JP5888021B2 - Road information creation / distribution device, in-vehicle device, road information creation / distribution system, road information creation / distribution method - Google Patents

Description

  The present invention relates to a road information creation / distribution device, an in-vehicle device, a road information creation / distribution system, and a road information creation / distribution method for estimating the presence of a parked vehicle near an intersection that needs to be temporarily stopped.

As a technique for detecting a position that needs to be temporarily stopped on a road, for example, there is a technique described in Patent Document 1.
In the technique described in Patent Document 1, the speed and position of each vehicle are detected by a plurality of vehicles, and travel information including the detected speed and position is collected by a base station via a communication path. . At the base station that collected the driving information, the judgment of the temporary stop intersection where the non-priority road including the point where the temporary stop is required and the stop position (stop position) of the vehicle corresponding to the non-priority road were set and judged Information indicating the stop position set as the non-priority road is transmitted to the vehicle via the communication path. And in the vehicle which received the information from the base station, the information which shows the approach to a temporary stop intersection, the information which shows a stop position, etc. are alert | reported with respect to a driver | operator by the vehicle-mounted speaker.

Japanese Patent No. 4715170

If there are facilities such as cram schools, stations, convenience stores, etc. near the temporary stop intersection, use the facilities on the priority and non-priority roads that intersect at the temporary stop intersection at a position close to the temporary stop intersection. There is a possibility that a person parks or stops the vehicle.
If there are parked vehicles near the temporary stop intersection, the visibility of the intersecting road will deteriorate on the priority and non-priority roads. There is a risk of increasing the possibility of contact with the like. In addition, if there is a parked vehicle near the temporary stop intersection and the visibility of the intersecting road deteriorates on the priority road and the non-priority road, the above-mentioned situation may occur when traveling on the priority road or the non-priority road. There is a risk of increasing the possibility of contact with pedestrians using the facility.

However, with the technique described in Patent Document 1, it is possible to detect a position where a temporary stop is required on the road, but it is difficult to estimate the presence of a parked vehicle near the temporary stop intersection. There is a problem that there is.
The present invention has been made paying attention to the problems as described above, and is capable of estimating the presence of a parked vehicle near a temporary stop intersection, a road information creation / distribution device, an in-vehicle device, and road information. It is an object to provide a creation / distribution system and a road information creation / distribution method.

In order to solve the above-described problems, the present invention receives travel information including vehicle speed and position information transmitted by a vehicle and stores the position of an intersection. Then, based on the received travel information, a temporary stop intersection that is an intersection where a non-priority road including a point that needs to be temporarily stopped among roads that intersect at a stored intersection is determined. Furthermore, based on the received travel information, the presence of a parked vehicle that is parked or parked within the determination range from the determined temporary stop intersection is estimated . Then, it is determined whether the position of the parked vehicle whose existence has been estimated is on a non-priority road or a priority road that intersects with the non-priority road , information on the determined temporary stop intersection, and the estimated parked vehicle Information and information on the determined parked vehicle are transmitted. The temporary stop intersection includes a point where the probability that the vehicle speed is equal to or lower than the predetermined determination speed within the predetermined determination range from the stored intersection is equal to or higher than the predetermined determination probability. Determine the intersection where the roads intersect.

According to the present invention, it is possible to estimate the presence of a parked vehicle in the vicinity of a temporary stop intersection.
For this reason, even when the outlook situation for intersecting roads has deteriorated due to the presence of parked vehicles, the presence of parked vehicles during the driving on priority and non-priority roads until entering the temporary stop intersection, It becomes possible to make the driver of the traveling vehicle recognize.

It is a figure showing a schematic structure of a road information creation and distribution system of a first embodiment of the present invention. It is a figure which shows the general condition where the road where the own vehicle runs is a priority road, and the position of the parked vehicle is on a non-priority road. It is a flowchart which shows an example of the process which a vehicle-mounted apparatus performs. It is a flowchart which shows an example of the process which a road information preparation and distribution apparatus performs. It is a flowchart which shows an example of a 2nd determination process among the processes which a parked vehicle position determination part performs.

Embodiments of the present invention will be described below with reference to the drawings.
(First embodiment)
Hereinafter, a first embodiment of the present invention (hereinafter referred to as the present embodiment) will be described with reference to the drawings.
(System configuration)
FIG. 1 is a diagram illustrating a schematic configuration of a road information creation / distribution system S according to the present embodiment, and is a system diagram of an information providing apparatus including an in-vehicle device 1 and a road information creation / distribution device 2.

As shown in FIG. 1, a vehicle C is mounted on the in-vehicle device 1. The road information creation / distribution device 2 is provided in the base station B. The in-vehicle device 1 and the road information creation / distribution device 2 transmit or receive information signals (information) via a communication path 4 formed by a wireless communication path or the like.
In the present embodiment, a case will be described in which a plurality of (two) vehicles C1 and C2 and one base station B are connected via a communication path 4 so that information can be transmitted or received. In FIG. 1, only two vehicles C1 and C2 are illustrated as vehicles on which the in-vehicle device 1 is mounted. However, in the present embodiment, other vehicles not shown are also connected via the communication path 4. The road information creation / distribution device 2 transmits or receives information. Further, since the configurations of the vehicle C1 and the vehicle C2 are the same, the configuration of the vehicle C2 is omitted in FIG.

