JP5136428B2 - Vehicle driving support device - Google Patents

Description

  The present invention relates to a vehicle driving support device that determines whether or not a vehicle is in a reverse running state.

  Conventionally, contact accidents due to reverse running of roads have occurred. For example, a toll gate is not present at the exit in the case of a prepaid highway such as a city expressway. Therefore, if the driver accidentally enters from the exit, there is a high possibility that the driver will reach the main line without noticing reverse running, and there is a concern about the risk of an accident.

  As a means for preventing a contact accident due to reverse running of the road, it is conceivable to determine the reverse running state of the vehicle by map matching of the in-vehicle navigation device and prevent a contact accident due to reverse running. For example, Patent Document 1 discloses road information obtained from a map database similar to a normal one used in an in-vehicle navigation device when the host vehicle accidentally enters the opposite lane when crossing an intersection. Based on this, a technique is disclosed in which it is determined whether or not the host vehicle is in a reverse running state in which the vehicle is traveling in the reverse direction with respect to the normal traveling direction.

Japanese Patent Laid-Open No. 2008-3801

  However, when trying to determine the reverse running state of the vehicle by map matching of the in-vehicle navigation device, there is a high possibility that the reverse running state of the vehicle cannot be accurately determined. It had the problem that it was difficult to prevent. Specifically, in general, map matching of the in-vehicle navigation device performs matching in consideration of the travel direction of the road link, and therefore does not target the road link in the direction opposite to the travel direction. Therefore, even if the vehicle is running backward, map matching does not match the road link of the road that is running backward, for example, the road of the road that has the same running direction among the roads near the road that is running backward Matches the link. Therefore, the reverse running state of the vehicle cannot be accurately determined.

  Further, based on road information obtained from a map database similar to a normal one used for in-vehicle navigation devices, it is determined whether or not the host vehicle is in a reverse running state in which the vehicle is running in the reverse direction with respect to the normal traveling direction. In the technique disclosed in Patent Document 1 as well, since it is determined whether or not the vehicle is in the reverse running state based on the road information about the road link that is erroneously matched, the reverse running state of the vehicle cannot be accurately determined.

  The present invention has been made in view of the above-described conventional problems, and an object of the present invention is to provide a vehicle driving support device that makes it possible to more accurately determine a reverse running state and prevent a contact accident. There is.

In order to solve the above-described problem, the vehicle driving support apparatus according to claim 1 stores map data including position detection means for detecting a current position of the vehicle and information on the degree of inclination of each section on the road with respect to a horizontal plane. Based on the map data storage means, the current position of the vehicle detected by the position detection means, and the map data stored in the map data storage means, the current position of the vehicle is matched with a section on the road. Map matching means for executing map matching processing, slope measuring means for measuring the slope of the vehicle with respect to a horizontal plane, and a road matched by the map matching means for only a section in the traveling direction and the forward direction of the vehicle The first coincidence determination means for determining whether or not the inclination of the upper section differs from the inclination measured by the inclination measuring means by a predetermined value or more. When the first based on a match with determining means determination result, the reverse run state determining means and the vehicle to determine whether the reverse run state, wherein the reverse run state determining means, said map If the slope of the section on the road matched by the matching means only for the traveling direction and the forward section of the vehicle is different from the slope measured by the slope measuring means by a predetermined value or more, the first When determined by the coincidence determination means, map matching is performed again by the map matching means for a section in a direction opposite to the traveling direction of the vehicle among sections on the road existing within a predetermined range from the section. The remap matching means for executing the process and the slope of this section when there is a matching section as a result of the remap matching process in the remap matching means. And a second coincidence determining unit that determines whether or not the gradient measured by the gradient measuring unit is equal to or greater than a predetermined value, and the gradient of the section is measured by the gradient measuring unit. The vehicle is judged to be in a reverse running state when it is judged by the second coincidence judging means that the degree of inclination coincides with a predetermined value or more .
According to a second aspect of the present invention, there is provided a vehicle driving support apparatus comprising: a position detecting unit that detects a current position of the vehicle; Based on the current position of the vehicle detected by the position detection means and the map data stored in the map data storage means, a map matching process for matching the current position of the vehicle to a section on the road is executed. Map matching means, inclination measuring means for measuring the inclination of the vehicle with respect to a horizontal plane, and inclination of the section on the road that is matched only for the traveling direction and the forward direction of the vehicle by the map matching means First coincidence determining means for determining whether or not the inclination measured by the inclination measuring means differs by a predetermined value or more, and the first coincidence determining Reverse running state determining means for determining whether or not the vehicle is in a reverse running state based on a determination result by the means, wherein the reverse running state judging means is the map matching means for running the vehicle The first coincidence determining means determines that the slope of the section on the road matched only for the direction and the forward section is different from the slope measured by the slope measuring means by a predetermined value or more. In this case, among the sections on the road existing within a predetermined range from the section, the map matching unit performs the map matching process again for the section in the forward direction and the reverse direction of the vehicle. When the remap matching means to be executed and the map matching process performed again by the remap matching means result in a matching section, the slope of this section is A second coincidence determining unit that determines whether or not the inclination measured by the inclination measuring unit is equal to or greater than a predetermined value, and the inclination of the section is measured by the inclination measuring unit. When the second coincidence determining unit determines that the vehicle matches a predetermined value or more, the vehicle is determined to be in a reverse running state.

