JP5807578B2 - Alerting system, alerting program, and alerting method - Google Patents

Description

  The present invention collects sudden braking information, which is information on occurrence of sudden braking operation of a vehicle at an intersection, from a plurality of vehicles, and generates a warning information based on the sudden braking information, a warning program, and a warning Regarding the method.

  As a conventional technique of the above-described attention calling system, there is a technique described in, for example, Japanese Patent Application Laid-Open No. 2010-230419 (Patent Document 1). In Patent Document 1, history information of sudden braking operations is collected from a plurality of vehicles (probe cars), and when there is a road where sudden braking operations frequently occur on an approaching road to an intersection, a warning message is given. A configuration for storing in association with an approach road is described. And in this configuration, it is possible to make the alert message at the intersection more meaningful for the driver by considering the history of sudden braking operations on other approach roads at the same intersection when generating the alert message. Has been.

  However, in the configuration of Patent Document 1, the sudden braking operation that occurred in the past on the approach road on which the target vehicle to be alerted travels and the sudden braking operation that occurred on the other approach road at the same intersection in the past at the same time There was room for improvement in this respect because the relationship between the two was not considered.

JP 2010-230419 A (paragraph 0032 etc.)

  Therefore, it is desired to realize a technique capable of performing alerting with a simple configuration in consideration of the relevance between respective sudden braking operations on different approach roads with respect to the same intersection.

According to the present invention, a sudden brake information collecting unit that collects sudden brake information, which is information on occurrence of a sudden brake operation of a vehicle at an intersection, from a plurality of vehicles, and an alert for generating alert information based on the sudden brake information The first feature of the alerting system comprising an information generating unit is that the sudden braking information is assigned to the time when the sudden braking operation occurs, the intersection where the sudden braking operation occurs, and the approach direction where the sudden braking operation occurs. In order to avoid a specific collision that is a collision between the sudden brake information management unit that is managed in association with the other vehicle that enters the same intersection in the approach direction that intersects with the approach direction of the host vehicle. A sudden brake information determination unit that determines whether or not the specific sudden brake operation is a specific sudden brake operation, and the sudden brake information determination unit is the same When the two sudden brake information associated with the approach directions intersecting each other of the difference points satisfy the first determination condition, it is determined that the two sudden brake information is the specific sudden brake information, and the first determination condition Is a condition that the difference between the occurrence times of the sudden brake operation associated with each of the two sudden brake information is shorter than a predetermined first determination time, Depending on the specific sudden brake operation occurrence status and the type of intersection based on the specific sudden brake information for each intersection, the alert content for each intersection is selected from a plurality of candidates, and based on the selection result, Note generates urging information, the alert information generating unit, the specific sudden occurrence frequency obtained from occurrence of brake operation predetermined judgment value For an intersection that is higher and has no traffic light installed, and selects an alert content for alerting the specific collision, and has an occurrence frequency higher than the determination value and an intersection with a traffic signal installed. The point is to select the alert content for alerting the signal .

According to said 1st characteristic structure, whether the sudden brake information is the specific sudden brake information showing the specific sudden brake operation performed in order to avoid a specific collision by determination based on 1st determination conditions. Can be determined. Here, the determination based on the first determination condition is a determination based on a difference in occurrence time of the sudden brake operation. Therefore, it is possible to acquire the occurrence status of the specific sudden braking operation with a simple configuration such as acquisition and comparison of time information.
Then, the alerting content for each intersection is selected according to the occurrence state of the specific sudden braking operation for each intersection. That is, it is possible to select appropriate alerting contents according to the degree of relevance of the sudden braking operation between different approach roads based on the occurrence state of the specific sudden braking operation.
As described above, according to the first characteristic configuration described above, it is possible to perform alerting in consideration of the relevance between each sudden braking operation on different approach roads for the same intersection with a simple configuration. Become.
Moreover, according to said 1st characteristic structure, possibility that the alerting content about each intersection can be made according to the actual cause of sudden braking operation is raised, and it is in the situation where specific collision is easy to occur. It is possible to effectively suppress the occurrence of a specific collision at the intersection.

According to the present invention, a sudden brake information collecting unit that collects sudden brake information, which is information on occurrence of a sudden brake operation of a vehicle at an intersection, from a plurality of vehicles, and an alert for generating alert information based on the sudden brake information And a second feature configuration of the alerting system comprising an information generation unit, wherein the sudden braking information is assigned to an occurrence time of the sudden braking operation, an intersection where the sudden braking operation has occurred, and an approach direction in which the sudden braking operation has occurred. In order to avoid a specific collision that is a collision between the sudden brake information management unit that is managed in association with the other vehicle that enters the same intersection in the approach direction that intersects with the approach direction of the host vehicle. A sudden brake information determination unit that determines whether or not the specific sudden brake operation is a specific sudden brake operation, and the sudden brake information determination unit is the same When the two sudden brake information associated with the approach directions intersecting each other of the difference points satisfy the first determination condition, it is determined that the two sudden brake information is the specific sudden brake information, and the first determination condition Is a condition that the difference between the occurrence times of the sudden brake operation associated with each of the two sudden brake information is shorter than a predetermined first determination time, Depending on the occurrence status of the specific sudden brake operation based on the specific sudden brake information for each intersection, the alert content for each intersection is selected from a plurality of candidates, and the alert information based on the selection result generates, the sudden braking information management unit, the sudden braking information, further, less of the starting time and the intersection exit time of the vehicle of the vehicle after the sudden braking At least one of them is managed in association with intersection passing information, which is information that can be acquired, and the sudden brake information determination unit determines that the two sudden brake information associated with the approach directions intersecting each other at the same intersection When the second determination condition is satisfied in addition to the determination condition, it is determined that the two sudden brake information is the specific sudden brake information, and the second determination condition is associated with each of the two sudden brake information. Using the intersection passing information, the first time that is one of the start time or the intersection leaving time acquired from any one of the intersection passing information, and the start time acquired from any one of the other intersection passing information or the difference between one in which the second time intersection exit time lies in a condition that is shorter than the second determination time determined in advance.

According to said 2nd characteristic structure, it can discriminate | determine that the two vehicles related to two sudden brake information passed the intersection by a short time difference by the determination based on 2nd determination conditions. Such a traveling situation is a situation expected after a specific sudden braking operation is performed in order to avoid a specific collision. Therefore, by determining whether or not the sudden brake information is the specific sudden brake information based on the second determination condition in addition to the first determination condition, the sudden brake information is erroneously determined to be the specific sudden brake information. Can reduce the possibility of As a result, the accuracy of determination by the sudden brake information determination unit can be increased.

  As described above, when the second determination condition is satisfied in addition to the first determination condition, the two sudden brake information associated with the approach directions intersecting each other at the same intersection are the specific sudden brake information. In the configuration to be determined, the intersection passing information is information capable of acquiring both the start time of the vehicle after the sudden braking operation and the intersection exit time of the vehicle, and is used for determination by the sudden brake information determination unit 2 Of the intersection passing information associated with each of the two sudden brake information, the intersection passing information with the earlier start time that can be acquired is the first intersection passing information, and the one with the later start time that can be acquired The intersection passage information is second intersection passage information, and the second determination condition is that the first time is the start time acquired from the second intersection passage information, It is preferable to configure that the conditions the intersection exit time acquired a second time from the first intersection passage information.

  According to this configuration, when a specific sudden braking operation is performed in order to avoid a specific collision, the general tendency is that the other vehicle starts as the vehicle that has started earlier leaves the intersection. In consideration of this, it is possible to improve the determination accuracy based on the second determination condition.

  In the alert system of each of the above configurations, the alert information generating unit generates a plurality of candidates for alert contents for each intersection according to the type of intersection in addition to the occurrence state of the specific sudden braking operation. It is preferable that the configuration is selected from the above.

  According to this configuration, it is possible to increase the possibility that the alerting contents for each intersection can be made according to the actual cause of the sudden braking operation.

  Here, the attention generating information generation unit relates to the specific collision at an intersection where the occurrence frequency acquired from the occurrence state of the specific sudden braking operation is higher than a predetermined determination value and no traffic signal is installed. It is preferable to adopt a configuration for selecting the contents of alerting.

  According to this configuration, it is possible to effectively suppress the occurrence of the specific collision at the intersection where the specific collision is likely to occur.

  In the alert system of each of the above configurations, the alert content determining unit that determines the alert content for each intersection based on the alert information is further provided, and the alert content determining unit includes the alert information And the type of approach road of the target vehicle to be alerted are preferably determined.

  According to this configuration, it is possible to increase the possibility that the alerting contents for each intersection can be made in accordance with the current traveling state of the target vehicle to be alerted.

  Here, the vehicle-mounted terminal device mounted on the vehicle and a management device provided to be able to communicate with the plurality of vehicle-mounted terminal devices, the warning information is provided to each of the vehicle-mounted terminal devices. It is preferable that an information distribution unit for alerting to be distributed is provided in the management device, and an alert content determination unit is provided in each of the in-vehicle terminal devices.

  According to this structure, since the process which finally determines alerting content can be performed by the vehicle side, possibility that the alerting content can be made according to the current driving | running | working condition of a vehicle can be raised.

  The technical features of the alerting system according to the present invention having the above-described configurations can also be applied to alerting programs and alerting methods, and the present invention also covers such programs and methods. Can do.