(Configuration of in-vehicle device 1)
The in-vehicle device 1 includes a vehicle speed detection unit 6, a vehicle position detection unit 8, a steering angle detection unit 10, a time information detection unit 12, a ROM 14, a RAM 16, a vehicle-side database 18, a controller 20, and a notification unit. 22, a vehicle-side transmission unit 24, and a vehicle-side reception unit 26.
The vehicle speed detector 6 is formed by a vehicle speed sensor, for example.
Moreover, the vehicle speed detection part 6 detects the present speed of the vehicle C using the rotation speed etc. of the wheel (not shown) with which the vehicle C is provided. Then, the vehicle speed detection unit 6 outputs an information signal (hereinafter may be described as “vehicle speed signal”) including the detected current speed (hereinafter may be described as “vehicle speed”) to the controller 20. To do.

The vehicle position detection unit 8 is formed by a navigation device having a GPS (Global Positioning System) receiver, for example.
For example, the GPS receiver detects coordinates indicating the position (current position) of the vehicle C based on radio waves transmitted by GPS satellites.
The navigation device is formed by using a general car navigation system.

In addition, the vehicle position detection unit 8 transmits an information signal (hereinafter sometimes referred to as “own vehicle position signal”) including the position information (current position information) of the vehicle C received by the GPS receiver to the controller 20. Output to.
The steering angle detector 10 is formed by a steering angle sensor, for example.
In addition, the steering angle detection unit 10 detects the steering angle (operation amount) of the steering wheel by the driver of the vehicle C using the rotation angle from the neutral position of the steering wheel (not shown) provided in the vehicle C. Then, the steering angle detection unit 10 outputs an information signal including the detected current steering angle (hereinafter sometimes referred to as “steering angle signal”) to the controller 20.

The time information detection unit 12 is formed of, for example, a clock and includes an information signal (hereinafter referred to as “time signal”) including time information which is information indicating the current time and the current day of the week according to processing performed by the controller 20. Is output to the controller 20.
The ROM 14 is formed by a known read-only storage device (Read Only Memory) and stores a control program and the like.

In addition, the ROM 14 outputs an information signal including a stored control program and the like to the controller 20 in accordance with processing performed by the controller 20.
The RAM 16 is formed of a known storage device (Random Access Memory) capable of reading and writing, and information on roads on which the vehicle C has traveled in the past (hereinafter may be referred to as “existing road information”). It is memorized and accumulated.

Further, the RAM 16 outputs an information signal including stored road information and the like that has been stored / accumulated to the controller 20 in accordance with processing performed by the controller 20.
The vehicle-side database 18 includes a vehicle-side map data storage unit 28 that stores map data such as road types in a preset range such as in Japan. Note that the map data stored in the vehicle-side map data storage unit 28 may be updated as necessary using a storage medium, data communication, or the like.

Further, the vehicle-side database 18 may be described as an information signal (hereinafter referred to as “vehicle-side map signal”) including map data stored in the vehicle-side map data storage unit 28 in accordance with processing performed by the controller 20. Is output to the controller 20.
Here, the map data stored in the vehicle-side map data storage unit 28 includes information indicating the position of the intersection existing within the set range, and whether or not there is a traffic signal at each intersection (the presence or absence of a traffic signal). Contains information indicating. Further, the map data stored in the vehicle-side map data storage unit 28 includes information indicating facilities (cram school, station, convenience store, etc.) existing within the set range.

  The controller 20 uses the vehicle speed signal received from the vehicle speed detector 6, the vehicle position signal received from the vehicle position detector 8, and the steering angle signal received from the steering angle detector 10 as time information. A process of associating with the time signal received from the detection unit 12 is performed. As a result, the controller 20 generates an information signal (hereinafter sometimes referred to as a “travel information signal”) including travel information in which the vehicle speed, the position, and the steering angle are associated with the detected time and day of the week. . Then, the generated travel information signal is output to the vehicle side transmitter 24.

  Further, the controller 20 performs processing according to the state (ON state / OFF state) of an ignition switch (not shown). The processing performed by the controller 20 according to the state of the ignition switch will be described later. Here, the ignition switch is formed by, for example, a button (ignition button) operated by the driver of the vehicle C.

In addition, the controller 20 includes a notification content generation unit 30.
The notification content generation unit 30 responds to the traveling information included in the traveling information signal, the existing traveling road information stored and accumulated in the RAM 16, and the information signal (described later) transmitted by the road information creation / distribution device 2. Then, a command signal to be output to the notification unit 22 is generated. Specific processing when the notification content generation unit 30 generates the command signal will be described later.

Then, the notification content generation unit 30 outputs the generated command signal to the notification unit 22.
The alerting | reporting part 22 is formed with a monitor and a speaker, for example, and is attached in a vehicle interior.
In addition, the notification unit 22 presents at least one of the video information displayed on the monitor and the audio information output from the speaker to the driver of the vehicle C according to the command signal output from the controller 20. This alerts the driver of the vehicle C to prompt a temporary stop.

