the driver can be supported by presenting information indicating the estimated motion to the driver. For example, a configuration for guiding information indicating the estimation operation itself may be adopted, or a configuration for guiding information indirectly indicating the estimation operation (for example, the position of a traffic signal predicted to stop) may be adopted. Various configurations can be employed.

  Furthermore, information corresponding to the estimated vehicle speed of the vehicle can be adopted as an example of information indicating the estimation operation. That is, when the vehicle performs various operations on the road, the resulting vehicle speed becomes the vehicle speed corresponding to the operation. Therefore, if information corresponding to the estimated vehicle speed on a specific road is acquired, it can be considered that the estimation operation is indirectly specified. The information for specifying the vehicle speed can be easily specified based on the vehicle speed sensor, probe information, etc. of the vehicle. Therefore, if information for specifying the vehicle speed is collected from a plurality of vehicles, the information is statistically analyzed (for example, by determining the occurrence probability of the vehicle speed corresponding to a specific action from the plurality of information), The estimated vehicle speed can be specified, and information indicating the estimated operation can be specified.

  Further, as an example of guidance in the guidance unit, information indicating travel difficulty when traveling from one side of a continuous road section to the other is acquired, and the searched route is guided based on the information indicating the travel difficulty. A configuration may be adopted. For example, it defines cost information corresponding to the difficulty of travel (the number that increases as travel is difficult), searches for an appropriate route to the destination based on the cost information, and travels on the route The structure etc. which output the guidance for making it to guide parts, such as a display, are employable.

  That is, if continuous motion in a continuous road section can be estimated, it is possible to specify the difficulty of travel when traveling from one of the continuous road sections to the other. For example, it can be considered that it is difficult to travel as the vehicle speed decreases. Therefore, if information indicating the difficulty of travel is acquired based on the operation, it is possible to perform route search and route guidance corresponding to the estimation operation. The travel difficulty when traveling from one of the continuous road sections to the other may be the travel difficulty when traveling continuously on the continuous road sections, and when traveling on one of the continuous road sections. It may correspond to the difficulty of traveling, may correspond to the difficulty of traveling at the boundary between one and the other of the continuous road sections, or may correspond to both.

  Further, as an example of guidance in the guidance unit, a configuration that guides the estimated required time when traveling on a road in a predetermined section may be adopted. That is, if the information indicating the estimation operation is specified, it is possible to estimate the time required for traveling on the road based on the vehicle speed, the stop frequency, etc. on the road in the predetermined section. Therefore, if the required time is guided, it is possible to assist the driver's driving by presenting the accurate required time. Various configurations can be adopted as the configuration for guiding the required time in the guidance control means. For example, it is possible to adopt a configuration in which the required time is estimated and guided based on the estimation operation. In addition, information for specifying the required time is generated from information indicating the estimation operation in another device, and the information for specifying the required time is acquired and the required time is specified in the guidance control unit, The required time may be guided.

  Furthermore, the method of estimating the motion of the vehicle after the initial motion according to the initial motion as in the present invention can be applied as a program or a method. In addition, the above-described driving support device, program, and method may be realized as a single driving support device, or may be realized by using parts shared with each part provided in the vehicle. The embodiment is included. For example, it is possible to provide a navigation device, a method, and a program that include the driving support device as described above. Further, some changes may be made as appropriate, such as a part of software and a part of hardware. Furthermore, the invention is also established as a recording medium for a program for controlling the driving support device. Of course, the software recording medium may be a magnetic recording medium, a magneto-optical recording medium, or any recording medium to be developed in the future.

Here, embodiments of the present invention will be described in the following order.
(1) Configuration of road information generation system:
(1-1) Configuration of road information generation device:
(1-2) Configuration of navigation device:
(2) Cost information generation processing:
(3) Operation in the navigation device:
(4) Other embodiments:

(1) Configuration of road information generation system:
(1-1) Configuration of road information generation device:
FIG. 1 is a block diagram showing the configuration of a system including a traveling pattern information acquisition device 10 installed in a road information management center and a navigation device 100 provided in a vehicle C. The travel pattern information acquisition apparatus 10 includes a control unit 20 including a CPU, a RAM, a ROM, and the like and a storage medium 30, and the control unit 20 can execute a program stored in the storage medium 30 or the ROM. . In the present embodiment, the traveling pattern information acquisition program 21 can be executed as one of the programs, and the traveling pattern information acquisition program 21 acquires information for estimating the traveling pattern of the vehicle C on the road. .

  In the present embodiment, the information for estimating the travel pattern is information indicating the occurrence probability of the motion of the vehicle C for each road section, and in the travel pattern information acquisition device 10, probe information output by a plurality of vehicles C. The occurrence probability is acquired based on the above. Further, the traveling pattern information acquisition device 10 generates cost information based on the occurrence probability, and transmits the cost information to the vehicle C. For this reason, the traveling pattern information acquisition device 10 includes a communication unit 22 configured by a circuit for communicating with the navigation device 100, and the control unit 20 receives the probe information via the communication unit 22 to reduce the cost. Information can be sent.

  The traveling pattern information acquisition program 21 acquires the occurrence probability of the operation of the vehicle C for each road section, generates cost information, and transmits it. The transmission / reception control unit 21a, the vehicle speed specifying information acquiring unit 21b, and the vehicle speed specifying information classification Unit 21c and motion occurrence probability acquisition unit 21d, and the function of generating cost information and providing it to vehicle C is realized by cooperating with the communication unit 22, the storage medium 30, the RAM in the control unit 20, and the like. .

  The transmission / reception control unit 21a is a module for controlling communication with the vehicle C, and the control unit 20 controls the communication unit 22 by processing of the transmission / reception control unit 21a and is mounted on each of the plurality of vehicles C. Communication with the communication unit 220 is performed. That is, the probe information transmitted from the vehicle C is acquired and recorded in the storage medium 30 in a state where it can be identified that the information is acquired from the same vehicle C (probe information 30a shown in FIG. 1). Further, the cost information 30c generated by the process described later is acquired and transmitted to the vehicle C.

  Note that the probe information 30a in the present embodiment includes at least vehicle speed specifying information for specifying the vehicle speed of the vehicle C, and in this embodiment, a link number indicating a road section (link) between nodes set on the road. , The time required when the vehicle C traveled on the road section corresponding to the link number, an identifier indicating that the vehicle C was acquired from the same vehicle C (an identifier that can identify a series of vehicle speed specifying information in consecutive road sections) )including.

