JP5107796B2 - VEHICLE DEVICE CONTROL DEVICE, VEHICLE DEVICE CONTROL METHOD, AND PROGRAM - Google Patents

Description

  The present invention relates to an apparatus for controlling vehicle equipment in cooperation with traveling of a vehicle.

Conventionally, there has been known a vehicle equipment control device using map information possessed by a car navigation device. Patent Document 1 discloses a control device in which map information and an automatic transmission are linked. A control device for an automatic transmission for a vehicle described in Patent Document 1 reads a traveling direction of a vehicle, information about a turning of a road, and the like from a navigation device in response to an operation of a brake or an accelerator. The control device controls the automatic transmission and the brake based on the read information. As a result, for example, in a curve, the vehicle can be decelerated with an engine braking force that changes stepwise according to the gear stage and a braking force that is intermediate in magnitude, so that an optimal deceleration curve and an appropriate vehicle speed can be obtained. It is done.
Japanese Patent Laying-Open No. 2003-301941 (page 6, FIG. 8)

  When the conventional car navigation linkage control apparatus as described above is traveling according to a preset route, it is possible to perform vehicle control using information on the route. However, for example, when heading to a frequent destination, the route may be changed in response to an event that occurs from time to time, and not only when traveling along a set route. In many cases, the vehicle travels without setting a route from the beginning.

  In view of the above background, an object of the present invention is to provide a vehicle device control apparatus that can control a vehicle device even if a travel route is not set in advance.

  A vehicle equipment control device according to the present invention is a device mounted on a vehicle and used from a branch point detection unit that detects a next branch point on a road on which the vehicle is traveling, and the branch point or the branch point. When the driver selects at the branch point based on a sensor that acquires the current road conditions of a plurality of branched branch roads, and the current road conditions acquired by the sensor and the branch destination road selection history by the driver A traveling direction determination unit that obtains a predicted branch destination road as a traveling direction, and a device control unit that transmits a control signal for controlling the vehicle device based on the traveling direction to the vehicle device.

  In this way, the traveling direction of the vehicle is predicted based on the current road conditions of the branching point or the plurality of branching destination roads and the selection history of the branching destination road by the driver, and the vehicle equipment is controlled based on the predicted traveling direction. Thus, even if a travel route is not set in advance, it is possible to control the vehicle equipment based on the road condition at the time when the vehicle comes near the branch point. The branch point detection unit may detect the branch point based on the current position data of the vehicle detected by the navigation device, or may detect the branch point by analyzing an image in front of the vehicle taken by the camera. May be.

  In the vehicle equipment control device of the present invention, the sensor is a radar or a camera, and the traveling direction determination unit obtains the traveling direction based on road conditions around a branch point acquired by the radar or the camera. May be.

  With this configuration, it is possible to appropriately determine the branch destination road predicted to be selected by the driver according to the road conditions around the branch point.

  The vehicle equipment control device of the present invention includes an avoidance situation database storing avoidance situation data indicating a situation where the driver avoids the branch destination road based on a selection history of the branch destination road by the driver, and the traveling direction determination unit includes: The avoidance situation data is read from the avoidance situation database, the situation indicated by the read avoidance situation data is compared with the current road situation of the branch point or the branch destination road to obtain a branch destination road to be avoided, You may obtain | require the said advancing direction out of the branch destination roads other than the branch destination road which should be avoided.

  By using the avoidance situation data stored based on the driver's branch destination road selection history in this way, by removing the branch destination road predicted not to be selected by the driver from the candidates for the direction of travel, Can be determined appropriately.

  The vehicle equipment control device of the present invention includes a priority setting unit that sets a priority order for a plurality of branch destination roads at the branch point, and the traveling direction determination unit includes a branch destination road other than the branch destination road to be avoided. Among them, the branch road with the highest priority may be obtained as the traveling direction.

  By setting priorities in this way, it is possible to appropriately determine the traveling direction even when there are a plurality of branch destination roads other than the branch destination roads to be avoided. For example, the priority order may be set in advance in the order of a straight road, a left turn direction, and a right turn direction, or may be set when a branch destination road is selected.

  In the vehicle equipment control device of the present invention, when it is determined that the traveling direction determination unit should avoid all the branch destination roads, the branch destination road having the highest priority among all the branch destination roads is selected. You may obtain | require as a advancing direction.

  By setting the priorities in this way, the traveling direction of the vehicle can be appropriately obtained even when it is determined that all the branch destination roads should be avoided.

