JP4973471B2 - Traffic signal display notification device - Google Patents

Description

The present invention relates to a traffic signal display informing device.

2. Description of the Related Art Conventionally, a technique for notifying a vehicle of a current display state of traffic signals on a road and information on a display plan change schedule is known. For example, the navigation device described in Patent Document 1 uses the information of these traffic lights to perform a guidance route search so as to reduce the number of times of stopping at an intersection with a traffic light. Specifically, when the next node candidate has a traffic signal between the current position and the destination, the navigation device calculates the arrival time to the next node candidate and sets the calculated arrival time to the next node candidate. When the display of the traffic signal is “progress is possible”, the next node candidate is determined as the next node of the guidance route.
2003-139551 gazette

  However, in the method of using the traffic signal information as described above, the following driving problems cannot be solved.

  After a curve, after turning right, left, and uphill / downhill traffic lights, the driver has poor visibility, and the display contents cannot be confirmed visually. Therefore, after the display contents of the traffic light can be confirmed, acceleration and deceleration must be performed accordingly.

  For example, when driving on a curve, the braking operation must be performed after confirming the signal state after the curve, which increases the possibility of sudden braking. Also, even if you know the presence of a traffic light after a curve from the map display of the navigation device, you can not understand the display content of the traffic light until you visually check it, so there is a possibility that it will decelerate in real time, which may be unnecessary There is. Sudden braking increases the possibility of slipping and rear-end collisions, and excessive deceleration leads to fuel efficiency deterioration.

  In addition, it is very difficult to check the display contents of the traffic light after turning at the same time as other vehicle confirmation, pedestrian confirmation, enrollment confirmation, etc. after turning left or right at the intersection. There may be a situation where smooth acceleration cannot be performed because the confirmation of the signal display is delayed. On the other hand, there is a possibility that the confirmation of other vehicles, pedestrians, and entrainment may be neglected by the traffic lights immediately after turning right or left. In addition, if the vehicle is accelerating too much when turning right or left at the intersection, it must decelerate abruptly if the traffic light display immediately after is red. If smooth acceleration is hindered or excessively accelerated, fuel consumption deteriorates. If safety checks are neglected, the possibility of a traffic accident increases.

  In addition, the accelerator is depressed during traveling on the uphill, and it may be necessary to perform a sudden braking operation after the traffic light immediately after the top of the uphill is visible. Also, if the speed is too high when entering a downhill, you must brake suddenly after looking at the signal immediately after that.

  The present invention has been made in view of the above points, and it is an object of the present invention to reduce driving problems caused by traffic signals having poor visibility using information on display state changes of traffic signals on a road.

The invention described in claim 1 for achieving the above object is a traffic light display / notification device mounted on a vehicle, which calculates a guide route to a destination and places the vehicle at a guide point on the calculated guide route. On the basis of the approach, a route guidance unit that displays an enlarged map of the guidance point, a first acquisition unit (230, 250) that acquires a change schedule of the display content of the first traffic light (S), The vehicle reaches the point that becomes the first reference distance (α) along the road to the first traffic light, and the angle formed by the traveling direction of the vehicle and the direction from the point to the traffic signal is The corner trigger condition determining means (110, 120) for determining that the corner trigger condition that the angle is equal to or greater than the reference angle (γ) is satisfied, and based on the fact that the corner trigger condition is satisfied, First First prediction means (235, 255) for predicting the arrival time at the traffic light and predicting the display content of the first traffic light at the predicted arrival time based on the change schedule acquired by the first acquisition means And informing means (240, 260) for informing the driver of the vehicle of the display contents of the first traffic light at the arrival time based on the prediction result of the first prediction means , the corner trigger After the condition is satisfied, there is a guide point between the vehicle and the first traffic light, and the route guide means displays the enlarged map of the guide point, so that the first The prediction means predicts again the arrival time of the vehicle to the first traffic light, and the display contents of the first traffic light at the predicted arrival time are changed to the change schedule acquired by the first acquisition means. And the notification means notifies the display content of the first traffic light at the arrival time to the driver of the vehicle based on the second prediction result of the first prediction means. It is a traffic signal display notification device.

The fact that the corner trigger condition is satisfied means that it is difficult to visually check the display content of the traffic light immediately after that due to the presence of a corner (specifically, a road curve or an intersection that turns right or left). Show. By using such a traffic signal display notification device, the driver of the vehicle can display information about the first traffic signal with poor visibility, more specifically, the display when the host vehicle reaches the first traffic signal. Information about the contents can be known in advance. Therefore, it is possible to appropriately decelerate and accelerate the first traffic light with a poor visibility, and therefore, the driving trouble caused by the traffic signal with a poor visibility is reduced .
In addition, when the traffic signal display / notification device has an enlarged display function at the guidance point, after the corner trigger condition is satisfied, in accordance with the display timing of the point enlarged view at the guidance point before the first traffic signal. The driver can be notified of the display content when the first traffic light arrives again. Therefore, the driver can reconfirm the display content.
In addition, the display content to be notified again is a new prediction about the time of arrival at the first traffic light.
It is based on measurement. Therefore, it is performed when the corner trigger condition is met.
Even if the predicted result becomes inaccurate for some reason after that,
Incorrectness can be corrected and the correction reflected in the display content.
Further, the invention according to claim 2 is the traffic signal display / notification device according to claim 1, wherein the first prediction means stops the vehicle after the corner trigger condition is satisfied, and further restarts the vehicle after that. Based on this, the arrival time of the vehicle to the first traffic light is predicted again, and the display content of the first traffic light at the predicted arrival time is predicted again based on the change schedule acquired by the first acquisition means. Then, the notification means notifies the driver of the vehicle of the display content of the first traffic light at the arrival time based on the second prediction result of the first prediction means.
The invention described in claim 3 is a traffic signal display notification device mounted on a vehicle, and includes first acquisition means (230, 250) for acquiring a change schedule of display contents of the first traffic light (S). The vehicle reaches the point that becomes the first reference distance (α) along the road to the first traffic light, and the traveling direction of the vehicle and the direction from the point to the traffic light are formed. The corner trigger condition determining means (110, 120) for determining that the corner trigger condition that the angle is equal to or larger than the reference angle (γ) is satisfied, and the vehicle based on the corner trigger condition being satisfied. Predicting the arrival time of the first traffic light, and predicting the display content of the first traffic light at the predicted arrival time based on the change schedule acquired by the first acquisition means (23 5 and 255) and notification means (240, 260) for notifying the driver of the vehicle of the display content of the first traffic light at the arrival time based on the prediction result of the first prediction means. After the corner trigger condition is satisfied, the first prediction means determines when the vehicle reaches the first traffic signal based on the fact that the vehicle stops and then the vehicle resumes running. And predicting again the display content of the first traffic light at the predicted arrival time based on the change schedule acquired by the first acquisition unit, and the notification unit includes: A traffic light display notification device that notifies the driver of the vehicle of the display content of the first traffic light at the arrival time based on the prediction result again.
When the corner trigger condition is satisfied and the vehicle starts to travel again after the corner trigger condition is satisfied, the display contents when the first traffic light arrives again are displayed. Since the driver can receive the notification, the driver can reconfirm the display content.
In addition, the display content to be notified again is a new prediction about the time of arrival at the first traffic light.
It is based on measurement. Therefore, it is performed when the corner trigger condition is met.
Even if the predicted result becomes inaccurate for some reason after that,
Incorrectness can be corrected and the correction reflected in the display content. Also, if the vehicle is temporarily
If it stops, the previous prediction about the time to reach the first traffic light will be inaccurate.
Therefore, the traffic light display / notification device must re-predict the arrival time.
It will be possible to do it at the necessary timing.
According to a fourth aspect of the present invention, there is provided a traffic light display according to any one of the first to third aspects.
In the notification device, the first traffic light and the vehicle based on the corner trigger condition being satisfied.
A second traffic light determining means (205) for determining whether or not there is a second traffic light (X) between them;
, Second acquisition means (210) for acquiring the change schedule of the display content of the second traffic light, and the second signal
Based on the determination that there is a traffic, predict the arrival time of the vehicle to the second traffic light
The change contents acquired by the second acquisition means for the display content of the second traffic light at the arrival time
Second prediction means (215) for predicting based on the first prediction means, the first prediction means is the second prediction means
Based on the fact that the display content of the second traffic light predicted by the vehicle indicates that entry is prohibited.
Predicting when the vehicle will reach the first traffic light, taking into account the stop time
The change contents acquired by the first acquisition means for the display contents of the first traffic light at the arrival time
Based on the prediction.
Further, the invention according to claim 5 is a traffic signal display notification device mounted on a vehicle, and includes first acquisition means (230, 250) for acquiring a change schedule of display contents of the first traffic light (S). The vehicle reaches the point that becomes the first reference distance (α) along the road to the first traffic light, and the traveling direction of the vehicle and the direction from the point to the traffic light are formed. The corner trigger condition determining means (110, 120) for determining that the corner trigger condition that the angle is equal to or larger than the reference angle (γ) is satisfied, and the vehicle based on the corner trigger condition being satisfied. Predicting the arrival time of the first traffic light, and predicting the display content of the first traffic light at the predicted arrival time based on the change schedule acquired by the first acquisition means (23 5 and 255), based on the prediction result of the first prediction means, notification means (240, 260) for notifying the driver of the vehicle of the display content of the first traffic light at the arrival time, and the corner A second traffic light determining means (205) for determining whether or not there is a second traffic light (X) between the first traffic light and the vehicle based on a trigger condition being satisfied; The second acquisition means (210) for acquiring the change schedule of the display contents of the second traffic light, and the arrival time of the vehicle to the second traffic light based on the determination that there is the second traffic light. Second prediction means (215) for predicting and predicting the display contents of the second traffic light at the predicted arrival time based on the change schedule acquired by the second acquisition means, The prediction means includes the second prediction. Based on the fact that the display content of the second traffic light predicted by the means indicates entry prohibition, taking into account the stop time of the vehicle at the second traffic light, A traffic light display notification device that predicts an arrival time and predicts display contents of the first traffic light at the predicted arrival time based on the change schedule acquired by the first acquisition means.
According to claims 4 and 5, there is a second traffic light (X) between the first traffic light and the vehicle on the road after the corner trigger condition is satisfied, and the first When it is predicted that the host vehicle will stop waiting for a signal at the traffic light of No. 2, it becomes possible to predict the arrival time reflecting the signal waiting time, and as a result, the content of notification to the driver is more accurate. Become.

