JP5318711B2 - Peripheral vehicle information providing device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an apparatus for providing surrounding vehicle information, capable of reducing the calculation load on map matching for specifying the location of another vehicle on a map. <P>SOLUTION: The surrounding vehicle information providing apparatus (12) includes a map matching necessity decision means (60) for, on the basis of a second own vehicle's location (P12) after map matching (MM) processing and a first another vehicle's location (P21) before MM processing, determining the necessity for location decision map matching processing on the first another vehicle's location (P21). An another vehicle map matching processing means (64) of the surrounding vehicle information providing apparatus (12) performs the location decision map matching processing on the first another vehicle's location (P21) for which the map matching necessity decision means (60) has determined that the location decision map matching processing is necessary. <P>COPYRIGHT: (C)2011,JPO&amp;INPIT

Description

  The present invention relates to a surrounding vehicle information providing apparatus that performs map matching on the positions of a host vehicle and other vehicles, and provides surrounding vehicle information to a user using the positions of the host vehicle and other vehicles after the map matching.

  Informatization in vehicles is progressing. One of them is information provision of surrounding vehicles (for example, Patent Documents 1 and 2).

  In Patent Document 1, the navigation device (6) obtains information on the road on which the vehicle travels and the position (vehicle position) where the vehicle exists on the road (paragraph [0008] of Patent Document 1). Further, information on other vehicles {position where the other vehicle exists (position of other vehicle), vehicle speed, traveling direction, etc.} is acquired using the radar device (3), inter-vehicle communication, and road-to-vehicle communication (the same paragraph [0012]). Then, by using these pieces of information, the vehicle and other vehicles are simply displayed on image display means such as the display (7), thereby providing information on the surrounding vehicles (FIG. 6 of Patent Document 1).

  In patent document 2, the map matching which specifies the position on a road map is performed with respect to the position of the own vehicle (A) and the positions of a plurality of other vehicles (B, C, D, E). Information on surrounding vehicles is provided using the position of the own vehicle (A) and the positions of all other vehicles (B, C, D, E) existing in the vicinity (paragraphs [0019] and [0021] of Patent Document 2). [0026] and FIG. 5).

JP 2002-340583 A JP 2007-094698 A

  As described above, in Patent Document 2, map matching is performed for each of the positions of all the other vehicles in the vicinity. However, when there are many other vehicles around the own vehicle, the positions of all the other vehicles are determined. When map matching is performed, the calculation load becomes enormous.

  The present invention has been made in consideration of such problems, and it is an object of the present invention to provide a surrounding vehicle information providing apparatus capable of reducing the calculation load of map matching for specifying the position of another vehicle in the map. And

  The peripheral vehicle information providing apparatus according to the present invention is a map information storage unit that is mounted on a vehicle and stores map information, and a vehicle position before a position specifying map matching process for specifying a position in the map. Car position detection means for detecting the position of the first vehicle, and the position specification map matching process for the first vehicle position using the map information, and the vehicle after the position specification map matching process A host vehicle map matching processing unit for specifying a second host vehicle position which is a vehicle position; and a receiving unit which is mounted on the vehicle and receives a first other vehicle position which is another vehicle position notified from the outside of the vehicle; The other vehicle that performs the position specifying map matching process on the first other vehicle position using the map information and specifies the second other vehicle position that is the other vehicle position after the position specifying map matching process. Up-matching processing means, and surrounding vehicle information providing means for providing surrounding vehicle information to the user based on the second vehicle position and the second other vehicle position, the second vehicle position and the Map matching necessity determination means for determining whether or not the position specifying map matching processing is required for the first other vehicle position based on the first other vehicle position, and the other vehicle map matching processing means includes the position The position specific map matching process is performed on the first other vehicle position determined by the map matching necessity determination means that the specific map matching process is necessary.

  According to the present invention, the position specifying map matching process is performed only for the position of the first other vehicle that is determined to require the position specifying map matching process. For this reason, compared with the case where the position specific map matching process is performed on all the first other vehicle positions received by the host vehicle, the calculation load of the position specific map matching process can be reduced.

  The map matching necessity determination means specifies a related link or a related link row of each of the second host vehicle position and the first other vehicle position, and the related link or related link row of the second host vehicle position is When matching with the related link or related link string of the first other vehicle position, it may be determined that the position specifying map matching process for the first other vehicle position is necessary.

  Further, the map matching necessity determination means includes a link to which the second host vehicle position belongs, a link included in the planned course of the host vehicle, and a link intersecting the link to which the second host vehicle position belongs. A link that is specified as a related link of the second host vehicle position and a nearby link that is a link to which the first other vehicle position belongs is specified as a related link of the first other vehicle position, or a link to which the second host vehicle position belongs And a link row that intersects the link row to which the second host vehicle position belongs in the traveling direction of the host vehicle as a related link row of the second host vehicle position, and the first other vehicle position belongs You may identify the adjacent link row | line | column which is a link row | line | column as a related link row | line | column of the said 1st other vehicle position.

  Alternatively, the map matching necessity determination unit specifies a related link of the second host vehicle position, and a nearby link to which the first other vehicle position belongs is included in the related link of the second host vehicle position. Or a related link row of the second host vehicle position is specified, and a nearby link row to which the first other vehicle position belongs is selected from among the related link rows of the second host vehicle position. And when there is a nearby link of the first other vehicle position in the related link of the second own vehicle position, or the link of the first other vehicle position in the related link row of the second own vehicle position. When there is a nearby link string, it may be determined that the position specifying map matching process for the position of the first other vehicle is necessary.