  Further, in the present embodiment, the vehicle speed when the vehicle C travels through each road section by specifying the distance of the road section corresponding to each link number with reference to the map information 30b stored in the storage medium 30. Can be specified. That is, the map information 30b is recorded in the storage medium 30 in advance, and information indicating the position of the node set on the road and a link (road section) indicating the connection between the nodes are specified in the map information 30b. Information indicating a link number to be used. Therefore, the distance of the road section specified by the link number can be specified based on the positions of the nodes corresponding to both ends of the road section, and by dividing the distance of the road section by the above required time It is possible to specify the vehicle speed when the vehicle C travels on each road section. For this reason, in this embodiment, the link number, the time required for the link, the information indicating the distance of the link, and the identifier indicating the information from the same vehicle correspond to the vehicle speed specifying information. Of course, information corresponding to the distance of each road section may be defined in the map information 30b, and the distance of the road section may be specified based on the information.

  In the map information 30b, the node on the road is associated with information indicating the hierarchy. That is, in the map information 30b, a plurality of layers are virtually set, the positions of the nodes are defined on each layer, and roads are reproduced for each layer based on link information between nodes on each layer. Is possible. In addition, the rank is defined in each hierarchy, and is defined such that the higher the hierarchy, the smaller the node density (number of nodes per unit area). That is, with certain exceptions, in general, nodes are set at a short interval on a road in a lower hierarchy where the density of nodes is higher than in a hierarchy higher than the hierarchy. Therefore, the higher the hierarchy, the longer the road section delimited by the node. Further, in the present embodiment, nodes are set at points (for example, intersections of main roads) that are more important (for example, intersections between main roads) as the upper hierarchy is higher.

  The vehicle speed specifying information acquisition unit 21b is a module that acquires vehicle speed specifying information on a road in a predetermined section based on the probe information 30a acquired as described above and the map information 30b described above. In the present embodiment, the road between the intersections of the main roads is set as the road of the predetermined section. Therefore, the control unit 20 refers to the map information 30b by the processing of the vehicle speed specifying information acquisition unit 21b, and extracts two nodes from the hierarchy in which nodes corresponding to the positions of the intersections of the main roads are defined. A road in a section having two nodes at both ends is defined as a road in the predetermined section.

    Further, the control unit 20 refers to data in a lower hierarchy than the hierarchy in which the two nodes described above are extracted in the map information 30b, and selects a node set on the same road as the road in the predetermined section from the lower hierarchy. Extract. Among these nodes, the adjacent nodes correspond to the end points of the road section, and if a continuous road section with each node as an end point is defined, the continuous road section constituting the road of the predetermined section can be defined. it can. If the continuous road section which comprises the road of a predetermined section is defined, the control part 20 will acquire vehicle speed specific information sequentially about each road section. That is, the control unit 20 sets one end point of a road in a predetermined section as a start point, sets the other end point as an end point, and sets a number n (n is a natural number) indicating the order of each road section from the start point to the end point. Then, the vehicle speed specifying information is acquired in order from the road section having the smallest number n with reference to the probe information 30a.

  The vehicle speed identification information classification unit 21c is a module for classifying the vehicle speed identification information into one or more sets corresponding to the operation of the vehicle, and the control unit 20 acquires a plurality of vehicle speed identification information acquired for the road section number n. Are classified by clustering. The clustering is a process of classifying the probability distribution (or histogram) of the vehicle speed specifying information into sets for each similar vehicle speed specifying information. When the classification is completed, each set is a set corresponding to the operation of the vehicle.

  In the present embodiment, the vehicle speed identification information to be clustered depends on the classification in the previous road section. That is, when acquiring a plurality of vehicle speed specifying information in the road section of number (n + 1), the identifier is specified by referring to the plurality of vehicle speed specifying information classified into a specific set in the road section of number n. And the vehicle speed information in the road section of the number (n + 1) with which the same identifier (identifier which shows having acquired from the same vehicle C) with the said identifier was matched is extracted and classified into one or more sets. As a result, a set is defined in a systematic order from the road section with the smallest number n so that a plurality of vehicle speed specifying information constituting one set at number n is further classified into one or more sets at number (n + 1). Is done.

  The motion occurrence probability obtaining unit 21d is a module that obtains the motion occurrence probability of the vehicle C based on the above-described classification and generates cost information 30c based on the occurrence probability. That is, the control unit 20 considers that the occurrence probability of the above-described set is the occurrence probability of the operation of the vehicle C corresponding to the set, and obtains the number of samples of the vehicle speed specifying information constituting the set for all road samples. The probability of occurrence of movement of the vehicle C is obtained by dividing by the number. Then, based on the probability of occurrence of the motion, cost information 30c indicating the difficulty of traveling when traveling from one of the continuous road sections to the other is generated and recorded in the storage medium 30.

  As described above, the set is systematically defined in order from the road section having the smallest number n, so the occurrence probability is also systematically defined in order from the road section having the smallest number n. That is, the probability that a certain operation is performed in a road section with a certain number (n + 1) depends on whether or not a specific operation has been performed in a road section with a previous number n. Therefore, in the present embodiment, the cost information 30c is systematically defined according to the dependency relationship of the occurrence probability of the operation. For example, when the cost information 30c is set to a value that is small enough to easily pass through an intersection corresponding to an end point of a road section based on the occurrence probability described above, the operation of the vehicle in the number 1 road section (the initial operation described later) ) Are defined, and cost information corresponding to a series of operations performed by the vehicle after performing the initial motion is associated with the initial motion and systematically defined.

  For example, when controlling a plurality of traffic lights that exist within a predetermined section, if the initial operation on the road in the predetermined section is an operation that passes a specific traffic signal, then the traffic lights are stopped at a plurality of intersections. There is a high possibility of being able to travel without having to. Further, even when control is performed to link a plurality of traffic lights existing in a predetermined section, the initial operation becomes a stop operation by the traffic light depending on the travel start timing on the road in the predetermined section. Therefore, in the present embodiment, the initial operation of the vehicle when the traveling of the road in the predetermined section is started is defined in advance in association with the subsequent cost information, and the cost information is selected according to the initial operation. As a result, the cost information 30c for performing the route search while accurately estimating the operation after the initial operation is generated. In addition, by performing route search and route guidance using the cost information 30c in the vehicle C, route guidance based on accurate motion estimation can be performed.

(1-2) Configuration of navigation device:
The navigation device 100 is mounted on a vehicle C traveling on a road. The navigation device 100 includes a control unit 200 including a CPU, a RAM, a ROM, and the like, and a storage medium 300, and stores the storage medium 300 and the ROM. The programmed program can be executed by the control unit 200. In this embodiment, the navigation program 210 can be executed as one of the programs, and the navigation program 210 can perform a route search using the cost information 30c described above. Further, the vehicle C according to the present embodiment can generate and transmit the probe information 30a based on the road traveling history.

  For this reason, the vehicle C is provided with the communication part 220 comprised with the circuit for communicating with the driving | running | working pattern information acquisition apparatus 10, and the control part 200 passes through the communication part 220 by the process of the transmission / reception control part 210a. Probe information 30a can be transmitted and cost information 30c can be received. The cost information 30c acquired by the processing of the transmission / reception control unit 210a is recorded in the storage medium 300 together with the map information 300a. That is, the map information 300a defines the same hierarchy and nodes as the map information 30b described above, and the cost information 30c is associated with the link between the nodes and recorded in the map information 300a.