In that case, the first characteristic configuration of the alert program is a sudden brake information collecting function in which the sudden brake information collecting unit collects sudden brake information, which is information on occurrence of sudden braking operation of the vehicle at the intersection, from a plurality of vehicles, A warning information generating function for causing a computer to generate a warning information generating function for generating a warning information on the basis of the sudden brake information, wherein the emergency brake information management unit The sudden brake information management function that manages sudden brake information in association with the occurrence time of the sudden brake operation, the intersection where the sudden brake operation has occurred, and the approach direction in which the sudden brake operation has occurred, and the sudden brake information determination unit, The brake information indicates a collision with another vehicle that enters the same intersection in the approach direction that intersects the approach direction of the host vehicle. A sudden brake information determination function for determining whether or not the specific sudden brake information represents a specific sudden brake operation for avoiding a collision is further realized in a computer. When the two sudden brake information associated with the approach directions intersecting each other satisfy the first determination condition, it is determined that the two sudden brake information is the specific sudden brake information, and the first determination condition is: The difference between the occurrence times of the sudden brake operations associated with each of the two sudden brake information is a condition that the difference is shorter than a predetermined first determination time, the specified according to the specific occurrence and intersections of sudden braking operation type based on the sudden braking information, alerting the contents of each intersection of Selected from among a plurality of candidates to generate the alerting information based on the selection result, wherein the alert information generating function, frequency obtained from occurrence of the specific sudden braking preset For an intersection that is higher than the determination value and for which no traffic signal is installed, the alert content for alerting the specific collision is selected, and the occurrence frequency is higher than the determination value and the traffic signal is installed. The point is to select the alert content for alerting the traffic light at the intersection .

  The second feature configuration of the alert program is that the sudden brake information collection unit collects sudden brake information, which is information about the occurrence of sudden braking operations of vehicles at intersections, from multiple vehicles, and alert information An alerting program for causing a computer to generate an alerting information generation function for generating alerting information based on the sudden brake information, wherein the sudden brake information management unit generates the sudden brake information. A sudden brake information management function that manages in association with an occurrence time of a sudden brake operation, an intersection where the sudden brake operation has occurred, and an approach direction in which the sudden brake operation has occurred, and the sudden brake information determination unit, To avoid a specific collision that is a collision with another vehicle entering the same intersection in the approach direction that intersects the approach direction of the host vehicle And a sudden brake information determination function for determining whether or not the specific sudden brake operation is present, and the sudden brake information determination function is configured such that the sudden brake information determination function is an approach direction that intersects each other at the same intersection. When the two sudden brake information associated with the two conditions satisfy the first determination condition, it is determined that the two sudden brake information is the specific sudden brake information, and the first determination condition is the two sudden brake information. The difference between the occurrence times of sudden braking operations associated with each piece of information is a condition that the difference is shorter than a predetermined first determination time, and the alert information generation function Depending on the occurrence status of the specific sudden braking operation based on the brake information, the alert content for each intersection is selected from a plurality of candidates, and the selected Based on the result, the warning information is generated, and the sudden brake information management function can acquire the sudden brake information and at least one of the start time of the vehicle after the sudden brake operation and the intersection exit time of the vehicle The sudden brake information determination function is configured so that the two sudden brake information associated with the approach directions intersecting each other at the same intersection are added to the first determination condition in addition to the first determination condition. When the two determination conditions are also satisfied, it is determined that the two sudden brake information is the specific sudden brake information, and the second determination condition is the intersection passing information associated with each of the two sudden brake information. Used, the first time that is one of the start time or the intersection exit time acquired from either of the intersection passage information and the other of the intersections The difference is that the difference from the second time which is one of the departure time and the intersection departure time acquired from the difference point passing information is shorter than a predetermined second determination time.

In addition, the first feature configuration of the alerting method is that the alerting system collects sudden braking information, which is information about occurrence of sudden braking operation of the vehicle at the intersection, from a plurality of vehicles by the sudden braking information collection unit. A warning information generating step in which a warning information generating unit generates a warning information based on the sudden brake information, wherein the sudden brake information management unit the brake information, the time of occurrence of sudden braking, the intersection where sudden braking occurred, and the sudden braking information management step of managing in association with the entering direction where sudden braking occurred, the sudden braking information determining unit, the sudden braking The information indicates a specific collision that is a collision with another vehicle that enters the same intersection in the approach direction that intersects the approach direction of the host vehicle. And a sudden brake information determination step for determining whether or not the specific sudden brake information represents a specific sudden brake operation to be performed by the alerting system. In the sudden brake information determination step, When the two sudden brake information associated with the crossing approach directions satisfy the first determination condition, it is determined that the two sudden brake information is the specific sudden brake information, and the first determination condition is 2 A difference between occurrence times of sudden braking operations associated with each of the two sudden braking information is shorter than a predetermined first determination time, and in the alert generation information generation step, for each intersection the specified according the to the type of specific sudden occurrence and intersections of the brake operation based on the sudden braking information, for each intersection Select meaning evoked contents from a plurality of candidates, frequency to generate the alerting information based on the selection result, in the alert information generating step, which is obtained from occurrence of the specific sudden braking Is selected higher than a predetermined determination value, and for an intersection where no traffic light is installed, the alert content for performing the alert regarding the specific collision is selected, the occurrence frequency is higher than the determination value, and the traffic light The point is to select the alerting content for alerting the signal at the intersection where is installed .

  The second feature configuration of the alerting method is a sudden braking information collecting step in which the sudden braking information collecting unit collects sudden braking information, which is information on occurrence of sudden braking operation of the vehicle at the intersection, from a plurality of vehicles by the alerting system. A warning information generation step in which a warning information generation unit generates a warning information based on the sudden brake information, and the sudden brake information management unit includes the sudden brake information. A sudden brake information management step, and a sudden brake information determination unit, the sudden brake information determination step, the sudden brake information determination step, , Avoiding a specific collision that is a collision with another vehicle entering the same intersection in the approach direction that intersects the approach direction of the host vehicle And a sudden brake information determination step for determining whether or not the specific sudden brake operation is a specific sudden brake operation, and the sudden brake information determination step further includes the step of crossing each other at the same intersection. When the two sudden brake information associated with the approach direction to be performed satisfies the first determination condition, it is determined that the two sudden brake information is the specific sudden brake information, and the first determination condition includes two The difference between the occurrence times of the sudden brake operations associated with each of the sudden brake information is a condition that the difference is shorter than a predetermined first determination time, and in the alert information generation step, Depending on the occurrence status of the specific sudden brake operation based on the specific sudden brake information, a warning content for each intersection The warning information is generated based on the selection result, and in the sudden brake information management step, the sudden brake information is further displayed, and the vehicle start time after the sudden brake operation and the intersection of the vehicle Managing at least one of the exit times in association with intersection passing information which is information that can be acquired, and in the sudden brake information determining step, the two sudden brake information associated with the approach directions intersecting each other at the same intersection are When the second determination condition is satisfied in addition to the first determination condition, it is determined that the two sudden brake information is the specific sudden brake information, and the second determination condition is determined for each of the two sudden brake information. Using the associated intersection passage information, one of the start time or the intersection exit time acquired from any one of the intersection passage information The condition that a difference between a certain first time and a second time that is one of the departure time or the intersection departure time acquired from the other intersection passage information is shorter than a predetermined second determination time. In that point.

  Naturally, these alerting programs and alerting methods can also obtain the effects of the alerting system described above, and it is possible to incorporate some additional techniques listed as examples of suitable configurations. It is.

It is a block diagram which shows schematic structure of the navigation apparatus which concerns on embodiment of this invention. It is a block diagram which shows schematic structure of the management apparatus which concerns on embodiment of this invention. It is a figure which shows the driving | running | working condition where a vehicle approachs an object intersection. It is a table | surface which shows the selection rule of the alerting content which concerns on embodiment of this invention. It is a figure which shows the behavior of the vehicle at the time of sudden braking operation and after sudden braking operation. It is a figure which shows the behavior of the vehicle at the time of sudden braking operation and after sudden braking operation when sudden braking operation is specific sudden braking operation. It is a flowchart which shows the procedure of the execution process of alerting which concerns on embodiment of this invention. It is a flowchart which shows the procedure of the production | generation process of the sudden brake information which concerns on embodiment of this invention. It is a flowchart which shows the procedure of the production | generation process of the alerting information which concerns on embodiment of this invention.

  Embodiments of the present invention will be described with reference to the drawings. Here, as shown in FIGS. 1 and 2, the alerting system according to the present invention is configured by an in-vehicle navigation device 1 and a management device 2 provided so as to be able to communicate with a plurality of navigation devices 1. A case will be described as an example. Hereinafter, the vehicle 3 refers to a vehicle on which the navigation device 1 is mounted. Each of the vehicles 3 functions as a probe car that transmits probe information to the management device 2. Here, as the probe information, information on occurrence of a sudden brake operation of the vehicle 3 (own vehicle) at the intersection 70 (hereinafter referred to as “sudden brake information”) is transmitted to the management device 2. The management device 2 is a device that is provided independently of the vehicle 3, collects and manages sudden braking information from a plurality of vehicles 3, and displays information for alerting necessary for alerting the passenger of the vehicle 3 as a navigation device 1 (vehicle 3). That is, the management device 2 functions as a central management server. The navigation device 1 alerts the occupant of the vehicle 3 entering the intersection 70 to be alerted (hereinafter referred to as “target intersection 70a”) according to the alert content determined based on the alert information. Do. In the present embodiment, the navigation device 1 corresponds to the “vehicle terminal device” according to the present invention.

1. Configuration of Navigation Device As shown in FIG. 1, the navigation device 1 includes a plurality of functional units. Specifically, the first transmission / reception unit 11, the estimated own vehicle position acquisition unit 12, the current time acquisition unit 13, The navigation calculation unit 14, the sudden brake operation detection unit 15, the sudden brake information generation unit 16, the alert content determination unit 17, and the alert execution unit 18 are provided. That is, in this embodiment, the alert content determination unit 17 is provided not in the management device 2 but in each of the navigation devices 1 that can communicate with the management device 2.

  Each functional unit included in the navigation device 1 is a hardware or software (functional or functional unit for performing various processes on input data using a common arithmetic processing unit such as a CPU or the like as a core member. Program) or both. In addition, these functional units are configured to be able to exchange information with each other via a communication line, and can extract data from the storage units 31, 32, and 33 provided in the navigation device 1. It is configured. Here, when the functional unit is configured by software (program), the software is stored in a storage device that can be referred to by the arithmetic processing device.