  Thereby, it becomes possible to reduce the processing load for specifying the position of the second other vehicle or improve the processing speed. That is, when it is determined whether or not each neighboring link matches the related link of the second host vehicle position after identifying the neighboring links for all the first other vehicle positions, the neighborhood for all the first other vehicle positions You need to identify the link. On the other hand, according to the above, the position specifying map matching process is performed on the first other vehicle position only when the first other vehicle position exists in the related link of the second own vehicle position. Therefore, the processing load can be reduced or the processing speed can be improved as compared with the case where the neighboring links are specified for all the first other vehicle positions.

  The map matching necessity determination means needs the position specifying map matching process for the first other vehicle position when the distance between the second own vehicle position and the first other vehicle position is within a predetermined value. May be determined.

  The receiving means is combined with the position of the first other vehicle and receives traveling road type information indicating a traveling road type from the outside of the vehicle, and the map matching necessity determining means is configured such that the second own vehicle position is an automobile. When it is on a dedicated road, it is determined that the position specifying map matching process for the first other vehicle position combined with the traveling road type information indicating a non-automobile road is unnecessary, and the second vehicle position is When the vehicle is on an automobile non-exclusive road, it may be determined that the position specifying map matching process for the first other vehicle position combined with the traveling road type information indicating the automobile exclusive road is unnecessary. Thereby, an unnecessary position specifying map matching process can be eliminated, and the processing load can be reduced.

  The map matching necessity determination unit is configured to identify the position of another vehicle that has received the first other vehicle position for the first time and another vehicle that has passed a predetermined time since the necessity of the position specifying map matching process has been determined. The necessity of the map matching process may be determined. Thereby, excessive calculation can be avoided by appropriately setting the predetermined time.

  The map matching necessity determination means may change the predetermined time based on a distance between the host vehicle and another vehicle, a parcel range to which the host vehicle and the other vehicle belong, or a vehicle speed of the host vehicle and the other vehicle. Good. Thereby, the interval of the necessity determination of map matching can be set according to the situation of the own vehicle and other vehicles, and it becomes possible to perform the determination at a more appropriate interval.

  The map matching necessity determination unit may determine whether the position specifying map matching process is necessary for each first other vehicle position when the travel link of the host vehicle changes.

  The other vehicle map matching processing means targets the other vehicle determined to require the position specific map matching processing every time the first other vehicle position is received or at a predetermined time interval. Processing may be performed.

  The surrounding vehicle information providing means may display the vehicle determined to require the position specifying map matching process and may not display the vehicle determined to not require the position specifying map matching process. This makes it possible to display only other vehicles that the user should pay attention to.

  The surrounding vehicle information providing means may display the vehicle determined to require the position specifying map matching process and the vehicle determined to be unnecessary in different modes. As a result, it is possible to easily convey to the user other vehicles to which attention should be paid.

  According to the present invention, the position specifying map matching process is performed only for the position of the first other vehicle that is determined to require the position specifying map matching process. For this reason, compared with the case where the position specific map matching process is performed on all the first other vehicle positions received by the host vehicle, the calculation load of the position specific map matching process can be reduced.

1 is a schematic overall configuration diagram of a vehicle equipped with a peripheral information providing apparatus according to an embodiment of the present invention. It is the block diagram which showed typically relations, such as a function in the control part of the said periphery information provision apparatus. It is a flowchart in which the said control part specifies the own vehicle position and an other vehicle position. It is a flowchart which specifies the said own vehicle position. It is a figure which shows the structural example of the other vehicle map matching object link management database in the said embodiment. It is a figure which shows an example of the relationship between the own vehicle and other vehicle in the said embodiment. It is a flowchart which determines the necessity of other vehicle map matching process. It is a figure which shows the structural example of the other vehicle map matching necessity determination table in the said embodiment. It is a flowchart which sets the other vehicle map matching necessity determination flag. It is a flowchart which specifies an other vehicle position. It is a modification of the flowchart of FIG.

A. One Embodiment [1. overall structure]
FIG. 1 is a schematic overall configuration of a vehicle 10 (hereinafter also referred to as “own vehicle 10”) equipped with a surrounding vehicle information providing device 12 (hereinafter also referred to as “information providing device 12”) according to an embodiment of the present invention. The figure is shown.

  The information providing device 12 includes a global positioning system receiver 14 (hereinafter referred to as “GPS receiver 14”), a wireless communication device 16, various sensors 18, and a map information database 20 (hereinafter referred to as “map information DB 20”). ), A control unit 22, and a surrounding vehicle information providing unit 24 (hereinafter also referred to as “information providing unit 24”).

  The GPS receiver 14 receives signals (GPS signals) from a plurality of GPS satellites over the host vehicle 10. This GPS signal is used to specify the position of the vehicle 10. The position of the host vehicle 10 here is before the map matching process (hereinafter referred to as “position specifying MM process”) for specifying the position on the map stored in the map information DB 20, and after the position specifying MM process. In order to distinguish from the position of the own vehicle 10, the position of the own vehicle 10 before the position specifying MM process is referred to as “first own vehicle position P11”, and the position of the own vehicle 10 after the position specifying MM process is referred to as “ It is referred to as “second vehicle position P12”.