  When the current position of the vehicle matched by the map matching process and the section on the road are inconsistent, there is a high possibility that the vehicle is in a reverse running state. This is because in normal map matching processing, the object of map matching processing is limited to the vehicle traveling direction and the forward direction, so if the map matching processing is performed when the vehicle is in the reverse running state, By matching a section other than the section on the road with the current position of the vehicle.

According to the configuration of claim 1 and claim 2 , when a vehicle is accidentally entered from an exit rampway such as an elevated road or a semi-underground road and the vehicle is in a reverse running state, the exit rampway is obtained by map matching processing. Even if the current position of the vehicle is accidentally matched to a section on the road other than the map, based on the discrepancy between the inclination of the vehicle and the section of the road It can be determined that the matching process is incorrect. In other words, when a vehicle is accidentally entered from an exit rampway such as an elevated road or a semi-underground road and the vehicle is in a reverse running state, there is a difference between the inclination of the vehicle and the inclination of the section on the road. Thus, it is possible to determine that the vehicle is in the reverse running state. Therefore, according to the structure of Claim 1 and 2 , it becomes possible to judge a reverse running state more correctly and to prevent a contact accident.
When the vehicle is in reverse running, map matching processing is performed, and if the vehicle's current position is matched with a section other than the section on the road on which the vehicle is running, it will be near the actual current position of the vehicle. There is a high possibility that the traveling direction of the vehicle is matched with another section in the forward direction. Therefore, if it is matched with an incorrect section in the map matching process, the section exists in the vicinity of the current position of the vehicle in the direction opposite to the traveling direction of the vehicle and is matched by the map matching process. Of these, a section having a slope that matches the slope of the vehicle by a predetermined value or more is considered to be a section on the road that is actually running.
According to the configuration of claim 1 and claim 2, when the map matching process is incorrect, the map matching process is performed again for a section in the direction opposite to the traveling direction of the vehicle. Then, as a result of the map matching process again, when it is determined that there is a section having a slope that matches the slope of the vehicle by a predetermined value or more (on an actually running road other than the section matched by mistake) Is determined to exist in the reverse running state). Therefore, it is possible to more accurately determine that the vehicle is running backward.

Further, in the vehicle driving support device according to claim 3, when the reverse running state determination means determines that the vehicle is in the reverse running state, a notification that notifies that the vehicle is in the reverse running state is provided. It is characterized by further providing a means.

  According to this, when it is determined that the vehicle is in the reverse running state, it is possible to notify the driver by notifying that the vehicle is in the reverse running state, thereby preventing a contact accident due to the reverse running of the vehicle. Can do.

According to a fourth aspect of the present invention, the inclination measuring means measures the inclination of the vehicle relative to a horizontal plane based on sensor outputs in a plurality of directions of the acceleration sensor.

As in the fourth aspect , the inclination measuring unit may measure the inclination of the vehicle based on sensor outputs in a plurality of directions of the acceleration sensor.

According to a fifth aspect of the present invention, the remapping matching means further sets only the section on the road corresponding to the ramp way as the target of the second map matching process.

