JP5051157B2 - Driving support device, driving support method, and driving support program - Google Patents

Description

  The present invention relates to a travel support device, a travel support method, and a travel support program.

  Conventionally, various techniques for preventing a vehicle from being parked in a parking prohibited area are known. For example, in Patent Document 1, when a destination is set, it is determined whether or not the destination corresponds to a parking prohibited area. When the destination corresponds to a parking prohibited area, parking is prohibited. Notify that it is an area.

JP 2008-20210 A

  Since the conventional technology is configured to determine whether or not the destination corresponds to a parking prohibited area, notification cannot be made unless the destination is set in advance. However, it is rare to set a destination to travel to a destination that is frequently visited by the user of the navigation device. Therefore, in the conventional technology, when traveling on a route that is regularly used by a general user, it is often impossible to notify whether the destination is a parking prohibited area.

  The present invention has been made in view of the above problems, and an object of the present invention is to prevent a vehicle from being parked in a parking prohibited area even if a scheduled travel route is not set.

  In order to achieve the above object, in the present invention, when a vehicle is parked on a road where the vehicle is parked at a predetermined frequency or more (hereinafter referred to as a daily parking road), the vehicle travels to the daily parking road. A parking travel locus indicating the locus is acquired, and it is determined whether or not the vehicle is traveling toward the daily parking road based on the parking travel locus and the current travel locus of the vehicle. When it is determined that the vehicle is traveling toward the daily parking road, it is determined whether or not the daily parking road is prohibited when parking the vehicle on the daily parking road. If it is determined that parking is prohibited, it is informed that the daily parking road is prohibited.

  That is, it is estimated whether or not the vehicle is parked on the daily parking road based on the similarity between the past traveling locus and the current traveling locus when the vehicle is parked on the everyday parking road. When parking the vehicle on the daily parking road, if the daily parking road is prohibited from parking, the fact is notified. Therefore, even if the vehicle is traveling with no scheduled travel route or destination set, if the daily parking road is prohibited when parking the vehicle on the daily parking road, The effect will be guided. For this reason, it is possible to prevent the vehicle from being parked in the parking prohibited area by avoiding parking on the daily parking road according to the guidance.

  Furthermore, when a driver parks a vehicle on the daily parking road on a daily basis in a state where the daily parking road is not prohibited, the driver may not be allowed to park on the daily parking road or the time during which parking is prohibited. It is possible that you do not know the belt. However, the present invention adopts a configuration for determining whether or not a daily parking road where a vehicle is parked at a predetermined frequency or more is prohibited, and the driver parks the vehicle on the daily parking road. If it is prohibited to park, the vehicle will be informed so that even if the driver does not know whether or not the daily parking road is prohibited, the vehicle is parked on the daily parking road where parking is prohibited. Can be prevented.

  Here, the parking road specifying means only needs to be able to specify the daily parking road where the vehicle is parked at a frequency more than a predetermined frequency, and the parking frequency is relatively compared to the reference in the road where the vehicle is parked. It is only necessary to identify a high road as a daily parking road. Thus, for example, among all roads where the vehicle is parked within a predetermined period (for example, the period from the start of acquisition of the vehicle's trajectory to the present or a unit period), A road parked more times than the number of times can be used as a daily parking road. The road may be defined for each predetermined section determined in advance, and may be configured to identify whether parking is prohibited for each road section defined in the map information or for each consecutive road section having the same attribute. .

  The parking travel locus acquisition means only needs to be able to acquire a parking travel locus indicating a travel locus to the daily parking road when the vehicle is parked on the daily parking road. In other words, the vehicle is configured to continuously acquire the travel locus and record it on a predetermined recording medium, and when the vehicle is parked on an arbitrary road, the travel locus so far is recorded in association with the road where the parking position exists. Keep it in configuration. Then, at the stage of estimating whether or not the vehicle is heading to the daily parking road, the travel locus recorded on the recording medium in association with the daily parking road may be acquired as the parking travel locus. In addition, the travel locus at the time of parking should just show the road on which the vehicle traveled when the vehicle was parked on the daily parking road. Therefore, for example, after driving the vehicle engine and recording a travel locus, the navigation device power switch is turned on to start running, and then the engine is stopped and the navigation device power switch is turned off to end the vehicle running. It can be configured by the transition of the road that has traveled before the start. In addition, since the running locus during parking is a traveling locus for an everyday parking road where the vehicle is parked at a predetermined frequency or more, it is specified at the time of recording on the recording medium whether or not the parked road is an everyday parking road. It may be recorded on a recording medium, or when a parking lot is extracted by extracting information about a road parked at a predetermined frequency or more when the entire traveling locus is recorded on the recording medium and the recording medium is referred to It is good also as a locus.