According to a sixth aspect of the present invention, in the traffic light display / notification device according to any one of the first to fifth aspects, the road from the vehicle to the first traffic light after the corner trigger condition is satisfied. The first prediction means predicts again the arrival time of the vehicle to the first traffic light based on the fact that the distance has become the second reference distance (β) shorter than the first reference distance, and the prediction The display content of the first traffic light at the arrival time is predicted again based on the change schedule acquired by the first acquisition means, and the notification means is based on the second prediction result of the first prediction means. The display content of the first traffic light is notified to the driver of the vehicle.

  In this way, after the corner trigger condition is satisfied, when the vehicle has reached the second reference distance to the first traffic light, the display content when the first traffic signal reaches again is notified. Since the driver can receive, the driver can reconfirm the display content.

  The display content to be notified again is based on a new prediction about the arrival time at the first traffic light. Therefore, even if the prediction made at the timing when the corner trigger condition is satisfied becomes inaccurate for some reason afterwards, the inaccuracy is corrected according to the cause, and the correction is displayed in the display contents. It can be reflected. As a cause of inaccuracy, for example, there is a case where the vehicle stops once due to an unexpected situation (for example, a pedestrian crossing pedestrian or an oncoming vehicle at the right turn) after the corner trigger condition is satisfied. .

The invention according to claim 7 is a traffic signal display notifying device mounted on a vehicle.
The first acquisition means (230, 250) for acquiring the change schedule of the display content of the traffic light (S), and the vehicle reaches the first reference distance (α) along the road to the first traffic light. In addition, the slope trigger condition determining means (110, 130) for determining that the slope trigger condition that the difference in elevation between the vehicle location and the location of the first signal is greater than or equal to the reference length (δ) is satisfied. And the change in the display content of the first traffic light acquired by the first acquisition means based on the fact that the slope trigger condition is satisfied, and the display content of the first traffic light at the time when the vehicle reaches the first traffic light. First prediction means (235, 255) for predicting based on the schedule, and notification means for notifying the driver of the vehicle of the display content of the first traffic light at the arrival time based on the prediction result of the first prediction means. (240, 260) And the first prediction means arrives at the first traffic signal of the vehicle based on the fact that the vehicle stops after the slope trigger condition is satisfied and then the vehicle resumes running. The time is predicted again, the display content of the first traffic light at the predicted arrival time is predicted again based on the change schedule acquired by the first acquisition means, and the notification means is the first prediction means. The traffic light display notification device is characterized in that the display content of the first traffic light at the arrival time is notified to the driver of the vehicle based on the second prediction result .

Satisfaction of the slope trigger condition indicates that it is difficult to visually confirm the display content of the traffic light immediately after the uphill. Alternatively, the presence of the downhill indicates that it is difficult to visually confirm the display content of the traffic light at the beginning of the downhill. By using such a traffic signal display notification device, the driver of the vehicle can display information about the first traffic signal with poor visibility, more specifically, the display when the host vehicle reaches the first traffic signal. Information about the contents can be known in advance. Therefore, it is possible to appropriately decelerate and accelerate the first traffic light with a poor visibility, and therefore, the driving trouble caused by the traffic signal with a poor visibility is reduced .
In addition, when the vehicle is temporarily stopped and traveled again after the slope trigger condition is satisfied, the driver can be notified of the display content when the first traffic light arrives again. The displayed contents can be reconfirmed.
In addition, the display content to be notified again is a new prediction about the time of arrival at the first traffic light.
It is based on measurement. Therefore, it was done at the timing when the slope trigger condition was satisfied
Even if the forecast subsequently becomes inaccurate for some reason,
The accuracy can be corrected, and the correction can be reflected in the display content. Also, the vehicle is paused
If this is the case, the previous predictions about when to reach the first traffic light will be inaccurate.
The traffic signal display / notification device needs to re-predict the arrival time.
Can be done at the timing.
Further, the invention according to claim 8 is based on the fact that the slope trigger condition is satisfied.
A second traffic light judging hand for judging whether or not there is a second traffic light (X) between the traffic light and the vehicle.
Step (205) and second acquisition means (210) for acquiring a change schedule of display contents of the second traffic light
And when the vehicle reaches the second traffic signal based on the determination that the second traffic signal is present.
The second acquisition means takes the display content of the second traffic light at the predicted arrival time.
Second prediction means (215) for predicting based on the obtained change schedule, and a first predictor
The stage is based on the fact that the display content of the second traffic light predicted by the second prediction means indicates entry prohibition.
Therefore, taking into account the stop time at the second traffic signal of the vehicle, the vehicle reaches the first traffic signal.
The first acquisition means predicts the time and displays the display contents of the first traffic light at the predicted arrival time.
Is predicted based on the change schedule acquired.
The invention described in claim 9 is a traffic signal display notification device mounted on a vehicle, and includes first acquisition means (230, 250) for acquiring a change schedule of display contents of the first traffic light (S). The vehicle reaches a point that becomes the first reference distance (α) along the road to the first traffic light, and the altitude difference between the location of the vehicle and the location of the first signal is a reference. Based on the fact that the slope trigger condition determining means (110, 130) for judging that the slope trigger condition that is longer than (δ) is satisfied and that the slope trigger condition is satisfied, First prediction means (235,) for predicting the display content of the first traffic light at the time of arrival at the first traffic light based on the change schedule of the display content of the first traffic light acquired by the first acquisition means 255) and the first prediction means Based on the prediction result, based on the notification means (240, 260) for notifying the driver of the vehicle of the display content of the first traffic light at the arrival time, and when the slope trigger condition is satisfied, A second traffic light determining means (205) for determining whether or not there is a second traffic light (X) between the first traffic light and the vehicle; and a change schedule of display contents of the second traffic light is acquired. Based on the second acquisition means (210) and the determination that the second traffic signal is present, the arrival time of the vehicle to the second traffic signal is predicted, and the second time at the predicted arrival time is predicted. Second display means (215) for predicting the display content of the traffic light based on the change schedule acquired by the second acquisition means, wherein the first prediction means is predicted by the second prediction means Display of the second traffic light Based on the fact that the entry indicates prohibition of entry, the arrival time of the vehicle to the first traffic light is predicted in consideration of the stop time of the vehicle at the second traffic light, and the predicted arrival time The signal display notification device is characterized in that the display content of the first traffic light is predicted based on the change schedule acquired by the first acquisition means.
According to the eighth and ninth aspects, there is a second traffic light (X) between the first traffic light and the vehicle on the road after the slope trigger condition is satisfied, and the first When it is predicted that the host vehicle will stop waiting for a signal in the traffic light of No. 2, it becomes possible to predict the arrival time reflecting the signal waiting time, and as a result, it is more accurate not to notify the driver. become.