  Note that the video information displayed on the monitor includes, for example, a still image including a message that prompts a pause (such as “Fast stop brake”, etc.) and a message that prompts a deceleration (such as “Decelerate”). It is a still image. Furthermore, the video information displayed on the monitor is, for example, a still image including a message for alerting (such as “please pay attention to pedestrians” and “please pay attention to crossing vehicles”).

The audio information output from the speaker is, for example, an audio message (a specific example will be described later) or an alarm buzzer (buzzer sound).
The vehicle-side transmission unit 24 transmits the travel information signal generated by the controller 20 to the road information creation / distribution device 2 via the communication path 4.
The vehicle-side receiving unit 26 receives an information signal including temporary stop intersection information transmitted by the road information creation / distribution device 2 and an information signal including parking / stopped vehicle presence information via the communication path 4. In addition, an information signal including parking / stopped vehicle position information transmitted by the road information creation / distribution device 2 is received via the communication path 4. The information signal received by the vehicle side receiving unit 26 is output to the controller 20. In addition, the description regarding temporary stop intersection information, parked vehicle presence information, parked vehicle position information is mentioned later.

(Configuration of road information creation / distribution device 2)
The road information creation / distribution device 2 includes a base station side database 32, a travel information recording unit 34, a road condition determination unit 36, a base station side reception unit 38, and a base station side transmission unit 40.
The base station side database 32 includes, for example, a base station side map data storage unit 42 that stores map data such as road types in a preset range such as in the country, like the vehicle side map data storage unit 28. As with the vehicle-side map data storage unit 28, the map data stored in the base station-side map data storage unit 42 may be updated as necessary using a storage medium, data communication, or the like.

Further, the base station side database 32 is an information signal (hereinafter referred to as “base station side map signal”) including map data stored in the base station side map data storage unit 42 in accordance with processing performed by the road condition determination unit 36. Is output to the road condition determination unit 36.
Here, the map data stored in the base station side map data storage unit 42 includes information indicating the position of the intersection existing within the set range and a traffic signal at each intersection, as in the vehicle side map data storage unit 28. Includes information indicating whether or not a signal exists (the presence or absence of a traffic light). Further, in the map data stored in the base station side map data storage unit 42, as in the vehicle side map data storage unit 28, information indicating facilities (cram schools, stations, convenience stores, etc.) existing within the set range. including.

The travel information recording unit 34 is formed of peripheral components of a CPU (Central Processing Unit) such as a RAM.
In addition, the travel information recording unit 34 receives input of travel information signals from a plurality of vehicles via the base station side receiving unit 38. Furthermore, the travel information recording unit 34 receives an information signal input from the road condition determination unit 36. Then, the travel information recording unit 34 stores and accumulates the travel information and calculation results of the vehicle C based on various input information signals.
The travel information recording unit 34 outputs an information signal including the accumulated travel information and calculation results to the road status determination unit 36 in accordance with the processing performed by the road status determination unit 36.
The “calculation result” is a calculation result included in the information signal input from the road condition determination unit 36. The calculation result included in the information signal received from the road condition determination unit 36 will be described later.

The road condition determination unit 36 includes a temporary stop intersection determination unit 36A, a parking / stopping vehicle estimation unit 36B, and a parking / stopping vehicle position determination unit 36C.
The temporary stop intersection determination unit 36A performs a process of determining whether the intersection stored in the base station side map data storage unit 42 is a temporary stop intersection. Here, the temporary stop intersection is an intersection where non-priority roads including a point where a temporary stop is required intersect.

Hereinafter, an example of a process performed by the temporary stop intersection determination unit 36A to determine whether or not the intersection stored in the base station side map data storage unit 42 is a temporary stop intersection will be described.
First, the information signal output from the traveling information recording unit 34 and the base station side map signal output from the base station side database 32 are received. Then, the map data stored in the base station side map data storage unit 42 is referred to, and from each intersection existing within the set range, an intersection where there is no traffic signal (hereinafter referred to as “no signal intersection” may be described. A process of selecting (Yes) is performed.

In addition, when performing the process of selecting one signal no-intersection, for example, a signal no-intersection exists at a position closest to the current position of the vehicle C on the predicted route that is a route predicted by the vehicle C to travel. Select. Moreover, the process which selects a no-signal intersection is performed based on the travel information mentioned above in addition to the map data which the base station side map data storage part 42 has memorize | stored, for example.
Here, the predicted route is calculated based on, for example, a destination set by the driver of the vehicle C by operating the navigation device or a travel route corresponding to the destination.