  Further, the vehicle C includes a GPS receiving unit 410, a vehicle speed sensor 420, and a guide unit 430. The GPS receiving unit 410 receives radio waves from GPS satellites and determines the current position of the vehicle via an interface (not shown). Outputs information for calculation. The control unit 200 acquires this signal and acquires the current position of the vehicle. The vehicle speed sensor 420 outputs a signal corresponding to the rotational speed of the wheels provided in the vehicle C. The control unit 20 acquires this signal via an interface (not shown) and acquires the speed of the vehicle C. The vehicle speed sensor 420 is used for correcting the current position of the host vehicle specified from the output signal of the GPS receiver 410. Further, the current position of the host vehicle is corrected as appropriate based on the travel locus of the host vehicle. Various other configurations can be adopted for acquiring information indicating the operation of the vehicle. Depending on the configuration, sensor, or camera that corrects the current position of the host vehicle based on the output signal of the gyro sensor. It is possible to adopt a configuration for acquiring own vehicle operation information by a specified configuration, a GPS signal, a vehicle trajectory on a map, vehicle-to-vehicle communication, road-to-vehicle communication, or the like.

  The navigation program 210 includes an initial motion acquisition unit 210b, an estimated motion acquisition unit 210c, and a guidance control unit 210d to execute a route search using the cost information 30c, and a probe information generation unit to generate the probe information 30a. 210e, and cooperates with the communication unit 220, the storage medium 300, the RAM in the control unit 200, and the like.

  The initial motion acquisition unit 210b is a module for acquiring information indicating the initial motion of the vehicle when starting to travel on a road in a predetermined section. That is, the control unit 200 acquires the output signals of the GPS receiving unit 410 and the vehicle speed sensor 420 by the processing of the initial operation acquisition unit 210b, and specifies the operation (position (latitude and longitude), vehicle speed, traveling direction) of the vehicle C. is doing.

  Further, the control unit 200 determines whether or not the position of the vehicle C is on the first road section (number 1 road section) among the plurality of road sections constituting the road of the predetermined section. When the vehicle is on the first road section, the operation of the vehicle C is specified as the initial operation. Note that it is only necessary to define the initial operation so that it can be determined whether or not the initial operation matches the initial operation associated with the cost information 30c. For example, if either the stop operation or the operation of passing through a road section without stopping is associated with the cost information 30c, based on the output signals of the GPS receiver 410 and the vehicle speed sensor 420 described above. It may be specified whether the initial operation is a stop operation or an operation that passes through a road section without stopping.

  The estimated motion acquisition unit 210c is a module that acquires cost information defined in advance in association with the initial motion, and the control unit 200 refers to the map information 300a, and the initial of the vehicle C identified as described above. Cost information 30c associated with the operation is acquired. Since the cost information 30c is systematically set according to the operation of the vehicle after the initial operation, the process of obtaining the cost information 30c is the estimated operation of the vehicle after the initial operation on the road in the predetermined section. It corresponds to the process of indirectly acquiring information indicating.

  The guidance control unit 210d receives an input of a destination from an input unit (not shown), searches for a route from the travel start point to the destination, and provides guidance for traveling on the route to the guidance unit 430 (display or the like). This is a module for outputting. In the present embodiment, the guidance control unit 210d can further realize a function of performing a route search during traveling and guiding the searched route.

  That is, as described above, when the vehicle C travels the first road section in the road of the predetermined section, the cost information 30c corresponding to the series of estimation operations after the initial operation in the first road section is acquired. The control unit 200 performs a route search after the first road section based on the cost information 30c. Further, the searched route is guided to the guide unit 430. As a result, when a plurality of road sections constituting the road of the predetermined section described above are included as candidate routes to the destination, a route search that accurately reflects the difficulty of traveling at the intersection between the road sections is performed. , Can guide.

  The probe information generation unit 210e is a module for generating the probe information 30a corresponding to the operation of the vehicle C, and the control unit 200 acquires the output signal of the GPS reception unit 410 by the processing of the probe information generation unit 210e. Thus, the position (latitude and longitude) of the vehicle C is specified. Then, the probe information 30a is generated based on the operation of the vehicle C. That is, referring to the map information 300a, the link number of the road section to which the position of the vehicle C described above belongs is specified. Also, the required time for the road section is acquired. In the present embodiment, in the state in which matching is performed in the map matching process executed during route guidance by the guidance control unit 210d, the difference between the time when the road is entered and the time when the road is exited Although the required time is defined, of course, the required time may be specified based on the vehicle speed and the distance of the road section.

  Furthermore, the control unit 200 associates the above-described identifiers with the information indicating these link numbers and the required time to obtain probe information 30a. When the probe information 30a is generated, the control unit 200 transmits the probe information 30a to the traveling pattern information acquisition apparatus 10 via the communication unit 220 by the processing of the transmission / reception control unit 210a.

(2) Cost information generation processing:
Next, the cost information generation process in the above configuration will be described in detail. FIG. 2 is a flowchart showing the cost information generation process. In the present embodiment, this processing is performed every predetermined period. In this process, the control unit 20 sequentially acquires the probe information 30a by the process of the transmission / reception control unit 21a, and sequentially records the probe information 30a in the storage medium 30 (step S100).

  After the probe information 30a from the plurality of vehicles C is accumulated, the control unit 20 acquires the vehicle speed specifying information with reference to the probe information 30a by the processing of the vehicle speed specifying information acquisition unit 21b (steps S105 to S120). In the present embodiment, first, the controller 20 refers to the probe information 30a and deletes the vehicle speed specifying information corresponding to the traffic jam (step S105). That is, the analysis in the present embodiment is intended to specify the operation of the vehicle when traveling on a road in a predetermined section in a state where the influence of the traffic jam is excluded. Therefore, the vehicle speed specifying information transmitted from the vehicle C at the time of the traffic jam Is excluded. Whether or not the vehicle speed specifying information corresponding to the traffic jam can be determined according to various criteria. For example, the vehicle speed specifying information corresponding to the traffic jam when a section traveling at a speed of less than 10 km / h on a road section continues for 300 m or more. It is possible to adopt various configurations such as a configuration for determining that

Next, the control part 20 specifies the road of a predetermined area (step S110). That is, the control unit 20 specifies the intersection between the main roads based on the map information 30b, and specifies the road between the intersections of the main roads as a road in a predetermined section. FIG. 3 shows an example of a road set as a predetermined section. In the upper part of FIG. 3, a straight road constituted by a plurality of road sections divided by intersections I 1 to I m (m is a natural number) where traffic lights are installed is shown as an example of a road in a predetermined section.