Further, the invention according to claim 10, in traffic signal display informing device according to any one of claims 7 to 9, the first prediction means, after the slope trigger condition is satisfied, the vehicle first Based on the fact that the distance along the road to the traffic signal has become the second reference distance (β) shorter than the first reference distance, the arrival time of the vehicle to the first traffic signal is predicted again, The display content of the first traffic light at the predicted arrival time is predicted again based on the change schedule acquired by the first acquisition means, and the notification means is based on the second prediction result of the first prediction means. The display content of the first traffic light at the arrival time is notified to the driver of the vehicle.

  In this way, after the hill trigger condition is satisfied, when the vehicle reaches the second reference distance to the first traffic light, the display content when the first traffic light reaches again is displayed. Since the driver can receive the notification, the driver can reconfirm the display content.

  Moreover, the display content notified again is based on the new prediction about the arrival time to the said 1st traffic light. Therefore, even if the prediction made at the timing when the slope trigger condition is satisfied becomes inaccurate for some reason afterwards, the inaccuracy is corrected according to the cause and the correction is displayed in the displayed contents. It can be reflected.

  Further, in the traffic light display notification apparatus according to claim 6 or 7, the first prediction means is configured such that the vehicle stops after the slope trigger condition is satisfied, and the vehicle travels thereafter. Based on the restart of the vehicle, the arrival time of the vehicle to the first traffic light is predicted again, and the display content of the first traffic light at the predicted arrival time is based on the change schedule acquired by the first acquisition means. Prediction is performed again, and the notification unit notifies the driver of the vehicle of the display content of the first traffic light at the arrival time based on the second prediction result of the first prediction unit.

  In this way, the driver receives notification of the display content when the first traffic light arrives again when the vehicle is temporarily stopped and traveled again after the slope trigger condition is satisfied. Therefore, the driver can reconfirm the display contents.

  Moreover, the display content notified again is based on the new prediction about the arrival time to the said 1st traffic light. Therefore, even if the prediction made at the timing when the slope trigger condition is satisfied becomes inaccurate for some reason afterwards, the inaccuracy is corrected according to the cause and the correction is displayed in the displayed contents. It can be reflected. In addition, when the vehicle is temporarily stopped, there is a high possibility that the previous prediction about the arrival time to the first traffic light will be inaccurate, so the traffic light display notification device Re-prediction can be performed at a necessary timing.

  According to a ninth aspect of the present invention, there is provided a method for determining whether or not there is a second traffic light (X) between the first traffic light and the vehicle based on the fact that the slope trigger condition is satisfied. The second traffic signal determining means (205), the second acquisition means (210) for acquiring the change schedule of the display content of the second traffic signal, and the second signal of the vehicle based on the determination that the second traffic signal is present. Second prediction means (215) for predicting the arrival time of the second traffic light and predicting the display content of the second traffic light at the predicted arrival time based on the change schedule acquired by the second acquisition means; And the first predicting means takes into account the stop time at the second traffic light of the vehicle based on the fact that the display content of the second traffic light predicted by the second predicting means indicates entry prohibition. Predicting the time of arrival at the first traffic light, the predicted arrival The display contents of the first traffic light at the time, characterized by predicting, based on a change plan first acquisition unit has acquired.

  As a result, there is a second traffic light (X) between the first traffic light and the vehicle on the road after the slope trigger condition is satisfied, and the second traffic light When the vehicle is predicted to stop waiting for a signal, the arrival time reflecting the signal waiting time can be predicted, and as a result, it is more accurate not to notify the driver.

  In addition, the code | symbol in the parenthesis in the said claim shows the correspondence of the term described in the claim, and the concrete thing etc. which illustrate the said term described in embodiment mentioned later.

  Hereinafter, an embodiment of the present invention will be described. FIG. 1 shows a configuration of a vehicle navigation device (corresponding to an example of a traffic light display notification device) 1 according to the present embodiment.

  The vehicle navigation device 1 includes a position detector 11, an image display device 12, an operation unit 13, a speaker 14, a traffic information receiver 15, a map data acquisition unit 16, and a control circuit 17.

  The position detector 11 includes a well-known sensor (not shown) such as a geomagnetic sensor, a gyroscope, a vehicle speed sensor, and a GPS receiver. The current position and direction of the vehicle based on the characteristics of each of these sensors. , And information for specifying the speed is output to the control circuit 17. The image display device 12 displays a video based on the video signal output from the control circuit 17 to the user. The operation unit 13 includes devices that can be directly operated by a user, such as a mechanical switch and a touch panel, and outputs a signal corresponding to a user operation on the devices to the control circuit 17.

  The traffic information receiver 15 is a radio receiver that receives road congestion information, traffic regulation information, and the like wirelessly transmitted from an FM radio broadcasting station or a roadside device installed along the road and outputs the information to the control circuit 17.

  Further, the traffic information receiver 15 is configured to receive the signal state information of the traffic signal that is broadcast from a wireless transmission device connected to the traffic signal on the road. The signal status information is the unique identification number of the traffic signal subject to the signal status information, the switching timing of the current display content of the traffic signal, the current display content of the traffic signal, and the traffic signal is switched to the current display content. It contains information about the elapsed time since. In addition, the information on the replacement timing is specifically the length of the prohibition period in which the entry prohibition (red, yellow signal) is displayed and the length of the permission period in which the entry permission (blue light) is displayed. Contains information on the size. With these pieces of information, it is possible to specify the change schedule of the display content of the traffic light.

  The map data acquisition unit 16 includes a nonvolatile storage medium such as a DVD, a CD, and an HDD, and a device that reads data (and writes data if possible) to the storage medium. The storage medium stores a program executed by the control circuit 17, map data for route guidance, and the like.