  According to this, since the object of the map matching process again can be limited to only the section on the road corresponding to the ramp way, it is possible to further reduce the load in the map matching process again.

1 is a block diagram showing a schematic configuration of a navigation device 1. FIG. 4 is a flowchart showing a flow of driving support processing in the navigation device 1. It is the figure which showed an example of the exit ramp way of a highway.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing a schematic configuration of a navigation apparatus 1 to which the present invention is applied. A navigation device 1 shown in FIG. 1 is mounted on a vehicle, and includes a position detector 11, a map data input device 16, a storage medium 17, an operation switch group 18, an audio output device 20, an external memory 21, and a display device 22. A remote control sensor 23, a remote control terminal (hereinafter referred to as a remote control) 24, and a control device 19 connected thereto. Note that a vehicle equipped with the navigation device 1 is hereinafter referred to as a host vehicle.

  The position detector 11 is based on an acceleration sensor 12 that detects the acceleration of the host vehicle, a gyroscope 13 that detects an angular velocity around the vertical direction of the vehicle, a vehicle speed sensor 14 that detects the speed of the vehicle, and radio waves from an artificial satellite. It has a GPS receiver 15 for GPS that detects the current position of the vehicle, and periodically detects the current position and the traveling direction of the vehicle. Therefore, the position detector 11 functions as the position detection means in the claims. In addition, each of these sensors 12 to 15 has an error having a different property, and is configured to be used while being complemented by a plurality of sensors. Depending on the accuracy of each sensor, the position detector 11 may be configured as a part of the above-described ones. Furthermore, a steering rotation sensor (not shown), a vehicle speed sensor that detects the speed from the rotation speed of each rolling wheel, and the like are provided. It may be used. In the present embodiment, the acceleration sensor 12 is a three-axis acceleration sensor that detects acceleration in the X-axis direction, the Y-axis direction, and the Z-axis direction, for example.

  In the following, the current position of the host vehicle is determined by comparing the estimated current position obtained from the measured value of the orientation sensor such as the gyroscope 13 and the measured value of the acceleration sensor 12 and the vehicle speed sensor 14 with road data described later. This navigation is called autonomous navigation. In addition, a radio navigation method is used in which the GPS receiver 15 obtains an estimated current position of the own vehicle based on radio waves from a plurality of artificial satellites, and compares the estimated current position with road data to determine the current position of the own vehicle. Call it. The process of matching the estimated current position of the vehicle with the road link described later in the map data (that is, matching) with the estimated current position and the road data as described above is called a map matching process. . The navigation device 1 uses, for example, hybrid navigation that combines autonomous navigation and radio navigation.

  The map data input device 16 is a device that is loaded with a storage medium 17 and for inputting various data including map data stored in the storage medium 17. The map data includes road data, background data, character data, and the like. As the storage medium 17, a CD-ROM or DVD-ROM, a memory card, an HDD, or the like is used.

  The road data includes link data indicating a road and node data. A link (road link) is a link between nodes when the roads on a map are divided at multiple nodes such as intersections, branches, and merging points, start points of ramps, and end points of ramps. Yes, a road is constructed by connecting each link. It can be said that the road link corresponds to one section on the road. Note that the sloping road mentioned here is a road having a slope higher than a level that can be recognized by humans, and includes a rampway. The link data includes a unique number (link ID) for identifying the road link, a link length indicating the length of the road link, start and end node coordinates (latitude / longitude) of the road link, and the inclination of the road link (that is, with respect to the horizontal plane). It consists of data such as the slope of the section on the road), road name, road type, road width, number of lanes, presence / absence of right / left turn lanes, number of lanes dedicated to them, and speed limit. Therefore, the storage medium 17 functions as the map data storage means in the claims.

  On the other hand, the node data is data such as a node ID given a unique number for each node on the map, node coordinates, node name, a connection link ID describing a link ID of a link connected to the node, and an intersection type. Consists of

  The background data is data in which each facility or terrain on the map is associated with the corresponding coordinates on the map. In addition, regarding the facility, the types, names, and address data of various facilities are included. The character data is data for displaying a place name, a facility name, a road name, etc. on a map, and is associated with coordinate data corresponding to the position to be displayed.