In FIG. 3, the hierarchical structure in the map information 30b, 300a is schematically shown below the road. That is, the map information 30b, in 300a, the node corresponding to the position of the intersection for each layer is set, with respect to the road shown in FIG. 3, the position of the intersection I 1, I m in the main road each other in the layer L 1 defined nodes N 11, N 1 m is showing the in the layer L 0 of the lower layer, the nodes N 01 ~ node N 0 m indicating the position of all of the intersections I 1 ~I m included in the road in the predetermined section Is defined. Therefore, the control unit 20 obtains the nodes N 11, N 1 m present on the layer L 1 on the basis of the map information 30b to identify the road in the predetermined section, to the node N 11, N 1 m in the layer L 0 Corresponding nodes N 01 and N 0m are acquired, and nodes N 02 to N 0m-1 located between the nodes N 01 and N 0m are specified. Then, a road section corresponding to a road between adjacent nodes among the nodes N 01 to N 0m is specified as a plurality of continuous road sections.

Further, the control unit 20 acquires only the vehicle speed specifying information transmitted by the vehicle C that has traveled on a predetermined section of the road C and traveled on a predetermined route (analysis target route), and routes other than the analysis target route. The vehicle speed specifying information transmitted by the vehicle C traveling the vehicle is excluded (step S115). That is, in the present embodiment, the analysis target route is a route that travels on all the roads in the predetermined section, and the identifier indicating that the vehicle is the same vehicle with reference to the identifier included in the probe information 30a is the road in the predetermined section. If there is no such information, the vehicle speed specifying information associated with the identifier is excluded. For example, since the roads in the predetermined section shown in FIG. 3 are straight roads, the route that travels straight in all the predetermined sections is set as the analysis target route, and other routes (for example, the intersections I 2 and I in FIG. 3). The vehicle speed specifying information transmitted by the vehicle that traveled along the route indicated by the broken arrow in FIG. 3 is excluded.

  Furthermore, the control unit 20 removes abnormal data from the vehicle speed specifying information of the analysis target route acquired as described above (step S120). Here, the abnormal data is vehicle speed specifying information that should be regarded as not statistically significant among a plurality of vehicle speed specifying information. For example, according to various rejection tests (Masuyama method, Thompson method, Smirnov method, etc.) It is determined whether or not the data is abnormal data, and vehicle speed specifying information regarded as abnormal data is excluded.

In FIG. 3, vehicle speed specifying information acquired from a plurality of vehicles C (vehicles C 0 to C 2 ) traveling on each road section is schematically shown below the node. That is, in FIG. 3, road sections 1 to 3 are illustrated, and required times T 01 , T 11 , T when the vehicles C 0 to C 2 travel on the road section 1 are below the road section 1. 21 is indicated by an arrow, and the size of the required time is schematically shown by the thickness of each arrow. As for the road section 2 shows the required time as T 02, T 12, T 22 , shows the required time as T 03, T 13, T 23 for the road section 3.

  The required time of the vehicle C as shown in the lower part of FIG. 3 varies depending on the vehicle. If the required time is collected until the statistically significant number of samples is obtained, the operation of the vehicle in each road section is estimated by the distribution. It becomes possible to do. Therefore, in the present embodiment, the control unit 20 classifies the vehicle speed specifying information after removal of abnormal data into one or more sets by clustering by the processing of the vehicle speed specifying information classifying unit 21c. FIG. 4A is a graph illustrating a probability distribution of required time as vehicle speed specifying information in a certain road section, where the required time is shown on the horizontal axis and the probability distribution is shown on the vertical axis.

  Such a probability distribution of required time in the road section is a distribution corresponding to the operation of the vehicle C in the road section. That is, when there is a high possibility that the vehicle C performs a certain specific operation, the distribution of the required time corresponding to the specific operation increases. For example, as shown in FIG. appear. In the time required for the road section, in many cases, a distribution separated into two or three appears. Therefore, here, an example will be described in which each of the two distributions is regarded as a distribution corresponding to either the operation in which the vehicle C stops in the road section or the operation that has passed without stopping.

FIG. 4A shows an example in which the probability distribution forms almost two sets. In this example, when clustering is performed, this distribution is divided into two sets (set G 1 (set with a short required time). 4A and a long set G 2 (broken line in FIG. 4A)). As the clustering algorithm, a non-hierarchical method such as the K-average method or a hierarchical method such as the Ward method can be employed. For example, in the K average method, clustering can be performed by the following procedure.

1) Specify M (M is a natural number) centers at random and define them as the centers of sets 1 to M 2) Compare each required time with the centers of sets 1 to M, and the difference from the center is the smallest Temporarily classify each required time into a set 3) When the temporary classification of all the required times is equal to the previous temporary classification, clustering is determined by the provisionally classified set. If any of the temporary classifications for the required time is different from the previous temporary classification, the center of gravity in each set is defined as a new center, and the subsequent processing is repeated

In the case where there are two sets as shown in FIG. 4A, when clustering is determined by the provisionally classified sets 1 and 2, the sets 1 and 2 become one of the above-described sets G 1 and G 2 . In addition, when there is a possibility that the proper classification is hindered due to the inappropriate center defined in 1) above, the initial center may be determined while assuming the proper classification. For example, a threshold value (threshold value Th indicated by a one-dot chain line in FIG. 4A) that maximizes dispersion between sets is determined by “Otsu's method” or the like, an initial set is specified in advance, and the center thereof is determined. . Of course, various other configurations can be employed here, and a discriminant analysis method may be employed, or various configurations such as centering on a distribution peak may be employed.

  The above clustering is performed for the vehicle speed specifying information in each road section. Except for the first road section, the population of the vehicle speed specifying information to be analyzed in the number (n + 1) road section is the set in the number n road section. Depends on. FIG. 5 is a schematic diagram showing a set in each road section, and shows the first three road sections (road sections 1 to 3) among the road sections constituting the road of the predetermined section. Also, below each road section 1 to 3, a set classified by clustering is indicated by white circles.

As shown in FIG. 5, when the vehicle speed specifying information transmitted from the vehicle C traveling on the road section 1 is classified into the sets G 1 and G 2 , the road section 2 includes each of the sets G 1 and G 2 . Clustering is performed twice based on the corresponding vehicle speed specifying information. In FIG. 5, the vehicle speed identification information classified vehicle speed identification information identical to the identifier in the set G 1 (identifier indicating that it has acquired from the same vehicle C) is associated with the road section 1 of the road section 2 speed A case is shown in which, as a result of extracting from specific information and performing clustering using these as a population, they are classified into sets G 3 and G 4 . Of course, classified into one or more groups by performing clustering Similarly, the vehicle speed identification information same identifier associated with the classified vehicle speed identification information into the set G 2 in the road section 1. As described above, a plurality of vehicle speed specifying information constituting one set in the road section 1 is further classified into one or more sets after the road section 2, and the road section numbered (n + 1) is the road number n immediately before. A set is systematically defined so as to depend on the set of sections. In FIG. 5, the dependency relationship in the system is indicated by a right-pointing arrow.