  The vehicle equipment control device of the present invention includes a travel history database that stores a travel history of a vehicle, and the priority order setting unit sets priorities according to the number of times or frequency of passing the branch destination road in the past. May be.

  With this configuration, it is possible to obtain a branch road that is predicted to be selected by the driver based on whether or not the road is familiar to the driver.

  The vehicle equipment control device of the present invention includes a guide route data storage unit that stores data of a guide route set by the navigation device, and the priority order setting unit sets the priority order based on the data of the guide route. It may be set.

  With this configuration, it is possible to obtain a branch destination road that is predicted to be selected by the driver based on whether or not the guidance route is set by the navigation device.

  The vehicle equipment control device of the present invention includes an in-vehicle sensor that detects a driver's behavior, and the traveling direction determination unit is a driver's behavior acquired by the in-vehicle sensor and a branch destination when the behavior is indicated. The traveling direction of the vehicle may be obtained based on the road selection history.

  With this configuration, the traveling direction of the vehicle at the branch point can be obtained with high accuracy. As an in-vehicle sensor that detects the behavior of the driver, for example, an in-vehicle camera and an image processing device for detecting the driver's face direction and line-of-sight direction, a sensor that detects the operation of the blinker, and the like can be used. .

  In the vehicle equipment control device of the present invention, the equipment control section performs active cruise control based on whether or not a vehicle traveling ahead has traveled in the traveling direction determined by the traveling direction determining section. A control signal for controlling whether or not may be transmitted to the active cruise control control unit.

  With this configuration, even if the travel route is not set in advance, the active cruise control can be appropriately controlled based on the situation at the time when the vehicle comes near the branch point.

  In the vehicle equipment control device of the present invention, the equipment control section may transmit a control signal for controlling the irradiation direction of the headlight to the headlight control section based on the traveling direction obtained by the traveling direction determination section. Good.

  With this configuration, even if the travel route is not set in advance, the headlight can be controlled so as to irradiate the traveling direction, so that safe travel can be supported.

  The device control unit may transmit a control signal indicating the traveling direction obtained by the traveling direction determination unit to the navigation device.

  With this configuration, even when a travel route is not set in advance, appropriate navigation can be performed according to the traveling direction of the vehicle. For example, the navigation device can set a destination or a stopover in the traveling direction according to a control signal indicating the traveling direction. In addition, the navigation device can provide traffic information and news in the direction of travel.

  The vehicle device control method of the present invention is a method of controlling a vehicle device by a vehicle device control device mounted and used in a vehicle, wherein the vehicle device control device is a next branch point on a road on which the vehicle is traveling. Detecting the current road conditions of the plurality of branch destination roads branched from the branch point or the branch point, and the vehicle equipment control device includes: A step of obtaining a branch destination road predicted to be selected by the driver at the branch point as a traveling direction based on a current road condition acquired by a sensor and a selection history of the branch destination road by the driver; Includes a step of transmitting a control signal for controlling the vehicle device based on the traveling direction to the vehicle device.

  With this configuration, similarly to the above-described vehicle device control apparatus, it is possible to control the vehicle device based on the situation at the time when the vehicle comes near the branch point even if the travel route is not set in advance. . Various configurations of the above-described vehicle device control apparatus can also be applied to the vehicle device control method of the present invention.

  The program of the present invention is a program for controlling a vehicle device mounted on a vehicle, wherein the vehicle device control device detects a next branch point on a road on which the vehicle is traveling, and the branch point. Or, based on the step of acquiring the current road situation of a plurality of branch destination roads branched from the branch point, the current road situation obtained by the sensor and the selection history of the branch destination road by the driver, A step of obtaining a branch destination road predicted to be selected by the driver at the branch point as a traveling direction, and a step of transmitting a control signal for controlling the vehicle device based on the traveling direction to the vehicle device are executed.

  With this configuration, similarly to the above-described vehicle device control apparatus, it is possible to control the vehicle device based on the situation at the time when the vehicle comes near the branch point even if the travel route is not set in advance. . Moreover, it is also possible to apply various configurations of the above-described vehicle device control apparatus to the program of the present invention.

  According to the present invention, a traveling route is set in advance by determining a traveling direction based on the current road conditions of a branch point or a plurality of branch destination roads, and controlling the vehicle equipment based on the determined traveling direction. Even if it is not, it has the effect that control of a vehicle apparatus can be performed based on the condition at the time of a vehicle coming to the vicinity of a branch point.