  For example, a touch switch or a mechanical switch integrated with the display device 22 is used as the operation switch group 18, and various functions (for example, map scale change, menu display selection, destination setting, Route search, route guidance start, current position correction, display screen change, volume adjustment, etc.). The operation switch group 18 includes switches for setting a departure place and a destination. By operating the switch, the user (that is, the vehicle occupant) can set the departure point and the destination from a registered point, facility name, telephone number, address, and the like.

  The remote control 24 is provided with a plurality of operation switches (not shown). By inputting various command signals to the control device 19 via the remote control sensor 23 by the switch operation, the same functions as the operation switch group 18 are provided. Can be executed.

  The voice output device 20 is configured by a speaker or the like, and outputs a guidance voice at the time of route guidance, a warning voice described later, and the like based on an instruction from the control device 19.

  The external memory 21 is a mass storage device such as a writable HDD. The external memory 21 has many uses such as storing a large amount of data and data that should not be erased even if the power is turned off, or copying frequently used data from the map data input device 16 and using it. . The external memory 21 may be a removable memory having a relatively small storage capacity.

  The display device 22 displays a map for guiding driving of the vehicle, a destination selection screen, a warning screen described later, and the like, and is capable of full color display, such as a liquid crystal display, an organic EL display, A plasma display or the like can be used.

  The control device 19 is configured as a normal computer, and includes a known CPU, a memory such as a ROM and a RAM, an I / O, and a bus line (none of which is shown) for connecting these configurations. Yes. Based on various information input from the position detector 11, the map data input device 16, the operation switch group 18, the external memory 21, and the remote control sensor 23, the control device 19 performs processing as a navigation function (for example, map scale change processing, Menu display selection processing, map matching processing, destination setting processing, route search execution processing, route guidance start processing, current position correction processing, display screen change processing, volume adjustment processing, etc.). For example, in the route search execution process, when a destination is input from the operation switch group 18 and the remote controller 24, the control device 19 has a plurality of movement routes (hereinafter, referred to as distance priority, time priority, etc.) that satisfy preset conditions. , Called a guidance candidate route) using a known Dijkstra method. Therefore, the control device 19 functions as a map matching unit in the claims.

  In addition, the control device 19 measures the inclination of the host vehicle with respect to the horizontal plane (hereinafter referred to as vehicle inclination) based on sensor outputs in the X-axis direction, Y-axis direction, and Z-axis direction from the acceleration sensor 12. . Therefore, the control device 19 also functions as an inclination measuring means. In addition, as a method of measuring the vehicle inclination based on the sensor output from the acceleration sensor 12, a known method for measuring the vehicle inclination based on the sensor output from the acceleration sensor may be used. .

  Further, the control device 19 determines whether or not the host vehicle is in the reverse running state based on the inputs from the position detector 11, the acceleration sensor 12, and the map data input unit 16, and the host vehicle is in the reverse running state. When it is determined that there is, a driving support process for notifying the driver of the danger is performed by outputting a warning voice described later from the voice output device 20 or displaying a warning screen described later on the display device 22. Therefore, the navigation device 1 functions as a vehicle driving support device. Moreover, the audio | voice output apparatus 20 and the display apparatus 22 function as an alerting | reporting means of a claim.

  Next, the driving support process in the navigation device 1 will be described with reference to FIG. FIG. 2 is a flowchart showing the flow of the driving support process in the navigation device 1. This flow is started when the ignition switch of the host vehicle is turned on.

  First, in step S1, the vehicle inclination is measured by the control device 19 based on sensor outputs in the X-axis direction, Y-axis direction, and Z-axis direction from the acceleration sensor 12, and the process proceeds to step S2.

  In step S2, the control device 19 acquires the slope of the road link being matched by the map matching process (hereinafter referred to as the road slope) from the road data in the storage medium 17 via the map data input device 16, and step Move on to S3.

  In step S3, the vehicle inclination measured in step S1 is compared with the road inclination acquired in step S2, and it is determined whether or not the difference between the vehicle inclination and the road inclination is a predetermined value or more. Judgment. Therefore, the control device 19 also functions as a first coincidence determination unit. When it is determined that the difference between the vehicle inclination and the road inclination is equal to or greater than a predetermined value (Yes in step S3), the process proceeds to step S4. If it is not determined that the difference between the vehicle inclination and the road inclination is greater than or equal to a predetermined value (No in step S3), the flow returns to step S1 and the flow is repeated. Note that the predetermined value here is a value that can be arbitrarily set. As an example, a value about the error range of the vehicle inclination measurement based on the sensor output of the acceleration sensor 12 may be set as the predetermined value here.