Next, in response to the input of the information signal output by the travel information recording unit 34, the total number of detections of the travel information detected by the plurality of vehicles C at the selected no-signal intersection is equal to or greater than the preset number of detections for determination. It is determined whether or not.
In the present embodiment, as an example, the number of detections for determination is set to 10 times.
Next, of the total number of times that a plurality of vehicles C have entered the no-signal intersection, the number of times of traveling at a speed of 5 km / h or less is equal to or greater than the number of times of entry set in advance according to the total number of times. Determine whether. Accordingly, it is determined whether or not the probability that the speed of the vehicle C that has entered the no-signal intersection is 5 [km / h] or less is equal to or higher than a preset determination probability. In the following description, the probability that the speed of the vehicle C that has entered the no-signal intersection is 5 [km / h] or less may be referred to as a “slowing probability”.

In this embodiment, as an example, the determination probability is set to 80 [%]. Therefore, for example, when the total number of times described above is 100, the number of times of entering is set to 80 times.
Next, it is determined whether or not the point where the slowing probability is 80 [%] or more is within a predetermined determination range from the no-signal intersection.
In the present embodiment, as an example, the determination range is set to a radius of 50 [m] from the center of the no-signal intersection.

Then, if it is determined that a point having a slowing probability of 80 [%] or more is within a radius of 50 [m] from the center of the no-signal intersection, a road including a point having a slowing probability of 80 [%] or more is It is determined as a non-priority road regulated by a sign (road sign). The sign may include a road sign.
Further, a signal-free intersection at which the determined non-priority road intersects is determined as a temporary stop intersection, and an information signal including temporary stop intersection information (hereinafter sometimes referred to as a “temporary stop intersection signal”) It outputs to the estimation part 36B and the base station side database 32. Here, the temporary stop intersection information is information on the temporary stop intersection determined as described above. The base station side database 32 that has received the input of the temporary stop intersection signal stores / updates the temporary stop intersection at which the non-priority road intersects for each stored signal-free intersection.

The above processing is performed for other signal no-intersections as well as one selected signal no-intersection. As a result, the temporary stop intersection determination unit 36A determines whether the map data stored in the base station side map data storage unit 42 is a temporary stop intersection with respect to a signal-free intersection existing within the set range. Processing to determine is performed.
In addition, the temporary stop intersection determination unit 36A receives an information signal including information (node number, node coordinates) regarding a no-signal intersection determined to be a temporary stop intersection, a road number (link number) connected to the intersection, and the like. The calculation result is output to the travel information recording unit 34. Receiving the calculation result, the travel information recording unit 34 stores and accumulates the calculation result of the temporary stop intersection determination unit 36A. Here, the above-mentioned “node number” is a unique number of a point designated at an arbitrary position on a no-signal intersection. The “node coordinates” are the coordinates of a point designated at an arbitrary position on the no-signal intersection.

As a result, the temporary stop intersection determination unit 36A stores and accumulates information on the determined temporary stop intersection, the number of the road connected to the temporary stop intersection, and the like in the travel information recording unit 34.
Further, the temporary stop intersection determination unit 36A outputs a temporary stop intersection signal to the base station side transmission unit 40.

The parked vehicle estimation unit 36B estimates the presence of a parked vehicle, which is a vehicle parked or parked within the determination range from the temporary stop intersection determined by the temporary stop intersection determination unit 36A.
Moreover, the process which associates the result estimated that the parked vehicle exists with the temporary stop intersection determined by the temporary stop intersection determination part 36A is performed. Thereby, the parking / stopping vehicle estimation unit 36B includes an information signal (hereinafter referred to as “parking / stopping vehicle”) that includes parking / stopping vehicle presence information that is information that associates the temporary stop intersection determined by the temporary stop intersection determination unit 36A and the presence of the parking / stopping vehicle. May be described as “vehicle presence signal”). Then, the generated parking / stopped vehicle presence signal is output to the parking / stopped vehicle position determination unit 36 </ b> C and the base station side database 32. Upon receiving the parked vehicle presence signal, the base station side database 32 stores / updates the presence of parked vehicles for each stored temporary stop intersection.

Furthermore, the parked vehicle estimation unit 36 </ b> B outputs a parked vehicle presence signal to the base station side transmission unit 40.
Hereinafter, an example of the process performed by the parked vehicle estimation unit 36B to estimate the presence of a parked vehicle within the determination range from the temporary stop intersection will be described.
In addition, the parked vehicle estimation part 36B performs two types of processes (a 1st estimation process, a 2nd estimation process) as a process which estimates presence of a parked vehicle. In addition, as a process which estimates the presence / absence of the parking / stopping vehicle performed by the parking / stopping vehicle estimation unit 36B, only one of the first estimation process and the second estimation process may be performed.

First, an example of the first estimation process will be described.
In the first estimation process, a temporary stop intersection signal output from the temporary stop intersection determination unit 36A and an information signal output from the travel information recording unit 34 are received.
Of the total number of times that a plurality of vehicles C have entered the temporary stop intersection, the probability of the total number of times the vehicle C has stopped within the determination range from the center of the temporary stop intersection is the stop probability described above. It is determined whether it is above.

Next, it is determined whether or not the time during which the vehicle C is stopped within the above-described determination range from the center of the temporary stop intersection is equal to or greater than a preset stop determination time.
In the present embodiment, as an example, the stop determination time is set to 5 [minutes].
When it is determined that the time during which the vehicle C is stopped within a radius of 50 [m] from the center of the temporary stop intersection is 5 [minutes] or longer, there are parked vehicles within the determination range. Estimated.