Hereinafter, the configuration of a vehicle equipment control device according to an embodiment of the present invention will be described with reference to the drawings.
(First embodiment)
FIG. 1 is a diagram illustrating a configuration of a vehicle equipment control device 1 according to the first embodiment. A communication unit 20, a radar 22, and a camera 24 are connected to the vehicle equipment control device 1. These configurations have a role as a sensor that acquires data indicating road conditions. In addition, a headlight 28 and an active cruise control control device (hereinafter referred to as “ACC control device”) 30 are connected to the vehicle equipment control device 1. The vehicle equipment control device 1 controls the headlight 28 and the ACC control device 30.

  The vehicle device control apparatus 1 includes a branch point detection unit 10, a traveling direction determination unit 12, an avoidance situation data storage unit 14, a device control unit 16, and an audio output unit 18. Hereinafter, each structure of the vehicle equipment control apparatus 1 is demonstrated.

  The branch point detection unit 10 has a function of receiving data indicating the travel position of the vehicle and map data from the navigation device 26 and detecting the next branch point on the road on which the vehicle is traveling. A branch point is a place where the vehicle can select the traveling direction, and is, for example, a three-way, a four-way, or a five-way. In the present specification, a plurality of roads extending ahead from a branch point are referred to as “branch destination roads”. For example, in the case of a four-way road, the branch roads are straight roads, left-turn roads, and right-turn roads. Even if the road is branched, if the vehicle cannot enter due to one-way traffic or the width of the road, and there is only one road through which the vehicle can pass, it should not be detected as a branch point. Also good.

  The traveling direction determination unit 12 has a function of determining a branch destination road (traveling direction) predicted to be selected by the driver at the next branch point on the road on which the vehicle is traveling. The traveling direction determination unit 12 is connected to the communication unit 20, the radar 22, and the camera 24. The communication unit 20 has a function of receiving traffic information, weather information, and the like transmitted from the information center 40. The communication unit 20 inputs the received traffic information to the traveling direction determination unit 12. The radar 22 has a function of capturing another vehicle by millimeter waves and detecting the position and traveling speed of the other vehicle. The camera 24 has a function of imaging the front of the vehicle.

  First, the traveling direction determination unit 12 analyzes data transmitted from the radar 22 and the camera 24 to obtain a road condition near the branch point. For example, the number of vehicles on each branch road is detected using data transmitted from the radar 22. In addition, for example, the image captured by the camera 24 is analyzed to detect the type of vehicle, bicycle, and pedestrian on each branch road.

  FIG. 2 is a diagram illustrating data stored in the avoidance situation data storage unit 14. The avoidance situation data storage unit 14 stores data indicating the avoidance situation and the determination contents when the avoidance situation is detected. The avoidance situation is a road situation that can be observed in the vicinity of a branch point, such as “detect pedestrians and bicycles”, “detect tractor tracks and training vehicles”, as shown in FIG. When such an avoidance situation is detected, it is determined that the corresponding branch destination road is avoided based on the determination contents associated with the avoidance situation. Further, as shown in FIG. 2, the avoidance situation may include weather information, traffic jam information, and the like.

  The data stored in the avoidance situation data storage unit 14 is generated based on the selection history of the branch destination road by the driver. First, the driver detects data avoiding the branch destination road from the selection history of the branch destination road. For example, if a detour route is taken while traveling to the destination, it is considered that the set travel route has been avoided, so it is determined that a detour route has been taken. Next, the status data when the detour route is taken is read from the selection history. For example, when a pedestrian and a bicycle are detected on the branch road as a situation when the detour route is taken, “detect a pedestrian and a bicycle” is stored as an avoidance situation.

  The traveling direction determination unit 12 obtains the traveling direction by comparing the road condition near the branch point with the avoidance condition data stored in the avoidance condition data storage unit 14. The traveling direction determination unit 12 reads the avoidance situation data from the avoidance situation data storage unit 14 and compares it with the current road situation. When the current road situation matches the read avoidance situation data, it is determined that the corresponding branch destination road should be avoided according to the determination contents associated with the avoidance situation data. The traveling direction determination unit 12 compares the current road situation with the read all avoidance situation data, and as a result, obtains a branch destination road in the traveling direction from among the branch destination roads that do not match any of the avoidance situation data.