  In step S4, among road links corresponding to a section on the road existing within a predetermined range from the section on the road indicated by the matching road link, the road link in the direction opposite to the traveling direction of the host vehicle is targeted. The control device 19 executes the map matching process again, and proceeds to step S5. Therefore, the control device 19 also functions as remapping matching means in the claims. Note that the traveling direction of the host vehicle is calculated by the control device 19 based on the sensor output of the gyroscope 13. Therefore, the control device 19 also functions as a traveling direction detection unit that detects the traveling direction at the current position of the host vehicle. The predetermined range here is a range determined depending on the algorithm of the map matching process, and is a value that can be arbitrarily set. As an example, a range about an error range of estimation of the current position in autonomous navigation or radio navigation may be set as the predetermined range.

  Further, in the present embodiment, in the second map matching process, the configuration for the road link in the direction opposite to the traveling direction of the host vehicle is shown, but the present invention is not necessarily limited thereto. For example, it is good also as a structure which makes object the direction of a driving | running | working direction of the own vehicle, and the area of a forward direction and a reverse direction.

  In step S5, when there is a road link to be matched (specifically, a road ring that is a matching candidate) as a result of the map matching process in step S4 again, the process proceeds to step S6. If no matching road link exists (No in step S5), the process returns to step S1 and the flow is repeated.

  In step S6, the control device 19 uses the map data input unit 16 to store information on the slope of the road link (hereinafter referred to as a candidate road slope) that has become a matching candidate by the map matching process again. Obtained from the road data, the process proceeds to step S7.

  In step S7, the vehicle inclination measured in step S1 is compared with the candidate road inclination acquired in step S6, and it is controlled whether or not the difference between the vehicle inclination and the candidate road inclination is within a predetermined value. The device 19 determines. Therefore, the control device 19 also functions as a second coincidence determination unit. When it is determined that the difference between the vehicle inclination and the candidate road inclination is within a predetermined value (Yes in step S7), the process proceeds to step S8. If it is not determined that the difference between the vehicle inclination and the candidate road inclination is within a predetermined value (No in step S7), the process returns to step S4 and the flow is repeated. The predetermined value here is a value that can be arbitrarily set. As an example, a value that falls within an error range of vehicle inclination measurement based on the sensor output of the acceleration sensor 12 may be set as the predetermined value. Moreover, the structure which makes the predetermined value of step S3 and the predetermined value of step S7 the same value may be sufficient, and the structure which is not set as the same value may be sufficient.

  In the present embodiment, the configuration is shown in which the flow is repeated by returning to step S4 when it is not determined that the difference between the vehicle inclination and the candidate road inclination is within a predetermined value. Absent. For example, when it is not determined that the difference between the vehicle inclination and the candidate road inclination is within a predetermined value, the control device 19 targets the road link in the forward direction and the reverse direction of the host vehicle. The map matching process may be executed again. When the control device 19 does not determine that the difference between the candidate road slope of the matching candidate road link obtained as a result of the map matching process and the vehicle slope is within a predetermined value, It is good also as a structure which returns to step S1 and repeats a flow.

  Further, in the present embodiment, only the road link corresponding to the rampway which is a ramp for the inflow to the main road of the toll road such as an expressway or the outflow from the main road is subjected to the map matching process again. It may be. According to this, since the object of the map matching process again can be limited only to the road link corresponding to the ramp way, it is possible to further reduce the load in the map matching process again.

  In step S8, the control device 19 determines that the host vehicle is in the reverse running state, and instructs the voice output device 20 and the display device 22 to issue a warning indicating that the host vehicle is in the reverse running state (hereinafter, alerting). The process proceeds to step S9. Therefore, the control device 19 also functions as reverse running state determination means in the claims. Note that the warning indicating that the host vehicle is in a reverse running state may include a warning indicating the risk of an accident, a warning prompting the host vehicle to evacuate to a roadside zone, or the like.