  As described above, when a set is systematically defined in a plurality of continuous road sections, in this embodiment, the control unit 20 verifies the above-described clustering by the processing of the vehicle speed identification information classification unit 21c ( Step S130). The verification of clustering can be performed, for example, by model evaluation based on the Akaike Information Criterion (AIC). That is, when the AIC is calculated using the number of sets G obtained as a result of clustering, the average of required times, and the like as parameters, and the distribution is well approximated, it is regarded as being classified into an appropriate set. If it is not classified into an appropriate set, it is possible to adopt a configuration in which the vehicle speed specifying information in the road section is regarded as belonging to one set, a configuration in which clustering is performed again by changing the initial center, etc. is there.

  Next, the control unit 20 acquires the occurrence probability of the motion of the vehicle C corresponding to each set by the processing of the motion occurrence probability acquisition unit 21d (step S135). That is, since each set is a set of approximate vehicle speed specifying information, it is considered that the vehicle speed specifying information belonging to the same set corresponds to the same operation, and in the present embodiment, each of the two sets as described above. However, it is considered that it corresponds to either the operation in which the vehicle C stops in the road section or the operation that has passed without stopping.

Therefore, in step S135, the occurrence probability of each set is acquired in the road section in which the vehicle speed specifying information is classified into two sets, and the vehicle C does not stop the occurrence probability of the set corresponding to the short required time. Obtained as the probability of passing through a road section. Further, the occurrence probability of the set corresponding to the long required time is acquired as the stop probability of the vehicle C. For example, the example shown in time, the probability occurrence of the set G 1 corresponding to the short duration (Figure 5 each set G 1, G 2 shown in FIG. 5 corresponds to the set G 1, G 2 shown in FIG. 4A 60%) is the probability that the vehicle C will pass through the road section without stopping. Further, the probability of occurrence of the set G 2 corresponding to the long required time (40% in the example shown in FIG. 5) is the stop probability of the vehicle C.

  When the occurrence probability for each action is specified, the control unit 20 generates cost information based on the occurrence probability by the process of the action occurrence probability acquisition unit 21d (step S140). That is, based on the occurrence probability of the motion, cost information 30c indicating the difficulty in traveling when traveling from one of the continuous road sections to the other is generated and recorded in the storage medium 30. In the present embodiment, it is considered that the operation in the road section with the number n indicates difficulty in traveling from the road section with the number n to the road section with the number (n + 1), and the road section with the number n and the number ( The cost at the intersection with the n + 1) road section is determined.

  For example, when the default cost at the intersection is defined as “100”, the cost of the intersection between the numbers n and (n + 1) is set to “0” when the stop probability in the road section number n is smaller than the passage probability. "Let's say. If the stop probability in the road section of number n is greater than the probability of passing without stopping, the cost of the intersection between numbers n and (n + 1) is set to “100”. Since the operation of the vehicle C in the road section numbered (n + 1) depends on the operation C of the vehicle in the road section number n, the cost of a certain intersection here depends on the cost of the previous intersection. Systematically define costs. Furthermore, in this embodiment, since the road section 1 is the first road section in the road of the predetermined section, the cost information is defined systematically while associating the subsequent costs with the initial operation in the road section 1.

  FIG. 6 is a diagram showing an example of systematic costs. In FIG. 6, cost values determined based on the occurrence probability of the set shown in FIG. 5 and their systems are illustrated. In this example, the road section 1 corresponds to the first road section in the road of the predetermined section, so that the operation in the road section 1 is distinguished from the operation that passes without stopping and the operation that stops without cost. Are associated with each other.

For example, in the example shown in FIG. 6, since the set G 1 corresponds to the operation that passes without stopping, the cost at the intersection I 2 is set to “0” (cost Ct 21 shown in FIG. 6), and the initial operation “stops”. Corresponding to “movement without passing”. In addition, after performing “the operation that passes without stopping” in the road section 1, the set G that corresponds to the operation in which the occurrence probability of the set G 3 corresponding to the operation that passes without stopping in the road section 2 stops. Since the probability of occurrence is greater than 4, the cost at the intersection I 3 is set to “0” (cost Ct 31 shown in FIG. 6) and is associated with the cost Ct 21 .

In addition, after performing “the operation that passes without stopping (corresponding to the set G 3 )” in the road section 2, the occurrence probability of the set G 5 corresponding to the operation that passes without stopping in the road section 3 is stopped. Since the occurrence probability of the set G 6 corresponding to the operation to be performed is smaller, the cost at the intersection I 4 is set to “100” (cost Ct 41 shown in FIG. 6) and is associated with the cost Ct 31 . In FIG. 6, the system is indicated by a right-pointing arrow.

On the other hand, since the set G 2 corresponds to the stop operation, the cost at the intersection I 2 is set to “100” and is associated with the initial operation “stop operation”. Further, similarly for the system in the case where the initial operation is the “stop operation”, systematic cost information is generated by specifying the cost after the intersection I 3 and associating it with the cost at the immediately preceding intersection. When the cost information is generated as described above, the control unit 20 records the cost information in the storage medium 30 as the cost information 30c.

(3) Operation in the navigation device:
Next, a route guidance operation using the cost information 30c described above in the navigation device 100 will be described. The navigation program 210 searches for a route from the travel start point to the destination and causes the guide unit 430 to output guidance for traveling on the route. FIG. 7 is a flowchart showing a process that is repeatedly executed at predetermined time intervals while this process is being performed. Before executing this process, the control unit 200 has acquired the cost information 30c by the process of the transmission / reception control unit 210a and has already incorporated it into the map information 300a.

  In the process illustrated in FIG. 7, the control unit 200 acquires information indicating the initial operation of the vehicle when the traveling of the road in the predetermined section is started by the process of the initial operation acquisition unit 210b. That is, the output signal of the GPS receiving unit 410 is acquired, the position of the vehicle C is specified, the map information 300a is referred to, and the current position is the first road section among the road sections constituting the road of the predetermined section described above. It is determined whether or not there is (step S200). If it is not determined that the road section is the first road section, the processing after step S205 is skipped.

  When it is determined in step S200 that the current position is the first road section, the control unit 200 performs vehicle C based on the output information of the GPS reception unit 410 and the vehicle speed sensor 420 by the processing of the initial motion acquisition unit 210b. The operation is acquired and specified as an initial operation (step S205). It should be noted that the operation of the vehicle corresponding to the example shown in FIGS. 4A and 5 described above is either an operation in which the vehicle C stops or an operation that has passed without stopping. Therefore, in this example, the control unit 200 divides the distance of the road section 1 by the required time, for example, whether the output information of the vehicle speed sensor 420 has become a value indicating the stop of the vehicle C in the road section 1. A configuration for determining whether or not the obtained vehicle speed is a vehicle speed indicating the stop of the vehicle C can be employed.