  The map data has road data and facility data. The road data includes link position information (latitude, longitude, altitude, etc. of each position in the link), type information, node position information, type information, and information on the connection relationship between the node and the link. . The facility data has a plurality of records for each facility, and each record has data indicating name information, location information, facility type information, and the like of the target facility.

  A specific example of the facility is a traffic light, for example. The traffic signal record includes a unique identification number of the traffic signal, the position of the stop line of the vehicle corresponding to the traffic signal, the location of the traffic signal (specifically, latitude, longitude, altitude), and the traffic signal is permitted or prohibited to enter. Information on the target road to be operated and the target approach direction for which the traffic light permits or prohibits the entry.

  A control circuit (corresponding to a computer) 17 is a microcomputer having a CPU, RAM, ROM, I / O and the like. The CPU executes a program for the operation of the vehicle navigation device 1 read from the ROM or the map data acquisition unit 16, reads information from the RAM, the ROM, and the map data acquisition unit 16 when executing the program. Information is written to the storage medium of the map data acquisition unit 16 (if possible), and signals are exchanged with the position detector 11, the image display device 12, the operation unit 13, and the speaker 14.

  Specific processing performed by the control circuit 17 executing the program includes current position specifying processing, guidance route calculation processing, route guidance processing, and the like.

  The current position specifying process is a process for specifying the current position (specifically, latitude, longitude, altitude) and direction of the vehicle based on a signal from the position detector 11 using a known technique such as map matching. is there.

  The guidance route calculation process is a process of receiving an input of a destination by the user from the operation unit 13 and calculating an optimum guidance route from the current position to the destination.

  In the route guidance process, map data is read from the map data acquisition unit 16, and an image in which the calculated guide route, destination, waypoint, current position, etc. are overlaid on the map indicated by the map data is displayed on the image display device 12. When necessary, for example, when the host vehicle arrives in front of the guide point, the speaker 14 outputs a guidance voice signal instructing a right turn or a left turn, or displays an enlarged view of the guide point on the image display device 12. It is a process to make. Note that the guidance points include a right / left turn intersection that is supposed to turn left or right according to the guidance route, and a sharp curve point with a sharp curve.

  The vehicle navigation apparatus 1 according to the present embodiment identifies a traffic light that is difficult to see from a driver (that is, a traffic light with a poor visibility), and acquires signal state information of the identified traffic light by wireless communication using the traffic information receiver 15. Based on the acquired information, the display content of the traffic signal at the time when the host vehicle arrives at the traffic signal (hereinafter referred to as arrival content) is predicted in advance (that is, the display content of the traffic signal). Before the user can see it).

  Examples of road environments where it is difficult for a driver to see traffic lights are shown in FIGS. In the example of FIG. 2, the host vehicle 20 travels on a road 21, and a curve 22 is present in front of the host vehicle 20 on the road 21. Further, a traffic light S (corresponding to an example of a first traffic light) is installed at the tip of the curve 22 of the road 21. This traffic light S is a traffic light that displays permission / prohibition of entry in the direction from the curve 22 toward the traffic light S on the road 21.

  In this example, the display content of the traffic light S on the other side of the curve 22 cannot be viewed from the driver of the host vehicle 20. Moreover, since the traffic light S is immediately ahead of the curve 22, the fact that the traffic light S cannot be visually recognized until it passes the curve 22 is likely to cause delays in driving operation or unnecessary deceleration due to excessive precautions. .

  In the present embodiment, the fact that the visibility of the traffic light S immediately after the curve 22 is deteriorated by the curve 22 indicates that the position of the host vehicle 20, the traveling direction of the host vehicle 20, the traffic signal Based on S and the structure of the road 21, the control circuit 17 determines.

  Specifically, the control circuit 17 determines that the distance along the road 21 from the host vehicle 20 to the traffic signal S is the first reference distance α, the direction 25 from the host vehicle 20 to the traffic signal S, and the host vehicle 20. The road situation in which the visibility of the traffic light S immediately after the curve 22 is deteriorated by the curve 22 when a condition that the angle formed by the traveling direction 24 of the vehicle is greater than or equal to the reference angle γ (hereinafter referred to as a corner trigger condition) is satisfied. It is determined that And the control circuit 17 performs the process for alerting | reporting the display content at the time of the arrival of the said traffic light S by using that determination as a trigger.

  In addition, after the corner trigger condition for the traffic light S is satisfied, the control circuit 17 also detects the traffic light S when the host vehicle reaches the traffic light S along the curve 22 and reaches the position 23 of the second reference distance β. A process for notifying the display contents at the time of arrival is performed.

  The first reference distance α is an appropriate distance (for example, 100 meters) for reporting the content displayed when the traffic signal S arrives, and the second reference distance β is the first reference distance α. The reference angle γ is any angle within a range of 25 ° to 30 °, for example.

  In the example of FIG. 3, the host vehicle 20 travels on a road 31, and there is an intersection 33 in front of the host vehicle 20 on the road 21. At this time, it is assumed that the guidance route is a route that enters the intersection 33 from the road 31 and turns left on the road 34 to exit. A traffic light S (corresponding to an example of a first traffic light) is installed at the tip of the intersection 33 along the guide route. The traffic light S is a traffic light that travels on the road 34 and displays permission / prohibition of entry in a direction from the intersection 33 toward the traffic light S.

  In this example, the display content of the traffic light S on the other side of the intersection 33 cannot be viewed from the driver of the host vehicle 20. Moreover, since the traffic light S is just ahead of the intersection 33, the fact that the traffic light S cannot be visually recognized until it passes the intersection 33 is likely to cause a situation such as a delay in driving operation or unnecessary deceleration due to excessive precautions. .

  In the present embodiment, the fact that the visibility of the traffic light S immediately after the intersection 33 is deteriorated by the intersection 33 indicates that the position of the host vehicle 20, the traveling direction of the host vehicle 20, the traffic signal Based on S and the structure of the roads 31 and 34, the control circuit 17 determines.

  Specifically, the control circuit 17 determines that the distance along the guide route from the host vehicle 20 to the traffic signal S is the first reference distance α, and the direction 35 from the host vehicle 20 to the traffic signal S, and the host vehicle 20. When the condition that the angle formed with the traveling direction 36 is equal to or greater than the reference angle γ (that is, the corner trigger condition) is satisfied, the road 33 is in a situation where the visibility of the traffic light S immediately after the intersection 33 is deteriorated by the intersection 33. It is determined that And the control circuit 17 performs the process for alerting | reporting the display content at the time of the arrival of the said traffic light S by using that determination as a trigger.

  In addition, after the corner trigger condition for the traffic light S is satisfied, the control circuit 17 also displays when the traffic light S reaches the position of the reference distance β when the host vehicle reaches the traffic light S along the guidance route. The process for notifying the contents is performed again.

  In the example of FIG. 4, the host vehicle 20 is going up a slope 41, and a traffic light S (corresponding to an example of a first traffic light) is installed immediately after going up the slope (or near the top). This traffic light S is a traffic light that displays an entry permission / prohibition in a direction toward the traffic light S up the slope 41.

  In this example, the display content of the traffic light S on the other side of the uphill 41 cannot be visually recognized by the driver of the host vehicle 20. Moreover, since the traffic light S is just ahead of the top, the fact that the traffic light S cannot be visually recognized until it almost goes up the uphill 41 may cause a situation such as a delay in driving operation or unnecessary deceleration due to excessive precautions. Easy to invite.

  In the present embodiment, as described above, the fact that the visibility of the traffic light S immediately after the top is deteriorated by the uphill 41 indicates that the position of the host vehicle 20, the position of the traffic light S, and the road 41 The control circuit 17 makes a determination based on the structure.