  When there are a plurality of branch destination roads that do not match any of the avoidance situation data, or when all the branch destination roads match the avoidance situation data, the branch destination road in the traveling direction is obtained according to a predetermined priority order. In this embodiment, the priority order is set in the order of a straight road, a left turn, and a right turn.

  The vehicle equipment control device 1 according to the present embodiment can also determine the traveling direction using traffic information, weather information, and the like transmitted from the communication unit 20.

  The traveling direction determination unit 12 transmits data indicating the traveling direction to the device control unit 16. The device control unit 16 transmits a control signal to the headlight 28 and the ACC control device 30 using the data indicating the traveling direction, and controls the headlight 28 and the ACC control device 30. For example, when the vehicle turns to the right, a control signal is transmitted to the headlight 28 and the headlight 28 is controlled to illuminate the right side. Further, for example, when the preceding vehicle goes straight and the own vehicle turns to the left, a control signal for stopping ACC is transmitted to the ACC control device 30.

  Further, the traveling direction determination unit 12 transmits data indicating the traveling direction to the voice output unit 18. The voice output unit 18 outputs a voice indicating the traveling direction based on the data indicating the traveling direction. Thereby, the driver can know in which direction the vehicle equipment control device 1 is predicted to travel.

  FIG. 3 is a flowchart showing the operation of the vehicle equipment control device 1 according to the first embodiment. As shown in FIG. 3, the vehicle equipment control unit 16 first detects the next branch point on the road on which the vehicle is traveling (S10), and when the branch point is detected, the branch point and the branch destination ahead of the branch point are detected. The road condition at the present time of the road is detected (S12). Next, the vehicle equipment control device 1 determines the traveling direction at the branch point based on the current road condition (S14). A method of determining the traveling direction will be described in detail with reference to FIG. The vehicle device control apparatus 1 transmits a control signal to the vehicle device based on the determination result of the traveling direction, and controls the vehicle device (S16).

  FIG. 4 is a flowchart showing the operation of the traveling direction determination by the vehicle device control apparatus 1. The vehicle equipment control device 1 first sets a priority order for each of the branch destination roads extending ahead from the branch point (S20). In the present embodiment, the vehicle equipment control device 1 sets priorities in the order of a straight road, a left turn road, and a right turn road. For example, for a four-way road, the priority order is a straight road, a left turn direction road, and a right turn direction road. For a T-junction, the priority order is a left turn direction road and a right turn direction road. . In the following, the selection of a branch road on a four-way road will be described as an example. FIG. 5A is a diagram showing an example in which priorities are set for branch destination roads on a four-way road.

  Next, the vehicle equipment control device 1 reads the avoidance situation data from the avoidance situation data storage unit 14 (S22) and compares it with the current road situation (S24). If the current road situation matches the avoidance situation data (YES in S24), the branch destination road corresponding to the avoidance situation is avoided (S26), and the process proceeds to the determination of whether there is other avoidance situation data ( S28). If the current road situation does not coincide with the avoidance situation data (NO in S24), the step S26 is skipped, and the process proceeds to a determination of whether there is another avoidance situation data (S28). If there is other avoidance status data (YES in S28), the avoidance status data is read (S22), and the same processing as described above is repeated.

  When there is no other avoidance situation data (NO in S28), that is, when all avoidance situation data stored in the avoidance situation data storage unit 14 is read, the branch that does not match any avoidance situation data The number of destination roads is determined (S30). If the number of branch destination roads that does not match any avoidance situation data is one, the remaining branch destination road is selected as the traveling direction (S32). FIG. 5B is a diagram illustrating an example in which the number of remaining branch destination roads is one. In this example, the road in the straight direction and the road in the right turn direction match the avoidance situation data, and only the road in the left turn direction remains without matching the avoidance situation data. In this case, the traveling direction determination unit 12 determines that the road in the left turn direction is the traveling direction.

  If there is no branch destination road that does not match any of the avoidance status data, that is, if there is a situation that should be avoided on all the branch destination roads, the branch with the highest priority among all the branch destination roads The destination road is selected as the traveling direction (S34). FIG. 5C is a diagram illustrating an example in which a situation to be avoided occurs on all branch destination roads. In this case, the traveling direction determination unit 12 determines the straight traveling road with the highest priority as the traveling direction.