  The first map information storage unit 31, the alerting information storage unit 32, and the alerting content storage unit 33 are databases configured by a storage device. The storage device includes, as a hardware configuration, a recording medium capable of storing and rewriting information, such as a hard disk drive and a flash memory. Each storage unit 31, 32, 33 may have independent hardware, or may be provided in common hardware.

1-1. Configuration of First Transmission / Reception Unit The first transmission / reception unit 11 includes a communication device that transmits and receives data to and from the management device 2. In the present embodiment, the communication device included in the first transmission / reception unit 11 is a wireless communication device, and data transmission / reception between the navigation device 1 and the management device 2 is performed using wireless communication. This wireless communication is, for example, a mobile phone network, wireless LAN (Local Area Network), VICS (registered trademark), Vehicle Information and Communication System (road traffic information communication system), road-to-vehicle communication (installed on the vehicle 3 and road side). The communication can be performed using various wireless communication facilities such as communication with a communication device. Note that the first transmission / reception unit 11 may control the communication device provided in the vehicle 3 independently of the navigation device 1 to transmit / receive data to / from the management device 2.

1-2. Configuration of First Map Information Storage Unit The first map information storage unit 31 stores (that is, stores) map information (road map data) that is referred to when the navigation calculation unit 14 executes each process. Similarly, it is a storage unit. The map information includes road information (road network data) composed of a plurality of nodes corresponding to each of the plurality of intersections 70 and a plurality of links corresponding to roads connecting the nodes. The intersection 70 includes a junction. The first map information storage unit 31 stores not only road information as described above but also feature information that is information on various features provided on and around the road as map information. . The features whose feature information is stored in the first map information storage unit 31 include, for example, a three-dimensional structure such as a traffic light or a road such as a stop line sign 73 (see FIG. 3) indicating a stop line. Includes a sign.

  In the present embodiment, for the node set at the intersection 70, information on the presence or absence of a traffic signal is included as information (node information) of the node. In the present embodiment, the node information corresponding to the intersection 70 without a traffic signal includes priority type information. The priority type is a classification of a priority order regarding traffic between a plurality of approach roads 80 (see FIG. 3) entering the same intersection 70. By referring to this priority type information, it is possible to acquire information on whether or not the own vehicle approaching road 80a, which is the approaching road 80 on which the host vehicle is traveling, is a priority road for the intersection approaching road 80b. It has become. Here, as shown in FIG. 3, the intersection approach road 80b is an approach road 80 in which the approach direction to the intersection 70 is a direction intersecting the approach direction to the intersection 70 of the own vehicle approach road 80a. For example, as shown in FIG. 3, an approach road 80 in which the approach direction is a direction orthogonal to the approach direction of the host vehicle approach road 80a is a cross approach road 80b. The approach road 80 facing the own vehicle approach road 80a (that is, the approach road 80 in which the approach direction is opposite to the approach direction of the own vehicle approach road 80a) is not the intersection approach road 80b.

1-3. Configuration of Estimated Own Vehicle Position Acquisition Unit The estimated own vehicle position acquisition unit 12 is a functional unit that acquires an estimated own vehicle position that is an estimated position of the own vehicle. In the present embodiment, the estimated vehicle position acquisition unit 12 is based on the outputs of the GPS measurement unit 91, the distance sensor 92, and the direction sensor 93 provided in the vehicle 3, and the estimated vehicle position represented by coordinates (latitude and longitude). The vehicle position is obtained by calculation. Specifically, the estimated vehicle position acquisition unit 12 is configured to calculate the GPS position data derived based on the GPS (Global Positioning System) signal output from the GPS measurement unit 91, and the movement distance output from the distance sensor 92 and the direction sensor 93. From the dead reckoning position data derived based on the information and the direction information, an operation for deriving the estimated own vehicle position is performed to obtain the estimated own vehicle position. When the estimated vehicle position determined as described above deviates from the road due to a measurement error or the like, the estimated vehicle is based on the road map data stored in the first map information storage unit 31 as necessary. Correction (map matching processing) for matching the position on the road shown on the road map is performed.

1-4. Configuration of Current Time Acquisition Unit The current time acquisition unit 13 is a functional unit that acquires the current time. In the present embodiment, the current time acquisition unit 13 acquires the current time based on the output of a built-in clock provided in the navigation device 1 (vehicle 3). In addition, based on the signal received from the exterior of the vehicle 3 (for example, said GPS signal), it can also be set as the structure which the present time acquisition part 13 acquires present time. In this case, for example, the time obtained based on the output of the built-in clock can be corrected based on the signal received from the outside of the vehicle 3, and the current time can be derived.

1-5. Configuration of Navigation Calculation Unit The navigation calculation unit 14 is calculation processing means that operates according to an application program for executing a navigation function. For example, the navigation calculation unit 14 acquires map information (road map data) around the host vehicle from the first map information storage unit 31 and displays a map image on the display device 98, and on the map image. Then, a map display process is performed in which marks indicating the estimated vehicle position are superimposed and displayed. In addition, the navigation calculation unit 14 searches for a guide route from the departure point to the destination based on route search conditions such as the departure point, the destination, the passing point, and the travel conditions (whether or not an expressway is used). Execute the process. Then, route guidance processing for the driver is executed by guidance display by the display device 98 and voice guidance by the voice output device 99 according to the searched guidance route. The display device 98 is configured by a device in which a display device such as a liquid crystal display and an input device such as a touch panel and operation switches are integrated. The audio output device 99 is configured by a device for outputting audio such as a speaker or an amplifier.

1-6. Configuration of the information storage unit for alerting The information storage unit for alerting 32 is a storage unit that stores information for alerting transmitted from the management device 2 to the navigation device 1. In the present embodiment, the target intersection setting process for setting the intersection 70 as the target intersection 70a is executed on the management device 2 side, and information for identifying the target intersection 70a (specifically, the target intersection 70a) is included in the alerting information. Information specifying a node corresponding to the intersection 70a). As will be described later, the alerting information includes various types of information necessary for the alerting content determination unit 17 to determine the alerting content.

1-7. Structure of the alerting content determining unit The alerting content determining unit 17 is a functional unit that determines the alerting content for each intersection 70 based on the alerting information. In this embodiment, the alerting content determining unit 17 includes the alerting information stored in the alerting information storage unit 32 and the approach road 80 of the target vehicle to be alerted (that is, the own vehicle approaching road 80a). The alerting content corresponding to both the type and the type is determined. At this time, the alert content is selected and determined according to the alert content selection rule stored in the alert content storage unit 33 described below.

1-8. Structure of the alerting content storage unit The alerting content storage unit 33 is a storage unit that stores the alerting content selection rule and the specific content of each alerting content (in this embodiment, an alerting message). FIG. 4 shows the rules for selecting the alert content according to the present embodiment in the form of a table. In the present embodiment, the first alert, the second alert, and the third alert are the selection candidates for the alert content. , 4th alert call, 5th alert call, and 6th alert call are set. 4 is executed on the management device 2 side, and in this embodiment, the selection processing of the category for the “intersection type” column is also performed by the management device 2. Executed on the side. The alerting information includes information on the result of the selection process on the management device 2 side. For this reason, in the present embodiment, the alert content determination unit 17 provided on the navigation device 1 side executes only the segment selection processing for the “entry road type” column shown in FIG. 4 for the alert content selection processing. Then, the alerting contents according to the selection rule of FIG. 4 are determined.

  More specifically, in the present embodiment, as shown in FIG. 4, “specific / non-specific” includes a “specific collision alert” category and a “non-specific collision alert” category. Three alerts are set as candidates. As described above, the classification selection process for “specific / non-specific” is executed on the management apparatus 2 side. Although details will be described later, the “specific collision alert” is selected when the occurrence frequency of the specific sudden brake operation at the target intersection 70a is higher than a predetermined determination value, and the “non-specific collision alert” is selected as the target intersection 70a. This is selected when the occurrence frequency of the specific sudden braking operation at 70a is equal to or lower than a predetermined determination value.

  The “specific collision alert” is classified into three categories according to the “intersection type”, and different alert content is set for each of the three categories. As described above, the classification selection process (classification process) for the “intersection type” is executed on the management device 2 side. In this embodiment, classification of “specific collision alert” based on “entry road type” described later is not performed. Specifically, according to the “specific collision alert” category, according to the “intersection type”, a “traffic signal” category corresponding to a case where a traffic signal is installed at the target intersection 70a, and a traffic signal installed at the target intersection 70a. It is classified into the category of “no traffic light” corresponding to the case where it is not. Furthermore, the “with traffic signal” category is further classified into a “first display status” category and a “second display status” category according to the display status of the traffic signal. As described above, the “intersection type” includes a classification of whether or not a traffic light is installed at the intersection 70, and in the present embodiment, the “intersection type” further includes a classification based on a display state of the traffic light.

  Here, the “first display state” is a signal indicating that the display signal of the traffic light on at least a part of the approaching roads 80 that intersect each other at the same intersection 70 indicates prohibition of traveling beyond a preset stop position. This is a state in which each traffic light is controlled so as to be (for example, a red lighting signal). For example, in the case where four approach roads 80 are provided for the same intersection 70 so that the approach directions are deviated from each other by 90 degrees, for two approach roads 80 that face each other except during signal switching, The display signal becomes a signal indicating that the vehicle is allowed to go straight, turn right, or turn left (for example, a blue lighting signal). The state in which each traffic light is controlled so as to be a signal indicating prohibition of the progress that has exceeded (for example, a red lighting signal) is the “first display state”. On the other hand, in the “second display state”, for each of the approach roads 80 that intersect each other at the same intersection 70, a signal indicating that the display signal of the traffic light indicates that the vehicle is allowed to go straight, turn right, or turn left (for example, a red or yellow blinking signal) In this state, each traffic light is controlled. In such a second display state, generally, the priority of passing between approach roads 80 that intersect each other is determined according to the type of signal.