  Specifically, the control circuit 17 determines that the distance along the uphill 41 from the host vehicle 20 to the traffic light S is the first reference distance α, and the altitude difference between the position of the host vehicle 20 and the position of the traffic light S. Is determined to be in such a road condition that the visibility of the traffic light S immediately after the uphill 41 is deteriorated by the uphill 41 when the condition that the vehicle is equal to or greater than the reference length δ (hereinafter referred to as the slope trigger condition) is satisfied. To do. And the control circuit 17 performs the process for alerting | reporting the display content at the time of the arrival of the said traffic light S by using that determination as a trigger.

  In addition, after the slope trigger condition for the traffic light S is satisfied, the control circuit 17 also reaches the position 42 of the reference distance β along the uphill 41 to the traffic light S, even when the traffic light S arrives. The process for notifying the display contents is performed again.

  In the example of FIG. 5, the host vehicle 20 is going down a slope 51, and a traffic light S (corresponding to an example of a first traffic light) is installed immediately after starting to go down the slope. This traffic light S is a traffic light that displays permission / prohibition of entry in a direction toward the traffic light S down the slope 51.

  In this example, the display content of the traffic light S immediately after the downhill 51 starts cannot be visually recognized from the driver of the host vehicle 20. Moreover, since the traffic light S is just after the start of the downhill 51, it is impossible to visually recognize the traffic light S until the downhill 51 is reached, such as a delay in driving operation or unnecessary deceleration due to excessive precautions. It is easy to invite a situation.

  In the present embodiment, in this way, the fact that the traffic situation is such that the visibility of the traffic light S immediately after the start of the downhill 51 is deteriorated, the position of the host vehicle 20, the position of the traffic light S, and the road Based on the structure 51, the control circuit 17 makes the determination.

  Specifically, the control circuit 17 determines that the distance along the downhill 51 from the host vehicle 20 to the traffic light S is the first reference distance α, and the altitude difference between the position of the host vehicle 20 and the position of the traffic light S. When the condition (hereinafter referred to as “slope trigger condition”) is satisfied, the road condition is such that the visibility of the traffic light S immediately after the downhill 51 is started by the downhill 51 is deteriorated. It is determined that And the control circuit 17 performs again the process for alerting | reporting the display content at the time of the arrival of the said traffic light S by using that determination as a trigger.

  In addition, after the slope trigger condition for the traffic light S is satisfied, the control circuit 17 also reaches the position 42 of the reference distance β along the uphill 41 to the traffic light S, even when the traffic light S arrives. Processing for notifying display contents is performed.

  In addition, after the corner trigger condition for the traffic light S is satisfied, the control circuit 17 provides an enlarged view of the curve 22 or the intersection 33 from the current position to the traffic signal S to be notified to the image display device 12 in the route guidance process. May be displayed. Even in such a case, the control circuit 17 performs the process for notifying the display content when the traffic signal S arrives again (see FIGS. 6 and 7).

  Hereinafter, the details of the process for notifying the display contents when the notification target signal S arrives will be described by taking the notification when the corner trigger condition or the slope trigger condition is satisfied as an example. It should be noted that in any case where the traffic signal S approaches the second reference distance β and when an enlarged view is displayed for the intersection or curve in front of the notification target signal S, the control circuit 17 Is used as a trigger to perform a notification process A described later.

  FIG. 8 shows a flowchart of the program 100 executed by the control circuit 17. The control circuit 17 repeatedly executes the program 100 (for example, every second) for the notification process when the corner trigger condition or the slope trigger condition is satisfied.

  In the execution of the program 100, first, in step 110, the control circuit 17 sets a traffic light (hereinafter referred to as a traffic light) located at a first distance α along the predicted route from the current position of the host vehicle at the intersection recorded in the map data. , It is determined whether or not there is a signal to be notified S), and if there is, step 120 is subsequently executed, and if not, execution of the program 100 for one time is terminated.

  Here, the predicted route is a guidance route when the route guidance process is performed, and a route that goes straight along the road when the route guidance process is not performed. Moreover, the traffic signal to be determined is limited to a traffic signal that displays whether the vehicle traveling in the same direction as the current traveling direction of the host vehicle is permitted or prohibited. Information such as the position of the intersection, the target road, and the target direction is acquired from the map data in the map data acquisition unit 16.

  In step 120, it is determined whether or not the angle formed by the traveling direction of the host vehicle and the direction from the host vehicle position to the notification target signal S is greater than or equal to the reference angle γ. Step 140 is executed, and if it is less than the reference angle γ, then step 130 is executed.

  In step 130, it is determined whether or not the difference in elevation between the position of the host vehicle and the position of the signal S to be notified is greater than or equal to the reference length δ. If it is less, execution of the program 100 for one time is terminated.

  By repeatedly executing such a program 100, the control circuit 17 immediately executes the notification process A of step 140 based on whether either the corner trigger condition or the slope trigger condition is satisfied.

  FIG. 9 shows a flowchart executed by the control circuit 17 for the notification process A. In the notification process A, the control circuit 17 firstly, in step 205, between the position of the host vehicle on the predicted route and the notification target signal device S, another signal device (hereinafter referred to as front signal device X: an example of the second signal device). Step 225 is subsequently executed, and if not, step 210 is subsequently executed.

  In step 225 after determining that there is no front traffic light X, the control circuit 17 acquires the distance along the predicted route from the current position of the host vehicle to the notification target traffic light S based on the map data.

  Subsequently, in step 230, the traffic information receiver 15 is used to acquire the signal status information of the notification target signal device S that is broadcasted as described above. In addition, collation whether the signal status information currently broadcasted is that of the notification target signal S, the unique identification information of the notification target signal S in the map data and the signal status being broadcast This is realized by checking whether or not the unique identification information in the information matches.

  Subsequently, at step 235, the display content (that is, the display content at arrival) of the notification target signal S at the timing (arrival timing) when the host vehicle reaches the notification target signal S is determined. Specifically, the arrival timing is specified by dividing the distance acquired in step 225 by the average traveling speed of the host vehicle. Here, the average traveling speed may be a predetermined fixed value (for example, 30 km / h), or may be an average value based on a record of the past traveling speed history of the host vehicle. Further, the display content at arrival is determined by applying the determined arrival timing to the display content change schedule determined from the signal state information received at step 230.

  Subsequently, in step 240, the arrival display content determined in step 235 (that is, entry permission or entry stop) is notified to the driver by video or audio using the image display device 12 or the speaker 14. For example, “The signal display content after the curve ahead of α meters is predicted to be red”, “The signal display content after the intersection is predicted to be red. Turn with attention to pedestrians and straight ahead. Use indications such as “Please”. After step 240, the one-time execution of the notification process A and the program 100 is terminated.

  Further, in step 210 when it is determined that there is a front signal X between the current position and the notification target signal S, the traffic signal X of the front signal X being broadcasted as described above using the traffic information receiver 15. Get signal status information. In addition, collation whether the signal status information currently broadcast is that of the near traffic light X is the unique identification information of the notification target signal X in the map data and the signal status information being broadcast. This is realized by checking whether or not the unique identification information matches.

  Subsequently, in step 215, the display content (that is, the display content at arrival) of the front traffic light X at the timing (arrival timing) when the host vehicle reaches the front traffic light X is determined. Specifically, first, the distance along the predicted route from the current position of the host vehicle to the front traffic light X is acquired based on the map data. Then, the arrival timing is specified by dividing the acquired distance by the current traveling speed of the host vehicle. In addition, the arrival display content is determined by applying the determined arrival timing to the display content change schedule determined from the signal state information received in step 210.

