JP5326603B2 - Reverse running warning device and reverse running warning method - Google Patents

Description

  The present invention relates to a reverse running warning device and a reverse running warning method for suppressing a vehicle from running on a road in a direction opposite to a prescribed traveling direction (forward direction).

  Conventionally, the information on the position and traveling direction of the host vehicle is compared with the information on the position and forward direction of the reverse running prohibited road. As a result of comparison, the vehicle travels on the reverse running prohibited road in the direction opposite to the forward direction. There is known a system for notifying a driver of warning information when it is confirmed that the vehicle is doing.

JP 2007-139531 A

  The conventional system is configured to determine whether or not the host vehicle is traveling on the reverse running prohibited road by comparing the position of the own vehicle and the position of the reverse running prohibited road. For this reason, according to the conventional system, when the position information of the own vehicle includes an error, the vehicle actually travels on the non-reverse road while the vehicle is traveling on the road around the non-reverse road. The warning information may be erroneously notified to the driver.

  The present invention has been made to solve the above-described problems, and an object of the present invention is to provide a reverse running warning device and a reverse running warning method capable of reducing erroneous notification of warning information.

  The present invention sets a reverse running determination start point when the host vehicle is traveling on a road in which only one direction of travel is set, and reverses when the host vehicle passes the set reverse running determination start point. When the run judgment area is set on the road connected to the reverse run judgment start point, and the vehicle enters the reverse run judgment area again after passing the reverse run judgment area set by the own vehicle, the own vehicle is running backward Is determined.

  According to the present invention, since it is less likely that it is determined that the vehicle is traveling backward on a road on which the vehicle is not traveling, erroneous notification of warning information can be reduced.

It is a block diagram which shows the structure of the route guidance apparatus used as embodiment of this invention. It is a flowchart figure which shows the flow of the reverse running warning process used as the 1st Embodiment of this invention. It is a schematic diagram for demonstrating the reverse running warning process shown in FIG. It is a flowchart figure which shows the flow of the reverse running warning process used as the 2nd Embodiment of this invention. It is a schematic diagram for demonstrating the reverse running warning process shown in FIG. It is a flowchart figure which shows the flow of the reverse running warning process used as the 3rd Embodiment of this invention. It is a schematic diagram for demonstrating the reverse running warning process shown in FIG.

  The reverse running warning device according to the present invention can be applied to a route guidance device for guiding a travel route to a destination set by a user by presenting map information as shown in FIG. Hereinafter, a configuration of a route guidance apparatus according to an embodiment of the present invention will be described with reference to the drawings.

[Configuration of route guidance device]
A route guidance apparatus 1 according to an embodiment of the present invention is mounted on a vehicle and includes a GPS (Global Positioning System) receiver 2, a vehicle speed sensor 3, a map information database 4, an output unit 5, and a control unit 6. The GPS receiver 2 acquires vehicle position information (longitude, latitude) using radio waves transmitted from GPS satellites, and outputs the acquired position information to the control unit 6. The vehicle speed sensor 3 acquires vehicle speed information and outputs the acquired speed information to the control unit 6. The map information database 4 includes cache memory, main memory, HDD (Hard Disc Drive), CD (Compact Disc), MD (Mini Disc), DVD (Digital Versatile Disc), optical disc, FDD (Floppy (registered trademark) Disc Drive). In order to output map information to the output unit 5, it is determined by node information indicating road position information, link information indicating road connection status, road size, road management operator, etc. Road level information for each road link, road name information, speed limit and direction of travel for each road link, and conditions such as travel distance or average travel time are associated with the cost for each node to calculate the route Stores route network data for route search. Further, in the present embodiment, the map information database 4 includes position information on a point (reverse running determination start point) where the determination of whether or not the vehicle is running backward and whether or not the vehicle is running backward. Is stored in association with the position information of the area (reverse running determination area). Details of the reverse run determination start point and the reverse run determination area will be described later.