  By the way, there is an intersection 70 in which the display state of the traffic light is switched between the “first display state” and the “second display state” according to the time zone. For such an intersection 70, correspondence information for associating a time zone with a display state is included in the alerting information, and the alerting content determination unit 17 determines the traffic signal corresponding to the current time based on the correspondence information. Select the display state. Even in such a case, the vehicle 3 passes through the target intersection 70a, for example, when alerting information about the target intersection 70a is delivered to the navigation device 1 every time the vehicle 3 approaches the target intersection 70a. In the case where the time zone can be predicted in advance, the information for selection regarding the display state of the traffic light can be included in the alerting information.

  The “non-specific collision alert” category is classified into three categories according to the “entry road type”, and different alert contents are set for each of the three categories. Specifically, the “non-specific collision alert” category corresponds to the case where the own vehicle approach road 80a (that is, the approach road 80 of the target vehicle to be alerted) is a specific approach road according to “entry road type”. The “first approach state” is classified into a “second approach state” corresponding to a case where the own vehicle approach road 80a is different from the specific approach road. Here, the “specific approach road” is an approach road 80 that is higher than the other approach roads 80 at the intersection 70 where the occurrence frequency of the sudden braking operation is the same. The setting process of the approach road 80 as the specific approach road is executed on the management device 2 side. The information for alerting includes information for identifying the specific approach road, and the alerting content determination unit 17 determines whether the “first approach state” or “second approach state” is based on the information. It is comprised so that the applicable approach state may be selected.

  The “first entry state” category further includes a “first priority state” category corresponding to a case where the own vehicle approach road 80a is a priority road with respect to the intersection approach road 80b, and an intersection approach road 80b corresponding to the own vehicle entry road. It is classified into the “second priority state” category corresponding to the case of the priority road for 80a. In the present embodiment, the alert content determination unit 17 is based on the map information stored in the first map information storage unit 31 and the priority state corresponding to “first priority state” or “second priority state”. Is configured to select. As described above, the “entrance road type” includes a classification of whether or not the own vehicle approach road 80a is a specific approach road. In the present embodiment, the “entrance road type” is further prioritized for traffic at the intersection 70. Classification based on rank is also included.

  And if it falls under all of the categories of “specific collision alert”, “with traffic light”, and “first display state”, the first alert is selected and determined as the alert content, In the present embodiment, an alert message “Please be careful about signal oversight” is set as the first alert. If it falls under all of the categories of “specific collision alert”, “with traffic light”, and “second display status”, the second alert is selected and determined as the alert content. In the form, a warning message “Please keep driving in accordance with signal regulations” is set as the second warning. In the case of falling under the category of “specific collision alert” and “no traffic light”, the third alert is selected and determined as the alert content. Please be careful "is set as the third alert. As described above, the “specific collision alert” category is selected when the frequency of the specific sudden braking operation for avoiding the specific collision is high. In this embodiment, a traffic light is installed at the target intersection 70a. Only the third alert that is selected in the case where it is not, a reminder message that refers to a specific collision (head-on collision) is set. Then, in the first alert and the second alert that are selected when a traffic light is installed at the target intersection 70a, an alert message regarding a signal is set instead of the alert message that refers to the specific collision. Yes.

  In addition, if all of the categories of “Non-specific collision alert”, “First approach state”, and “First priority state” are applicable, the fourth alert is selected as the alert content. In the present embodiment, the alert message “This is the place where many sudden brakings occur” is set as the fourth alert. If all of the categories “Non-specific collision alert”, “First approach state”, and “Second priority state” are applicable, the fifth alert is selected and determined as the alert content. In the present embodiment, the alert message “Please comply with the temporary stop regulations from now on” is set as the fifth alert. In the case of falling under all of the categories of “non-specific collision alert” and “second approach state”, the sixth alert is selected and determined as the alert content. The alert message “Please pay attention to the jumping out of the vehicle on the intersection” is set as the sixth alert.

  In the present embodiment, as shown in FIG. 4, only the selection rule when the traffic signal is not installed is defined for the target intersection 70 a corresponding to “non-specific collision alert”. Although illustration is omitted, for example, when a traffic light is installed at the target intersection 70a corresponding to “non-specific collision alert”, the display state of the traffic signal is similar to the case corresponding to “specific collision alert”. Is selected and determined when the “first display state” is selected, and the second warning is selected and determined when the signal display state is “second display state”. It is suitable even if comprised.

1-9. Configuration of the alert execution unit The alert execution unit 18 is a functional unit that alerts an occupant of the own vehicle (vehicle 3) entering the target intersection 70a. The alert execution unit 18 is configured to perform alerts based on the alert content determined by the alert content determination unit 17. In the present embodiment, alerting is executed when the host vehicle passes the alerting setting position set in front of the target intersection 70a. Here, as shown in FIG. 3, the alert setting position is based on the entrance to the target intersection 70a or the stop position set by the stop line marking 73 or the like (the entrance to the target intersection 70a in the example of FIG. 3). The position is set to the rear side in the traveling direction of the vehicle 3 by the attention setting distance L. The attention setting distance L is set to a distance that allows the vehicle 3 to be stopped at the reference position with a sufficient margin by performing an appropriate braking operation. For example, a fixed value such as 100 [m] It is set to a variable value according to the vehicle speed or the like.

  In the present embodiment, the attention executing unit 18 executes one or both of the output of the warning display image by the display device 98 and the output of the warning sound by the audio output device 99, so that the caution to the passenger of the vehicle 3 is obtained. Perform an arousal. The content of the warning display image (warning character) and the content of the warning sound at this time represent the alerting content determined by the alerting content determination unit 17.

1-10. Configuration of sudden braking operation detection unit The sudden braking operation detection unit 15 is a functional unit that detects a sudden braking operation of the host vehicle (vehicle 3). Various methods can be adopted as a method for detecting the sudden braking operation. For example, when the vehicle 3 is provided with a brake assist device, it can be configured that when the brake assist device is activated, it is determined that a sudden brake operation has occurred and the sudden brake operation is detected. Here, the brake assist device performs a brake assist operation that enhances the braking effect against the driver's brake pedal force when the speed and strength of the driver's brake pedal being depressed are greater than during normal braking. Device.

  Further, the vehicle 3 is configured to detect the deceleration, and when the detected deceleration exceeds a predetermined sudden brake determination threshold, it is determined that the sudden brake operation has occurred and the sudden brake operation is detected. It can be set as the structure to do. When the distance sensor 92 includes a sensor that detects acceleration / deceleration, the sensor 3 can be configured to detect deceleration of the vehicle 3. Alternatively, as a configuration for detecting the operation amount of the brake pedal by the driver, when the operation amount or the change speed of the operation amount is equal to or higher than a predetermined sudden brake determination threshold, the sudden brake operation is generated. It can also be configured to detect a sudden braking operation. Note that the sudden brake determination threshold value in these cases may be a fixed value or a variable value.

1-11. Sudden Brake Information Generation Unit The sudden brake information generation unit 16 is a functional unit that generates sudden brake information that is generation information of the sudden brake operation when a sudden brake operation occurs at the intersection 70. In the present embodiment, an intersection determination threshold (for example, 10 [m] or 20) between which a distance (a straight line distance or a distance along the road extending direction) between the point where the sudden braking operation occurs and the intersection 70 is determined. [M] etc., it is determined that the sudden braking operation has occurred at the intersection 70. At this time, the position of the point where the sudden braking operation occurred is specified based on the estimated vehicle position acquired by the estimated vehicle position acquisition unit 12, and the position of the intersection 70 is stored in the first map information storage unit 31. Identified based on map information.

  The sudden brake information generated by the sudden brake information generation unit 16 includes information on the occurrence time t1 of the sudden brake operation (see FIG. 5A), sudden brake in addition to the information that the sudden brake operation has occurred at the intersection 70. Information on the intersection 70 where the operation has occurred and information on the approach direction in which the sudden braking operation has occurred are included. As the occurrence time t1 of the sudden brake operation, the time acquired by the current time acquisition unit 13 when the sudden brake operation detection unit 15 detects the sudden brake operation is used. Further, the intersection 70 and the approach direction where the sudden braking operation has occurred are based on the estimated own vehicle position and traveling direction of the own vehicle when the sudden braking operation is detected, and the map information stored in the first map information storage unit 31. Identified. The traveling direction of the host vehicle is acquired based on the history of the estimated host vehicle position or the output of the direction sensor 93. In the present embodiment, the information on the intersection 70 where the sudden braking operation has occurred is information that identifies the node corresponding to the intersection 70. In the present embodiment, the information on the approach direction in which the sudden braking operation has occurred is information for identifying the approach road 80 corresponding to the approach direction. Specifically, the link corresponding to the approach road 80 is identified. Information.

  In the present embodiment, the sudden brake information generated by the sudden brake information generation unit 16 further includes intersection passing information. Here, the intersection passing information includes at least the start time t2 of the vehicle after the sudden brake operation (see FIG. 5B) and the exit time t3 of the vehicle started after the sudden brake operation (see FIG. 5B). One is information that can be acquired. In the present embodiment, the intersection passing information is configured by information on the departure time t2 and information on the intersection exit time t3. That is, in this embodiment, the intersection passing information is information that can acquire both the start time t2 and the intersection exit time t3.

