JP4985376B2 - Car navigation system - Google Patents

Description

  The present invention relates to a car navigation system in which a place where a dangerous driving operation has been performed in the past is stored in a storage means as a dangerous place, and a predetermined process is performed when a dangerous place exists in a route to a destination.

In Patent Document 1, in order to determine the driving state of a vehicle, vehicle information is acquired from a vehicle speed sensor, a steering angle sensor, an accelerator depression degree sensor, a brake depression degree sensor, and the like, an inter-vehicle distance sensor, a lane image recognition sensor, A technology is disclosed in which environmental information is acquired from a signal image recognition sensor, a stop line recognition sensor, a pedestrian image recognition sensor, a vehicle periphery sensor, and the like, and the driving state of the vehicle is determined from the vehicle information and the environmental information. .
JP 2006-160032 A

Incorporating the technology of Patent Document 1 into a car navigation system that acquires the current position of the vehicle and displays map data centered on the current position on a display device, and determines whether or not the driving is dangerous driving, When it is dangerous driving, it is possible to register the position as a dangerous spot. In such a car navigation system, since a position where a dangerous driving has been performed in the past is registered, the user can be alerted when passing through that position.
However, for locations registered as dangerous locations while the driving skill is immature, the car navigation system should be careful every time you drive that position even if the driving skill improves and you can drive safely. The annoyance that the notification which prompts is made is left.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a car navigation system capable of removing a position from a dangerous location when the location is no longer a dangerous location due to improvement of driving skill. is there.

  In order to achieve the above object, in claim 1, when a route to the destination is searched, if a position stored in the storage means as a dangerous place exists on the route, a predetermined process is performed. Therefore, you can drive safely and drive safely when you pass through dangerous places. In addition, even if the position stored in the storage means as a dangerous place is improved and the driving skill is no longer a dangerous place, the position is erased from the storage means, so that the predetermined processing is always performed as the dangerous place. There is not.

In claim 2, when there is a position stored in the storage means as a dangerous place on the route to the destination at the time of the route search, the dangerous place is listed and displayed on the display means. You can know the existence specifically.
According to the third aspect, since the notification is made before a predetermined distance to the dangerous place, it is possible to contribute to the realization of safer driving.

  Hereinafter, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 shows a schematic configuration of a car navigation system mounted on a vehicle. As shown in FIG. 1, a car navigation system 1 includes a control unit (control unit) 2 mainly composed of a microcomputer, a position detector 3, a map data input unit 4, a display unit (display unit) 5, and an operation input unit. (Operation input means) 6, audio output section 7, memory section (storage means) 8, transmission / reception section 9, steering sensor 10 and brake sensor 11 are connected.

  The position detector 3 is for detecting the current position of the vehicle, and includes a GPS receiver 12 as a sensor, a vehicle speed sensor 13, a yaw rate sensor 14, and the like. The CPS receiver 12 receives a signal from a GPS satellite and gives it to the control unit 2. The vehicle speed sensor 13 provides the control unit 2 with a pulse signal corresponding to, for example, the rotational direction and rotational speed of the axle. Further, the yaw rate sensor 14 gives a signal corresponding to the rotation direction and the rotation speed of the vehicle to the control unit 2.

  The map data input device 4 includes an information storage medium such as a DVD-ROM that records map data, and a reading device that reads the map data from the information storage medium. Here, the map data included in the information recording medium includes data representing each road as a node and a link, length of each node (road length) data, coordinate data of the start and end of the link, a predetermined direction (for example, north) Link angle, link road type (indicating road type such as highway, general road, national road, prefectural road, service area, parking area), node (intersection) traffic signal, link road width (Width, number of lanes, driving lane, overtaking lane, acceleration lane, etc.), and data for destination search. The data for searching for the destination includes various data for searching the destination from the name, address, genre, telephone number, and the like.