  The wireless communication device 16 performs communication (vehicle-to-vehicle communication) between the vehicle 10 and other vehicles and communication (road-to-vehicle communication) between the vehicle 10 and a roadside device (such as an optical beacon).

  Various sensors 18 include sensors such as a vehicle speed sensor, a forward radar, a yaw rate sensor, a lateral G sensor, a front / rear G sensor, and a tilt sensor. The front radar measures the distance to another vehicle traveling in front of the host vehicle 10 and detects the position and vehicle speed of the other vehicle.

  The map information DB 20 stores map information and is used when the control unit 22 executes various processes. The map information includes information in which each intersection is a node and each road is a link. The map information DB 20 stores traveling road type information indicating whether each road (link) is a general road (non-automobile road) or an expressway (automobile road).

  The control unit 22 is connected to the user of the vehicle 10 via the information providing unit 24 based on outputs from the GPS receiver 14, the wireless communication device 16 and various sensors 18, and map information read from the map information DB 20. Provide vehicle information.

  The information providing unit 24 provides information on surrounding vehicles to the user in response to a command from the control unit 22. The information providing unit 24 in the present embodiment includes a display unit 30, a speaker 32, an accelerator pedal reaction force applying mechanism 34 (hereinafter referred to as “reaction force applying mechanism 34”) and an automatic brake mechanism 36. The display unit 30 includes, for example, a liquid crystal display, and shows the host vehicle 10 and other vehicles in a simple display. As the simple display, for example, the display described in Patent Document 1 can be basically used. The speaker 32 also serves as an audio speaker, and is used when notifying the vehicle 10 that another vehicle is approaching by voice.

  The reaction force application mechanism 34 automatically increases the reaction force applied to an accelerator pedal (not shown) in accordance with TTC (Time to Collision) [sec] between the host vehicle 10 and another vehicle. In addition to the accelerator pedal, it includes components such as an unillustrated electronic controller (ECU) for reaction force application, a motor and the like in addition to the accelerator pedal.

  The automatic brake mechanism 36 automatically notifies the presence of a surrounding vehicle by applying a brake in accordance with the TTC, and includes components (not shown) such as an ECU for an automatic brake, a hydraulic control device, and a brake actuator. Consists of.

[2. Configuration of control unit 22]
FIG. 2 is a block diagram schematically showing the relationship of functions and the like of the control unit 22. As shown in FIG. 2, the control unit 22 includes a GPS positioning function 50, a host vehicle map matching function 52 (host vehicle MM function 52), a map matching target link management database 54 (other vehicle MM link management DB 54), Communication function 56, other vehicle data table 58, other vehicle map matching necessity determination function 60 (other vehicle MM necessity determination function 60), and other vehicle map matching necessity determination table 62 (other vehicle MM necessity determination table) 62), another vehicle map matching function 64 (other vehicle MM function 64), a driving support function 66 as a peripheral information providing function, and a car navigation function 68 as a route guidance function.

  In FIG. 3, the control unit 22 uses the above functions, database, and table to control the own vehicle position (the first own vehicle position P11 and the second own vehicle position P12) and the other vehicle position (the first other vehicle position P21 and the first vehicle position). 2 is a flowchart for specifying the other vehicle position P22).

  In step S1, the control unit 22 (the GPS positioning function 50 and the host vehicle MM function 52) specifies the host vehicle position (the first host vehicle position P11 and the second host vehicle position P12). FIG. 4 shows a flowchart for specifying the vehicle position as details of step S1 in FIG. In step S11, the control unit 22 (GPS positioning function 50) specifies the first host vehicle position P11 that is the position of the host vehicle 10 before the position specifying MM processing based on the GPS signal received by the GPS receiver 14.

  In step S12, the control unit 22 (own vehicle MM function 52) performs position specifying MM processing (vehicle MM processing) on the first vehicle position P11, and at the position of the vehicle 10 after the position specifying MM processing. A certain second vehicle position P12 is specified. In addition, the link (own vehicle link L1) to which the own vehicle 10 belongs is specified based on the second own vehicle position P12.

  In step S13, the control unit 22 (own vehicle MM function 52) specifies the MM target link Lmm based on the second vehicle position P12 and the host vehicle link L1 specified in step S12, and the MM target link management DB 54 (hereinafter referred to as “MM target link management DB 54”). (Also referred to as “link management DB 54”). The MM target link Lmm is a link for specifying the first other vehicle position P21 to be subjected to MM processing, and is set according to the second own vehicle position P12. Further, as shown in FIG. 5, the MM target link Lmm has its identification information (ID) registered in the link management DB 54 and is updated each time the own vehicle link L1 is changed.

  As the MM target link Lmm registered in the link management DB 54, a link that intersects the host vehicle link L1, a link included in the planned course of the host vehicle 10 (travel planned link L2), and the host vehicle link L1 or the planned travel link L2. (Intersection link L3). In addition, about the own vehicle link L1, only the part contained in the planned course of the own vehicle 10 among the own vehicle links L1 may be registered, and the part which has already passed may be excluded. Further, the travel schedule link L2 may be a predetermined number (for example, any one of 1 to 3) of the links existing on the course set based on the car navigation function 68 as the travel schedule link L2. it can.