  The output unit 5 is configured by a known output device such as a CRT (Cathode Ray Tube), a liquid crystal display device, or an audio output device, and outputs various types of information such as map screen information and warning information in accordance with instructions from the control unit 6. The control unit 6 includes a general-purpose or dedicated information processing device such as a microcomputer including a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), etc., and the CPU is stored in the ROM. The overall operation of the route guidance device 1 is controlled by executing a computer program. Note that the control unit 6 may be configured by a circuit such as an application specific integrated circuit (ASIC) or a field programmable gate array (FPGA) that realizes each process executed by the control unit 6 by circuit operation.

[Reverse run warning processing]
The route guidance apparatus 1 having such a configuration suppresses reverse running of the vehicle by notifying the driver of warning information by executing a reverse running warning process described below. Hereinafter, with reference to the flowchart shown in FIG. 2, the operation of the route guidance apparatus 1 when executing the reverse running warning process according to the first to third embodiments will be described.

[First Embodiment]
First, the operation of the route guidance device 1 when executing the reverse running warning process according to the first embodiment will be described with reference to the flowchart shown in FIG.

  In the flowchart shown in FIG. 2, the control unit 6 refers to the vehicle position information received via the GPS receiver 2 and the map information stored in the map information database 4. When the vehicle is traveling, it starts at the timing when it is determined that the vehicle is traveling on a road link in which the traveling direction with respect to the road (lane) on which the vehicle is traveling is defined only in one direction, and the reverse running warning process is performed in step S1. Proceed to

  In the process of step S <b> 1, the control unit 6 acquires vehicle position information via the GPS receiver 2. Thereby, the process of step S1 is completed and the reverse running warning process proceeds to the process of step S2.

  In the process of step S2, the control unit 6 acquires map information around the current position of the vehicle from the map information database 4 using the vehicle information acquired by the process of step S1. Thereby, the process of step S2 is completed and the reverse running warning process proceeds to the process of step S3.

  In the process of step S3, the control unit 6 acquires the position information of the reverse running determination start point existing around the current position of the vehicle from the map information database 4 using the position information of the vehicle acquired by the process of step S1. . In the present specification, the reverse running determination start point means a point at which it is determined whether or not the vehicle is running backward. In this embodiment, the reverse running determination start point is shown in FIG. As described above, the vehicle is set in advance at a branch point P1 or a junction of a road (branch road) L3 that branches from the highway L1 on which the vehicle (current position P0) is traveling to the service area (SA) or the parking area (PA). Has been. In the present embodiment, the reverse run determination start point is set in advance, but the control unit 6 sets the reverse run determination start point for each process based on road link information and the like. Also good. The control unit 6 may set reverse running determination start points at regular intervals along the road on which the vehicle is traveling. Thereby, the process of step S2 is completed and the reverse running warning process proceeds to the process of step S3.

  In the process of step S4, the control unit 6 acquires vehicle position information via the GPS receiver 2, and determines whether or not the vehicle has passed the reverse running determination start point set by the process of step S3. . Specifically, the control unit 6 determines whether or not the vehicle has reached the reverse run determination start point P1 from the position P0 when the reverse run determination start point shown in FIG. 3 is set. And the control part 6 advances a reverse running warning process to the process of step S5 at the timing when the vehicle passed the reverse running determination start point.

In the process of step S5, the control unit 6 acquires the position information of the reverse running determination area associated with the reverse running determination start point set by the process of step S3 from the map information database 4. In the present specification, the reverse running determination area means a road area for determining whether or not the vehicle is running backward, and in this embodiment, the reverse running determination area R is as shown in FIG. The travel area of the branch road L3 is set in advance. That is, the reverse running determination area R is a road connected to the reverse running determination start point P1. In our embodiment such, reverse run determination area but was that which is set in advance, the reverse run determination start point position and reverse run judgment start point control unit 6 uses the information about the running direction of the branch road A reverse running determination area may be set at the position of the branch road that has traveled a predetermined distance from. In this embodiment, one reverse determination area is associated with one reverse determination start point, but a plurality of reverse determination areas are associated with one reverse determination start point. Also good. The reverse running determination area only needs to be able to detect the traveling direction of the vehicle, and does not necessarily have to form an “area”. In this specification, including the ability to detect the traveling direction, it is described as “area”. Thereby, the process of step S5 is completed, and the reverse running warning process proceeds to the process of step S6.