  The start time t2 corresponds to the time at which the vehicle 3 that has been decelerated or stopped by the sudden braking operation starts acceleration in order to pass through the intersection 70 (that is, to exit from the intersection 70). In the present embodiment, the sudden brake information generation unit 16 includes a start detection unit (not shown) that detects the start of the vehicle 3 after the sudden brake operation, and the current time acquisition unit 13 is detected when the start is detected by the start detection unit. The time acquired by is used as the start time t2. For example, the start detection unit is configured to detect the acceleration of the vehicle 3, and the start detection unit detects the start of the vehicle 3 when the detected acceleration is equal to or greater than a predetermined start determination threshold. can do. In the case where the distance sensor 92 includes a sensor that detects acceleration, the sensor 3 can be configured to detect the acceleration of the vehicle 3. In addition, for example, a start detection unit is configured to detect an operation amount (accelerator opening) of an accelerator pedal by a driver, and the start detection unit determines whether the detected operation amount of the accelerator pedal or the change rate of the operation amount is detected. It can be set as the structure which detects the start of the vehicle 3 when it becomes more than a predetermined start determination threshold value. Note that the start determination threshold value in these cases may be a fixed value or a variable value.

  The intersection exit time t3 corresponds to the time when the vehicle 3 that started at the start time t2 exits from the intersection 70 (that is, the time when the passage of the intersection 70 is completed). In the present embodiment, as shown in FIG. 5B, the sudden brake information generation unit 16 exits that is set according to the road width of the intersection approach road 80b (hereinafter referred to as “intersection road width W”). Based on the distance, the exit of the vehicle 3 from the intersection 70 is detected. The time acquired by the current time acquisition unit 13 when the exit from the intersection 70 is detected is used as the intersection exit time t3. The exit determination distance is set to, for example, the same distance as the intersection road width W or a distance obtained by adding the length (full length) of the vehicle 3 in the front-rear direction to the intersection road width W. If the crossing angle between the approach direction of the own vehicle approaching road 80a and the approaching direction of the crossing approaching road 80b is not 90 degrees, the crossing road width W is the length of the crossing approaching road 80b. It is preferable to use a width along the extending direction of the vehicle approach road 80a of the intersection approach road 80b instead of the width in the direction orthogonal to the current direction.

  In the present embodiment, the sudden brake information generation unit 16 acquires the travel distance of the vehicle 3 from the start time t2 from the detection result of the distance sensor 92, and when the travel distance becomes equal to the exit determination distance, the vehicle The exit from 3 intersection 70 is detected. In addition, based on the relational expression or map which prescribes the relationship between the general required time required for the vehicle 3 to leave the intersection 70 and the exit determination distance, it is obtained by adding the start time t2 and the required time. It is also possible to adopt a configuration in which the received time is used as the intersection exit time t3.

  The sudden brake information generated by the sudden brake information generation unit 16 is transmitted to the management device 2 by the first transmission / reception unit 11. As described above, in the present embodiment, the sudden braking information includes the node information corresponding to the intersection 70, the link information corresponding to the approach road 80, the occurrence time t1 information, the start time t2 information, and the intersection. Information of the exit time t3 is included. In the present embodiment, the sudden brake information generation unit 16 is configured to generate sudden brake information corresponding to the sudden brake operation every time the sudden brake operation detection unit 15 detects a sudden brake operation at the intersection 70. ing. Then, the transmission timing of the sudden brake information to the management device 2 can be a point in time when the sudden brake information is generated by the sudden brake information generation unit 16 or can be a point in time after that point. In the latter case, a plurality of pieces of sudden braking information can be transmitted to the management device 2 together. For example, when the main power of the vehicle 3 provided with the navigation device 1 is turned off, the main power is turned on. It can be set as the structure which transmits the single or several sudden brake information which generate | occur | produced until to the management apparatus 2. FIG.

2. Configuration of Management Device As shown in FIG. 2, the management device 2 includes a plurality of functional units. Specifically, the second transmission / reception unit 21, the sudden brake information collection unit 22, the sudden brake information management unit 23, The emergency brake information determination unit 24, the intersection type acquisition unit 25, the alerting information generation unit 26, and the alerting information distribution unit 27 are provided. In other words, in the present embodiment, the management device 2 is provided with the alert information distribution unit 27 that arranges alert information on each of the navigation devices 1.

  Each functional unit included in the management device 2 is implemented and configured by hardware and / or software (program) or both, like each functional unit included in the navigation device 1, and exchanges information with each other via a communication line. It is configured to be able to. Each functional unit included in the management device 2 is configured to be able to extract data from the second map information storage unit 41 and the sudden brake information storage unit 42 included in the management device 2. The 2nd map information storage part 41 and the sudden brake information storage part 42 are the database comprised by a memory | storage device like the memory | storage parts 31, 32, and 33 with which the navigation apparatus 1 is provided. Specifically, the second map information storage unit 41 is a storage unit that stores map information, similarly to the first map information storage unit 31 provided in the navigation device 1. The sudden brake information storage unit 42 is a storage unit that stores the sudden brake information collected by the sudden brake information collection unit 22. Each of the storage units 41 and 42 may have independent hardware, or may be provided in common hardware.

2-1. Configuration of Second Transmission / Reception Unit The second transmission / reception unit 21 includes a communication device that transmits / receives data to / from a plurality of vehicles 3 (specifically, the navigation device 1). The communication device provided in the second transmission / reception unit 21 is a wireless communication device in the present embodiment, and a communication standard common to the first transmission / reception unit 11 provided in the navigation device 1 is used.

2-2. Configuration of Sudden Brake Information Collecting Unit The sudden braking information collecting unit 22 is a functional unit that collects sudden braking information that is information on occurrence of sudden braking operation of the vehicle 3 at the intersection 70 from a plurality of vehicles 3. As described above, the sudden brake information is generated by the sudden brake information generation unit 16 included in the navigation device 1, and the generated sudden brake information is transferred from the first transmission / reception unit 11 to the second transmission / reception unit 21 included in the management device 2. Sent. The sudden brake information collecting unit 22 collects the sudden brake information received by the second transmitting / receiving unit 21 and stores the collected sudden brake information in the sudden brake information storage unit 42.

2-3. Configuration of Sudden Brake Information Management Unit The sudden brake information management unit 23 is a functional unit that manages the sudden brake information collected by the sudden brake information collection unit 22. In the present embodiment, the sudden brake information collected by the sudden brake information collection unit 22 is stored in the sudden brake information storage unit 42, and the sudden brake information management unit 23 stores the sudden brake information stored in the sudden brake information storage unit 42. Manage. Specifically, the sudden brake information management unit 23 manages the sudden brake information in association with the occurrence time t1 of the sudden brake operation, the intersection where the sudden brake operation has occurred, and the approach direction in which the sudden brake operation has occurred. As described above, information such as the occurrence time t1 necessary for the association is included in the sudden brake information received from the navigation device 1.

  In the present embodiment, the sudden brake information management unit 23 further passes the intersection information, which is information capable of acquiring at least one of the start time t2 of the vehicle after the sudden brake operation and the intersection exit time t3 of the vehicle. Manage information in association with it. In the present embodiment, as described above, the intersection passing information is constituted by the information of the departure time t2 and the information of the intersection leaving time t3. Therefore, in this embodiment, the sudden brake information management unit 23 manages the sudden brake information in association with the sudden braking operation occurrence time t1, the intersection where the sudden braking operation has occurred, and the approach direction in which the sudden braking operation has occurred. In addition, the vehicle is managed in association with the start time t2 of the vehicle after the sudden braking operation and the intersection exit time t3 of the vehicle after the sudden braking operation.

2-4. Configuration of Sudden Brake Information Determination Unit The sudden brake information determination unit 24 is a functional unit that determines whether or not the sudden brake information is specific sudden brake information indicating a specific sudden brake operation. Here, the specific sudden braking operation is a sudden braking operation for avoiding a specific collision. The specific collision is a collision with another vehicle that enters the same intersection in the approach direction that intersects the approach direction of the host vehicle, and is generally called an encounter collision.

  FIG. 6A shows a situation in which both of the two vehicles 3 entering the same intersection 70 in the approach directions crossing each other perform a specific sudden braking operation in order to avoid a specific collision. FIG. 6B shows a situation where the first vehicle 3a, which is one of the vehicles 3, starts first to pass the intersection 70 after the situation shown in FIG. FIG. 6C shows a situation where the second vehicle 3b, which is the other vehicle 3, starts after the first vehicle 3a to pass the intersection 70 after the situation of FIG. 6B is reached. . In FIG. 6, time t1a, time t2a, and time t3a represent the occurrence time of the sudden brake operation, the start time after the sudden brake operation, and the intersection exit time for the first vehicle 3a, respectively. Similarly, the time t1b, the time t2b, and the time t3b represent the occurrence time of the sudden brake operation, the start time after the sudden brake operation, and the intersection exit time for the second vehicle 3b, respectively.

  The sudden brake information determination unit 24, when two sudden brake information associated with the approach direction intersecting each other of the same intersection 70 satisfies both the first determination condition and the second determination condition, the two sudden brake information Is determined to be specific sudden braking information. As will be described below, the first determination condition is a determination condition for determining the situation shown in FIG. 6A, and the second determination condition is shown in FIG. 6B and FIG. 6C. This is a determination condition for determining the situation.

The first determination condition is a condition that a difference between the occurrence times t1 of the sudden brake operation associated with each of the two sudden brake information is shorter than a predetermined first determination time. That is, when applied to the situation shown in FIG. 6, the first determination condition is satisfied when the relationship of the following expression (1) is satisfied with the first determination time Z1. The first determination time Z1 can be a value selected from a range of 1 second to 5 seconds, for example.
| T1a-t1b | <Z1 (1)

The second determination condition is a first time which is one of the start time t2 or the intersection exit time t3 acquired from any one of the intersection passage information among the intersection passage information associated with each of the two sudden brake information. The condition is that the difference between the start time t2 obtained from the other intersection passage information or the second time that is one of the intersection exit times t3 is shorter than a predetermined second determination time. Of the intersection passing information associated with each of the two sudden brake information, the intersection passing information with the earliest start time t2 that can be acquired is set as the first intersection passing information, and the start time t2 that can be acquired is later In the present embodiment, when the intersection passage information is the second intersection passage information, in the present embodiment, the first time is set to the start time t2 acquired from the second intersection passage information, and the second time is the first intersection passage information. Is set to the intersection exit time t3 acquired from That is, in the present embodiment, the second determination condition is that a difference between the start time t2 acquired from the second intersection passage information and the intersection exit time t3 acquired from the first intersection passage information is determined in advance. The condition is shorter than the second determination time. When applied to the situation shown in FIG. 6, the second determination condition is satisfied when the relationship of the following formula (2) is satisfied with the second determination time Z2. The second determination time Z2 can be a value selected from a range of 1 second to 5 seconds, for example.
| T2b−t3a | <Z2 (2)

  By using such first determination condition and second determination condition, after the situation shown in FIG. 6A occurs, the situation shown in FIG. 6B and the situation shown in FIG. It is possible to determine whether or not the two sudden brake information are the specific sudden brake information based on the behavior of the vehicle that is expected when the specific sudden brake operation occurs at the intersection 70 that occurs sequentially. Yes. The first determination time Z1 and the second determination time Z2 can be fixed values or variable values. For example, the first determination time Z1 can be a variable value according to the speed limit of the approach road 80. Further, for example, one or both of the first determination time Z1 and the second determination time Z2 can be a variable value according to the road width (intersection width).