  Subsequently, at step 220, whether the display content at arrival for the front traffic light X identified at step 215 indicates entry permission (ie, green light) or entry prohibition (ie, yellow or red signal). When the entry permission is indicated, step 225 is subsequently executed. When the entry prohibition is indicated, step 245 is subsequently executed.

  In step 245, the control circuit 17 acquires the distance along the expected route from the stop position of the host vehicle at the front traffic light X to the notification target signal S based on the map data. Here, the stop position of the host vehicle is the position of the stop line corresponding to the front signal X of the map data. Subsequently, in step 250, the signal state information of the notification target signal device S is acquired as in step 230.

  Subsequently, in step 255, the display content (that is, the display content at arrival) of the notification target signal S at the timing (arrival timing) when the host vehicle reaches the notification target signal S is determined. Specifically, the arrival display content is determined by applying the arrival timing to the display content change schedule determined from the signal state information received in step 250.

In addition, the control circuit 17 calculates the arrival timing to the notification target signal device S in consideration of the signal waiting stop time of the host vehicle at the front signal device X. Specifically, the time of switching timing to the first entry permission display after the arrival timing to the front traffic light X is T1, and the distance along the expected route from the stop position of the front traffic light X to the notification target traffic light S is L1. And when the average traveling speed of the host vehicle is Vm,
(Arrival timing in the signal S to be notified) = T1 + L1 / Vm
It is calculated by the following formula.

  Subsequently, in step 260, the arrival display content determined in step 255 (that is, whether the entry is permitted or stopped) is notified to the driver by video or audio using the image display device 12 or the speaker 14. However, the notification timing is when the host vehicle stops in front of the front traffic light X. After step 240, the one-time execution of the notification process A and the program 100 is terminated.

  As described above, when the corner trigger condition (see steps 110 and 120) or the slope trigger condition (see steps 110 and 130) is satisfied, the control circuit 17 acquires a change schedule of the display content of the notification target signal device S. (Refer to Steps 230 and 250) Based on that, the display content of the notification target signal S at the arrival time of the own vehicle to the notification target signal S is predicted (see Steps 235 and 255), and based on the prediction result, The display contents at the time of arrival are notified to the driver (see steps 240 and 260).

  The fact that the corner trigger condition is satisfied means that it is difficult to visually check the display content of the traffic light immediately after that due to the presence of a corner (specifically, a road curve or an intersection that turns right or left). Show. The fact that the slope trigger condition is satisfied indicates that it is difficult to visually confirm the display content of the traffic light S immediately after the uphill. Alternatively, the presence of the downhill indicates that it is difficult to visually confirm the display content of the traffic light S at the beginning of the downhill.

  By using such a vehicle navigation device 1, the driver can display information about the notification target signal S with poor visibility, and more specifically, display information when the host vehicle reaches the notification target signal S. Can be known in advance. Accordingly, it is possible to appropriately decelerate and accelerate the notification target traffic light S with poor visibility, and therefore, the trouble in traveling caused by the notification target traffic signal S with poor visibility is reduced.

  Further, the control circuit 17 determines that the vehicle is waiting for a signal at the front traffic light X when there is no front traffic light X between the notification target traffic light S and the host vehicle (see step 205 → NO) or even if there is a front traffic light X. If it is predicted that the vehicle will not be stopped (see step 220 → YES), the display contents at the time of arrival of the notification target signal S are predicted and notified on the assumption that the host vehicle reaches the notification target signal S without stopping. (See steps 225 to 240).

  However, when there is a front traffic light X between the notification target traffic light S and the host vehicle (see step 205 → YES), and when the host vehicle is predicted to wait for a signal at the front traffic signal X (see step 220 → NO). ) In consideration of the signal waiting stop time in the front traffic light X (that is, assuming that the arrival timing to the notification signal S is delayed by the stop time), the display contents at the time of arrival of the notification target signal S are predicted and notified. (See steps 245-260).

  In this way, there is a second traffic light (X) between the first traffic light and the vehicle on the road after the corner trigger condition is satisfied, and the second traffic light has its own. When the vehicle is predicted to stop waiting for a signal, the arrival time reflecting the signal waiting time can be predicted, and as a result, the content of notification to the driver becomes more accurate.

  In addition, as described above, the control circuit 17 determines that the distance from the vehicle to the notification target signal S is the second reference distance β after the corner trigger condition or the slope trigger condition is satisfied. Based on the above, the notification process A shown in FIG. 9 is executed. Then, in the notification process A, the arrival time of the subject vehicle to the notification target signal S is predicted again, and the display content of the notification target signal S at the predicted arrival time is acquired from the traffic information receiver 15. Based on the change schedule of S, prediction is performed again, and based on the prediction result, the display content of the notification target signal S at the arrival time is notified to the driver of the vehicle.

  In this way, after the corner trigger condition or the slope trigger condition is satisfied, when the vehicle reaches the second reference distance β to the notification target signal S again, the notification target signal S arrives again. Since the driver can be notified of the time display content, the driver can reconfirm the display content.

  Moreover, the display content to notify again is based on the new prediction about the time of arrival at the notification target signal S. Therefore, even if the prediction made at the timing when the corner trigger condition is satisfied becomes inaccurate for some reason (for example, deceleration) afterwards, the inaccuracy is corrected corresponding to the cause and the correction is made. Can be reflected in the display content.

  Further, as described above, after the corner trigger condition or the slope trigger condition is satisfied, the control circuit 17 has a guidance point between the host vehicle and the notification target signal S, and the route guidance process (in the route guidance unit). The arrival time of the vehicle to the notification target signal S is predicted again, and the display contents of the notification target signal S at the predicted arrival time are displayed. Then, the prediction is performed again based on the change schedule of the notification target signal S, and the display content of the notification target signal S at the arrival time is notified to the driver based on the prediction result.

  Thus, when the vehicle navigation apparatus 1 has an enlarged display function at the guide point, the display timing of the point enlarged view at the guide point before the notification target signal S after the corner trigger condition is satisfied. Accordingly, the driver can be notified of the display contents when the notification target signal S arrives again. Therefore, the driver can reconfirm the display content.

  Moreover, the display content to notify again is based on the new prediction about the time of arrival at the notification target signal S. Therefore, even if the prediction made at the timing when the corner trigger condition or the slope trigger condition is satisfied becomes inaccurate for some reason afterwards, the inaccuracy is corrected corresponding to the cause and the correction is made. Can be reflected in the display content.

  Further, after the corner trigger condition or the slope trigger condition is satisfied, the control circuit 17 executes the program 300 shown in FIG. 10 until the own vehicle passes the notification target signal S corresponding to the corner trigger condition or the slope trigger condition. It is repeatedly executed, and in the execution, it is determined whether or not the own vehicle has stopped (step 310). When the time η continues to be depressed, the notification process A described above is subsequently executed. The fact that the host vehicle has stopped is detected based on the fact that the traveling speed of the host vehicle has become zero. The depression of the accelerator is detected based on a signal from a known accelerator sensor (not shown) that detects the amount of depression of the accelerator.

  As described above, the control circuit 17 determines the arrival time of the own vehicle to the notification target signal device S based on the fact that the own vehicle stops after the corner trigger condition is satisfied and then the own vehicle resumes running. The display contents of the notification target signal S at the predicted arrival time are predicted again based on the change schedule of the notification target signal S, and the display of the notification target signal S at the arrival time is based on the prediction result. Inform the driver of the contents.

  In this way, after the corner trigger condition or the slope trigger condition is satisfied, when the host vehicle pauses and starts running again, the notification of the display content when the notification target signal S arrives again Can be received by the driver, the driver can reconfirm the display content.