  The travel prediction means only needs to be able to determine whether or not the vehicle is traveling toward the daily parking road based on the parking travel locus and the current travel locus. That is, it is only necessary to determine whether or not the vehicle is currently traveling toward the daily parking road on the basis of the similarity between the parking travel locus and the current travel locus. What is necessary is just to acquire the present driving | running | working locus | trajectory sequentially, when the vehicle is drive | working.

  The parking prohibition determination means determines whether or not the daily parking road is prohibited when the vehicle is parked on the daily parking road when it is determined that the vehicle is traveling toward the daily parking road. I can do it. That is, it is only necessary to determine whether or not the daily parking road is prohibited with a probability or frequency greater than or equal to a predetermined value when it is assumed that the vehicle is parked on the daily parking road. For example, when the distance from the current position of the vehicle to the daily parking road is equal to or less than a predetermined distance, it may be configured to determine whether the daily parking road is prohibited to park at the current time. In addition, when the distance from the current position of the vehicle to the daily parking road is equal to or less than a predetermined distance, it may be configured to determine whether the daily parking road is prohibited at the predicted time of arrival at the daily parking road. . Of course, it may be determined whether or not the daily parking road is prohibited at both the current time and the predicted arrival time.

  The parking prohibition guidance means only needs to be able to guide that the daily parking road is prohibited when it is determined that the daily parking road is prohibited, and the guidance is a predetermined corresponding to the definition of the daily parking road. It is not limited to the structure performed for every section. For example, when guiding that a daily parking road is prohibited from parking, other roads that exist around the daily parking road and other roads with the same attributes as the daily parking road are also prohibited from parking. May be. That is, in the configuration in which an attribute is associated with a road and parking prohibition or parking permission is determined according to the attribute, when the daily parking road is prohibited, other attributes having the same attributes as the daily parking road Since parking is also prohibited on roads, it is possible to prevent vehicles from being parked on parking prohibited roads around daily parking roads by guiding the fact.

  Furthermore, it is good also as a structure which identifies an everyday parking road from the road from which a parking prohibition state and a parking permission state change with time. According to this configuration, even if the driver routinely parks the vehicle on the daily parking road at the time when parking is permitted on the daily parking road, the daily parking road is prohibited from parking. When the driver tries to park the vehicle on the daily parking road in this state, the driver is informed that parking is prohibited. Therefore, even if the driver is not familiar with the parking prohibition time of the daily parking road, it is possible to prevent the driver from parking the vehicle on the daily parking road in the parking prohibited state.

  Further, the parking time when the vehicle is parked on the daily parking road is specified, and when the parking time is different from the current time, it may be configured to determine whether or not the daily parking road is prohibited from parking. It is good also as a structure which determines whether a daily parking road is prohibition of parking, when is different from estimated arrival time. Of course, when both the current time and the predicted arrival time are different, it may be determined whether or not the daily parking road is prohibited from parking. That is, since the parking time is estimated to be the time when the driver parked the vehicle on the daily parking road in which parking is permitted, the current time and the predicted arrival time are different from the parking time. There is a possibility that parking on a daily parking road may be prohibited at the current time or the predicted arrival time. Therefore, in such a case, it is possible to prevent the driver from parking the vehicle on the daily parking road in the parking prohibited state by determining whether parking is possible on the daily parking road. The parking time may be determined by the representative value (average value, median value, etc.) of the time when the driver parked the vehicle on the daily parking road, or the driver parked the vehicle multiple times on the daily parking road. It may be each time when the vehicle is parked, or may be a time zone specified from each time when the vehicle is parked a plurality of times.

  Furthermore, it is good also as a structure which determines the parking period when the vehicle was parked on the daily parking road, and determines whether a daily parking road is forbidden until the said parking period passes since the present time. Further, it may be configured to determine whether or not the daily parking road is prohibited from parking until the parking period elapses from the predicted arrival time. Of course, it may be determined whether or not the daily parking road is prohibited from parking between the current time and the predicted arrival time until the parking period elapses. In other words, since the parking period is a period in which the driver continues to park the vehicle on the daily parking road, even when the driver parks the vehicle on the daily parking road in the future, the parking of the vehicle continues for the same period. Probability is high. Therefore, by determining whether the daily parking road can change from the parking permission state to the parking prohibition state until the parking period elapses from the current time or the predicted arrival time, the parking prohibited state during parking is determined. It is possible to prevent the driver from parking the vehicle on the daily parking road that fluctuates. The parking period may be determined by the representative value (average value, median value, etc.) of the period during which the driver continued to park the vehicle on the daily parking road, or the driver may park the vehicle several times on the daily parking road. You may specify from each time at the time of parking.