When the initial motion of the vehicle C is acquired, the control unit 200 acquires cost information of a system corresponding to the initial motion of the vehicle C through the process of the estimated motion acquisition unit 210c (step S210). For example, when the initial operation is an operation corresponding to the stop of the vehicle C, cost information (costs Ct 22 , Ct 32 , Ct 42, ...) Shown in the lower part of FIG. When the operation corresponds to the passage, the cost information (costs Ct 21 , Ct 31 , Ct 41, ...) Shown in the upper part of FIG. 6 is acquired.

  Then, the control unit 200 performs a route search based on the acquired cost information of the system by the processing of the guidance control unit 210d (step S215), and outputs guidance for traveling on the obtained route to the guidance unit 430. (Step S220). As a result, when a plurality of road sections constituting the road of the predetermined section described above are included as candidate routes to the destination, a route search that accurately reflects the difficulty of traveling at the intersection between the road sections is performed. , Can guide.

(4) Other embodiments:
The above embodiment is an example for carrying out the present invention, and various other embodiments can be adopted as long as the operation of the vehicle after the initial operation is estimated according to the initial operation. For example, the initial operation may be an operation of the vehicle when starting to travel on a road in a predetermined section, and the operation is performed when a vehicle enters a predetermined section of road and performs a specific operation. What is necessary is just to be able to acquire as initial operation. Therefore, it is possible to specify the motion of the vehicle immediately before or immediately after entering the road of the predetermined section, or to specify the operation in the road section when driving is started in any of the road sections constituting the road of the predetermined section. You may do it. The entry position of the road in the predetermined section may be the starting point of the road in the predetermined section, or may be a position between the starting point and the end point of the road in the predetermined section. Further, the initial movement and the movement of the vehicle corresponding to the set are not limited to the stop movement or the movement through the intersection without stopping, and may be, for example, the average required time in the road section.

  The operation of the vehicle immediately before or immediately after entering the road in the predetermined section can be specified by various methods. For example, the change in the position of the vehicle when traveling on each road section is acquired along with the time as probe information 30a, and output when the vehicle is traveling on a road section connected to a road of a predetermined section. The probe information 30a is referred to. Further, the displacement of the vehicle indicated by the probe information 30a is acquired, and the displacement of the vehicle in the vicinity of the entry position to the road in the predetermined section (predetermined distance range before the entry position) is acquired. Then, when the position displacement of the unit time is smaller than the predetermined amount, it is considered that the vehicle has stopped, and when the position displacement of the unit time is larger than the predetermined amount, it is considered that the vehicle is traveling. According to this configuration, it is possible to specify the operation immediately before the vehicle enters the road in the predetermined section. Therefore, if the operation is set as an initial operation and the subsequent vehicle operation is classified by the above-described clustering, it is possible to estimate the subsequent vehicle operation according to the vehicle operation immediately before entering the road in the predetermined section. Become. Of course, the operation of the vehicle immediately after entering the road in the predetermined section can be specified using the same probe information 30a. That is, referring to the probe information 30a, the position displacement of the vehicle indicated by the probe information 30a, and the position displacement of the vehicle in the vicinity of the entry position to the road in the predetermined section (a predetermined distance range after the entry position) is acquired. And it is sufficient.

  Furthermore, the road of a predetermined area should just be determined previously, and can be determined based on various criteria. For example, a road of a predetermined section may be constituted by a plurality of continuous road sections between two predetermined points. Of course, the road in the predetermined section constituted by a plurality of continuous road sections may have various shapes, may be a straight road, or may be curved. For example, if the road section is a continuous straight section, a road constituted by a plurality of road sections becomes a straight road, a road section is constituted by a curve section, and a road section that intersects as a continuous road section If the road is adopted, a road constituted by a plurality of road sections becomes a curved road.

  Furthermore, the initial operation of the vehicle only needs to be defined as an operation that can affect the subsequent operation of the vehicle, and the operation can be acquired based on various information such as various sensors, cameras, and various communications. For example, the position, speed, acceleration, etc. of the vehicle are specified by a sensor or camera, the position of the vehicle, the vehicle's position, speed, A configuration for acquiring acceleration and the like can be employed.

  The guidance based on the estimation operation is not limited to the route guidance as described above. That is, it is only necessary to support the subsequent driving by presenting information based on the estimated motion to the driver, and a configuration for guiding the estimated motion itself may be adopted, or information (indirectly indicating the estimated motion ( For example, it is good also as a structure which guides the position of the traffic signal etc. which are predicted to stop, and various structures are employable. Note that information based on the estimation operation, such as the position of the traffic signal predicted to stop, may be highlighted.

  Furthermore, as an example of guidance in the guidance unit, a configuration that guides the estimated required time when traveling on a road in a predetermined section may be adopted. That is, if the information indicating the estimation operation is specified, it is possible to estimate the time required for traveling on the road based on the vehicle speed, the stop frequency, etc. on the road in the predetermined section. Therefore, if the required time is guided, it is possible to assist the driver's driving by presenting the accurate required time.

For example, when the sets are classified as shown in FIG. 5, if the average required time is calculated for each set based on the vehicle speed specifying information constituting each set, the expected value of the required time in the road section is calculated. Can do. More specifically, when the average required time calculated based on the vehicle speed specifying information constituting the set Gm of the road section n is Av m and the occurrence probability of the set Gm is Pm, the expected value is the ΣPm · Av m. Therefore, in the formula indicating the expected value, if m is set so as to extract only the set belonging to the system corresponding to the initial operation, and the occurrence probability Pm is normalized within the set m, each occurrence after the initial operation is set. Since the expected value of the required time for traveling on the road section can be calculated, the expected value may be guided as the estimated required time.

In the example shown in FIG. 5, when the initial operation of the road section 1 is an operation that passes without stopping, the expected value of the required time for passing the road section 2 after the initial operation is (set G 1 Average time required) × (0.6 / 0.6) + (average time required for set G 3 ) × (0.4 / 0.6) + (average time required for set G 4 ) × (0.2 /0.6). In order to guide the estimated required time, the navigation apparatus 100 acquires, for example, information indicating the occurrence probability of the set and the average required time as information indicating the estimated operation, and based on this information. A configuration in which an expected value of the required time is calculated and guided as the estimated required time can be employed. Alternatively, the travel pattern information acquisition device 10 may calculate an expected value of the required time and transmit the expected value of the required time to the navigation device 100 as information for specifying the required time in association with each initial operation. In this configuration, the navigation apparatus 100 specifies and guides the required time corresponding to the initial operation based on the information for specifying the required time.