  Moreover, the display content to notify again is based on the new prediction about the time of arrival at the notification target signal S. Therefore, even if the prediction made at the timing when the corner trigger condition is satisfied becomes inaccurate for some reason afterwards, the inaccuracy is corrected according to the cause, and the correction is displayed in the display contents. It can be reflected. In addition, when the vehicle is temporarily stopped, the control circuit 17 re-predicts the arrival time because there is a high possibility that the previous prediction about the arrival time to the notification target signal S will be inaccurate. Can be performed at a necessary timing.

(Other embodiments)
As mentioned above, although embodiment of this invention was described, the scope of the present invention is not limited only to the said embodiment, The various form which can implement | achieve the function of each invention specific matter of this invention is included. It is.

  For example, the control circuit 17 is configured to receive the signal state of the notification target signal S using the traffic information receiver 15 when a slope trigger condition or a corner trigger condition is satisfied. When the condition is not satisfied, the signal states of all the notification target signals S are always received and recorded, and the received information is used later when the slope trigger condition or the corner trigger condition is satisfied. May be.

  Moreover, in the said embodiment, after the corner trigger condition or slope trigger condition is satisfy | filled, the control circuit 17 is the above-mentioned until the own vehicle passes the alerting | reporting signal apparatus S corresponding to the corner trigger condition or slope trigger condition. The program 300 is always executed repeatedly.

However, the operation of performing the notification process A again at the timing when the traveling is resumed after the temporary stop is performed under any one of the following conditions (1) and (2) after the corner trigger condition or the slope trigger condition is satisfied. It may be executed only when is satisfied.
(Condition 1) There is an intersection up to the notification target traffic light S, and the guidance route is a route that turns right at the intersection.
(Condition 2) There is an intersection before the notification target signal S, and the guidance route is a route that turns left at the intersection, and a pedestrian overpass is installed at the intersection.

  The reason for this will be described with reference to the intersection diagram of FIG. In FIG. 11, when the traffic light 72 becomes the notification target traffic light S in a situation where the host vehicle 70 enters the intersection 90 from the road 71 along the guidance route 81 and tries to exit the road 73 (hereinafter, referred to as the notification target traffic light S). In the situation where the host vehicle 70 enters the intersection 90 from the road 71 along the guidance route 82 and exits the road 75, the traffic signal 74 becomes the notification target traffic signal S (hereinafter referred to as “Case A”) , Case B).

  When the guidance route 82 is turning right, the host vehicle 70 is likely to pause at a point 78 in the intersection 90 in order to wait for the oncoming vehicle 79 and the crossing person 80. In addition, in the case where the guidance route 81 is turning to the left, the host vehicle 70 is likely to stop temporarily at the point 76 in the intersection 90 in order to wait for the crossing person 77. If there is, the possibility disappears. It should be noted that whether or not a crossover for walking vehicles is provided at the intersection may be specified using data recorded in advance in the map data.

  In the above embodiment, each function realized by executing a program by the control circuit ** uses hardware having those functions (for example, an FPGA capable of programming a circuit configuration). It may be realized.

  In the above embodiment, the vehicle navigation device 1 is shown as the traffic signal display notification device of the present invention. However, the traffic signal display notification device does not have to be a vehicle navigation device and realizes the function of the present invention. Any device can be used as long as it can be used.

It is a figure which shows the structure of the navigation apparatus 1 for vehicles which concerns on this embodiment. It is a road figure showing an example of a curve road where it is difficult for a driver to see a traffic light. It is a road map showing an example of an intersection where it is difficult for a driver to see a traffic light. It is a road figure showing an example of an uphill where it is difficult for a driver to see a traffic light. It is a road figure showing an example of a downhill where it is difficult for a driver to see a traffic light. It is a figure which shows the example by which the display content at the time of arrival of the alerting | reporting signal apparatus S is performed with map expansion display. It is a figure which shows the example by which the display content at the time of arrival of the alerting | reporting signal apparatus S is performed with map expansion display. 3 is a flowchart of a program 100 executed by a control circuit 17. 7 is a flowchart showing the processing contents of notification processing A executed by the control circuit 17; 4 is a flowchart of a program 300 executed by the control circuit 17. It is an intersection figure for showing the conditions for execution of information processing A in other embodiments.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Vehicle navigation apparatus, 11 ... Position detector, 12 ... Image display apparatus,
DESCRIPTION OF SYMBOLS 13 ... Operation part, 14 ... Speaker, 15 ... Traffic information receiver, 16 ... Map data acquisition part,
17 ... control circuit, 20 ... own vehicle, 21 ... road, 22 ... curve, 31 ... road,
33 ... Intersection, 41 ... Uphill, 51 ... Downhill, 100, 300 ... Program.

Claims (10)