  Note that, as in the present invention, a method for determining whether or not a daily parking road on which a vehicle is parked at a predetermined frequency or more is prohibited is applicable as a method or program for performing this process. Further, the above-described driving support device, method, and program may be realized as a single device or as a plurality of devices. Moreover, it may be realized using parts shared with each part provided in the vehicle, or may be realized in cooperation with each part not mounted on the vehicle, and includes various aspects. Further, some changes may be made as appropriate, such as a part of software and a part of hardware. Furthermore, the invention is also established as a recording medium for a program for controlling the driving support device. Of course, the software recording medium may be a magnetic recording medium, a magneto-optical recording medium, or any recording medium to be developed in the future.

It is a block diagram which shows a driving assistance device. It is a flowchart which shows a parking road memory | storage process. It is a flowchart which shows a daily parking road specific process. It is a flowchart which shows a driving assistance process. (5A) is a diagram schematically showing a state in which the vehicle is parked on the road. (5B) is a figure which shows typically the state which the vehicle approached the everyday parking road.

Here, embodiments of the present invention will be described in the following order.
(1) Configuration of the driving support device:
(2) Parking road memory processing:
(3) Daily parking road identification processing:
(4) Driving support processing:
(5) Other embodiments:

(1) Configuration of the driving support device:
FIG. 1 is a block diagram showing a configuration of a driving support device mounted on a vehicle. In the present embodiment, the travel support device is realized by the navigation device 10. The navigation device 10 includes a control unit 20 including a CPU, a RAM, a ROM, and the like, and a program stored in the ROM can be executed by the control unit 20. In the present embodiment, the driving support program 21 can be executed as one of the programs. In order to determine whether or not the daily parking road on which the vehicle is parked at a predetermined frequency or more is prohibited from being parked by the driving support program 21, the vehicle includes a GPS receiver 40, a vehicle speed sensor 41, a gyro sensor 42, A user I / F unit 43 is provided.

  The GPS receiver 40 receives radio waves from GPS satellites and outputs a signal for calculating the current position of the host vehicle and a signal indicating the current time via an interface (not shown). The control unit 20 acquires this signal and acquires the current position and current time of the host vehicle. The vehicle speed sensor 41 outputs a signal corresponding to the rotational speed of the wheels provided in the host vehicle. The control unit 20 acquires this signal via an interface (not shown), and acquires the speed of the host vehicle. The gyro sensor 42 detects angular acceleration about turning in the horizontal plane of the host vehicle, and outputs a signal corresponding to the direction of the host vehicle. The control unit 20 acquires this signal via an interface (not shown) and acquires the traveling direction of the host vehicle. The vehicle speed sensor 41, the gyro sensor 42, and the like are used to correct the current position of the host vehicle specified from the output signal of the GPS receiver 40. Moreover, the control part 20 correct | amends suitably the present position of the own vehicle by collating with the map information 30a mentioned later. The user I / F unit 43 is an interface unit for inputting a driver's instruction and providing various information to the driver, and includes a touch panel display, a switch, a speaker, and the like (not shown). The user I / F unit 43 receives a signal from the control unit 20, and guides the driver that the specific road is prohibited from parking.

  The control part 20 performs the process which determines whether the daily parking road in which a vehicle is parked with a frequency more than predetermined is prohibited from parking by running the driving assistance program 21. Therefore, the driving support program 21 includes a parking road identification unit 21a, a parking-time driving locus acquisition unit 21b, a driving prediction unit 21c, a parking prohibition determination unit 21d, and a parking prohibition guide unit 21e. In addition, map information 30a, travel locus information 30b, and parking road information 30c are recorded in the storage medium 30 in advance.

  The map information 30a includes node data indicating nodes set on the road on which the vehicle is traveling, shape interpolation point data for specifying the shape of the road between the nodes, link data indicating connection between nodes, road parking lot ( For example, the location data of the parking lot on the road where the parking meter is installed), the data indicating whether or not parking is possible at any time (parking prohibition or parking permission), etc. It is used to specify whether or not parking is possible. That is, in the map information 30a, a road is defined for each predetermined section defined by the link data. In the present embodiment, the position data of the on-street parking lot is associated with link data indicating a road where the position indicated by the position data exists. Further, the link data is associated with data indicating whether parking is possible at each time on the road indicated by the link data.

  The travel locus information 30b is data indicating the travel locus of the vehicle. In the present embodiment, the travel locus information 30b is data indicating the transition of link data corresponding to the transition of the road on which the vehicle has traveled. The control unit 20 acquires a travel locus based on the current position of the vehicle and the map information 30a, and continues to sequentially record the travel locus information 30b. Therefore, the travel locus information 30b includes both the current travel locus of the vehicle and the travel locus on which the vehicle has traveled in the past. When the vehicle is parked on an arbitrary road, the control unit 20 stores the travel locus so far in association with the road where the parking position is present, and sets the parking road information 30c.