Next, an example of the second estimation process will be described.
In the second estimation process, the temporary stop intersection signal output by the temporary stop intersection determination unit 36A and the information signal output by the travel information recording unit 34 are received.
Then, it is determined whether or not the steering angle of the vehicle C in the above-described determination range from the center of the temporary stop intersection has changed more than a preset presence determination steering angle.

In the present embodiment, as an example, the presence determination steering angle is set to an angle such that the vehicle moves 3 [m] in the vehicle width direction.
If it is determined that the steering angle of the vehicle C within a radius of 50 [m] from the center of the temporary stop intersection has changed to be greater than or equal to the presence determination steering angle, a parked vehicle is present within the determination range. Estimated.

The parked vehicle position determination unit 36C determines whether the position of the parked vehicle estimated by the parked vehicle estimation unit 36B is on a non-priority road or a priority road that intersects the non-priority road.
In addition, an information signal including parking / stopped vehicle position information that is information obtained as a result of determining the position of the parked / stopped vehicle (hereinafter, may be referred to as “parked / stopped vehicle position signal”) is generated. Then, the generated parking / stopped vehicle position signal is output to the base station side database 32. Receiving the parked vehicle position signal, the base station database 32 stores and updates the presence of parked vehicles for each stored temporary stop intersection.

Furthermore, the parked vehicle position determination unit 36 </ b> C outputs a parked vehicle position signal to the base station side transmission unit 40.
Hereinafter, an example of the process performed by the parked vehicle position determination unit 36C for determining whether the parked vehicle position is on a non-priority road or a priority road that intersects with the non-priority road will be described.
The parking / stopping vehicle position determination unit 36C performs two types of processing (first determination processing and second determination processing) as processing for determining the position of the parking / stopping vehicle.

First, an example of the first determination process will be described.
In the first determination process, the parked vehicle estimation unit 36B detects an estimated time that is a time when the presence of the parked vehicle is estimated, and the detected estimated time is within a preset stop position determination interval. It is determined whether or not.
In this embodiment, as an example, the stop position determination interval is set to 5 minutes. That is, in this embodiment, as an example, when the estimated time is detected within 5 minutes, it is determined that the detected estimated time is within the stop position determination interval. The stop position determination interval may be set to less than 5 minutes, such as 3 minutes.

When it is determined that the estimated time is detected within the range of the stop position determination interval, it is determined that the position of the parked vehicle is on the non-priority road.
On the other hand, if it is determined that the estimated time is detected outside the range of the stop position determination interval, it is determined that the position of the parked vehicle is a priority road.

Next, an example of the second determination process will be described.
In the second determination process, a distance between two consecutive stop positions of the vehicle C is detected within the determination range.
Then, it is determined whether or not the detected distance is longer than a preset stop position determination distance.
In the present embodiment, as an example, the stop position determination distance is set to 5 [m].

  Further, it is determined whether or not the steering angle of the vehicle C has changed more than a preset position determination steering angle between stop positions longer than the stop position determination distance. This determination is made, for example, when the steering angle of the vehicle C changes when the steering angle of the steering wheel changes from the steering angle near the neutral position to the steering angle in the rotational direction that turns the vehicle C to the right. This is done by referring to the amount of change (in a region where the vehicle travels on the left side of the road).

In the present embodiment, as an example, the steering angle for position determination is set to an angle such that the vehicle moves 3 [m] in the vehicle width direction.
And if it determines with the steering angle of the vehicle C changing more than the steering angle for position determination between the stop positions of the distance longer than the distance for stop position determination, the position of the parked vehicle is on a non-priority road. Is determined.

The base station side receiving unit 38 receives the travel information transmitted by the vehicle side transmitting unit 24 included in the plurality of vehicles C via the communication path 4.
The base station side transmitting unit 40 transmits an information signal including temporary stop intersection information, an information signal including parked vehicle presence information, and an information signal including parked vehicle position information to a plurality of units via the communication path 4. It transmits to the vehicle side receiving part 26 with which the vehicle C is provided.

(Specific processing when the notification content generation unit 30 generates a command signal)
Hereinafter, specific processing when the notification content generation unit 30 generates a command signal will be described.
The notification content generation unit 30 generates a command signal to be output to the notification unit 22 according to the travel information, the temporary stop intersection information, the parked vehicle presence information, the parked vehicle position information, and the time information. . Then, the generated command signal is output to the notification unit 22.
Specifically, the temporary stop intersection information is collated with the map data stored in the vehicle-side map data storage unit 28, and based on the travel information described above, is the intersection where the vehicle C will enter from now on is a temporary stop intersection? Determine whether or not.