  When specifying the travel schedule link L2 and the crossing link L3, a distinction between a general road as a non-automobile road and a highway as a car exclusive road may be used. That is, based on the second vehicle position P12 or the vehicle link L1 specified in step S12, it is determined whether the road on which the vehicle 10 is traveling is a general road or an expressway. When the road on which the vehicle 10 is traveling is a general road, the highway link is excluded from the planned travel link L2 and the intersection link L3. On the other hand, when the road on which the vehicle 10 is traveling is an expressway, the link of the general road is excluded from the planned travel link L2 and the intersection link L3.

  Moreover, only the link within the range of the predetermined distance from the second host vehicle position P12 can be set as the MM target link Lmm.

  FIG. 6 shows an example of the relationship between the host vehicle 10 and the other vehicles 70 and 72 in the present embodiment. In the example of FIG. 6, the link on which the host vehicle 10 is traveling is the host vehicle link L1. Also, the two links that are linearly connected to the host vehicle link L1 are the planned travel links L2 (reference numerals L21 and L22 are used to distinguish each). Furthermore, the four links that intersect the host vehicle link L1 and the traveling schedule links L21 and L22 are the intersection links L3 (reference numerals L31, L32, L33, and L34 are used to distinguish them).

  In the present embodiment, each process is mainly performed in units of links. However, as described later, each process can also be performed in units of link strings.

  Returning to FIG. 3, in step S <b> 2, the control unit 22 (communication function 56) communicates with other vehicles 70, 72 (FIG. 6) via the wireless communication device 16, or communicates with a roadside device (not shown). The vehicle-to-vehicle communication is performed, and the data of the other vehicles 70 and 72 is acquired.

  In step S <b> 3, the control unit 22 (communication function 56) determines whether the received data is based on vehicle-to-vehicle communication (vehicle-to-vehicle data). When the received data is based on road-to-vehicle communication (road-to-vehicle data) (S3: NO), in step S4, the control unit 22 (communication function 56) has another vehicle ID as the vehicle ID included in the received data. It is determined whether the vehicle data table 58 has been registered. The other vehicle ID is an identifier for identifying other vehicles including the other vehicles 70 and 72. For example, a vehicle identification number (VID) or a number of a license plate can be used. If the other vehicle ID is not already registered in the other vehicle data table 58 (S4: NO), in step S5, the control unit 22 (communication function 56) uses the other vehicle ID and other attribute information included in the received data as other information. Register in the car data table 58. As said attribute information, a vehicle type and the color of a vehicle are contained, for example. If the other vehicle ID has already been registered in the other vehicle data table 58 (S4: YES), the process proceeds to step S6 without going through step S5.

  In step S <b> 6, the control unit 22 (communication function 56) registers (updates) the traveling information included in the received data as it is in the other vehicle data table 58. The travel information includes, for example, the other vehicle position (first other vehicle position P21) as the current position of the other vehicle, the current link and link row, the traveling speed, and the traveling direction. The reason why the travel information included in the received data is registered as it is is that the received data in road-to-vehicle communication has a high determination accuracy of the roadside machine and does not require other vehicle MM processing as described later. However, the other vehicle MM processing may be performed also on the received data in the road-vehicle communication.

  Returning to step S3, when the received data is data from vehicle-to-vehicle communication (vehicle-to-vehicle data) (S3: YES), in step S7, control unit 22 {other vehicle MM necessity determination function 60 (hereinafter also referred to as “determination function 60”). .)} Determines whether or not MM processing (other vehicle MM processing) for the other vehicles 70 and 72 is necessary.

  FIG. 7 shows a flowchart of determining whether or not the other vehicle MM process is necessary as the details of step S7. In step S <b> 21, the control unit 22 (determination function 60) determines whether the other vehicle ID included in the received data has been registered in the other vehicle data table 58. When the other vehicle ID has not been registered (S21: NO), in step S22, the control unit 22 (determination function 60) uses the other vehicle data acquired via the communication function 56 as the other vehicle data table 58 and the other vehicle MM. Stored in the necessity determination table 62. The other vehicle data here includes, for example, attribute information (other vehicle ID, vehicle type, and color of the vehicle) and travel information as described above. The travel information includes the other vehicle position (first other vehicle position P21) as the current position of the other vehicle, the current link and link train, the traveling speed, and the traveling direction. Further, as shown in FIG. 8, the other vehicle MM necessity determination table 62 includes a vehicle ID, a link ID (identification information of a nearby link Lnea to be described later), another vehicle MM necessity determination flag FLG, and a time stamp for each other vehicle. To store. The time stamp is used for setting a timer TMR described later.

  In step S23, the control unit 22 (determination function 60) sets the other vehicle MM necessity determination flag FLG. The other vehicle MM necessity determination flag FLG is a flag for setting whether or not the other vehicle MM process needs to be performed on the other vehicle position P21 in the current process.

  FIG. 9 shows a flowchart for setting the other vehicle MM necessity determination flag FLG as details of step S23. In step S31, the control unit 22 (determination function 60) specifies the near link Lnear from the first other vehicle position P21. The neighborhood link Lnear is a link that is determined to have the highest possibility that the first other vehicle position P21 belongs. As the neighborhood link Lnear, for example, the link having the shortest distance from the first other vehicle position P21 in the map stored in the map information DB 20 is selected.