  The parking road information 30c includes data indicating a parking road that is a road on which the vehicle is parked. The parking road includes an everyday parking road, which is a road where vehicles are parked at a predetermined frequency or more. Therefore, information for identifying the daily parking road and other parking roads is added in the parking road information 30c. In this embodiment, a daily parking road and other parking roads are identified by setting a flag.

  The parking road specifying unit 21a is a module that causes the control unit 20 to realize a function of specifying a daily parking road on which a vehicle is parked at a predetermined frequency or more. That is, a road having a relatively high parking frequency compared to the standard among all the parking roads is specified as a daily parking road. In the present embodiment, a road that has been parked more than a predetermined number of times within a predetermined period (for example, a period or unit period from the start of acquisition of a vehicle travel locus to the present) is defined as a daily parking road. A road having a higher number of parkings than other roads among all parking roads in the period may be used as a daily parking road.

  The parking travel locus acquisition unit 21b is a module that causes the control unit 20 to realize a function of acquiring a parking travel locus indicating a travel locus of the vehicle to the daily parking road when the vehicle is parked on the daily parking road. In the present embodiment, at the stage of estimating whether or not the vehicle is heading for the daily parking road, the travel locus recorded on the recording medium in association with the daily parking road is acquired as the parking travel locus. In addition, since the traveling locus at the time of parking is a traveling locus for an everyday parking road where the vehicle is parked at a predetermined frequency or more, it is specified at the time of recording on the recording medium whether or not the parking road is an everyday parking road. It may be recorded on a recording medium, or information on daily parking roads may be extracted and recorded as a traveling locus during parking when the entire traveling locus is recorded on the recording medium and the recording medium is referred to. The acquired travel locus during parking is transferred to the travel prediction unit 21c.

  The traveling prediction unit 21c is a module that causes the control unit 20 to realize a function of determining whether or not the vehicle is traveling toward a daily parking road based on the traveling locus during parking and the current traveling locus of the vehicle. . That is, it is determined whether or not the vehicle is currently traveling toward the daily parking road based on the similarity between the parking travel locus and the current travel locus. The degree of similarity is determined by how much the roads on which the vehicles that make up both tracks have traveled match, for example, roads that match the roads that make up the current travel track among the roads that make up the parked travel track The degree of similarity may be determined according to the ratio occupied by.

  When it is determined that the vehicle is traveling toward the daily parking road, the parking prohibition determination unit 21d determines whether or not the daily parking road is prohibited when parking the vehicle on the daily parking road. This is a module that causes the control unit 20 to realize the function to be performed. That is, when it is assumed that the driver parks the vehicle on the daily parking road, it is determined whether or not the daily parking road is prohibited from parking with a probability or frequency greater than or equal to a predetermined value. As the reference time for determining whether or not the daily parking road is prohibited from parking, the current time when the determination is executed is used.

  The parking prohibition guidance unit 21e is a module that causes the control unit 20 to realize a function of guiding that the daily parking road is prohibited when parking is determined to be prohibited. The guidance to the driver may be performed visually by the user I / F 43 or may be performed audibly by voice guidance. Of course, visual guidance and auditory guidance may be performed simultaneously.

(2) Parking road memory processing:
FIG. 2 is a flowchart showing a process for storing a parking road in the parking road information 30c. The control part 20 performs the parking road memory | storage process shown in FIG. 2, after turning on the power switch of a navigation apparatus in a vehicle by the process of the parking road specific | specification part 21a. When the vehicle is traveling, the control unit 20 sequentially acquires the traveling locus of the vehicle based on the current position of the vehicle and the map information 30a by the processing of the traveling locus acquisition unit 21b during parking, and the acquired traveling locus is obtained. It is stored in the travel locus information 30a.

  First, the control unit 20 determines whether or not the stop position of the vehicle is on the road (step S100). That is, the control unit 20 specifies the current position of the vehicle based on the output signals of the GPS receiving unit 40, the vehicle speed sensor 41, and the gyro sensor 42 by the process of the parking road specifying unit 21a. Since the process shown in FIG. 2 is executed when the power switch of the navigation device 10 is turned on, the current position is a stop position where the vehicle has stopped when the power switch is turned on. . Based on the map information 30a, the control unit 20 determines whether the stop position of the vehicle is on the road or a place off the road (for example, a parking lot on the side of the road). When it is determined that the stop position of the vehicle is not on the road (N in step S100), the control unit 20 ends the parking road storage process.