  In step S9, a warning sound indicating that the host vehicle is in the reverse running state is output from the voice output device 20, and a warning screen indicating that the host vehicle is in the reverse running state is displayed on the display device 22. The process proceeds to step S10.

  In the present embodiment, the configuration in which the warning is given by the audio output device 20 and the display device 22 is shown, but the present invention is not necessarily limited thereto. For example, the warning may be performed by only one of the audio output device 20 and the display device 22.

  In step S10, when the ignition switch of the host vehicle is turned off (Yes in step S10), the flow ends. If the ignition switch of the host vehicle is not turned off (No in step S10), the process returns to step S1 and the flow is repeated.

  For example, a toll gate is not present at the exit in the case of a prepaid highway such as a city expressway. Therefore, if a vehicle driven by the driver accidentally enters from this exit, it is highly likely that the driver will reach the main road without noticing the reverse running state of the vehicle. There is concern about the danger of a collision with a vehicle. For example, as shown in Fig. 3, the exit rampway on a highway has many parts that look like a slope on a general road. At first, vehicles driven by elderly drivers accidentally enter the exit rampway. There is a possibility that.

  On the other hand, according to the above configuration, when the host vehicle is accidentally entered from an exit rampway such as an elevated road or a semi-underground road and the vehicle is in a reverse running state, this exit rampway is obtained by map matching processing. Even if the estimated current position of the host vehicle is incorrectly matched to a road link corresponding to a section on the road other than the road link, the vehicle inclination and the road inclination of the road link (in detail, the road link It is possible to discriminate that the map matching process is incorrect based on the fact that the road slope of the section on the road corresponding to is different by a predetermined value or more. This utilizes the feature that the exit rampway of a toll road such as a highway generally has an upward or downward slope.

  In addition, if the current position of the vehicle matched by the map matching process and the road link do not match (that is, if the vehicle is matched with a road link that does not correspond to the actual current position), the vehicle will run backward. There is a high possibility of being in a state. This is because in the normal map matching process, the target of the map matching process is limited to the one in the traveling direction and the forward direction of the own vehicle, so if the map matching process is performed when the own vehicle is in the reverse running state, This is because the road link corresponding to a section other than the section on the running road is matched with the estimated current position of the host vehicle.

  In addition, when incorrect matching is performed by the map matching process, it corresponds to another section (especially, another section in the traveling direction and the forward direction of the own vehicle) existing near the actual current position of the own vehicle. There is a high possibility that it has been matched with the road link. Therefore, when incorrect matching is performed in the map matching process, the road link exists in the vicinity of the estimated current position of the host vehicle and corresponds to a section in the direction opposite to the traveling direction of the host vehicle, and Of the road links that are matched in the map matching process, the road link having a road slope that matches the vehicle slope more than a predetermined value is considered to be a road link that corresponds to a section on the road that is actually running. It is done.

  According to the above configuration, when the map matching process is incorrect, the map matching process is performed again for the road link in the direction opposite to the traveling direction of the host vehicle. Then, as a result of the map matching process again, when it is determined that there is a road link corresponding to a section having a road slope that matches the vehicle slope by a predetermined value or more (actually other than the section matched by mistake) When it is determined that there is a road link corresponding to a section on the running road), it is determined that the host vehicle is in a reverse running state. Therefore, it is possible to more accurately determine that the host vehicle is in the reverse running state.

  In the present embodiment, a configuration in which a triaxial acceleration sensor is used as the acceleration sensor 12 is shown, but the configuration is not necessarily limited thereto. For example, the acceleration sensor 12 may be a uniaxial acceleration sensor or a biaxial acceleration sensor as long as the degree of inclination can be obtained from the sensor output.

  In the present embodiment, the configuration in which the control device 19 measures the inclination based on the sensor output from the acceleration sensor 12 is shown, but the present invention is not necessarily limited thereto. For example, the control device 19 may measure the degree of tilt based on the sensor output of a tilt sensor such as a known optical tilt sensor or a known capacitance tilt sensor.

  The present invention is not limited to the above-described embodiments, and various modifications can be made within the scope of the claims, and the technical means disclosed in different embodiments can be appropriately combined. Such embodiments are also included in the technical scope of the present invention.