  In step S32, the control unit 22 (determination function 60) determines whether the neighboring link Lnear specified in step S31 matches any of the MM target links Lmm specified in step S13 of FIG. If they match (S32: YES), in step S33, the control unit 22 (determination function 60) turns on the other vehicle MM necessity determination flag FLG and registers the result in the other vehicle MM necessity determination table 62. To do. If the two do not match (S32: NO), in step S34, the control unit 22 (determination function 60) turns off the other vehicle MM necessity determination flag FLG and registers the result in the other vehicle MM necessity determination table 62. To do.

  Returning to FIG. 7, in step S24, the control unit 22 (determination function 60) sets the timer TMR. The timer TMR defines an interval (time) for determining whether or not the other vehicle MM is necessary, and the value decreases as time elapses. In the present embodiment, the timer TMR is the distances D1, D2 between the host vehicle 10 and the other vehicles 70, 72, the parcel ranges Pa1, Pa21, Pa22 to which the host vehicle 10 and the other vehicles 70, 72 belong, and the host vehicle 10 and the other vehicles. It is variable according to the vehicle speeds V1, V21 and V22 of 70 and 72. That is, when the distances D1 and D2 are long, the timer TMR is increased, and when the distances D1 and D2 are short, the timer TMR is decreased. If the parcel ranges Pa1, Pa21 or the parcel ranges Pa1, Pa22 are the same, the timer TMR is decreased, and the timer TMR is increased as the deviation of the parcel ranges Pa1, Pa21 or the deviation of the parcel ranges Pa1, Pa22 is increased. The timer TMR is decreased as the vehicle speeds V1, V21, V22 are increased, and the timer TMR is increased as the vehicle speeds V1, V21, V22 are decreased. As described above, the timer TMR of the other vehicle 70 and the timer TMR of the other vehicle 72 can be individually set according to the distances D1, D2, and the like.

  Returning to step S21, if the other vehicle ID has already been registered in the other vehicle data table 58 (S21: YES), in step S25, the control unit 22 (determination function 60) determines whether the value of the timer TMR is 0 or less. Determine if. When the value of the timer TMR is not 0 or less (S25: NO), the process returns to the flowchart of FIG. When the value of timer TMR is 0 or less (S25: YES), in step S26, control unit 22 (determination function 60) sets other vehicle MM necessity determination flag FLG in the same manner as in step S23. In the example of FIG. 6, the other vehicle 70 is traveling on the crossing link L34 that intersects the scheduled traveling link L21 included in the planned route of the host vehicle 10, and therefore the other vehicle MM necessity determination flag FLG is turned ON. To do. On the other hand, since the other vehicle 72 is not traveling on any of the own vehicle link L1, the traveling schedule links L21, L22, and the cross links L31 to L34, the other vehicle MM necessity determination flag FLG is turned OFF.

  In step S27, the control unit 22 (determination function 60) resets the timer TMR in the same manner as in step S24.

  Returning to FIG. 3, in step S <b> 8, the control unit 22 (other vehicle MM function 64) specifies the positions of the other vehicles 70 and 72. FIG. 10 shows a flowchart for specifying the position of the other vehicle as details of step S8.

  In step S41, the control unit 22 (other vehicle MM function 64) determines for each of the other vehicles 70 and 72 whether or not the other vehicle MM necessity determination flag FLG specified in step S7 of FIG. 3 is ON. When the determination flag FLG is ON (S41: YES), in step S42, the control unit 22 (other vehicle MM function 64) performs MM processing (others) on the first other vehicle position P21 received in step S2 of FIG. Car MM processing) is executed, and the second other vehicle position P22 that is the other vehicle position after the other vehicle MM processing is specified. When the determination flag FLG is OFF (S41: NO), the current processing in FIG.

  When the process of FIG. 3 is completed, the control unit 22 (driving support function 66) uses the second host vehicle position P12 and the second other vehicle position P22 obtained by the process of FIG. 10 and the other vehicle 70 are simply displayed. On the other hand, the other vehicle 72 is not displayed on the display unit 30 because it is determined that the other vehicle MM process is not required.

  Further, the control unit 22 (driving support function 66) determines that the host vehicle 10 and the other vehicle 70 have predetermined conditions {for example, TTC (Time to Collision) based on the second host vehicle position P12 and the second other vehicle position P22 is predetermined. Below the value. }, The sound is output through the speaker 32 to alert the other vehicle 70. Furthermore, the control unit 22 (driving support function 66) determines that the host vehicle 10 and the other vehicle 70 have a predetermined condition {for example, the TTC is not more than another predetermined value. }, The reaction force of the accelerator pedal (not shown) is increased via the accelerator pedal reaction force applying mechanism 34 to alert the other vehicle 70. Furthermore, the control unit 22 (driving support function 66) determines that the host vehicle 10 and the other vehicle 70 have a predetermined condition {for example, the TTC is not more than another predetermined value. }, The automatic brake mechanism 36 is actuated to call attention to the other vehicle 70.

  The control unit 22 (car navigation function 68) performs route guidance based on the second vehicle position P12.

[3. Effects of this embodiment]
As described above, according to the present embodiment, the other vehicle MM process is performed only for the first other vehicle position P21 that is determined to require the other vehicle MM process (S41: YES → S42). For this reason, compared with the case where the other vehicle MM process is performed on all the first other vehicle positions P21 received by the host vehicle 10, the calculation load of the other vehicle MM process can be reduced.