  In the process of step S6, the control unit 6 sets a reverse running determination area based on the position information acquired by the process of step S5. Thereby, the process of step S6 is completed and the reverse running warning process proceeds to the process of step S7.

  In the process of step S7, the control part 6 acquires the positional information on a vehicle via the GPS receiver 2, and discriminate | determines whether the vehicle passed the reverse running determination area set by the process of step S6. As a result of the determination, if the vehicle has not passed the reverse running determination area, the control unit 6 returns the reverse running warning process to the process of step S1. On the other hand, when the vehicle passes the reverse running determination area, the control unit 6 advances the reverse running warning process to the process of step S8.

  In the process of step S8, the control unit 6 acquires the position information of the vehicle through the GPS receiver 2, and determines whether or not the vehicle is located in the reverse running determination area set by the process of step S6. . As a result of the determination, when the vehicle is not located in the reverse running determination area, the control unit 6 returns the reverse running warning process to the process of step S9. On the other hand, when the vehicle is located in the reverse run determination area, the control unit 6 determines that the vehicle has run backward after passing through the reverse run determination area and has entered the reverse run determination area again, and the reverse run warning is issued. The process proceeds to step S10.

  In the process of step S9, the control unit 6 acquires the position information of the vehicle via the GPS receiver 2, and whether or not the vehicle is located within a predetermined distance from the reverse running determination start point acquired by the process of step S3. Determine whether. As a result of the determination, when the vehicle is not located within the predetermined distance from the reverse run determination start point, the control unit 6 is set by the process of step S6 by traveling on the highway as it is and passing through the reverse run determination start point. It is determined that there is no possibility of reverse running in the reverse running determination area, and the reverse running warning process is returned to the process of step S1. On the other hand, when the vehicle is located within a predetermined distance from the reverse run determination start point, the control unit 6 determines that there is a possibility of reverse running in the reverse run determination area set by the process of step S6. The reverse running warning process is returned to the process of step S8.

  In the process of step S <b> 10, the control unit 6 outputs warning information via the output unit 5 to warn the driver that the vehicle is running backward. Thereby, the process of step S10 is completed and a series of reverse running warning processes is completed.

  As is apparent from the above description, according to the reverse running warning process according to the first embodiment of the present invention, the control unit 6 is running on a road where the traveling direction is set to only one direction. In this case, the reverse run determination start point is set, the reverse run determination area is set when the vehicle passes the set reverse run determination start point, and the reverse run determination area is set again after passing the reverse run determination area set by the vehicle. When entering the vehicle, it is determined that the vehicle is running backward. And according to such a structure, even if map matching is performed, it is not matched with other roads, but is matched with the road link that is running, and the actual traveling road (the actual position of the vehicle) ) And the road on the map match with high accuracy. For this reason, when entering the branch road to the service area etc. from the matching state, even if there is a GPS accuracy error, it is actually running normally but running backwards. Can reduce the possibility that the vehicle's position will fly up to a road that is considered to be, so it is possible to narrow down the area for judging that the vehicle is running backward, and to reduce false notification of warning information Can do.

[Second Embodiment]
Next, with reference to the flowchart shown in FIG. 4, operation | movement of the route guidance apparatus 1 at the time of performing the reverse running warning process which becomes 2nd Embodiment is demonstrated.