  If there are multiple branch destination roads that did not match any of the avoidance status data, select the branch destination road with the highest priority from the multiple branch destination roads that did not match the avoidance status data as the direction of travel. (S36). FIG. 5D is a diagram illustrating an example in which two branch destination roads, a left turn direction road and a right turn direction road, remain without matching with the avoidance situation data. In this case, the traveling direction determination unit 12 determines that the road of the left turn direction having the highest priority among the two is the traveling direction. In the above, the vehicle equipment control apparatus 1 of 1st Embodiment was demonstrated.

  The vehicle equipment control apparatus 1 according to the first embodiment includes an avoidance situation data storage unit 14 that stores data indicating an avoidance situation, and road conditions and avoidance situations near a branch point acquired by the radar 22 or the camera 24. The data is compared with the data to determine the branch road predicted to be selected by the driver. Since the vehicle device is controlled based on the predicted branch road, the vehicle device can be appropriately controlled based on the road condition even when the travel route is not set in advance.

(Second Embodiment)
FIG. 6 is a diagram illustrating a configuration of the vehicle equipment control device 2 according to the second embodiment. The basic configuration of the vehicle equipment control device 2 according to the second embodiment is the same as the configuration of the vehicle equipment control device 1 according to the first embodiment, but the vehicle equipment control device according to the second embodiment. 2 includes a travel history storage unit 50.

  FIG. 7 is a diagram illustrating an example of data stored in the travel history storage unit 50. The travel history storage unit 50 stores data indicating how many times each link on the road has been passed. The example shown in FIG. 7 indicates that the link A-B has been passed 10 times, the link B-C 5 times, the link BD 15 times, and the link BE 8 times.

  The vehicle equipment control apparatus 2 according to the second embodiment uses the data stored in the travel history storage unit 50 to set the priority order of the branch destination road so that the priority order is higher as the link has more travel results. . If it demonstrates with reference to the example of FIG. 7, when the vehicle equipment control apparatus 2 mounted in the vehicle currently drive | working link AB detects the branch point B, the advancing direction judgment part 12 will respond | correspond according to a driving | running | working performance. , Link BD, link BE, and link BC are set in the order of priority.

  The basic operation of the vehicle equipment control device 2 of the second embodiment is the same as the operation of the vehicle equipment control device 1 described in the first embodiment. In the vehicle equipment control device 1 of the first embodiment, when setting the priority order to the branch destination road at the branch point (see S20, FIG. 4), the straight road, the left turn road, the right turn direction The priority order is set in the order of roads, but the vehicle device control apparatus 2 according to the second embodiment is different in that the priority order is set based on the travel history data stored in the travel history storage unit 50. Heretofore, the vehicle device control apparatus 2 according to the second embodiment has been described.

  The vehicle equipment control device 2 according to the second embodiment sets the priority of the branch destination road with a high travel history to a high priority level, so that it is selected by the driver based on whether or not the road is familiar to the driver. It is possible to appropriately obtain the predicted branch destination road.

  Moreover, the vehicle equipment control apparatus 2 of the second embodiment is appropriately based on the road condition even when the travel route is not set in advance, similarly to the vehicle crisis control apparatus 1 of the first embodiment. This has the effect that the vehicle equipment can be controlled.

  In the present embodiment, the priority order is determined based on the number of passes through each branch destination road, but the priority order may be set according to the frequency of passing through each branch destination road. When using the frequency, for example, the number of times each link has passed in the past several months is counted, and the frequency is obtained by dividing the number of passages by the number of target months. Then, a higher priority is set in order from the highest frequency.

(Third embodiment)
FIG. 8 is a diagram illustrating a configuration of the vehicle equipment control device 3 according to the third embodiment. The basic configuration of the vehicle equipment control device 3 of the third embodiment is the same as the configuration of the vehicle equipment control device 1 of the first embodiment, but the vehicle equipment control device of the third embodiment. 3 includes a guide route storage unit 52. The guide route storage unit 52 is connected to the navigation device 26, and has a function of acquiring and storing guide route data set in the navigation device 26.

  The vehicle equipment control device 1 according to the third embodiment sets a high priority for the branch destination road related to the guide route stored in the guide route storage unit 52. Fig.9 (a)-FIG.9 (d) are the figures for demonstrating determination of the priority of a branch destination road.

  It is assumed that a guidance route is set by the navigation device 26 as indicated by an arrow 54 in FIG. The guide route at the branch point B is a road in the left turn direction.