  In the present embodiment, when the road on which the vehicle 10 is traveling is a general road, the highway link is excluded from the planned travel link L2 and the intersection link L3. On the other hand, when the road on which the vehicle 10 is traveling is an expressway, the link of the general road is excluded from the planned travel link L2 and the intersection link L3. In other words, when the second host vehicle position P12 is on a general road, the control unit 22 (the other vehicle MM necessity determination function 60) uses the other vehicle for the first other vehicle position P21 combined with the type information indicating the highway. When it is determined that the MM process is unnecessary and the second host vehicle position P12 is on the highway, the other vehicle MM process for the first other vehicle position P21 combined with the type information indicating the general road is unnecessary. judge. Thereby, unnecessary calculations can be omitted and the calculation load can be reduced.

  The other vehicle MM necessity determination function 60 includes the distances D1, D2 between the own vehicle 10 and the other vehicles 70, 72, the parcel ranges Pa1, Pa21, Pa22 to which the own vehicle 10 and the other vehicles 70, 72 belong, and the own vehicle 10 and others. The timer TMR is changed based on the vehicle speeds V1, V21, V22 of the cars 70, 72. Thereby, the interval of necessity determination of other vehicle MM processing can be set according to the situation of the own vehicle 10 and the other vehicles 70 and 72, and the determination can be performed at a more appropriate interval.

  In the above-described embodiment, the display unit 30 displays the other vehicle 70 that has been determined to require the other vehicle MM process, and does not display the other vehicle 72 that has been determined to require the other vehicle MM process. Thereby, it is possible to display only the other vehicle 70 to which attention should be paid, and it is possible to select and provide information that the user needs to recognize.

B. Modifications It should be noted that the present invention is not limited to the above-described embodiment, and it is needless to say that various configurations can be adopted based on the contents described in this specification. For example, the following configuration can be adopted.

  In the said embodiment, although the 1st own vehicle position P11 before MM process was determined based on GPS positioning, it is not restricted to this. For example, the first vehicle position P11 may be determined based on road-to-vehicle communication with a roadside machine. In this case, the host vehicle MM process may be omitted.

  In the said embodiment, although map information was acquired from map information DB20 arrange | positioned at the vehicle 10, it is not restricted to this, For example, you may acquire map information from an external server.

  In the above embodiment, the processing in units of links such as the own vehicle link L1 and the MM target link Lmm is performed, but the present invention is not limited to this. For example, the process may be performed with a link string. Here, the link string is a combination of a plurality of links. As the configuration of the link row, for example, a combination of a plurality of links in a case where the vehicle travels straight (without turning right or left) or a combination of links constituting a street can be used. Alternatively, as described in Japanese Patent No. 4268663, it is also possible to determine a link row using a connection link (for example, see paragraph [0030] of the same publication).

  In the case of performing processing using a link string, for example, a self link string to which the second host vehicle position P12 belongs and a cross link string intersecting with the self link string are set as MM target link strings. Further, the neighboring link sequence to which the first other vehicle position P21 belongs is specified, and it is determined whether or not the neighboring link sequence matches any of the MM target link sequences. And the necessity determination of the other vehicle MM process with respect to the 1st other vehicle position P21 can be performed using the determination result.

  In the above embodiment, as the MM target link Lmm, the host vehicle link L1, the travel schedule link L2 included in the planned route of the host vehicle 10, and the intersection link L3 intersecting the host vehicle link L1 or the travel schedule link L2 are given. However, the setting of the MM target link Lmm can be arbitrarily performed. For example, the cross links L33 and L34 may be excluded from the cross links L31 to L34.

  In FIG. 9, as the setting of the other vehicle MM necessity determination flag FLG (S23 in FIG. 7), after specifying the near link Lnear (S31), it is determined whether the near link Lnear matches any of the MM target links Lmm. It was done by doing, but is not limited to this. FIG. 11 shows a modification of the flowchart of FIG.

  In step S51, the control unit 22 (determination function 60) sets “1” as an initial value of a number n indicating the order of the MM target link Lmm. In step S52, the control unit 22 (determination function 60) reads the nth MM target link Lmm registered in the MM target link management DB.

  In step S53, the control unit 22 (determination function 60) determines whether or not the first other vehicle position P21 belongs to the nth MM target link Lmm. The determination can be made based on whether the distance between the first other vehicle position P21 and the nth MM target link Lmm is within a predetermined value without performing the position specifying MM process. When the first other vehicle position P21 does not belong to the nth MM target link Lmm (S53: NO), in step S54, the control unit 22 (determination function 60) determines that the number n is the total number N of MM target links L. It is determined whether or not (the maximum value that the number n can take) is equal. When the number n is not equal to the total number N (S54: NO), in step S55, the control unit 22 (determination function 60) increases the value of the number n by 1 and returns to step S52. When the number n is equal to the total number N (S54: YES), in step S56, the control unit 22 (determination function 60) sets the other vehicle MM necessity determination flag FLG to OFF.

  Returning to step S53, when the first other vehicle position P21 belongs to the nth MM target link Lmm (S53: YES), in step S57, the control unit 22 (determination function 60) determines whether the other vehicle MM is necessary or not. Set FLG to ON.