  The display device 5 is configured to include a display screen such as a liquid crystal display capable of color display, for example, and can display map data (road map), characters or symbols on the display screen. The operation input unit 6 includes, for example, a mechanical switch disposed around the display screen of the display 5, a touch panel provided on the surface of the display screen, a remote control sensor that is paired with a remote controller, and the like. By operating the operation input unit 6, various commands such as setting a destination for route guidance and selecting a map scale displayed on the display screen of the display 5 can be input. ing.

  The voice output unit 7 includes a speaker (not shown), outputs voice data given from the control unit 2, and outputs voice for route guidance. The memory unit 8 includes, for example, an EEPROM as erasable storage means, and the EEPROM stores data such as a dangerous location described later. The transmission / reception unit 9 acquires weather information at the current position, which is one of the vehicle environments (environment detection means), and is connected to an information center (not shown) via a wireless communication network. When the current position of the vehicle is transmitted from the transmission / reception unit 9 to the information center, the information center collects the current weather of each location and stores it in the database. When the current position of the vehicle is notified, the information center The weather is sent back to the transmission / reception unit 9. The steering sensor 10 detects a steering angle of a steering wheel (not shown) and gives it to the control unit 2. The brake sensor 11 detects the amount of depression of a pedal of a brake device (not shown) and gives it to the control unit 2. The steering sensor 10 and the brake sensor 11 function as driving operation state detection means for detecting the state of driving operation of the vehicle.

  On the other hand, the control unit 2 includes a current position calculation unit (position acquisition unit) 15, a map data acquisition unit (map data acquisition unit) 16, a map matching unit 17, a drawing unit 18, and a display control unit 19 due to its software configuration. The functions of the processing units of the route calculation unit (route search unit) 20, the route guide unit 21, the clock unit (environment detection unit) 22, the dangerous part determination unit (dangerous driving determination unit) 23, and the learning unit 24 are realized. It has become. Here, the current position calculation unit 15 receives the GPS signal received by the GPS receiver 12 and detects the current position (latitude and longitude) of the vehicle, and also detects the vehicle speed from the pulse signal from the vehicle speed sensor 13 and detects the vehicle speed. Is calculated, the traveling direction of the vehicle is detected from the rotation signal of the yaw rate sensor 14, and the current position of the vehicle is calculated from these detection results. Note that the GPS receiver 12, the vehicle speed sensor 13, and the yaw rate sensor 14 have detection errors having different properties. Therefore, by combining these sensors 12 to 14, high-precision position detection is performed while complementing the detection errors. We are trying to do that.

  The map data acquisition unit 16 acquires map data from the map data input device 4 and normally acquires map data centered on the current position of the vehicle. The map matching unit 17 executes a process (map matching process) for positioning the current position of the vehicle on the road of the map data acquired by the map data acquiring unit 16. The drawing unit 18 displays a map on the display screen of the display device 5 under the control of the display control unit 19 based on the map data acquired by the map data acquisition unit 16 and also displays the current position of the vehicle on the map. indicate.

  When the destination is set by the operation of the operation input unit 6, the route calculation unit 20 determines the route from the current position or the departure point specified by the operation of the operation input unit 6 to the destination under a specified condition (for example, Calculation (search) according to highway priority, general road priority, distance priority, etc.). The calculated path is highlighted in a color different from the others on the map of the display screen of the display 5 by the drawing unit 18. For this route search, a well-known Dijkstra method is used. The route guide unit 21 displays the display screen and voice output of the display 5 based on the route information calculated by the route calculation unit 20 and various information included in the map data acquired through the map data acquisition unit 16. The route guidance data required for the guidance operation by the voice guidance of the unit 7 (for example, guidance for turning left and right at an intersection, caution guidance that there is a crossing, etc.) is created.