2-5. Configuration of Intersection Type Acquisition Unit The intersection type acquisition unit 25 is a functional unit that acquires the type of the intersection 70 (intersection type). The intersection type acquisition unit 25 acquires information on the intersection type of the target intersection 70a required by the alerting information generation unit 26 described later. Specifically, the intersection type acquisition unit 25 acquires information on the intersection type necessary for performing classification according to the “intersection type” illustrated in FIG. 4. That is, the intersection type information acquired by the intersection type acquisition unit 25 includes classification information indicating whether or not a traffic light is installed at the intersection 70. In this embodiment, the classification information based on the display state of the traffic light is also included. included. In the present embodiment, the intersection type acquisition unit 25 acquires information on whether or not a traffic light is installed at the intersection 70 based on the map information stored in the second map information storage unit 41. In the present embodiment, the intersection type acquisition unit 25 acquires the display state of the traffic lights installed at the intersection 70 through communication with the traffic control center.

2-6. Structure of attention generating information generating unit The attention generating information generating unit 26 is a functional unit that generates information for calling attention based on sudden braking information. The alerting information generating unit 26 generates alerting information for the target intersection 70a, which is the intersection 70 to be alerted. In the present embodiment, an intersection at which the occurrence frequency of a sudden brake operation acquired based on the number of occurrences of a sudden brake operation in a frequency calculation period (eg, 1 month, 6 months, 1 year, etc.) is higher than a predetermined determination value. 70 is set as the target intersection 70a. Note that, as the determination value in this case, for example, a value corresponding to the frequency when the occurrence occurs once in the number of days (for example, one day) selected from the first to the tenth days can be used. In addition, based on the form of the intersection 70 (for example, the connection form between approach roads, the road width, the road type, the speed limit, etc.) or based on both the occurrence frequency of the sudden braking operation and the form of the intersection 70, the target intersection It can also be set as the structure which selects the intersection 70 made into 70a.

  The alerting information generating unit 26 selects the alerting content for each target intersection 70a from among a plurality of candidates according to the occurrence status of the specific sudden brake operation based on the specific sudden brake information for each target intersection 70a. The alerting information is generated based on the selection result. Specifically, the alerting information generation unit 26, when the occurrence frequency of the specific sudden brake operation acquired from the occurrence state of the specific sudden brake operation is higher than a predetermined determination value, / "Non-specific" is selected as the "specific / non-specific" category shown in Fig. 4 when "specific collision alert" is selected and the frequency of specific sudden braking operations is the same or lower than the above judgment value. Select “Non-specific collision alert”. Here, the occurrence frequency of the specific sudden braking operation occurred at the intersection 70 with respect to the number of occurrences of the sudden braking operation that occurred at the intersection 70 in the frequency calculation period (for example, 1 month, 6 months, 1 year, etc.). It is represented by the ratio of the number of occurrences of the specific sudden brake operation, and is derived based on the determination result by the sudden brake information determination unit 24. As a determination value in this case, for example, a value corresponding to a frequency (that is, “0.5”) when a specific sudden braking operation is performed once every two sudden braking operations can be used.

  In the present embodiment, the alerting information generating unit 26, in addition to the occurrence status of the specific sudden braking operation described above, in accordance with the type of the target intersection 70a (intersection type), the alerting content for each target intersection 70a Is selected from a plurality of candidates. In the present embodiment, as shown in FIG. 4, the selection of the alert content based on the intersection type is executed only when “specific collision alert” is selected as the “specific / non-specific” category. When selecting the alerting content based on the intersection type, the intersection type acquiring unit 25 acquires the intersection type of the target intersection 70a, and according to the rules shown in FIG. And any of the third alerts are selected. As described above, in the present embodiment, a warning message “Please pay attention to an encounter accident” is set in the third warning. In other words, in the present embodiment, the alerting information generation unit 26 specifies the intersection having an occurrence frequency acquired from the occurrence state of the specific sudden braking operation higher than a predetermined determination value and no traffic signal installed. It is comprised so that the alerting content regarding a collision may be selected.

  The alerting information generated by the alerting information generating unit 26 includes information for specifying the target intersection 70a (specifically, information for specifying a node corresponding to the target intersection 70a), and the management device 2 The information on the selection result of the alerting content executed by the side (specifically, the alerting information generating unit 26) is included. Specifically, when “specific collision alert” is selected as the “specific / non-specific” category, the alert content is further selected based on the “intersection type”. The information includes information for specifying the alert content of any of the first alert, the second alert, and the third alert.

  On the other hand, when “non-specific collision alert” is selected as the “specific / non-specific” category, no further selection processing is executed on the management device 2 side. In this case, the alerting information includes information indicating that non-specific collision alerting has been selected and information for identifying the specific approach road (specifically, a link corresponding to the specific approach road is identified. Information), and the navigation apparatus 1 side executes a process of selecting any one of the alert contents from the fourth alert, the fifth alert, and the sixth alert. Here, the “specific approach road” is an approach road 80 in which the occurrence frequency of the sudden braking operation is higher than that of the other approach roads 80 at the same intersection 70 as described above. The setting process of the approach road 80 as the specific approach road is executed by the alerting information generation unit 26 based on the occurrence frequency of the sudden braking operation on each approach road 80.

2-7. Structure of the alerting information distribution unit The alerting information distribution unit 27 is a functional unit that arranges the alerting information on each of the navigation devices 1 (vehicles 3). The alerting information distribution unit 27 distributes the alerting information generated by the alerting information generation unit 26 to the navigation device 1 via the second transmission / reception unit 21. In the present embodiment, the alert information delivery unit 27 periodically sends alert information about all of the target intersections 70a included in a predetermined area (for example, an area corresponding to an administrative district) (for example, (Every day, every 10 days, every month, etc.). Note that the alerting information delivery unit 27 may deliver alerting information about the target intersection 70a to which the vehicle 3 approaches according to the current position of the vehicle 3 to the navigation device 1.

3. Next, referring to FIG. 7, FIG. 8, and FIG. 9, the alerting process executed in the alerting system according to the present embodiment (specifically, the alerting process shown in FIG. 7 is executed). The procedure of the process, the generation process of the sudden brake information shown in FIG. 8, and the generation process of the information for alerting shown in FIG. 9, that is, the alerting method will be described. The procedure of the alerting process described below is executed by hardware and / or software (program) or both constituting each functional unit of the navigation device 1 and the management device 2 described above. When each of the above functional units is configured by a program, the arithmetic processing device included in the navigation device 1 or the management device 2 operates as a computer that executes the program that configures each of the above functional units.

3-1. Procedure for executing alerting When it is determined that the target intersection 70a is in front of the host vehicle (step # 01: Yes), alerting information is acquired (step # 02), and the contents of the alerting information are included. Based on the above, it is determined whether or not “specific collision alert” is selected for the category “specific / non-specific” (see FIG. 4) (step # 03). If “specific collision alert” is selected (step # 03: Yes), the process proceeds directly to step # 05. If “specific crash alert” is not selected, that is, “non-specific If “Collision alert” is selected (step # 03: No), the process proceeds to step # 05 through step # 04. In the process of step # 04, the approach road type (see FIG. 4) of the own vehicle approach road 80a is acquired. Then, the alerting content in accordance with the rules of FIG. 4 is determined (step # 05), alerting based on the determined alerting content is executed (step # 06), and the process ends.

3-2. Procedure for Generating Sudden Brake Information As shown in FIG. 8, when an abrupt brake operation at an intersection 70 is detected (step # 11: Yes), an occurrence time t1 of the sudden brake operation is acquired (step # 12). . Next, when the start after the sudden braking operation is detected (step # 13: Yes), the start time t2 is acquired (step # 14), and the intersection road width W is acquired (step # 15). It is determined whether or not the vehicle 3 has left the intersection 70 (step # 16). When the exit of the vehicle 3 from the intersection 70 is detected (step # 16: Yes), the intersection exit time t3 is acquired (step # 17), and sudden brake information is generated (step # 18). In the present embodiment, the sudden brake information generation process shown in FIG. 8 is executed mainly by the sudden brake information generation unit 16 provided in the navigation device 1.

3-3. Procedure for generating information for alerting As shown in FIG. 9, all the sudden brake information associated with the target intersection 70a is acquired, and two sudden brake information (abrupt brake information set) satisfying the first determination condition is obtained. It is determined whether or not there is (step # 22). When there is no sudden brake information set that satisfies the first determination condition (step # 22: No), the process proceeds to step # 28, and the occurrence frequency of the specific sudden brake operation is acquired as zero. On the other hand, if there is a sudden brake information set that satisfies the first determination condition (step # 22: Yes), a sudden brake information set that satisfies the first determination condition is extracted (step # 23), and the extracted sudden brake information set is satisfied. It is determined whether or not the second determination condition is satisfied (step # 24). In step # 23, a sudden brake information set for which the determination based on the second determination condition (step # 24) is not executed is extracted.