  As shown in FIG. 9B, by default, the priority order is set in the order of a straight road, a left turn, and a right turn. Since the route is set to the road in the left turn direction at the branch point B, the traveling direction determination unit 12 increases the priority of the road in the left turn direction (see FIG. 9C), and FIG. Determine the priority as shown in

  The basic operation of the vehicle equipment control device 3 of the third embodiment is the same as the operation of the vehicle equipment control device 1 described in the first embodiment. In the vehicle equipment control device 1 of the first embodiment, when setting the priority order to the branch destination road at the branch point (see S20, FIG. 4), the straight road, the left turn road, the right turn direction The priority order is set in the order of roads, but the vehicle device control apparatus 3 according to the third embodiment is different in that the priority order is set based on the set route data stored in the guide route storage unit 52. Heretofore, the vehicle device control apparatus 3 according to the third embodiment has been described.

  The vehicle equipment control device 3 according to the third embodiment sets the priority of the road on which the route is set high, and therefore, when the road is set on the determination criterion, it is selected by the driver. The predicted branch road can be obtained appropriately.

  Moreover, the vehicle equipment control apparatus 3 of 3rd Embodiment is appropriately based on a road condition also when the driving route is not preset like the vehicle crisis control apparatus 1 of 1st Embodiment. This has the effect that the vehicle equipment can be controlled.

  As mentioned above, although the vehicle apparatus control apparatus of this invention was demonstrated in detail, giving embodiment, this invention is not limited to above-described embodiment.

  In the above-described embodiment, the vehicle device control device and the vehicle device control method have been described. However, a program for realizing the above-described vehicle device control device is also included in the scope of the present invention. Such a program includes a branch point detection module, a traveling direction determination module, a device control module, and an audio output module. Each module implement | achieves each function of the above-mentioned branch point detection part 10, the advancing direction judgment part 12, the apparatus control part 16, and the audio | voice output part 18 by running a program with a computer.

  In the above-described embodiment, an example in which it is determined that a branch destination road with a high priority is selected when it is determined that all branch destination roads should be avoided has been described. It is not necessary to obtain a branch road in the traveling direction. For example, the branch destination road that has the smallest number matching the avoidance situation data may be obtained as the branch destination road in the traveling direction. To give a specific example, a training vehicle is detected on a branch road in a straight direction and a plurality of route buses are detected, a pedestrian is detected on a branch road in a left turn direction, a training vehicle is detected, and a right turn is branched. If a large number of vehicles waiting for a right turn are detected on the destination road, the number of the right turn direction branch destination roads matches the avoidance status data is the smallest, so even if it is determined that the right turn direction branch destination road is selected. Good.

  In the above-described embodiment, the example of obtaining the branch destination road in the traveling direction using the avoidance situation database storing the data indicating the avoidance situation has been described. However, the present invention does not necessarily proceed by the erasing method using the avoidance situation database. There is no need to obtain the direction, and the traveling direction may be obtained by another method. For example, if it is known that a predetermined branch destination road is always selected under a predetermined situation based on driver selection history data, the determination content may be used. As a specific example, if it is known from the selection history data that a left turn is always possible when there is a “left turn allowed” signboard, the decision to “turn left” is made in relation to the situation “detect a left turn signboard”. A database storing the contents may be prepared, and the branch road in the traveling direction may be obtained according to this database.

  Moreover, the vehicle equipment control apparatus of this invention may calculate | require the advancing direction stochastically using a selection log | history. For example, a Bayesian network model can be used as a method for obtaining the traveling direction stochastically. A Bayesian network model is prepared in which nodes indicating various variables observed near a branch point and nodes indicating the direction of travel are connected with stochastic dependency. Here, “probabilistic dependency” refers to the conditional probability that each of the values that another variable can take when a variable takes a certain value for all the values that a variable can take. (This is called a “conditional probability table”). The vehicle device control apparatus can determine the traveling direction stochastically by the probability inference from the node where the value is set by setting the value observed near the branch point to the node of the Bayesian network model. For example, the probability of making a right turn is 80%, the probability of going straight is 15%, the probability of making a left turn is 5%, and the like. Note that the Bayesian network model consists of data on the decision result of turning right or left or straight ahead at a branch point (ie, the value of a variable in the direction of travel) and data indicating the situation observed at that time (ie, the observed variable) Can be learned using the value of As a result, the traveling direction can be accurately determined according to the past selection history of the driver.