  The dangerous part determination unit 23 calculates the steering angle change rate of the steering wheel from the detection signal of the steering sensor 10 and calculates the change rate of the brake pedal depression amount (brake depression change rate) from the detection signal of the brake sensor 11. When these values are equal to or higher than a predetermined change rate, which is preset reference information (so-called sudden steering and sudden braking), it is determined that the vehicle is in dangerous driving. Then, the dangerous driving determination unit 23 acquires the position where the dangerous driving has occurred from the calculation result of the current position calculation unit 15 (dangerous position detection means), and stores the position in the memory unit 8 as a dangerous location (registration). At this time, the dangerous driving determination unit 23 simultaneously acquires map data in the vicinity of the dangerous position (for example, a range of a radius of 50 m including the dangerous position and centering on the dangerous position) from the map data acquisition unit 16 and transmits / receives the map data. The weather at the current position obtained by the unit 9 from the information center, the time measured by the clock unit 22 (including date), the vehicle speed, the steering angle change rate, and the brake depression change rate are simultaneously registered in the memory unit 8 as attached data.

  The learning unit (erase determination means) 24 determines whether or not the dangerous part registered in the memory unit 8 should be deleted. That is, even if a dangerous driving is performed in the past and registered at the memory unit 8 as a dangerous spot, the driving skill can be improved and the vehicle can travel without any trouble. In such a case, the learning unit 24 fulfills the function of deleting the dangerous part from the memory unit 8. When erasing the registration of the dangerous part, the learning unit 24 determines not only the determination result that the dangerous driving determination unit 23 is not the dangerous driving but also the time, weather, and the like. For example, for the time of day, the weight at dusk or night is heavier than the daytime (with a larger coefficient), and for the weather, the weight is higher than rainy than sunny, and when they are above a certain value, On the condition that the dangerous driving determination unit 23 determines that it is not dangerous driving, the dangerous part registration is deleted.

  Next, the operation of the above configuration will be described with reference to the flowcharts of FIGS. Note that FIG. 2 is a flowchart regarding the registration / deletion of the dangerous place, and FIG. 3 is a flowchart regarding the route search.

During traveling, the dangerous driving determination unit 23 executes the flowchart of FIG. 2 every predetermined short time, first acquires the current position from the current position calculation unit 15 (step S1), and then the steering sensor 10 and the brake sensor. 11 detection signals are acquired (step S2). Then, the dangerous driving determination unit 23 calculates the steering angle change rate and the brake depression change rate, and determines whether or not it is a dangerous driving state depending on whether or not they are equal to or greater than a predetermined value for each. (Step S3). When either one of the steering angle change rate and the brake depression change rate is equal to or greater than a certain value, it is determined that the vehicle is in a dangerous driving state.
For example, FIG. 4 shows a state in which the vehicle C1 traveling in the acceleration lane A is about to enter the traveling lane H1 at the interchange of the highway. At this time, the host vehicle C2 travels in the traveling lane H1. It shall be. When the driving skill of the driver of the host vehicle C2 is immature, the other vehicle C1 traveling in the acceleration lane A is often not noticed unless it comes close.

  In such a case, when the presence of the other vehicle C1 is noticed, the other vehicle C1 is about to enter the traveling lane H1, and therefore, the brake is stepped on and the steering is performed to change the lane to the passing lane H2. Rotate the wheel. When the dangerous driving determination unit 23 determines that this driving state is dangerous driving (“YES” in step S4), the dangerous driving determination unit 23 acquires map data near the current position from the map data acquisition unit 16 ( Step S5) Next, the transmission / reception unit 9 acquires the weather at the current position from the information center, and also acquires the current time from the clock unit 22 and the vehicle speed from the vehicle speed sensor 13 (step S6). The dangerous driving determination unit 23 registers the current position in the memory unit 8 as a dangerous location, and also stores the map data near the current position, the current weather, time, rudder angle change rate, and brake depression change rate. Register in the unit 8 (step S7; registration means).