If it is determined that the intersection from which the vehicle C will enter is a temporarily stopped intersection, the parked vehicle presence information is collated with the map data stored in the vehicle-side map data storage unit 28. As a result, the existence of a parked vehicle in the determination range is estimated from the temporary stop intersection where the vehicle C will enter.
When it is estimated that there is a parked vehicle within the determination range, the parked vehicle position information is collated with the map data stored in the vehicle-side map data storage unit 28. In addition to this, it is determined with reference to the travel information described above whether the road on which the vehicle C will travel is a non-priority road. Further, it is determined whether the position of the parked vehicle is on a non-priority road or a priority road.
Hereinafter, notification according to the determination result of whether or not the road on which the vehicle C is going to travel is a non-priority road and the determination result of whether the position of the parked vehicle is on the non-priority road or the priority road The generation of the command signal by the content generation unit 30 will be described.

(1) When the traveling road is a non-priority road and the position of the parked and stopped vehicle is on the non-prioritized road The road from which the vehicle C will travel is a non-priority road, and the position of the parked and stopped vehicle is not prioritized. If it is determined that the vehicle is on the road, the audio information output from the notification unit 22 is set to a message that prompts the recognition of a parked vehicle on the travel route. In addition to this, a message is set that prompts the vehicle to decelerate at a position closer to the temporary stop intersection than the parked vehicle.
Thereby, the driver of the vehicle C is notified of the presence of the parked vehicle and the presence of the temporary stop sign.
Note that the message for prompting recognition of a parked vehicle on the travel route is, for example, “Please pay attention to the parked vehicle”. The message for prompting deceleration is, for example, “Further stop brake”.

(2) When the traveling road is a priority road and the position of the parked and stopped vehicle is on the priority road The road from which the vehicle C will travel is the priority road, and the position of the parked and stopped vehicle is on the priority road If it is determined, the voice information output from the notification unit 22 is set to a message that prompts recognition of a parked vehicle on the travel route.
This notifies the driver of the vehicle C of the presence of a parked vehicle.

(3) When the traveling road is a non-priority road, and the position of the parked vehicle is on the priority road The road on which the vehicle C will travel is a non-priority road, and the position of the parked vehicle is on the priority road When it determines with it being, it is set to the message which alert | reports the presence of the parking / stopping vehicle which exists in the road which cross | intersects at the temporary stop intersection which approachs the audio | voice information output from the alerting | reporting part 22. In addition to this, a warning message regarding other vehicles entering the temporary stop intersection from a blind spot generated by a parked vehicle is set. In addition, a message that prompts deceleration at a position before the temporary stop intersection is set.
As a result, the driver of the vehicle C is alerted to other vehicles traveling on the road that intersects the traveling road, and the presence of a stop sign is notified.
Note that the message for notifying the presence of a parked vehicle on a road that intersects at a temporarily stopped intersection is, for example, “Please be careful about parked vehicles on a intersecting road”. In addition, a warning message regarding other vehicles entering the temporary stop intersection from a blind spot generated by a parked vehicle is, for example, “Please be careful about vehicles coming out from behind a parked vehicle”.

(4) When the traveling road is a priority road and the position of the parked and stopped vehicle is on a non-priority road The road from which the vehicle C will travel is the priority road, and the position of the parked and stopped vehicle is on the non-priority road When it determines with it being, it is set to the message which alert | reports the presence of the parking / stopping vehicle which exists in the road which cross | intersects at the temporary stop intersection which approachs the audio | voice information output from the alerting | reporting part 22. In addition to this, a message for alerting the attention subject moving from the blind spot generated by the parked vehicle to the traveling route of the own vehicle is set.

  Here, the attention object moving from the blind spot generated by the parked vehicle to the travel route of the host vehicle is, for example, entering the temporary stop intersection from the blind spot generated by the parked vehicle PC as shown in FIG. It is another vehicle OC. In addition to this, for example, as shown in FIG. 2, a pedestrian W who uses a facility such as a convenience store and crosses a priority road where the vehicle MC travels out of a blind spot generated by a parked vehicle PC. . FIG. 2 is a diagram showing a schematic situation where the road on which the host vehicle is traveling is a priority road and the position of a parked vehicle is on a non-priority road. In FIG. 2, the stop sign is indicated by a symbol “ST”.

Accordingly, the driver of the vehicle C is alerted to other vehicles traveling on the road intersecting the traveling road and pedestrians crossing the traveling road.
Note that the warning message regarding pedestrians crossing the priority road where the vehicle travels out of the blind spot generated by the parked vehicle is, for example, “Please be careful of pedestrians coming out behind parked vehicles. Or the like.

  Further, the notification content generation unit 30 collates the parked vehicle presence information and time information against the map data stored in the vehicle-side map data storage unit 28. Then, based on the parked vehicle presence information, it is determined whether or not the time at which the parked vehicle estimation unit 36B estimates the presence of the parked vehicle is within a preset range of time for presence determination. Here, the presence determination time is stored in the notification content generation unit 30.

The existence determination time is set according to the situation of the temporary stop intersection, for example, the type of facility existing near the temporary stop intersection. As an example, when the facility existing near the temporary stop intersection is a cram school (for example, a learning cram school), the existence determination time is set from 15:00 to 21:00 on weekdays.
It is determined that the time when the parked vehicle estimation unit 36B has estimated the presence of the parked vehicle is within the range of the presence determination time, and further, as described above, the determination range from the temporary stop intersection where the vehicle C will enter from now on. If it is estimated that there is a parked vehicle, the time information is referred to. Thereby, it is determined whether or not the current time and the current day of the week are within the range of the existence determination time.