  When the sudden brake information set satisfies the second determination condition (step # 24: Yes), it is determined that the sudden brake information set is the specific sudden brake information (step # 25), and the sudden brake information set is the second. If the determination condition is not satisfied (step # 24: No), it is determined that the sudden brake information set is not the specific sudden brake information, that is, it is determined that it is non-specific sudden brake information (step # 26). Until the determination based on the second determination condition is executed for all of the sudden brake information sets that satisfy the first determination condition (step # 27: No), the processing from step # 23 is repeatedly executed.

  When the determination based on the second determination condition for all of the sudden brake information sets satisfying the first determination condition is completed (step # 27: Yes), the process proceeds to step # 28, and the occurrence frequency of the specific sudden brake operation is derived. (Step # 28). If the frequency of occurrence of the acquired specific sudden braking operation is higher than a predetermined determination value (step # 29: Yes), the process proceeds to step # 31 for selecting the alert content through the process of step # 30, and acquired. If the occurrence frequency of the specified sudden braking operation is equal to or lower than the determination value (step # 29: No), the process proceeds to step # 31 where the alerting content is selected as it is. And information for alerting is produced | generated based on the selection result of the alerting content in step # 31 (step # 32), and a process is complete | finished. In the present embodiment, the alerting information generation process illustrated in FIG. 9 is executed mainly by the sudden brake information determination unit 24 and the alerting information generation unit 26 provided in the management device 2.

4). Other Embodiments Finally, other embodiments of the alerting system according to the present invention will be described. Note that the configurations disclosed in the following embodiments can be applied in combination with the configurations disclosed in other embodiments as long as no contradiction arises.

(1) In the above-described embodiment, the start time t2 or the intersection exit time t3 acquired from any one of the intersection passing information associated with each of the two sudden braking information is the first. The second that the difference between one time and the second time that is one of the start time t2 or the intersection exit time t3 acquired from the other intersection passage information is shorter than the predetermined second determination time. As an example of the determination condition, the first time is set to the start time t2 acquired from the second intersection passing information, and the second time is set to the intersection leaving time t3 acquired from the first intersection passing information. As explained. The first intersection passing information is the intersection passing information with the earlier start time t2 that can be acquired from the intersection passing information associated with each of the two sudden brake information, and the second intersection passing information is 2 Of the intersection passing information associated with each of the sudden braking information, it is the intersection passing information with the later start time t2 that can be acquired.
However, the embodiment of the present invention is not limited to this. For example, the first time is acquired from the second intersection passage information instead of the start time t2 acquired from the second intersection passage information. It can be set as the structure set to intersection exit time t3. In this case, both the first time and the second time are set to the intersection exit time t3. Moreover, it can also be set as the structure by which said 2nd time is set to start time t2 acquired from 1st intersection passage information instead of the intersection exit time t3 acquired from 1st intersection passage information. In this case, both the first time and the second time are set to the start time t2. Further, the first time is set to the intersection exit time t3 acquired from the second intersection passage information instead of the start time t2 acquired from the second intersection passage information, and the second time is Instead of the intersection exit time t3 acquired from the one intersection passing information, it may be configured to be set at the start time t2 acquired from the first intersection passing information. In this case, the first time is set to the intersection departure time t3 that is later in the obtainable start time t2 of the intersection passing information associated with each of the two sudden brake information, and the second time is set to two Of the intersection passing information associated with each of the sudden brake information, the start time t2 that can be acquired is set to the earlier start time t2.

(2) In the above embodiment, the configuration in which the information of the intersection exit time t3 is included in the sudden brake information generated by the sudden brake information generation unit 16 has been described as an example. However, the embodiment of the present invention is not limited to this, and the sudden brake information determination unit 24 may derive the intersection exit time t3 and execute the determination based on the second determination condition. For example, the information on the intersection road width W is included in the sudden brake information, and the sudden brake information determination unit 24 derives the intersection exit time t3 based on the intersection road width W. In this case, the information of the intersection road width W is intersection passage information that can acquire the intersection exit time t3.

(3) In the above embodiment, when the two sudden brake information associated with the approach directions intersecting each other at the same intersection 70 satisfy the second judgment condition in addition to the first judgment condition, the two sudden brakes The configuration in which the information is determined to be specific sudden brake information has been described as an example. However, the embodiment of the present invention is not limited to this, and the sudden brake information determination unit 24 has two sudden brake information associated with the approach directions intersecting each other at the same intersection 70 satisfy the first determination condition. In such a case, it may be configured to determine that the two sudden brake information is the specific sudden brake information. That is, it can also be set as the structure which determines whether two sudden brake information is specific sudden brake information based on only the 1st determination condition, not based on a 2nd determination condition.

(4) In the above embodiment, the configuration in which the navigation device 1 includes the alert content determination unit 17 has been described as an example. However, the embodiment of the present invention is not limited to this, and the alerting content is determined on the management device 2 side, and the alerting information includes information on the determination result of the alerting content. You can also. That is, the navigation device 1 can be configured such that no alert content selection process is executed.

(5) In the above embodiment, when selecting the alert content, as shown in FIG. 4, a selection based on the intersection type of the target intersection 70a or a selection based on the approach road type of the own vehicle approaching road 80a is performed. Was described as an example. However, the embodiment of the present invention is not limited to this, and it is also possible to adopt a configuration in which at least one of selection based on the intersection type and selection based on the approach road type is not executed.

(6) In the above embodiment, the case where the alerting system according to the present invention is configured using the in-vehicle navigation device 1 is described as an example. However, such a navigation device 1 is fixed to the vehicle 3. The portable navigation device or the portable terminal that can be arbitrarily moved is not limited to the one mounted on the vehicle 3 and may be brought into the vehicle 3 only at the time of use.

(7) The assignment of the functional units described in the above embodiment is merely an example, and a plurality of functional units can be combined or one functional unit can be further divided. In the above embodiment, the configuration in which the storage units 31, 32, and 33 are provided in the navigation device 1 has been described as an example. However, at least a part of the storage units 31, 32, and 33 and a part of the navigation device 1 are included. The functional unit may be provided outside the vehicle 3 so that information and signals are transmitted / received via a communication network such as the Internet. In addition, a part of the functional units provided in the management device 2 may be provided in the navigation device 1. For example, the navigation device 1 may include the sudden braking information collection unit 22 and the sudden braking information management unit 23, and the navigation device 1 may manage the sudden braking information.

(8) Regarding other configurations as well, the embodiments disclosed herein are illustrative in all respects, and the embodiments of the present invention are not limited thereto. In other words, configurations that are not described in the claims of the present application can be modified as appropriate without departing from the object of the present invention.

  The present invention collects sudden braking information, which is information on occurrence of sudden braking operation of a vehicle at an intersection, from a plurality of vehicles, and generates a warning information based on the sudden braking information, a warning program, and a warning It can utilize suitably for a method.

1: Navigation device (in-vehicle terminal device)
2: Management device 3: Vehicle 17: Alerting content determining unit 22: Sudden brake information collecting unit 23: Sudden brake information managing unit 24: Sudden brake information determining unit 26: Alerting information generating unit 27: Distributing alert information Part 70: intersection t1: occurrence time t2: start time t3: intersection exit time

Claims (11)