  According to the above modification, it is possible to reduce the processing load for specifying the second other vehicle position P22 or improve the processing speed. That is, when the neighboring links Lnear are specified for all the first other vehicle positions P21 and it is determined whether each neighboring link Lnear matches the MM target link Lmm, the neighborhoods for all the first other vehicle positions P21 It is necessary to specify the link Lnear. In contrast, according to the above process, the other vehicle MM process is performed on the first other vehicle position P21 only when the first other vehicle position P21 belongs to the MM target link Lmm. Therefore, the processing load can be reduced or the processing speed can be improved as compared with the case where the near link Lnear is specified for all the first other vehicle positions P21.

  In the above embodiment, the control unit 22 (other vehicle MM necessity determination function 60) performs the other vehicle MM process for each first other vehicle position P21 when the traveling link (own vehicle link L1) of the own vehicle 10 changes. Determine if necessary. Thereby, the necessity of other vehicle MM processing can be determined according to the traveling position of the host vehicle 10.

  In the above embodiment, the control unit 22 (determination function 60) includes the distances D1 and D2 between the host vehicle 10 and the other vehicles 70 and 72, the parcel ranges Pa1, Pa21, Pa22 to which the host vehicle 10 and the other vehicles 70 and 72 belong, and Although the timer TMR is changed based on the vehicle speeds V1, V21, and V22 of the host vehicle 10 and the other vehicles 70 and 72, only one or two of them can be used. Alternatively, the timer TMR may be changed according to other factors (for example, TTC). Alternatively, the timer TMR can be fixed.

  In the above-described embodiment, the display unit 30 displays the other vehicle 70 that is determined to require the other vehicle MM process, but does not display the other vehicle 72 that is determined to require the other vehicle MM process. Not limited to this. For example, the display unit 30 displays a different mode (for example, the size of the other vehicle 70 is increased) between the other vehicle 70 determined to require the other vehicle MM processing and the other vehicle 72 determined to not require the other vehicle MM processing. Then, the other vehicle 72 may be made smaller or the display colors of both may be different. Thereby, it becomes possible to convey to the user the other vehicle 70 to which attention should be paid.

DESCRIPTION OF SYMBOLS 10 ... Vehicle (own vehicle) 12 ... Peripheral vehicle information provision apparatus 16 ... Wireless communication apparatus (reception means) 20 ... Map information DB (map information storage means)
DESCRIPTION OF SYMBOLS 22 ... Control part 24 ... Surrounding vehicle information provision part 30 ... Display part 50 ... GPS positioning function (own vehicle position detection means)
52 ... Own vehicle MM function (own vehicle map matching processing means)
60 .. Other vehicle MM necessity determination function (map matching necessity determination means)
64 ... Other vehicle MM function (Other vehicle map matching processing means)
70, 72 ... Other vehicles D1, D2 ... Distance between own vehicle and other vehicles L1 ... Own vehicle links L2, L21, L22 ... Route schedule links L3, L31, L32, L33, L34 ... Intersection links Lnear ... Neighborhood links Pa1 ... Own Parcel ranges Pa21, Pa22 to which the vehicle belongs. Parcel range P11 to which the other vehicle belongs. First vehicle position P12 ... Second vehicle position P21 ... First other vehicle position P22 ... Second other vehicle position TMR ... Timer V1 ... Own vehicle Vehicle speed V21, V22 ... Vehicle speed of other vehicles

Claims (11)