Then, when it is determined that the time and day of the week when it is estimated that the parked vehicle is present in the determination range from the temporary stop intersection where the vehicle C enters from now on, the above-described processing is performed. And generate a command signal.
As described above, when the own vehicle enters the temporary stop intersection from the non-priority road, the notification content generation unit 30 drives the warning with the content according to the possibility that there is a parked vehicle on the priority road. A process for notifying a person is performed. In addition to this, the notification unit 22 notifies the driver of a warning according to alerts regarding other vehicles entering the temporary stop intersection from a blind spot generated by a parked vehicle that may be present on the priority road. Process.

  Further, when the own vehicle enters the temporary stop intersection from the priority road, the notification content generation unit 30 notifies the driver of a warning according to the possibility that there is a parked vehicle on the non-priority road. The process for notifying to is performed. In addition to this, the notification unit 22 drives a warning with contents corresponding to an alert regarding a target to be moved from a blind spot generated by a parked vehicle that may exist on a non-priority road on the traveling route of the host vehicle. A process for notifying a person is performed.

  Moreover, the alerting | reporting content production | generation part 30 will perform the process for the alerting | reporting part 22 to alert | report a warning to a driver, if the 1st time condition and the 2nd time condition are satisfied. Here, the first time condition is established when the time when the parked vehicle estimation unit 36B estimates the presence of the parked vehicle is within the range of the presence determination time. The second time condition is satisfied when the current time and day of the week included in the time information detected by the time information detection unit 12 are within the range of the existence determination time.

(Processes performed by the road information creation / distribution system S)
Hereinafter, the processing performed by the road information creation / distribution system S of the present embodiment will be described in detail with reference to FIGS. 1 and 2 and FIGS. 3 to 5.
(Processing performed by the in-vehicle device 1)
First, an example of processing performed by the in-vehicle device 1 among processing performed by the road information creation / distribution system S will be described.
FIG. 3 is a flowchart illustrating an example of processing performed by the in-vehicle device 1.
As shown in FIG. 3, when the in-vehicle device 1 starts processing (START), first, in step S10, it is determined whether or not the ignition switch is in an ON state (“IGN ON?” Shown in the drawing). .
If it is determined in step S10 that the ignition switch is in the ON state ("Y" shown in the figure), the processing performed by the in-vehicle device 1 proceeds to step S20.

On the other hand, when it is determined in step S10 that the ignition switch is in the OFF state ("N" shown in the figure), the in-vehicle device 1 repeats the process of step S10.
In step S <b> 20, the vehicle speed detection unit 6 detects the vehicle speed, the vehicle position detection unit 8 detects the position of the vehicle C, and the steering angle detection unit 10 detects the steering angle. Further, travel information in which the time information detected by the time information detection unit 12 is associated with the detected vehicle speed, position, and steering angle is generated ("detects vehicle speed, position, steering angle, and time" shown in the figure). . When the travel information is generated in step S20, the process performed by the in-vehicle device 1 proceeds to step S30.

In step S30, the travel information generated in step S20 is transmitted from the vehicle-side transmission unit 24 to the road information creation / distribution device 2 (base station B) via the communication path 4 ("generated travel information shown in the figure" Send to base station ”). When the travel information is transmitted to the road information creation / distribution device 2 in step S30, the processing performed by the in-vehicle device 1 proceeds to step S40.
In step S <b> 40, it is determined whether or not an information signal including temporary stop intersection information and an information signal including parking / stopped vehicle presence information are received from the road information creation / distribution device 2. In addition to this, it is determined whether or not an information signal including parking / stopped vehicle position information is received (“pause intersection information, parking / presence vehicle presence information, parking / stopped vehicle position information shown in the figure?”). .

In step S40, it is determined that the information signal including the temporary stop intersection information, the information signal including the parked vehicle presence information, and the information signal including the parked vehicle position information are received ("Y" shown in the drawing). When it does, the process which the vehicle equipment 1 performs transfers to step S50.
On the other hand, if it is determined in step S40 that at least one of the information signals described above has not been received ("N" shown in the figure), the processing performed by the in-vehicle device 1 proceeds to step S20.

In step S50, it is determined whether the road on which the vehicle C is going to travel is a non-priority road or a priority road ("running on a non-priority road or priority road?" Shown in the figure). In step S50, when the type of road on which the vehicle C will travel is determined, the processing performed by the in-vehicle device 1 proceeds to step S60.
In step S60, it is determined whether the position of the parked vehicle is on the non-priority road or the priority road ("The position of the parked vehicle is on the non-priority road or priority road" shown in the figure). If the position of the parked vehicle is determined in step S60, the process performed by the in-vehicle device 1 proceeds to step S70.