DESCRIPTION OF SYMBOLS 1 Navigation apparatus (driving support apparatus for vehicles), 11 Position detector (position detection means), 12 Acceleration sensor, 13 Gyroscope, 14 Vehicle speed sensor, 15 GPS receiver, 16 Map data input device, 17 Storage medium (Map data) Storage means), 18 operation switch group, 19 control device (map matching means, inclination measuring means, first match determination means, remapping matching means, second match determination means, reverse running state determination means), 20 voice output device (Notification means), 21 external memory, 22 display device (notification means), 23 remote control sensor, 24 remote control

Claims (5)

Position detecting means for detecting a current position of the vehicle;
Map data storage means for storing map data including slope information for each section on the road with respect to the horizontal plane;
A map for executing a map matching process for matching the current position of the vehicle to a section on the road based on the current position of the vehicle detected by the position detection means and the map data stored in the map data storage means Matching means;
An inclination measuring means for measuring the inclination of the vehicle with respect to a horizontal plane;
Whether or not the slope of the section on the road matched only for the section in the vehicle traveling direction and the forward direction by the map matching means differs from the slope measured by the slope measuring means by a predetermined value or more. First match determination means for determining whether or not
Reverse running state determining means for determining whether or not the vehicle is in a reverse running state based on a determination result in the first match determining means ,
The reverse running state determination means includes
When the slope of the section on the road that is matched only with the travel direction of the vehicle and the forward section by the map matching means is different from the slope measured by the slope measuring means by a predetermined value or more. When determined by the first coincidence determination unit, the map matching unit re-executes a section in a direction opposite to the traveling direction of the vehicle among sections on the road existing within a predetermined range from the section. Remap matching means for executing map matching processing;
If there is a matching section as a result of the map matching process performed again by the remapping matching means, whether or not the slope of this section matches the slope measured by the slope measuring means more than a predetermined value. Second match determination means for determining whether or not
Judging that the vehicle is in a reverse running state when the second coincidence determining unit determines that the inclination of the section matches the inclination measured by the inclination measuring unit by a predetermined value or more. A vehicle driving support device characterized by the above. Position detecting means for detecting a current position of the vehicle;
Map data storage means for storing map data including slope information for each section on the road with respect to the horizontal plane;
A map for executing a map matching process for matching the current position of the vehicle to a section on the road based on the current position of the vehicle detected by the position detection means and the map data stored in the map data storage means Matching means;
An inclination measuring means for measuring the inclination of the vehicle with respect to a horizontal plane;
Whether or not the slope of the section on the road matched only for the section in the vehicle traveling direction and the forward direction by the map matching means differs from the slope measured by the slope measuring means by a predetermined value or more. First match determination means for determining whether or not
Reverse running state determining means for determining whether or not the vehicle is in a reverse running state based on a determination result in the first match determining means ,
The reverse running state determination means includes
When the slope of the section on the road that is matched only with the travel direction of the vehicle and the forward section by the map matching means is different from the slope measured by the slope measuring means by a predetermined value or more. Of the sections on the road existing within a predetermined range from the section when the first match determination means determines, the map is intended for both the traveling direction and the forward direction section and the reverse direction section of the vehicle. A remap matching means for executing a map matching process again by the matching means;
If there is a matching section as a result of the map matching process performed again by the remapping matching means, whether or not the slope of this section matches the slope measured by the slope measuring means more than a predetermined value. Second match determination means for determining whether or not
When the inclination of this segment is determined by said second matching determination unit matches the inclination measuring inclination measured by the means and a predetermined value or more, it determined that the vehicle is in reverse run state A vehicle driving support apparatus characterized by the above. When the vehicle makes a judgment that the reverse run state by the reverse run state determining means, according to claim 1, characterized by further comprising an informing means for informing that the vehicle is in reverse run state or vehicular driving support apparatus according to 2. The vehicle according to any one of claims 1 to 3, wherein the inclination measuring means measures the inclination of the vehicle with respect to a horizontal plane based on sensor outputs in a plurality of directions of the acceleration sensor. Driving support device. The re-map matching means further vehicle according to any one of claims 1 to 5, only the section on the road corresponding to the ramp, characterized in that the target of the map matching process of the re Driving assistance device.

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