  Further, in the above-described embodiment, the operation in the first road section among the plurality of road sections constituting the road of the predetermined section is set as the initial operation, and the subsequent operation of the vehicle (or cost information) with respect to the initial operation. However, it is also possible to adopt a configuration in which the operation of the vehicle at the time of entering an arbitrary road section in a predetermined section of road is specified as the initial operation. For example, if the occurrence probability of a set is systematically defined as shown in FIGS. 5 and 6, a specific direction from an arbitrary road section (in the example shown in FIGS. 5 and 6, the road number n increases). The operation at the time of traveling toward the vehicle can be estimated.

  For example, the set in the road section 2 can be classified into two sets corresponding to the motion stopped in the road section 1, and can be classified into two sets corresponding to the motion that has passed without stopping the road section 1. However, the four sets correspond to operations when the road section 2 stops or does not stop. Therefore, the four sets can be classified into a set corresponding to an operation in which the vehicle has stopped and an operation in which the vehicle has not stopped. Further, the sets after the road section 3 are organized in correspondence with the sets in the road section 2. Therefore, if the operation when the vehicle C starts traveling on the road section 2 is specified, the subsequent operation can be estimated.

  Further, since the vehicle operation may vary depending on the time zone, the vehicle speed specifying information may be associated with the time zone, and clustering may be performed for each time zone to associate the vehicle operation or cost information with the time zone. Further, clustering is not limited to the above-described algorithm, and classification may be performed by discriminant analysis specifying a discriminant function. Furthermore, in the above-described embodiment, the classification is performed with the number of sets being two, but it is of course possible to have a configuration in which the classification is performed on an arbitrary number of three or more sets.

  FIG. 4B shows a probability distribution in which the vehicle speed specifying information can form three sets. When such a distribution is formed, it is preferable to classify into three sets. Further, X types of operations may be performed by associating individual operations with X sets, or (X-1) types of operations or less may be performed. For example, as shown in FIG. 4B, even if the vehicle speed identification information forms three sets, the three sets are further classified into one set and two sets, and stopped in one of them. The operation may be associated with the other operation without stopping. Note that the clustering verification shown in step S130 is particularly useful when classifying into sets of three or more.

  Furthermore, the cost information is not limited to a configuration corresponding to one of the stop operation and the operation that passes without stopping as described above, and the numerical value varies according to the occurrence probability of the operation. You may employ | adopt the structure to make. For example, when the default cost at the intersection is set to “100” corresponding to the stop probability of 50%, and the stop probability changes to 0%, 25%, 75%, and 100%, the respective costs are set to “0” and “50”. It is possible to adopt a configuration that changes “,” “150,” and “200”.

It is a block diagram which shows the structure of the system containing a travel pattern information acquisition apparatus and a navigation apparatus. It is a flowchart which shows a cost information generation process. It is a figure which shows the example of the road set as a predetermined area. (4A) and (4B) are diagrams showing the probability distribution of the required time. It is a figure which shows the collection in a road area. It is a figure which shows the example of the systemized cost. It is a flowchart of a route guidance process.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 10 ... Traveling pattern information acquisition apparatus, 20 ... Control part, 21 ... Traveling pattern information acquisition program, 21a ... Transmission / reception control part, 21b ... Vehicle speed specific information acquisition part, 21c ... Vehicle speed specific information classification part, 21d ... Motion occurrence probability acquisition part , 22 ... communication unit, 30 ... storage medium, 30a ... probe information, 30b ... map information, 30b, 300a ... map information, 30c ... cost information, 100 ... navigation device, 200 ... control unit, 210 ... navigation program, 210a ... Transmission / reception control unit, 210b ... initial operation acquisition unit, 210c ... estimation operation acquisition unit, 210d ... guidance control unit, 210e ... probe information generation unit, 220 ... communication unit, 410 ... GPS reception unit, 420 ... vehicle speed sensor, 430 ... guidance Part

Claims (6)

  1. An initial operation acquisition means for acquiring information indicating that the vehicle has been stopped or moved without stopping in the first road section of the road of a predetermined section composed of a plurality of continuous road sections ; ,
    Shows the estimated motion of the vehicle on the road in the predetermined section in association with the motion of going through defined previously, after motion of going through without the stop operation or the stop without the stop operation or the stop An estimated motion acquisition means for acquiring information;
    Guidance control means for causing a guide unit mounted on the vehicle to perform guidance for supporting driving when traveling on the road of the predetermined section based on the information indicating the estimation operation;
    A driving support apparatus comprising:
  2. Wherein the information indicating the estimation operation is information indicating a difficulty of travel when traveling from one of the road section to be continuous to the other,
    The guidance control means causes the guidance unit to guide a route searched based on information indicating the travel difficulty;
    The driving support device according to claim 1.
  3. The guidance control means estimates a required time when traveling on the road in the predetermined section based on information indicating the estimation operation, and causes the guide unit to guide the required time.
    The driving support device according to claim 1.
  4. The information indicating the estimation operation is information for specifying a required time when traveling on the road of the predetermined section,
    The guidance control means guides the required time to the guide unit based on information for specifying the required time.
    The driving assistance apparatus in any one of Claims 1-3.
  5. An initial operation acquisition step of acquiring information indicating that a vehicle stop operation or an operation of passing without stopping is performed in a first road section of roads of a predetermined section constituted by a plurality of continuous road sections ; ,
    Shows the estimated motion of the vehicle on the road in the predetermined section in association with the motion of going through defined previously, after motion of going through without the stop operation or the stop without the stop operation or the stop An estimated motion acquisition step of acquiring information;
    A guidance control step for causing a guidance unit mounted on the vehicle to perform guidance for supporting driving when traveling on a road in the predetermined section based on information indicating the estimation operation;
    Driving support method including.
  6. An initial operation acquisition function for acquiring information indicating that a vehicle stop operation or an operation of passing without stopping is performed in a first road section of roads of a predetermined section configured by a plurality of continuous road sections ; ,
    Shows the estimated motion of the vehicle on the road in the predetermined section in association with the motion of going through defined previously, after motion of going through without the stop operation or the stop without the stop operation or the stop An estimated motion acquisition function for acquiring information;
    A guidance control function for causing a guidance unit mounted on the vehicle to perform guidance for supporting driving when traveling on a road in the predetermined section based on information indicating the estimation operation;
    Driving support program that realizes the computer.
JP2008084042A 2008-03-27 2008-03-27 Driving support device, driving support method, and driving support program Active JP4572944B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2008084042A JP4572944B2 (en) 2008-03-27 2008-03-27 Driving support device, driving support method, and driving support program

Applications Claiming Priority (9)