Map information storage means mounted on the vehicle for storing map information;
Vehicle position detection means for detecting a first vehicle position that is the vehicle position before the position specifying map matching process for specifying a position in the map;
A host vehicle map that specifies the second host vehicle position that is the host vehicle position after the position specifying map matching process by performing the position specifying map matching process on the first host vehicle position using the map information Matching processing means;
Receiving means for receiving a first other vehicle position that is mounted on the vehicle and notified from the outside of the vehicle;
An other vehicle map that performs the position identification map matching process on the first other vehicle position using the map information and identifies a second other vehicle position that is the other vehicle position after the position identification map matching process. Matching processing means;
A surrounding vehicle information providing device comprising: surrounding vehicle information providing means for providing surrounding vehicle information to a user based on the second host vehicle position and the second other vehicle position,
Map matching necessity determination means for determining whether or not the position specifying map matching processing is required for the first other vehicle position based on the second host vehicle position and the first other vehicle position;
The other vehicle map matching processing means have lines the position specifying map matching process on the position specifying map the matching process is necessary map matching necessity determining means and the first vehicle position which is determined,
The map matching necessity determination means includes:
Identify the related link or related link row for each of the second host vehicle position and the first other vehicle position,
When the related link or related link sequence of the second host vehicle position matches the related link or related link sequence of the first other vehicle position, the position specifying map matching process for the first other vehicle position is necessary. The surrounding vehicle information provision apparatus characterized by determining . In the surrounding vehicle information provision device according to claim 1 ,
The map matching necessity determination means includes:
The link to which the second host vehicle position belongs, the link included in the planned route of the host vehicle, and the link that intersects the link to which the second host vehicle position belongs are specified as related links of the second host vehicle position. Identifying a nearby link that is a link to which the first other vehicle position belongs, as a related link of the first other vehicle position, or
The link train to which the second host vehicle position belongs and the link train that intersects the link train to which the second host vehicle position belongs in the traveling direction of the host vehicle are specified as the related link train of the second host vehicle position. The neighboring vehicle information providing device, wherein a neighboring link row that is a link row to which the first other vehicle position belongs is specified as a related link row of the first other vehicle position. Map information storage means mounted on the vehicle for storing map information;
Vehicle position detection means for detecting a first vehicle position that is the vehicle position before the position specifying map matching process for specifying a position in the map;
A host vehicle map that specifies the second host vehicle position that is the host vehicle position after the position specifying map matching process by performing the position specifying map matching process on the first host vehicle position using the map information Matching processing means;
Receiving means for receiving a first other vehicle position that is mounted on the vehicle and notified from the outside of the vehicle;
An other vehicle map that performs the position identification map matching process on the first other vehicle position using the map information and identifies a second other vehicle position that is the other vehicle position after the position identification map matching process. Matching processing means;
Surrounding vehicle information providing means for providing surrounding vehicle information to the user based on the second host vehicle position and the second other vehicle position;
A surrounding vehicle information providing device comprising:
Map matching necessity determination means for determining whether or not the position specifying map matching processing is required for the first other vehicle position based on the second host vehicle position and the first other vehicle position;
The other vehicle map matching processing means performs the position specifying map matching processing on the first other vehicle position determined by the map matching necessity determination means that the position specifying map matching processing is necessary,
The map matching necessity determination means includes:
The related link of the second host vehicle position is specified, and the nearby link to which the first other vehicle position belongs is specified from the related links of the second host vehicle position, or the second host vehicle Identifying a related link string of positions, identifying a nearby link string that is a link string to which the first other vehicle position belongs, from among related link strings of the second host vehicle position;
When there is a link near the first other vehicle position in the related link at the second host vehicle position, or a link neighborhood link at the first other vehicle position in the link link at the second host vehicle position. When the vehicle is present, it is determined that the position specifying map matching process for the position of the first other vehicle is necessary. In the surrounding vehicle information provision device according to claim 1,
The map matching necessity determination means needs the position specifying map matching process for the first other vehicle position when the distance between the second own vehicle position and the first other vehicle position is within a predetermined value. The surrounding vehicle information provision device characterized by determining. In the surrounding vehicle information provision apparatus of any one of Claims 1-4 ,
The receiving means is combined with the first other vehicle position, receives traveling road type information indicating a traveling road type from the outside of the vehicle,
The map matching necessity determination means includes:
When the second host vehicle position is on an automobile exclusive road, it is determined that the position specifying map matching process for the first other vehicle position combined with the traveling road type information indicating a non-automobile road is unnecessary. ,
When the second vehicle position is on a non-automobile road, it is determined that the location map matching process for the first other vehicle position combined with the traveling road type information indicating the automobile road is unnecessary. The surrounding vehicle information provision apparatus characterized by the above-mentioned. In the surrounding vehicle information provision apparatus of any one of Claims 1-5 ,
The map matching necessity determination unit is configured to identify the position of another vehicle that has received the first other vehicle position for the first time and another vehicle that has passed a predetermined time since the necessity of the position specifying map matching process has been determined. A surrounding vehicle information providing device that determines whether map matching processing is necessary. In the surrounding vehicle information provision device according to claim 6 ,
The map matching necessity determination means changes the predetermined time based on a distance between the host vehicle and another vehicle, a parcel range to which the host vehicle and the other vehicle belong, or a vehicle speed of the host vehicle and the other vehicle. Peripheral vehicle information providing device characterized. Map information storage means mounted on the vehicle for storing map information;
Vehicle position detection means for detecting a first vehicle position that is the vehicle position before the position specifying map matching process for specifying a position in the map;
A host vehicle map that specifies the second host vehicle position that is the host vehicle position after the position specifying map matching process by performing the position specifying map matching process on the first host vehicle position using the map information Matching processing means;
Receiving means for receiving a first other vehicle position that is mounted on the vehicle and notified from the outside of the vehicle;
An other vehicle map that performs the position identification map matching process on the first other vehicle position using the map information and identifies a second other vehicle position that is the other vehicle position after the position identification map matching process. Matching processing means;
Surrounding vehicle information providing means for providing surrounding vehicle information to the user based on the second host vehicle position and the second other vehicle position;
A surrounding vehicle information providing device comprising:
Map matching necessity determination means for determining whether or not the position specifying map matching processing is required for the first other vehicle position based on the second host vehicle position and the first other vehicle position;
The other vehicle map matching processing means performs the position specifying map matching processing on the first other vehicle position determined by the map matching necessity determination means that the position specifying map matching processing is necessary,
The map matching necessity determining unit determines whether the position specifying map matching process is necessary for each first other vehicle position when the travel link of the host vehicle changes. In the surrounding vehicle information provision apparatus of any one of Claims 1-8 ,
The other vehicle map matching processing means targets the other vehicle determined to require the position specific map matching processing every time the first other vehicle position is received or at a predetermined time interval. A surrounding vehicle information providing apparatus characterized by performing processing. In the peripheral vehicle information providing device according to any one of claims 1 to 9
The surrounding vehicle information providing means displays a vehicle determined to require the location specific map matching process, and does not display a vehicle determined not to require the location specific map matching process. Peripheral vehicle information providing device. In the peripheral vehicle information providing device according to any one of claims 1 to 9
The surrounding vehicle information providing unit displays the vehicle determined to require the position specifying map matching process and the vehicle determined to be unnecessary in different modes.

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