  In the flowchart shown in FIG. 4, the control unit 6 refers to the vehicle position information received via the GPS receiver 2 and the map information stored in the map information database 4. For example, the vehicle travels on the highway. When the vehicle is traveling, it starts at the timing when it is determined that the vehicle is traveling on a road link in which the traveling direction with respect to the road (lane) on which the vehicle is traveling is defined in only one direction. Proceed to the process. Since the processes in steps S21 to S28 have the same contents as the processes in steps S1 to S8, the description thereof is omitted below, and the description starts from the process in step S29.

  The process of step S29 starts at the timing when it is determined in the process of step S28 that the vehicle is not located in the reverse running determination area. In the process of step S29, the control unit 6 acquires vehicle position information via the GPS receiver 2, and determines whether or not the vehicle is located at a place where it can be turned back. As a place where the vehicle can be turned back, a turn-back point S in the vicinity of the toll booth T can be illustrated as shown in FIG. 5 (in FIG. 5, symbols V, P and R denote the vehicle, the reverse run determination start point, And reverse run judgment area). The place where the vehicle can turn back may be set in advance, or the control unit 6 may set a place within a predetermined distance from a specific point such as a toll booth or an exit on the highway as a place where the vehicle can turn back. Also good. As a result of the determination, if the vehicle is located at a place where it can be turned back, the control unit 6 returns the reverse running warning process to the process of step S1. On the other hand, when the vehicle is not located at a place where it can be turned back, the control unit 6 advances the reverse running warning process to the process of step S30. Since the process in step S30 is the same as the process in step S9, the description thereof is omitted below.

  As is apparent from the above description, according to the reverse running warning process according to the second embodiment of the present invention, the control unit 6 turns back at a place where the vehicle can turn back after passing the reverse running determination start point. In this case, it is determined that the vehicle is not running backward. According to such a configuration, in addition to the effects of the first embodiment, when the vehicle passes the reverse run determination start point and then turns back at the toll booth and passes through the reverse run determination area, it is determined to be reverse run. Therefore, false notification of warning information can be further reduced.

[Third Embodiment]
Next, with reference to the flowchart shown in FIG. 6, operation | movement of the route guidance apparatus 1 at the time of performing the reverse running warning process which becomes 3rd Embodiment is demonstrated.

  In the flowchart shown in FIG. 6, the control unit 6 refers to the vehicle position information received via the GPS receiver 2 and the map information stored in the map information database 4. For example, the vehicle travels on a highway. When the vehicle is traveling, it starts at the timing when it is determined that the vehicle is traveling on a road link in which the traveling direction with respect to the road (lane) on which the vehicle is traveling is defined in only one direction. Proceed to the process. Since the processes in steps S41 to S49 have the same contents as the processes in steps S1 to S9, the description thereof is omitted below, and the description starts from the process of step S50.

  The process of step S50 starts at the timing when it is determined in the process of step S48 that the vehicle is located in the reverse running determination area. In the process of step S50, the control unit 6 calculates the traveling direction of the vehicle from the time change of the positional information of the vehicle received via the GPS receiver 2, and the traveling direction of the vehicle is set in the reverse running determination direction set in advance. It is determined whether it is within the range. In the present embodiment, the reverse running determination direction is set for each reverse running determination area as a predetermined angle range centered on the reverse running direction of the branch road (directions D1 and D2 shown in FIGS. 7A and 7B). Has been. As a result of the determination, when the traveling direction of the vehicle is not within the range of the reverse running determination direction, the control unit 6 advances the reverse running warning process to the process of step S49. On the other hand, when the traveling direction of the vehicle is within the range of the reverse running determination direction, the control unit 6 advances the reverse running warning process to the process of step S51. Since the process of step S51 is the same as the process of step S9, the description thereof is omitted below.

  As is clear from the above description, according to the reverse running warning process according to the third embodiment of the present invention, when the control unit 6 enters the reverse running determination area again, the traveling direction of the vehicle is reversed. It is determined whether or not the vehicle is in the reverse running direction range set for the running determination area, and if the traveling direction of the vehicle is within the reverse running direction range set for the reverse running determination area, It is determined that the vehicle is running backward. And according to such a structure, in addition to the effect of 1st Embodiment, since reverse running determination is performed in consideration of the advancing direction of a vehicle, the false alerting | reporting of warning information can be reduced more.