  On the other hand, when it is determined that the stop position of the vehicle is on the road (Y in step S100), the control unit 20 determines whether or not the stop position of the vehicle is a parking lot (step S105). That is, the control part 20 determines whether the position where the vehicle stopped corresponds to a road parking lot based on the stop position of the vehicle and the map information 30a by the process of the parking road specifying part 21a. When it is determined that the stop position of the vehicle is a parking lot (Y in step S105), the control unit 20 ends the parking road storage process.

  When it is determined that the stop position of the vehicle is not a parking lot (N in Step S105), the control unit 20 determines whether or not the vehicle stop period is equal to or longer than a predetermined period by the process of the parking road specifying unit 21a ( Step S110). That is, the control unit 20 records the time when the power switch of the navigation device 10 is turned off, acquires the time when the power switch of the navigation device 10 is turned on, and stops the vehicle based on the difference between the two times. Specify the period. In this case, the predetermined period is defined in order to regard a stop longer than a predetermined period as parking.

  When the stop period of the vehicle is shorter than the predetermined period (N in Step S110), the control unit 20 ends the parking road storage process. On the other hand, when the vehicle stop period is equal to or longer than the predetermined period (Y in step S110), it is considered that the vehicle is parked, and the control unit 20 stores the parking road in association with the travel locus (step S115). That is, the control unit 20 sets the parking road as a road including the road (link data) where the stop position exists by the processing of the parking road specifying unit 21a, and the parking road recorded as the travel locus information 30b. The parking road is recorded as parking road information 30c in association with the travel locus to the position (link data transition). Note that the travel locus associated with the parking road here refers to the navigation device that drives the engine of the vehicle and turns on the power switch to start the travel, then travels the vehicle to the parking road and stops the engine. This is the transition of the link data corresponding to the transition of the road that has traveled during the period from when the power switch of the vehicle is turned off until the vehicle travels. By the parking road storage process described above, the control unit 20 can specify and store a parking road that excludes a temporarily parked road from all the roads on which the vehicle is parked. The identified parking road is used in the daily parking road identification process shown in FIG.

  The parking road storage process will be described using FIG. 5A as an example. The road is indicated by a solid line, the stop position 50 is indicated by a circle, and the broken line indicates a travel locus 52 until the vehicle arrives at the stop position 50. The stop position 50 is located on the road, but does not correspond to a street parking lot. The period during which the vehicle is stopped at the stop position 50 is longer than a predetermined period. Therefore, the control unit 20 regards the road including the stop position 50 as a parking road, and records it in the storage medium 30 as the parking road information 30c in association with the travel locus 52. In the map information 30a, the road including the stop position 50 is defined as a road between the intersection 54 and the intersection 56, and the road corresponds to the parking road 58.

(3) Daily parking road identification processing:
FIG. 3 is a flowchart showing a process for specifying a daily parking road. After executing the processing shown in FIG. 2, the control unit 20 executes the daily parking road specifying process shown in FIG. 3 by the processing of the parking road specifying unit 21a. First, the control part 20 acquires the parking road information 30c with reference to the storage medium 30 (step S200). Next, the control unit 20 specifies the number of parking times for each parking road (step S205). That is, the control part 20 specifies the frequency | count that the vehicle parked on each parking road with reference to the information of all the acquired parking roads by the process of the parking road specific part 21a.

  Next, the control unit 20 determines whether or not the number of parking on the parking road is a predetermined number or more (step S210). That is, the control part 20 selects one parking road from all the parking roads by the process of the parking road specifying part 21a, and determines whether or not the number of times of parking of the vehicle on the parking road is a predetermined number or more. The predetermined number of times may be set in advance, and the number of times set by the user may be used.

  When the number of parking is less than the predetermined number (N in Step S210), the control unit 20 determines whether or not the processing of all the parking roads is completed (Step S225). That is, the control part 20 confirms whether the process of step S210 was performed with respect to all the parking roads by the process of the parking road specific part 21a. When the process for all the parking roads has been completed (Y in step S225), the control unit 20 ends the daily parking road specifying process.

  On the other hand, when the process of all the parking roads is not completed (N in Step S225), the control unit 20 changes the processing target of Step S210 to another parking road (Step S230). That is, the control unit 20 specifies a parking road that has not been subjected to the process of step S210 by the process of the parking road specifying unit 21a, and executes the process of step S210 on the parking road.

  Returning to step S210, when the number of parking is equal to or greater than the predetermined number (Y in step S210), the control unit 20 determines whether parking prohibition and parking permission vary with time on the parking road (step S215). . That is, the control unit 20 determines whether or not the state of the parking road changes from parking prohibition to parking permission or changes from parking permission to parking prohibition according to the time by the processing of the parking road specifying unit 21a. Confirm by referring to.