  On the other hand, if it is determined in step S4 that the dangerous driving determination unit 23 is not a dangerous driving (“NO” in step S4), the learning unit 24 searches the memory unit 8, and the current position (passing position) is set as the dangerous part. It is determined whether it is registered (step S8; erasure determination means). Whether or not the current position at this time is registered in the dangerous place is determined depending on whether or not the current position is included in the map data near the dangerous place registered in the memory unit 8. And when it is not registered as a dangerous place ("NO" at Step S8), it returns and it returns to determination whether the driving state in the next position is dangerous.

  When the position determined not to be dangerous driving is registered as a dangerous spot in the memory unit 8 (“YES” in step S8), the learning unit 24 causes the transmission / reception unit 9 to acquire the weather at the current position from the information center. At the same time, the current time is obtained from the clock unit 22 and the vehicle speed is obtained from the vehicle speed sensor 13 (step S9). Then, the learning unit 24 determines that the driving skill has improved when the value obtained by multiplying the current position weather and the current time by a predetermined weighting factor is equal to or greater than a predetermined value, and registers the dangerous point in the memory unit 8. The current position is erased (step S11; erasure means), and the process returns.

  Here, as an example of a case where it is determined that the vehicle is not in the dangerous driving state at the position registered as the dangerous spot, if the driving skill is improved in the state of FIG. 4, the user driving the host vehicle C2 Pay attention to the acceleration lane A for a long time, and if another vehicle C1 exists, change the lane from the driving lane H1 to the overtaking lane H2 early, or another vehicle C2 changes the overtaking lane H2. If you are driving and you cannot change the lane to the overtaking lane H2, step on the brake and decelerate early. When the driving skill is improved, the driving state is not determined as dangerous driving by taking such a driving state.

  The dangerous part is registered / erased in the memory unit 8 as described above. When a destination is set and a route search to the destination is performed, or when the vehicle is driven along the searched route, a dangerous point registered in the memory unit 8 on the route Is present, the route guidance unit 21 performs a predetermined process. That is, the route setting mode is set by the operation of the operation input unit 6, and when a destination and a search condition (highway priority, general road priority, distance priority, etc.) are input ("YES" in step A1 in FIG. 3). The route calculation unit 20 searches for a route from the departure point (current location) to the destination according to a given condition (step A2).

  When the route is searched, the route guidance unit 21 searches the memory unit 8 to determine whether or not there is a point registered as a dangerous point on the route (step A3; detection of a dangerous point in the route). means). If there is a dangerous location on the route (“YES” in step A3), the route guide unit 21 lists the dangerous location (position) and displays it on the display screen of the display 5 (predetermined processing) ( Step A4; processing means). When looking at this list and wishing to avoid the searched route, the user operates the operation input unit 6 to input a route re-search command (“YES” in step A5). Then, the route calculation unit 20 searches again for a route that does not pass through the listed dangerous locations or has a smaller number of dangerous locations than the present (step A2).

  Even if there is a dangerous place on the route, if the user intends to travel along the route, the route re-search command is not input. Then, the route guidance unit 21 performs a predetermined display on the display screen of the display 5 in order to allow the user to select whether or not to notify the dangerous place during traveling. When the user selects a notice of danger (“YES” in step A6), the route guidance unit 21 provides route information to the destination, various information included in the map data acquired through the map data acquisition unit 16, and the like. The route guidance data necessary for the guidance operation by the display screen of the display 5 and the voice guide of the voice output unit 7 is created, and the data for notifying the dangerous location when a predetermined distance is reached before the dangerous location is created. (Step A7; guide data creation means).

  Then, when an operation for starting the travel guidance is performed, the route guidance unit 21 performs a guidance operation by the display screen of the display 5 or the voice guide of the voice output unit 7 based on the created guidance data. At the time of this route guidance, when it is a predetermined distance (for example, 500 m) before the dangerous spot, the fact that the position registered as the dangerous spot is present is output from the voice output unit 7 as the notification means (predetermined processing). At this time, you may make it display on the indicator (notification means) 5 simultaneously.