  Moreover, the vehicle equipment control apparatus of this invention may obtain | require the conditions linked | related with the condition based on the selection history of a driver, and may obtain | require using the conditions. For example, when an event “A” is observed, a plurality of conditions are stored such as “turn left” and “straight” when an event “B” is observed. May determine the traveling direction based on the data of this condition. Also, if a priority is set for each condition, an appropriate determination can be made even when a plurality of conditions conflict.

  In the above-described embodiment, the example of controlling the head ride 28 and the ACC control unit 30 has been described, but the present invention can also be applied to control of other vehicle devices. For example, the vehicle equipment control device of the present invention may control the navigation device by transmitting a control signal indicating the traveling direction to the navigation device. For example, the navigation device can set a destination or a stop-in place according to the traveling direction, and can provide traffic information and facility information.

  In the above-described embodiment, the example in which the traveling direction of the vehicle is obtained based on the data acquired using the radar 22 that detects another vehicle or the camera 24 that captures the front of the vehicle has been described. Data obtained by detecting the behavior of the driver may be used as the data to be obtained. For example, prepare an in-vehicle camera that captures the driver, analyze the image captured by the in-vehicle camera, determine the driver's line-of-sight direction and face direction, The traveling direction of the vehicle may be obtained based on the selection history. Alternatively, the operation direction of the vehicle may be detected by detecting the operation of the winker and the direction in which the winker is taken out. Furthermore, when determining the traveling direction of the vehicle using the road conditions and the driver's behavior, the selection history may not necessarily be used for the driver's behavior. For example, if you are looking at the right direction, it is determined that the probability of making a right turn is high, and if you are looking at the left direction, it is determined that there is a high probability of making a left turn. A comprehensive determination may be made by adding the determination result of the traveling direction based on the behavior. It is also possible to determine a traveling direction that the driver does not select based on the behavior of the driver. For example, when the driver decreases the speed near the branch point, it may be determined that the vehicle does not go straight.

  According to the present invention, even when a travel route is not set in advance, the vehicle device can be controlled based on the situation at the time when the vehicle comes near the branch point. It is useful as a device for controlling the above.

It is a figure which shows the structure of the vehicle equipment control apparatus of 1st Embodiment. It is a figure which shows the example of the data memorize | stored in the avoidance condition data storage part. It is a figure which shows operation | movement of the vehicle equipment control apparatus of 1st Embodiment. It is a figure which shows the operation | movement of the advancing direction determination by the vehicle equipment control apparatus of 1st Embodiment. (A) It is a figure which shows the example of a priority. (B) It is a figure which shows one example of the branch destination road which does not correspond to avoidance status data. (C) It is a figure which shows the example in which all the branch destination roads correspond to avoidance condition data. (D) It is a figure which shows the example which has several branch destination roads which do not correspond with avoidance condition data. It is a figure which shows the structure of the vehicle equipment control apparatus of 2nd Embodiment. It is a figure which shows the example of the data memorize | stored in the driving history memory | storage part. It is a figure which shows the structure of the vehicle equipment control apparatus of 3rd Embodiment. (A) It is a figure which shows the example by which the guidance route was set. (B) It is a figure which shows default priority. (C) It is a figure which shows the example which raises the priority of the branch destination road where the path | route was set. (D) It is a figure which shows the example of a priority.

Explanation of symbols

1, 2, 3 Vehicle device control device 10 Branch point detection unit 12 Traveling direction determination unit 14 Avoidance situation data storage unit 16 Device control unit 18 Audio output unit 20 Communication unit 22 Radar 24 Camera 26 Navigation device 28 Headlight 30 ACC control device 40 Information Center 50 Travel History Storage Unit 52 Guide Route Storage Unit

Claims (11)