  The detection means according to the present invention corresponds to the GPS receiver 2, and the first setting means, the first determination means, the second setting means, and the second determination means according to the present invention correspond to the control unit 6. The notification means according to the present invention corresponds to the output unit 5.

  As mentioned above, although embodiment which applied the invention made by the present inventors was described, this invention is not limited by description and drawing which make a part of indication of this invention by this embodiment. For example, in the present embodiment, the reverse run determination start point and the reverse run determination area are set for the branch road, but as shown in FIG. 7B, for the combined flow path L4 that joins the vehicle road L1. A reverse running determination start point and a reverse running determination area may be set. As described above, other embodiments, examples, operation techniques, and the like made by those skilled in the art based on the present embodiment are all included in the scope of the present invention.

1: Route guidance device 2: GPS receiver 3: Vehicle speed sensor 4: Map information database 5: Output unit 6: Control unit

Claims (4)

Detecting means for detecting the position of the host vehicle;
Based on the position of the host vehicle detected by the detecting means, it is determined whether or not the host vehicle is traveling on a road in which the traveling direction is set to only one direction, and the traveling direction is set to only one direction. A first setting means for setting, as a reverse running determination start point, a point at which the determination of reverse running of the own vehicle starts around the position of the own vehicle when the own vehicle is traveling on a road;
First determination means for determining whether the own vehicle has passed the reverse running determination start point based on the position of the own vehicle detected by the detection means;
When the first determination means determines that the host vehicle has passed the reverse running determination start point, a reverse running determination area for determining whether the host vehicle has run backward is connected to the reverse running determination start point. Second setting means for setting on the road that is running;
Based on the position of the host vehicle detected by the detection means, it is determined whether the host vehicle has entered the reverse run determination area again after passing the reverse run determination area, and the host vehicle is again determined to run backward. A second determination means for determining that the host vehicle is running backward when entering the area;
A reverse running warning device comprising: notifying means for notifying a driver of the own vehicle of warning information when the second determining means determines that the own vehicle is running backward. In the reverse running warning device according to claim 1,
The second determination means determines that the own vehicle is not running backward when the own vehicle turns back in a place where it can be turned back after passing the reverse running determination start point. apparatus. In the reverse running warning device according to claim 1 or 2,
The second determination unit detects the traveling direction of the host vehicle based on the position of the host vehicle detected by the detecting unit, and when the host vehicle enters the reverse running determination area again, the traveling direction of the host vehicle is It is determined whether or not the vehicle is in a reverse running direction range set for the reverse running determination area, and when the traveling direction of the host vehicle is within the backward running direction range, A reverse running warning device characterized by determining. Based on the position of the host vehicle, the control unit determines whether the host vehicle is traveling on a road in which the traveling direction is set to only one direction ;
Point own vehicle, when the traveling direction is determined to have the line run the road is set only in one direction, the control unit initiates the reverse run of the determination of the vehicle around the position of the vehicle A first setting process for setting as a reverse running determination start point;
Based on the position of the host vehicle, the control unit determines whether the host vehicle has passed the reverse running determination start point; and
In the first determination process, if the vehicle is determined to have passed the reverse run judgment start point, the reverse run determination area for determining whether the host vehicle has run inverse control unit sets A second setting process;
Wherein based on the location of the vehicle, and processing the vehicle control unit whether the vehicle has entered again the reverse-way traveling determination area after passing through the reverse run judgment area is determined,
When the host vehicle enters the reverse run determination area again, a second determination process in which the control unit determines that the host vehicle is running backward,
In the second determination process, when it is determined that the host vehicle is running backward, the control unit includes a notification process for notifying the driver of the host vehicle of warning information. Method.

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