Application Number Priority Date Filing Date Title
JP2008084042A JP4572944B2 (en) 2008-03-27 2008-03-27 Driving support device, driving support method, and driving support program
PCT/JP2009/000605 WO2009118987A1 (en) 2008-03-27 2009-02-16 Travel pattern information obtaining device, travel pattern information obtaining method, and travel pattern information obtaining program
US12/867,102 US8417443B2 (en) 2008-03-27 2009-02-16 Travel pattern information obtaining device, travel pattern information obtaining method, and travel pattern information obtaining program
CN 200980108059 CN101965600B (en) 2008-03-27 2009-02-16 Driving mode information acquiring device and method
CN 200980108213 CN101965601B (en) 2008-03-27 2009-02-16 Driving support device and driving support method
PCT/JP2009/000607 WO2009118988A1 (en) 2008-03-27 2009-02-16 Driving support device, driving support method, and driving support program
EP20090724262 EP2255349B1 (en) 2008-03-27 2009-02-16 Driving support device, driving support method, and driving support program
EP20090724473 EP2255347B9 (en) 2008-03-27 2009-02-16 Travel pattern information obtaining device, travel pattern information obtaining method, travel pattern information obtaining program and computer readable medium
US12/867,186 US9076333B2 (en) 2008-03-27 2009-02-16 Driving support device, driving support method, and driving support program

Publications (2)

Publication Number Publication Date
JP2009236725A JP2009236725A (en) 2009-10-15
JP4572944B2 true JP4572944B2 (en) 2010-11-04

Family

ID=41250858

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2008084042A Active JP4572944B2 (en) 2008-03-27 2008-03-27 Driving support device, driving support method, and driving support program

Country Status (1)

Country Link
JP (1) JP4572944B2 (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8818380B2 (en) 2004-07-09 2014-08-26 Israel Feldman System and method for geographically locating a cellular phone
US9418545B2 (en) 2011-06-29 2016-08-16 Inrix Holding Limited Method and system for collecting traffic data
US9552725B2 (en) 2000-08-28 2017-01-24 Inrix Global Services Limited Method and system for modeling and processing vehicular traffic data and information and applying thereof

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5742552B2 (en) * 2011-07-28 2015-07-01 アイシン・エィ・ダブリュ株式会社 Navigation system, representative travel time setting method and program
EP2806413B1 (en) * 2012-01-20 2016-12-28 Toyota Jidosha Kabushiki Kaisha Vehicle behavior prediction device and vehicle behavior prediction method, and driving assistance device

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20020026278A1 (en) * 2000-08-28 2002-02-28 Estimotion Inc. Method and system for modeling and processing vehicular traffic data and information and applying thereof
US20030128135A1 (en) * 2002-01-10 2003-07-10 Poltorak Alexander I. Apparatus and method for providing for the remote control of traffic control devices along a travel route
EP1793204A1 (en) * 2005-11-30 2007-06-06 Aisin AW Co., Ltd. System for and method of providing lane guidance
US20070208493A1 (en) * 2006-03-03 2007-09-06 Inrix, Inc. Identifying unrepresentative road traffic condition data obtained from mobile data sources
JP2007322304A (en) * 2006-06-02 2007-12-13 Xanavi Informatics Corp Navigation device, and navigation method

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4367431B2 (en) * 2005-10-26 2009-11-18 トヨタ自動車株式会社 Vehicle driving support system
WO2008015966A1 (en) * 2006-08-04 2008-02-07 Panasonic Corporation Collision information indicator and its method

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20020026278A1 (en) * 2000-08-28 2002-02-28 Estimotion Inc. Method and system for modeling and processing vehicular traffic data and information and applying thereof
US20030128135A1 (en) * 2002-01-10 2003-07-10 Poltorak Alexander I. Apparatus and method for providing for the remote control of traffic control devices along a travel route
EP1793204A1 (en) * 2005-11-30 2007-06-06 Aisin AW Co., Ltd. System for and method of providing lane guidance
US20070208493A1 (en) * 2006-03-03 2007-09-06 Inrix, Inc. Identifying unrepresentative road traffic condition data obtained from mobile data sources
JP2007322304A (en) * 2006-06-02 2007-12-13 Xanavi Informatics Corp Navigation device, and navigation method

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9552725B2 (en) 2000-08-28 2017-01-24 Inrix Global Services Limited Method and system for modeling and processing vehicular traffic data and information and applying thereof
US8818380B2 (en) 2004-07-09 2014-08-26 Israel Feldman System and method for geographically locating a cellular phone
US9418545B2 (en) 2011-06-29 2016-08-16 Inrix Holding Limited Method and system for collecting traffic data

Also Published As

Publication number Publication date
JP2009236725A (en) 2009-10-15

Similar Documents

Publication Publication Date Title
US20180299290A1 (en) Lane-level vehicle navigation for vehicle routing and traffic management
US7617041B2 (en) Traffic jam prediction device and method
KR101703144B1 (en) Apparatus and method for autonomous driving
EP1695317B1 (en) Traffic status recognition with a threshold value method
KR100927763B1 (en) Transportation Information Management System
Berndt et al. Continuous driver intention recognition with hidden markov models
US20130158794A1 (en) Methods and systems for generating a horizon for use in an advanced driver assistance system (adas)
US7734275B2 (en) Method of producing traffic signal information, method of providing traffic signal information, and navigation apparatus
EP2012088B1 (en) Road information generating apparatus, road information generating method and road information generating program
EP2495713A1 (en) Driving support device
US6061625A (en) Process for obtaining traffic data
US7219012B2 (en) Navigation systems, methods, and programs
US8694242B2 (en) Traveling information creating device, traveling information creating method and program
JP2007041294A (en) Road map data update system and road detecting system
JP4442647B2 (en) Route search method and route search system
DE102013214328B4 (en) Vehicle behavior prediction device and vehicle behavior prediction method
DE102005012269B4 (en) Method and arrangement for guiding a vehicle and a corresponding computer program and a corresponding computer-readable storage medium
Ramezani et al. Queue profile estimation in congested urban networks with probe data
JP4491472B2 (en) Traffic information system
US7809503B2 (en) Navigation apparatus
JP5003546B2 (en) Traffic signal control system, traffic signal control device and method, and traffic index calculation device
JP2005285108A (en) Unexpected event detection method and unexpected event detection apparatus
JP2009193212A (en) Road traffic information system
JP4396380B2 (en) Traffic information transmission device and transmission method
JP2003281674A (en) Traffic information processing method and traffic information processing system

Legal Events

Date Code Title Description
A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20100311

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20100518

A521 Written amendment

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20100629

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20100720

A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20100802

R150 Certificate of patent or registration of utility model

Free format text: JAPANESE INTERMEDIATE CODE: R150

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20130827

Year of fee payment: 3

RD04 Notification of resignation of power of attorney

Free format text: JAPANESE INTERMEDIATE CODE: R3D04

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20130827

Year of fee payment: 3

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20140827

Year of fee payment: 4