  When the state of the parking road does not fluctuate (N in Step S215), the control unit 20 performs the process in Step S225. On the other hand, when the state of the parking road fluctuates (Y in step S215), the control unit 20 identifies the parking road as an everyday parking road (step S220). That is, in order to identify that the parking road is a daily parking road, the control unit 20 identifies the parking road whose parking prohibition and parking permission states vary as a daily parking road by the processing of the parking road specifying unit 21a. Is set in the parking road information 30c. Thereafter, the control unit 20 performs the process of step S225. Note that the travel locus associated with the daily parking road and stored in the travel locus information 30b is the parking travel locus indicating the travel locus to the daily parking road.

  According to the above daily parking road identification process, the control unit 20 is a road on which a vehicle is routinely parked from the parking roads identified by the parking road storage process of FIG. 2 and indicates whether parking is possible. It is possible to identify a road whose state changes with time. The identified daily parking road is used in the driving support process shown in FIG.

(4) Driving support processing:
FIG. 4 is a flowchart illustrating processing when driving support is performed. The control unit 20 repeatedly executes the driving support process shown in FIG. 4 at regular intervals. First, the control unit 20 acquires a parked travel locus (step S300). That is, the control unit 20 identifies the daily parking road by referring to the parking road information 30c by the process of the parking travel locus acquisition unit 21b, and acquires all the parking travel tracks associated with the daily parking road.

  Next, the control unit 20 determines whether or not the similarity between the current travel locus of the vehicle and the travel locus during parking is equal to or greater than a predetermined value (step S305). That is, the control unit 20 selects one parking travel locus from all the parking travel tracks by the processing of the travel prediction unit 21c, and stores the selected parking travel locus and the vehicle trajectory information 30b. Compare with the current running track to see how similar the tracks are. The current travel locus is the transition of link data corresponding to the transition of the road traveled to the current position of the vehicle after driving the vehicle engine and turning on the power switch to start traveling. Therefore, in step S305, the degree of similarity between the transition of the link data indicating the current travel locus and the transition of the link data indicating the travel locus during parking may be determined. Moreover, the predetermined value should just be preset, and the value set by the user may be used.

  When the similarity is smaller than the predetermined value (N in Step S305), the control unit 20 determines whether or not the processing of the all-parking travel locus has been completed (Step S325). In other words, the control unit 20 confirms whether or not the processing for all the travel trails during parking acquired in step S300 has been completed. When the process is completed for the all-parking travel locus (Y in step S325), the control unit 20 ends the travel support process.

  On the other hand, when the process has not been completed for the all-parking travel locus (N in Step S325), the control unit 20 changes the processing target in Step S305 to another parking travel locus (Step S330). That is, the control unit 20 specifies a parking travel locus that has not been subjected to the process of step S305, and executes the process of step S305 on the parking travel locus.

  Returning to step S305, if the degree of similarity is equal to or greater than a predetermined value (Y in step S305), the control unit 20 determines from the current position of the vehicle based on the current position of the vehicle and the map information 30a by the processing of the parking prohibition determination unit 21d. It is determined whether or not the distance to the daily parking road is equal to or less than a predetermined distance (step S310). The predetermined value may be set in advance, and a value set by the user may be used.

  When the distance from the current position of the vehicle to the daily parking road is greater than the predetermined distance (N in Step S310), the control unit 20 executes the process of Step S325. On the other hand, when the distance from the current position of the vehicle to the daily parking road is equal to or smaller than the predetermined distance (Y in step S310), the control unit 20 determines whether or not the daily parking road is prohibited to park at the current time (step). S315). That is, the control unit 20 confirms whether or not the state of the daily parking road where the vehicle is likely to be headed is parking prohibited at the current time by the processing of the parking prohibition determination unit 21d with reference to the map information 30a. To do.

  When the daily parking road is not prohibited at the current time (N in Step S315), the control unit 20 executes the process in Step S325. On the other hand, when the daily parking road is prohibited at the current time (Y in step S325), the control unit 20 guides the parking prohibition (step S320). That is, the control unit 20 guides the driver to the effect that parking is prohibited on a daily parking road that is likely to be approaching by the processing of the parking prohibition guiding unit 21e. After executing Step S320, the control unit 20 executes Step S325.

  According to the above driving support processing, even when the vehicle is traveling with no planned travel route or destination set, the daily parking road is parked when the vehicle is parked on the daily parking road. If prohibited, you will be informed. For this reason, it is possible to prevent the vehicle from being parked in the parking prohibited area by avoiding parking on the daily parking road according to the guidance.