A device used by being mounted on a vehicle,
An avoidance situation database storing avoidance situation data indicating a situation in which the driver avoids the branch destination road based on the selection history of the branch destination road by the driver;
A branch point detector for detecting a next branch point on the road on which the vehicle is traveling; and
A sensor for acquiring current road conditions of the branch point or a plurality of branch destination roads branched from the branch point;
Based on the current road conditions acquired by the sensor and the selection history of the branch destination road by the driver, a travel direction determination unit that obtains a branch destination road predicted to be selected by the driver at the branch point as a travel direction of the vehicle; ,
A control signal for controlling whether or not to perform active cruise control is transmitted to the active cruise control control unit based on whether or not the vehicle traveling ahead has advanced in the traveling direction determined by the traveling direction determination unit. A device control unit to
With
The advancing direction determination unit should read the avoidance situation data from the avoidance situation database and compare the situation indicated by the read avoidance situation data with the current road situation of the branch point or the branch destination road to avoid A vehicle equipment control device that obtains a branch destination road and obtains the traveling direction from branch destination roads other than the branch destination road to be avoided. The sensor is a radar or a camera,
The vehicle apparatus control device according to claim 1, wherein the traveling direction determination unit obtains the traveling direction based on a road condition around a branch point acquired by the radar or the camera. A priority setting unit for setting priority to a plurality of branch destination roads at the branch point;
3. The vehicle equipment control device according to claim 1, wherein the traveling direction determination unit obtains a branch destination road having the highest priority among the branch destination roads other than the branch destination road to be avoided as the traveling direction.   The said advancing direction determination part calculates | requires the branch destination road with the highest priority among all the branch destination roads as the said advancing direction, when it is judged that it should avoid about all the branch destination roads. Vehicle equipment control device. It has a travel history database that stores the travel history of the vehicle,
The vehicle equipment control device according to claim 3 or 4, wherein the priority order setting unit sets the priority order according to the number of times or frequency of passing through the branch destination road in the past. A guidance route data storage unit for storing guidance route data set in the navigation device;
5. The vehicle equipment control device according to claim 3, wherein the priority order setting unit sets a priority order of a branch destination road related to the guide route higher than other branch destination roads based on the data of the guide route. In-vehicle sensors that detect driver behavior
The travel direction determination unit obtains the travel direction of the vehicle based on the behavior of the driver acquired by the in-vehicle sensor and the branch destination road selection history when the behavior is indicated. The vehicle equipment control device according to claim 1.   The said apparatus control part transmits the control signal which controls the irradiation direction of a headlight to a headlight control part based on the advancing direction calculated | required in the said advancing direction judgment part. Vehicle equipment control device.   The vehicle device control device according to claim 1, wherein the device control unit transmits a control signal indicating a traveling direction obtained by the traveling direction determination unit to a navigation device. A method of controlling a vehicle device by a vehicle device control device used by being mounted on a vehicle,
Storing in the avoidance situation database avoidance situation data indicating a situation in which the driver avoids the branch destination road based on the selection history of the branch destination road by the driver;
The vehicle equipment control device detecting a next branch point on a road on which the vehicle is traveling; and
The vehicle device control device acquires at the sensor the current road conditions of the branch point or a plurality of branch destination roads branched from the branch point; and
Based on the current road situation acquired by the sensor and the selection history of the branch destination road by the driver, the vehicle equipment control device obtains the branch destination road predicted to be selected by the driver at the branch point as the traveling direction. Steps,
A control signal for controlling whether or not the vehicle equipment control device performs active cruise control based on whether or not the vehicle traveling ahead has traveled in the traveling direction determined by the traveling direction determination unit. Transmitting to the active cruise control controller ;
With
The step of obtaining the advancing direction reads the avoidance situation data from the avoidance situation database, and compares the situation indicated by the read avoidance situation data with the current road situation of the branch point or the branch destination road to avoid the situation. A vehicle equipment control method for obtaining a branch destination road and obtaining the traveling direction from branch destination roads other than the branch destination road to be avoided. A program for controlling vehicle equipment mounted on a vehicle, the vehicle equipment control device,
Storing in the avoidance situation database avoidance situation data indicating a situation in which the driver avoids the branch destination road based on the selection history of the branch destination road by the driver;
Detecting a next branch point on a road on which the vehicle is traveling;
Acquiring at the sensor current road conditions of the branch point or a plurality of branch destination roads branched from the branch point; and
Based on the current road situation acquired by the sensor and the selection history of the branch destination road by the driver, obtaining a branch destination road predicted to be selected by the driver at the branch point as a traveling direction;
A control signal for controlling whether or not to perform active cruise control is transmitted to the active cruise control control unit based on whether or not the vehicle traveling ahead has advanced in the traveling direction determined by the traveling direction determination unit. And steps to
And execute
The step of obtaining the advancing direction reads the avoidance situation data from the avoidance situation database, and compares the situation indicated by the read avoidance situation data with the current road situation of the branch point or the branch destination road to avoid the situation. A program for obtaining a branch destination road and obtaining the traveling direction from branch destination roads other than the branch destination road to be avoided.