An emergency brake information collecting unit that collects sudden brake information, which is information on occurrence of sudden braking operation of a vehicle at an intersection, from a plurality of vehicles; and an information generating unit for alerting that generates alerting information based on the sudden brake information; An alerting system comprising:
A sudden brake information management unit that manages the sudden brake information in association with the occurrence time of the sudden brake operation, the intersection where the sudden brake operation has occurred, and the approach direction in which the sudden brake operation has occurred,
The specific sudden brake operation in which the sudden brake information represents a specific sudden brake operation for avoiding a specific collision that is a collision with another vehicle that enters the same intersection in the approach direction that intersects the approach direction of the host vehicle. A sudden brake information determination unit that determines whether the information is information,
The sudden brake information determination unit, when two sudden brake information associated with an approach direction intersecting each other at the same intersection satisfies a first determination condition, the two sudden brake information is the specific sudden brake information. And
The first determination condition is a condition that a difference between occurrence times of sudden brake operations associated with each of the two sudden brake information is shorter than a predetermined first determination time,
The alerting information generating unit generates alerting contents for each intersection from a plurality of candidates according to the occurrence state of the specified sudden braking operation and the type of the intersection based on the specified sudden brake information for each intersection. Select, generate the alert information based on the selection result ,
The information generating unit for alerting alerts the specific collision at an intersection where the occurrence frequency acquired from the occurrence state of the specific sudden braking operation is higher than a predetermined determination value and no traffic signal is installed. An alerting system for selecting alerting contents for performing alerting for signals at an intersection where the occurrence frequency is higher than the determination value and where a traffic signal is installed, as well as selecting alerting contents for performing . An emergency brake information collecting unit that collects sudden brake information, which is information on occurrence of sudden braking operation of a vehicle at an intersection, from a plurality of vehicles; and an information generating unit for alerting that generates alerting information based on the sudden brake information; An alerting system comprising:
A sudden brake information management unit that manages the sudden brake information in association with the occurrence time of the sudden brake operation, the intersection where the sudden brake operation has occurred, and the approach direction in which the sudden brake operation has occurred,
The specific sudden brake operation in which the sudden brake information represents a specific sudden brake operation for avoiding a specific collision that is a collision with another vehicle that enters the same intersection in the approach direction that intersects the approach direction of the host vehicle. A sudden brake information determination unit that determines whether the information is information,
The sudden brake information determination unit, when two sudden brake information associated with an approach direction intersecting each other at the same intersection satisfies a first determination condition, the two sudden brake information is the specific sudden brake information. And
The first determination condition is a condition that a difference between occurrence times of sudden brake operations associated with each of the two sudden brake information is shorter than a predetermined first determination time,
The alerting information generating unit selects the alerting content for each intersection from a plurality of candidates according to the occurrence situation of the specified sudden braking operation based on the specified sudden braking information for each intersection, Based on the selection result, the information for alerting is generated,
The sudden brake information management unit further manages the sudden brake information in association with intersection passing information which is information capable of acquiring at least one of the start time of the vehicle after the sudden brake operation and the exit time of the intersection of the vehicle. ,
The abrupt brake information determination unit determines that the two abrupt brakes when the two abrupt brake information associated with the approach directions intersecting each other at the same intersection satisfy the second determination condition in addition to the first determination condition. It is determined that the information is the specific sudden brake information,
The second determination condition is one of a start time and an intersection exit time acquired from any one of the intersection passage information using the intersection passage information associated with each of the two sudden brake information. and time difference between one in which the second time of the starting time or the intersection exit time is acquired from the other of the intersection passage information, Ru condition der that shorter than the second determination time determined in advance Note arouse system. The intersection passing information is information that can acquire both the start time of the vehicle after the sudden braking operation and the intersection exit time of the vehicle,
Of the intersection passing information associated with each of the two sudden brake information used for the determination by the sudden brake information determination unit, the intersection passing information with the earlier start time that can be acquired is the first intersection passing information. Yes, the intersection passing information with the later start time that can be acquired is the second intersection passing information,
The second determination condition is a condition in which the first time is a start time acquired from the second intersection passage information, and the second time is an intersection exit time acquired from the first intersection passage information. Item 3. The alert system according to item 2. The alert information generating unit, in addition to the occurrence of the particular sudden braking, depending also on the type of intersection, according to claim 2 or 3 selects the alert contents for each intersection from a plurality of candidate The alerting system described in   The alerting information generating unit is configured to alert the specific collision with respect to an intersection where the occurrence frequency acquired from the occurrence state of the specific sudden braking operation is higher than a predetermined determination value and no traffic signal is installed. The alerting system according to claim 4 which selects. A warning content determination unit that determines the warning content for each intersection based on the information for warning,
The alerting content determination unit determines alerting content corresponding to both the content of the alerting information and the type of approach road of the target vehicle to be alerted. The alerting system described in A vehicle-mounted terminal device mounted on a vehicle, and a management device provided to be able to communicate with the plurality of vehicle-mounted terminal devices,
An information distribution unit for alerting that distributes the alerting information to each of the in-vehicle terminal devices is provided in the management device,
The alerting system according to claim 6, wherein the alerting content determination unit is provided in each of the in-vehicle terminal devices. A sudden brake information collecting unit collects sudden brake information, which is information on occurrence of sudden braking operation of a vehicle at an intersection, from a plurality of vehicles, and a warning information generating unit sends the warning information to the sudden brake An alert generation program for causing a computer to generate an alert information generation function based on information,
The sudden brake information management unit manages the sudden brake information in association with the occurrence time of the sudden brake operation, the intersection where the sudden brake operation has occurred, and the approach direction in which the sudden brake operation has occurred, and
A specific sudden brake for the sudden brake information determination unit to avoid a specific collision in which the sudden brake information is a collision with another vehicle entering the same intersection in the approach direction intersecting the approach direction of the own vehicle The computer further realizes a sudden brake information determination function for determining whether or not the specific sudden brake information represents an operation,
In the sudden brake information determination function, when the two sudden brake information associated with the approach directions intersecting each other at the same intersection satisfy the first determination condition, the two sudden brake information is the specific sudden brake information. And
The first determination condition is a condition that a difference between occurrence times of sudden brake operations associated with each of the two sudden brake information is shorter than a predetermined first determination time,
The warning information generation function is configured to select a warning content for each intersection from a plurality of candidates according to the occurrence status of the specific sudden brake operation and the type of the intersection based on the specific sudden brake information for each intersection. Select, generate the alert information based on the selection result ,
The information generation function for alerting is for alerting the specific collision at an intersection where the occurrence frequency acquired from the occurrence state of the specific sudden braking operation is higher than a predetermined determination value and no traffic signal is installed. An attention-calling program for selecting an alerting content for performing an alert regarding a signal at an intersection where the occurrence frequency is higher than the determination value and where a traffic signal is installed, as well as selecting an alerting content for performing .   A sudden brake information collecting unit collects sudden brake information, which is information on occurrence of sudden braking operation of a vehicle at an intersection, from a plurality of vehicles, and a warning information generating unit sends the warning information to the sudden brake An alert generation program for causing a computer to generate an alert information generation function based on information,
  The sudden brake information management unit manages the sudden brake information in association with the occurrence time of the sudden brake operation, the intersection where the sudden brake operation has occurred, and the approach direction in which the sudden brake operation has occurred, and
  A specific sudden brake for the sudden brake information determination unit to avoid a specific collision in which the sudden brake information is a collision with another vehicle entering the same intersection in the approach direction intersecting the approach direction of the own vehicle The computer further realizes a sudden brake information determination function for determining whether or not the specific sudden brake information represents an operation,
  In the sudden brake information determination function, when the two sudden brake information associated with the approach directions intersecting each other at the same intersection satisfy the first determination condition, the two sudden brake information is the specific sudden brake information. And
  The first determination condition is a condition that a difference between occurrence times of sudden brake operations associated with each of the two sudden brake information is shorter than a predetermined first determination time,
  The alerting information generation function selects alerting contents for each intersection from a plurality of candidates according to the occurrence situation of the specified sudden brake operation based on the specified sudden brake information for each intersection, Based on the selection result, the information for alerting is generated,
  The sudden brake information management function further manages the sudden brake information in association with intersection passing information that is information capable of acquiring at least one of the start time of the vehicle after the sudden brake operation and the exit time of the intersection of the vehicle. ,
  The sudden brake information determination function is configured so that two sudden brake information associated with two approach directions intersecting each other at the same intersection satisfy the second determination condition in addition to the first determination condition. It is determined that the information is the specific sudden brake information,
  The second determination condition is one of a start time and an intersection exit time acquired from any one of the intersection passage information using the intersection passage information associated with each of the two sudden brake information. Note that there is a condition that the difference between the time and the second time that is one of the start time or the intersection exit time acquired from the other intersection passage information is shorter than a predetermined second determination time. Arousal program. With the alert system, the sudden brake information collection unit collects sudden brake information, which is information about the occurrence of sudden braking operations at the intersection, from multiple vehicles, and the alert information generator generates alerts A warning information generating step for generating information based on the sudden brake information,
The sudden brake information management unit manages the sudden brake information in association with the occurrence time of the sudden brake operation, the intersection where the sudden brake operation has occurred, and the approach direction in which the sudden brake operation has occurred, and
A specific sudden brake for the sudden brake information determination unit to avoid a specific collision in which the sudden brake information is a collision with another vehicle entering the same intersection in the approach direction intersecting the approach direction of the own vehicle A sudden brake information determination step for determining whether or not the specific sudden brake information represents an operation is further executed by the alert system,
In the sudden brake information determining step, when the two sudden brake information associated with the approach directions intersecting each other at the same intersection satisfy the first determination condition, the two sudden brake information is the specific sudden brake information. And
The first determination condition is a condition that a difference between occurrence times of sudden brake operations associated with each of the two sudden brake information is shorter than a predetermined first determination time,
In the information generation step for alerting, the alerting content for each intersection is selected from a plurality of candidates according to the occurrence status of the specified sudden brake operation and the type of the intersection based on the specified sudden brake information for each intersection. Select, generate the alert information based on the selection result ,
In the information generation step for alerting, alerting about the specific collision is performed at an intersection where the occurrence frequency acquired from the occurrence state of the specific sudden braking operation is higher than a predetermined determination value and no traffic signal is installed. An attention calling method for selecting an alerting content for performing an alert regarding a signal at an intersection where the occurrence frequency is higher than the determination value and where a traffic signal is installed, while selecting an alerting content for performing .   With the alert system, the sudden brake information collection unit collects sudden brake information, which is information about the occurrence of sudden braking operations at the intersection, from multiple vehicles, and the alert information generator generates alerts A warning information generating step for generating information based on the sudden brake information,
  The sudden brake information management unit manages the sudden brake information in association with the occurrence time of the sudden brake operation, the intersection where the sudden brake operation has occurred, and the approach direction in which the sudden brake operation has occurred, and
  A specific sudden brake for the sudden brake information determination unit to avoid a specific collision in which the sudden brake information is a collision with another vehicle entering the same intersection in the approach direction intersecting the approach direction of the own vehicle A sudden brake information determination step for determining whether or not the specific sudden brake information represents an operation is further executed by the alert system,
  In the sudden brake information determining step, when the two sudden brake information associated with the approach directions intersecting each other at the same intersection satisfy the first determination condition, the two sudden brake information is the specific sudden brake information. And
  The first determination condition is a condition that a difference between occurrence times of sudden brake operations associated with each of the two sudden brake information is shorter than a predetermined first determination time,
  In the information generation step for alerting, according to the occurrence situation of the specific sudden brake operation based on the specific sudden brake information for each intersection, the alerting content for each intersection is selected from a plurality of candidates, Based on the selection result, the information for alerting is generated,
  In the sudden brake information management step, the sudden brake information is further managed in association with intersection passing information which is information capable of acquiring at least one of the start time of the vehicle after the sudden brake operation and the exit time of the intersection of the vehicle. ,
  In the sudden brake information determining step, when the two sudden brake information associated with the approach directions intersecting each other at the same intersection satisfy the second determination condition in addition to the first determination condition, the two sudden brake information It is determined that the information is the specific sudden brake information,
  The second determination condition is one of a start time and an intersection exit time acquired from any one of the intersection passage information using the intersection passage information associated with each of the two sudden brake information. Note that there is a condition that the difference between the time and the second time that is one of the start time or the intersection exit time acquired from the other intersection passage information is shorter than a predetermined second determination time. Arousing method.

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