As described above, according to the present embodiment, when a dangerous driving state is made, the position is registered as a dangerous place, so when there is a registered dangerous place on the route to the destination, the route is The danger can be opened by re-searching or by giving a notice when reaching a dangerous place.
Also, in this embodiment, even if the position is registered as a dangerous spot, if it becomes possible to travel without any trouble due to the improvement of driving skill, the position can be deleted from the dangerous spot. The annoyance that a notice is made can be eliminated.

The present invention is not limited to the embodiment described above and shown in the drawings, and can be expanded or changed as follows.
When listing as a dangerous spot or making a notice, if the searched route does not have a location registered as a dangerous spot, but there is a location that approximates the map data near the dangerous spot, that position is used as the dangerous spot. You may comprise so that it may handle. The approximation in this case means that the curvature of the curve is within a certain range, the angle of the two roads to be joined is within a predetermined angle range, the road width is within a predetermined range, and the like.
The determination of dangerous driving may be performed by adding the vehicle speed, the accelerator depression change rate, and the like to the steering angle and the brake depression change rate.

1 is a block diagram of a car navigation system showing an embodiment of the present invention. Follow-up chart showing the control details of dangerous location registration / deletion Flow chart showing control contents during route search Schematic showing an example of dangerous driving conditions

Explanation of symbols

  In the drawings, 1 is a car navigation system, 2 is a control unit, 3 is a position detector, 4 is a map data input device, 5 is a display (display means), 8 is a memory unit (storage means), and 9 is a transmission / reception unit ( (Environment detection means), 10 is a steering sensor (driving operation state detection means), 11 is a brake sensor (driving operation state detection means), 15 is a current position calculation section (position acquisition means), 16 is a map data acquisition section (map data) Acquisition means), 20 a route calculation section (route search means), 21 a route guidance section (hazardous point detection means and processing means in the route), 22 a clock section (environment detection means), 23 a dangerous driving determination section (dangerous) A driving determination unit) and 24 are learning units (deletion determination unit, deletion unit).

Claims (3)

Position acquisition means for acquiring the current position of the vehicle;
Map data acquisition means for acquiring map data centered on the current position acquired by the position acquisition means;
Display means for displaying the map data acquired by the map data acquisition means;
Driving operation state detection means for detecting the state of driving operation of the vehicle;
An environment detection means for acquiring an environment outside the vehicle ;
Dangerous driving determination means for comparing the detection information by the driving operation state detection means and preset reference information to determine the presence or absence of dangerous driving;
When the dangerous driving determination means determines that there is dangerous driving, the current position is acquired from the position acquisition means and stored as a dangerous location, and the map data near the current position including the current position from the map data acquisition means, Storage means for acquiring the environment of the vehicle from the environment detection means and storing them as attached data of the dangerous part;
When the vehicle has passed a position stored as a dangerous location in the storage means and / or a position approximating map data in the vicinity of the position stored as the dangerous location, the dangerous driving determination means determines that there is no dangerous driving. On the condition, the environment of the vehicle is acquired from the environment detection means and compared with the attached data stored in the storage means, and it is determined whether or not the passage position is erased from the dangerous part of the storage means. Erasure determination means;
An erasing means for erasing the passing position from the dangerous part of the storage means when the erasure judging means judges that erasure is possible;
A route search means for searching for a route to the destination;
A pathway dangerous places detecting means for detecting that the position that approximates the map data of the storage means in the storage position and / or near the dangerous places as dangerous places in the path searched by the route searching means is present ,
A car navigation system comprising: a processing unit that performs a predetermined process when the dangerous part detecting unit in the route detects that there is a dangerous part in the route.   The car navigation system according to claim 1, wherein the processing unit sets the predetermined process to list dangerous places in the route and display the list on the display unit.   2. The car navigation system according to claim 1, wherein the processing means sets the predetermined processing to notify when a current position is a predetermined distance before reaching a dangerous place in the route.

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