A traffic signal display notification device mounted on a vehicle ,
Route guidance means for calculating a guidance route to a destination and displaying an enlarged map of the guidance point based on the approach of the vehicle to the guidance point on the calculated guidance route;
First acquisition means (230, 250) for acquiring a change schedule of display contents of the first traffic light (S)
When,
The angle at which the vehicle reaches a point that becomes the first reference distance (α) along the road to the first traffic light and the traveling direction of the vehicle and the direction from the spot to the traffic light Corner trigger condition determining means (110, 120) for determining that a corner trigger condition that is equal to or greater than a reference angle (γ) is satisfied;
Based on the fact that the corner trigger condition is satisfied, the arrival time of the vehicle to the first traffic light is predicted, and the display content of the first traffic light at the predicted arrival time is obtained as the first acquisition means. First predicting means (235, 25 for predicting based on the change schedule acquired by
5) and
Informing means (240, 260) for informing the driver of the vehicle of the display content of the first traffic light at the arrival time based on the prediction result of the first predicting means ,
Guide between the vehicle and the first traffic light after the corner trigger condition is met
There is a point and the route guidance means displays an enlarged map of the guidance point.
Accordingly, the first prediction means predicts again the arrival time of the vehicle to the first traffic light,
The first acquisition means acquires the display contents of the first traffic light at the predicted arrival time.
Predict again based on the planned change,
The informing means determines the arrival time based on the second prediction result of the first predicting means.
A traffic light display notification device that notifies the driver of the vehicle of the display content of the first traffic light . After the corner trigger condition is satisfied, based on the fact that the vehicle stops and then the vehicle resumes running, the first predicting means determines the arrival time of the vehicle to the first traffic light. Predicting again, predicting the display content of the first traffic light at the predicted arrival time again based on the change schedule acquired by the first acquisition means,
The notification means, on the basis of the re-estimation result of the first prediction means, wherein the display content of the first traffic light at the time the arrival, in claim 1, characterized in that for informing the vehicle driver Signal display notification device. A traffic signal display notification device mounted on a vehicle,
First acquisition means (230, 250) for acquiring a change schedule of display contents of the first traffic light (S)
When,
The angle at which the vehicle reaches a point that becomes the first reference distance (α) along the road to the first traffic light and the traveling direction of the vehicle and the direction from the spot to the traffic light Corner trigger condition determining means (110, 120) for determining that a corner trigger condition that is equal to or greater than a reference angle (γ) is satisfied;
Based on the fact that the corner trigger condition is satisfied, the arrival time of the vehicle to the first traffic light is predicted, and the display content of the first traffic light at the predicted arrival time is obtained as the first acquisition means. First predicting means (235, 25 for predicting based on the change schedule acquired by
5) and
Informing means (240, 260) for informing the driver of the vehicle of the display content of the first traffic light at the arrival time based on the prediction result of the first predicting means ,
After the corner trigger condition is satisfied, based on the fact that the vehicle stops and then the vehicle resumes running, the first predicting means determines the arrival time of the vehicle to the first traffic light. Predicting again, predicting the display content of the first traffic light at the predicted arrival time again based on the change schedule acquired by the first acquisition means,
The informing means determines the arrival time based on the second prediction result of the first predicting means.
A traffic light display notification device that notifies the driver of the vehicle of the display content of the first traffic light . Second traffic light determination means (205) for determining whether there is a second traffic light (X) between the first traffic light and the vehicle based on the corner trigger condition being satisfied;
Second acquisition means (210) for acquiring a change schedule of display content of the second traffic light;
Based on the determination that the second traffic signal is present, the arrival time of the vehicle at the second traffic signal is predicted, and the display content of the second traffic signal at the predicted arrival time is displayed as the first traffic signal. Second predicting means (215) for predicting based on the change schedule acquired by the two acquiring means;
With
The first prediction means takes into account the stop time of the vehicle at the second traffic light based on the fact that the display content of the second traffic light predicted by the second prediction means indicates entry prohibition. Predicting the arrival time of the vehicle to the first traffic light and predicting the display content of the first traffic light at the predicted arrival time based on the change schedule acquired by the first acquisition means. The traffic light display notification device according to any one of claims 1 to 3 . A traffic signal display notification device mounted on a vehicle,
First acquisition means (230, 250) for acquiring a change schedule of display contents of the first traffic light (S)
When,
The angle at which the vehicle reaches a point that becomes the first reference distance (α) along the road to the first traffic light and the traveling direction of the vehicle and the direction from the spot to the traffic light Corner trigger condition determining means (110, 120) for determining that a corner trigger condition that is equal to or greater than a reference angle (γ) is satisfied;
Based on the fact that the corner trigger condition is satisfied, the arrival time of the vehicle to the first traffic light is predicted, and the display content of the first traffic light at the predicted arrival time is obtained as the first acquisition means. First predicting means (235, 25 for predicting based on the change schedule acquired by
5) and
Informing means (240, 260) for informing the driver of the vehicle of the display content of the first traffic light at the arrival time based on the prediction result of the first prediction means ,
Second traffic light determination means (205) for determining whether there is a second traffic light (X) between the first traffic light and the vehicle based on the corner trigger condition being satisfied;
Second acquisition means (210) for acquiring a change schedule of display content of the second traffic light;
Based on the determination that the second traffic signal is present, to the second traffic signal of the vehicle
And the display content of the second traffic light at the predicted arrival time is
Second prediction means (215) for predicting based on the change schedule acquired by the second acquisition means;
With
The first predicting means enters the display content of the second traffic light predicted by the second predicting means.
Based on indicating prohibition, taking into account the stop time of the vehicle in the second traffic light
And predicting the arrival time of the vehicle to the first traffic light.
The display content of the first traffic light is based on the change schedule acquired by the first acquisition means.
A traffic light display notification device characterized by prediction . After the corner trigger condition is satisfied, a distance along the road from the vehicle to the first traffic light has become a second reference distance (β) shorter than the first reference distance. Based on this, the first prediction means predicts again the arrival time of the vehicle to the first traffic light, and the first acquisition means obtains the display content of the first traffic light at the predicted arrival time. Predict again based on the planned change,
The notification means based on the re-predicted results of the first prediction means, the display contents of the first traffic light at the time the arrival, claims 1, characterized in that for informing the vehicle driver 5 The traffic light display notification device according to any one of the above. A traffic signal display notification device mounted on a vehicle,
First acquisition means (230, 250) for acquiring a change schedule of display contents of the first traffic light (S)
When,
The vehicle reaches a point that becomes the first reference distance (α) along the road to the first traffic light, and an altitude difference between the location of the vehicle and the location of the first signal is a reference length. Slope trigger condition determining means (1) for determining that the slope trigger condition of (δ) or more is satisfied.
10, 130),
Based on the fact that the slope trigger condition is satisfied, the display content of the first traffic signal at the time when the vehicle reaches the first traffic signal is acquired by the first traffic signal acquired by the first traffic signal. First prediction means (235, 255) for predicting based on a change schedule of display content;
Informing means (240, 260) for informing the driver of the vehicle of the display content of the first traffic light at the arrival time based on the prediction result of the first predicting means ,
After the hill trigger condition is satisfied, the first stop means determines the arrival time of the vehicle to the first traffic light based on the fact that the vehicle has stopped and then the vehicle has resumed running. Predicting again, predicting the display content of the first traffic light at the predicted arrival time again based on the change schedule acquired by the first acquisition means,
The informing means determines the arrival time based on the second prediction result of the first predicting means.
A traffic light display notification device that notifies the driver of the vehicle of the display content of the first traffic light . Second traffic light determination means (205) for determining whether or not there is a second traffic light (X) between the first traffic light and the vehicle based on the fact that the slope trigger condition is satisfied;
Second acquisition means (210) for acquiring a change schedule of display content of the second traffic light;
Based on the determination that the second traffic signal is present, the arrival time of the vehicle at the second traffic signal is predicted, and the display content of the second traffic signal at the predicted arrival time is displayed as the first traffic signal. Second predicting means (215) for predicting based on the change schedule acquired by the two acquiring means;
With
The first prediction means takes into account the stop time of the vehicle at the second traffic light based on the fact that the display content of the second traffic light predicted by the second prediction means indicates entry prohibition. Predicting the arrival time of the vehicle to the first traffic light and predicting the display content of the first traffic light at the predicted arrival time based on the change schedule acquired by the first acquisition means. The traffic light display notification device according to claim 7 . A traffic signal display notification device mounted on a vehicle,
First acquisition means (230, 250) for acquiring a change schedule of display contents of the first traffic light (S)
When,
The vehicle reaches a point that becomes the first reference distance (α) along the road to the first traffic light, and an altitude difference between the location of the vehicle and the location of the first signal is a reference length. Slope trigger condition determining means (1) for determining that the slope trigger condition of (δ) or more is satisfied.
10, 130),
Based on the fact that the slope trigger condition is satisfied, the display content of the first traffic signal at the time when the vehicle reaches the first traffic signal is acquired by the first traffic signal acquired by the first traffic signal. First prediction means (235, 255) for predicting based on a change schedule of display content;
Informing means (240, 260) for informing the driver of the vehicle of the display content of the first traffic light at the arrival time based on the prediction result of the first prediction means ,
Second traffic light determination means (205) for determining whether or not there is a second traffic light (X) between the first traffic light and the vehicle based on the fact that the slope trigger condition is satisfied;
Second acquisition means (210) for acquiring a change schedule of display content of the second traffic light;
Based on the determination that the second traffic signal is present, to the second traffic signal of the vehicle
And the display content of the second traffic light at the predicted arrival time is
Second prediction means (215) for predicting based on the change schedule acquired by the second acquisition means;
With
The first predicting means enters the display content of the second traffic light predicted by the second predicting means.
Based on indicating prohibition, taking into account the stop time of the vehicle in the second traffic light
And predicting the arrival time of the vehicle to the first traffic light.
The display content of the first traffic light is based on the change schedule acquired by the first acquisition means.
A traffic light display notification device characterized by prediction . After the slope trigger condition is satisfied, the distance along the road from the vehicle to the first traffic light has become a second reference distance (β) that is shorter than the first reference distance. Based on this, the first prediction means predicts again the arrival time of the vehicle to the first traffic light, and the first acquisition means obtains the display content of the first traffic light at the predicted arrival time. Predict again based on the planned change,
The notification means based on the re-predicted results of the first prediction means, the display contents of the first traffic light at the time the arrival, the preceding claims 7, characterized in that for informing the vehicle driver 9 The traffic light display notification device according to any one of the above.

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