  Furthermore, when a driver parks a vehicle on the daily parking road on a daily basis in a state where the daily parking road is not prohibited, the driver may not be allowed to park on the daily parking road or the time during which parking is prohibited. It is possible that you do not know the belt. However, according to the above-described driving support process, when the driver prohibits parking when parking the vehicle on the daily parking road, the fact is guided, so whether or not the daily parking road is prohibited parking. Even if the driver is not familiar with the vehicle, it is possible to prevent the vehicle from being parked on the daily parking road in a parking prohibited state.

  The driving support process will be described using FIG. 5B as an example. FIG. 5B is a diagram schematically illustrating a state in which the vehicle is traveling toward a daily parking road. The same elements as those in FIG. 5A are denoted by the same reference numerals, and redundant description is omitted. When the parking road 58 described in FIG. 5A is determined to be the daily parking road 68 by the daily parking road specifying process, the travel locus 52 associated with the parking road 58 in FIG. The current position of the vehicle is indicated by a circular current position mark 60 that includes a triangle, and the alternate long and short dash line indicates the current traveling locus 64 of the vehicle.

  If the controller 20 determines that the similarity between the current travel locus 64 of the vehicle and the travel locus 62 during parking, which is the past locus of the vehicle, is greater than or equal to a predetermined value, the current position of the vehicle and the daily parking road 68 are reached. The distance is calculated. Here, a straight line distance from the current position of the vehicle to the intersection 56 which is the lower end of the daily parking road 68 is calculated as the distance. As a result, when the calculated distance is equal to or less than the predetermined distance, the control unit 20 confirms whether or not the daily parking road 68 is prohibited to park at the current time. That is, road conditions such as parking prohibition or parking permission are generally set with a certain period of time, and if the calculated distance is less than a predetermined distance, the vehicle can soon arrive on the daily parking road 68. . Therefore, it is confirmed whether or not parking is prohibited by assuming that the current time is the time when the vehicle stops at the stop position. If it is determined that parking is prohibited at the current time, the driver will be notified accordingly.

(5) Other embodiments:
The above embodiment is an example for carrying out the present invention, and various other embodiments can be adopted. For example, in the above-described embodiment, in determining whether or not a daily parking road is prohibited from parking, the current time is used as a reference time for the determination, but as the time when the vehicle arrives on the daily parking road The calculated predicted arrival time may be used. The predicted arrival time is specified based on the travel time and the current time when the vehicle travels on the travel trajectory during parking from the current position of the vehicle toward the daily parking road based on the current vehicle speed, the predicted vehicle speed, etc. do it.

  In the above-described embodiment, the control unit 20 specifies the daily parking road in advance by executing the daily parking road specifying process after the parking road storage process. However, the configuration may be such that the daily parking road is identified from the parking roads when information on the daily parking road is required. For example, when calculating the distance from the current position of the vehicle to the daily parking road in the driving support process, the distance from the current position of the vehicle to the daily parking road is calculated after identifying the daily parking road from the parking road. May be.

  Furthermore, in the above-described embodiment, when a parking road or a daily parking road is specified, a process for specifying a road is performed in units of road sections defined in the map information 30a. You may specify. In addition, when guiding that the daily parking road is prohibited, other roads that exist around the daily parking road and have the same attributes as the daily parking road (that is, parking prohibition or parking permission) It is also possible to guide that parking is prohibited on other roads that have the same time as the daily parking road. In other words, when parking is prohibited on a daily parking road, parking is prohibited on other roads with the same attribute. Can be prevented.

  In addition, in determining whether or not daily parking roads are prohibited, the parking time when the vehicle is parked on the daily parking road is specified, and if the parking time is different from the current time, parking is prohibited on the daily parking road. It is good also as a structure which determines whether it is, and when the said parking time differs from arrival prediction time, it is good also as a structure which determines whether a daily parking road is parking prohibition. Of course, when both the current time and the predicted arrival time are different, it may be determined whether or not the daily parking road is prohibited from parking. That is, since the parking time is estimated to be the time when the driver parked the vehicle on the daily parking road in which parking is permitted, the current time and the predicted arrival time are different from the parking time. There is a possibility that parking on a daily parking road may be prohibited at the current time or the predicted arrival time. Therefore, in such a case, it is possible to prevent the driver from parking the vehicle on the daily parking road in the parking prohibited state by determining whether parking is possible on the daily parking road. The parking time may be determined by the representative value (average value, median value, etc.) of the time when the driver parked the vehicle on the daily parking road, or the driver parked the vehicle multiple times on the daily parking road. It may be each time when the vehicle is parked, or may be a time zone specified from each time when the vehicle is parked a plurality of times.

  Further, in determining whether the daily parking road is prohibited, the parking period in which the vehicle is parked on the daily parking road is specified, and the daily parking road is between the current time and the parking period has elapsed. It may be configured to determine whether or not parking is prohibited, or it may be configured to determine whether or not the daily parking road is prohibited from the predicted arrival time until the parking period elapses. Of course, it may be determined whether or not the daily parking road is prohibited from parking between the current time and the predicted arrival time until the parking period elapses. In other words, since the parking period is a period in which the driver continues to park the vehicle on the daily parking road, even when the driver parks the vehicle on the daily parking road in the future, the parking of the vehicle continues for the same period. Probability is high. Therefore, by determining whether the daily parking road can change from the parking permission state to the parking prohibition state until the parking period elapses from the current time or the predicted arrival time, the parking prohibited state during parking is determined. It is possible to prevent the driver from parking the vehicle on the daily parking road that fluctuates. The parking period may be determined by the representative value (average value, median value, etc.) of the period during which the driver continued to park the vehicle on the daily parking road, or the driver may park the vehicle several times on the daily parking road. You may specify from each time at the time of parking.

  DESCRIPTION OF SYMBOLS 10 ... Navigation apparatus, 20 ... Control part, 21 ... Driving assistance program, 21a ... Parking road identification part, 21b ... Traveling track acquisition part at the time of parking, 21c ... Travel prediction part, 21d ... Parking prohibition determination part, 21e ... Parking prohibition guidance 30 ... Recording medium, 30a ... Map information, 30b ... Traveling track information, 30c ... Parking road information, 40 ... GPS receiver, 41 ... Vehicle speed sensor, 42 ... Gyro sensor, 43 ... User I / F part, 50 ... Stop position, 52 ... Traveling track, 54, 56 ... Intersection, 58 ... Parking road, 60 ... Current position mark, 62 ... Traveling track during parking, 64 ... Current driving track, 68 ... Daily parking road

Claims (8)

A parking road identifying means for identifying a road on which a vehicle is parked at a predetermined frequency or more;
A parking travel locus acquisition means for obtaining a parking travel locus indicating a travel locus of the vehicle to the road when the vehicle is parked on the road;
Travel prediction means for determining whether or not the vehicle is traveling toward the road based on the parking travel locus and the current travel locus of the vehicle;
When it is determined that the vehicle is traveling toward the road, a parking prohibition determination unit that determines whether the road is prohibited when the vehicle is parked on the road;
When it is determined that the road is prohibited from parking, parking prohibition guidance means for guiding that the road is prohibited from parking;
A driving support device comprising: The parking prohibition guidance means, when it is determined that the road is prohibited to park, guides that other roads existing around the road and having the same attribute as the road are prohibited from parking,
The travel support apparatus according to claim 1. The parking road specifying means specifies a road on which a vehicle is parked at a predetermined frequency or more among roads in which a parking prohibition state and a parking permission state vary depending on time.
The driving assistance device according to claim 1 or 2. When the distance from the current position of the vehicle to the road is equal to or less than a predetermined distance, the parking prohibition determination unit prohibits parking the road at either or both of the current time and the predicted arrival time to the road. To determine whether or not
The travel support device according to claim 3. The parking road specifying means specifies a parking time when the vehicle is parked on the road,
The parking prohibition determining means determines whether the road is prohibited to park when the parking time is different from either or both of the current time and the predicted arrival time;
The travel support apparatus according to claim 4. The parking road specifying means specifies a parking period in which the vehicle is parked on the road,
The parking prohibition determination means determines whether or not the road is prohibited from parking either before or after the parking period elapses from either or both of the current time and the predicted arrival time.
The driving support device according to claim 4 or 5. A parking road identification step for identifying a road on which a vehicle is parked at a predetermined frequency or more;
A parking travel locus obtaining step for obtaining a parking travel locus indicating a travel locus of the vehicle to the road when the vehicle is parked on the road; and
A travel prediction step of determining whether the vehicle is traveling toward the road based on the parking travel locus and the current travel locus of the vehicle;
When it is determined that the vehicle is traveling toward the road, a parking prohibition determination step of determining whether or not the road is prohibited when parking the vehicle on the road;
When it is determined that the road is prohibited from parking, a parking prohibition guidance process for guiding that the road is prohibited from parking;
A driving support method including: A parking road identification function for identifying a road on which a vehicle is parked at a predetermined frequency or more,
A parking travel locus acquisition function for obtaining a parking travel locus indicating a travel locus of the vehicle to the road when the vehicle is parked on the road; and
A travel prediction function for determining whether the vehicle is traveling toward the road based on the parking travel locus and the current travel locus of the vehicle;
When it is determined that the vehicle is traveling toward the road, a parking prohibition determination function that determines whether the road is prohibited when the vehicle is parked on the road; and
When it is determined that the road is prohibited from parking, a parking prohibition guidance function for guiding that the road is prohibited from parking;
A driving support program that realizes a computer.

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