In step S70, it is determined whether or not the first time condition and the second time condition are satisfied (“time condition is satisfied” in the figure).
If it is determined in step S70 that the first time condition and the second time condition are satisfied ("Y" shown in the drawing), the processing performed by the in-vehicle device 1 proceeds to step S80.
On the other hand, if it is determined in step S70 that at least one of the first time condition and the second time condition is not satisfied ("N" shown in the figure), the processing performed by the in-vehicle device 1 is step S20. Migrate to

In step S80, based on the determination result in step S50 and the determination result in step S60, a process of outputting audio information ("warning notification" shown in the figure) from the notification unit 22 is performed. If the process which outputs audio | voice information from the alerting | reporting part 22 is performed in step S80, the process which the vehicle equipment 1 performs will transfer to step S90.
In step S90, it is determined whether or not the ignition switch is in an OFF state ("IGN OFF?" Shown in the figure).

If it is determined in step S90 that the ignition switch is in the OFF state (“Y” shown in the figure), the in-vehicle device 1 ends the process (END).
On the other hand, if it is determined in step S90 that the ignition switch is in the ON state ("N" shown in the figure), the processing performed by the in-vehicle device 1 returns to the processing in step S20.
(Processing performed by the road information creation / distribution device 2)
Next, an example of processing performed by the road information creation / distribution apparatus 2 among the processing performed by the road information creation / distribution system S will be described.

FIG. 4 is a flowchart illustrating an example of processing performed by the road information creation / distribution device 2.
As shown in FIG. 4, when the road information creation / distribution device 2 starts processing (START), first, the processing of step S100 is performed.
In step S100, it is determined whether or not an information signal (travel information) transmitted via the communication path 4 from the vehicle-side transmitter 24 included in the plurality of vehicles C is received ("travel information reception shown in the figure"). ? ").

If it is determined in step S100 that the travel information transmitted from the vehicle-side transmitter 24 is received ("Y" in the figure), the processing performed by the road information creation / distribution device 2 proceeds to step S110. To do.
On the other hand, if it is determined in step S100 that the travel information transmitted from the vehicle-side transmission unit 24 has not been received ("N" in the figure), the road information creation / distribution device 2 performs the process of step S100. repeat.

In step S110, the travel information transmitted from the vehicle-side transmission unit 24 included in the plurality of vehicles C is recorded in the travel information recording unit 34 ("record travel information" shown in the figure). When the travel information is recorded in the travel information recording unit 34 in step S110, the processing performed by the road information creation / distribution device 2 proceeds to step S120.
In step S120, a point where the vehicle speed of the vehicle C entering the no-signal intersection is equal to or less than the determination speed (5 [km / h]) is extracted (“the point where the vehicle speed is 5 km / h or less at the no-signal intersection” shown in the figure). Extract. In step S120, when a point having a vehicle speed of 5 [km / h] or less is extracted, the process performed by the road information creation / distribution device 2 proceeds to step S130.

In step S130, it is determined whether or not the number of times of traveling at a speed of 5 [km / h] or less is equal to or greater than the number of times of entry in the total number of times the plurality of vehicles C have entered the selected no-signal intersection (in the drawing). “The number of times the vehicle speed is 5 km / h or less is equal to or greater than a threshold?”).
In step S130, when it is determined that the number of times of traveling at a speed of 5 km / h or less out of the total number of times described above is equal to or greater than the number of times of entry ("Y" in the figure), the road information creation / distribution device 2 The process performed by the process proceeds to step S140.

On the other hand, if it is determined in step S130 that the number of times of traveling at a speed of 5 km / h or less of the total number of times described above is less than the number of times of entry ("N" in the figure), road information creation / distribution The process performed by the device 2 moves to step S100.
In step S140, it is determined whether or not the point where the slowing probability is 80 [%] or more is within a determination range (radius 50 [m] from the center of the no-signal intersection) set in advance from the no-signal intersection (FIG. "Extracted point is within the determination range?"

In step S140, when it is determined that the point where the slowing probability is 80% or more is within the determination range set in advance from the no-signal intersection ("Y" shown in the figure), the road information creation / distribution device The processing performed by 2 proceeds to step S150.
On the other hand, in step S140, if it is determined that the point where the slowing probability is 80% or more is outside the predetermined determination range from the no-signal intersection ("N" in the figure), road information creation / The process performed by the distribution apparatus 2 proceeds to step S100.

  In step S150, the road including the point determined to be within the determination range set in advance from the intersection with a signal in step S140 is determined as a non-priority road. In addition to this, a signal no intersection where the determined non-priority road intersects is determined as a temporary stop intersection, a temporary stop intersection signal is output to the base station side database 32, and temporary stop intersection information is registered (" Register the temporary stop intersection information in the road information database ”). In step S150, when the temporarily stopped intersection information is registered in the base station side database 32, the processing performed by the road information creation / distribution device 2 proceeds to step S160.

In step S160, processing for estimating the presence of a parked vehicle within the determination range from the temporary stop intersection determined in step S150 ("estimate the presence of a parked vehicle" in the figure) is performed. In step S160, when the process of estimating the presence of a parked vehicle is performed, the process performed by the road information creation / distribution device 2 proceeds to step S170.
In step S170, the parking / stopping vehicle presence signal is output to the base station side database 32, and parking / stopping vehicle presence information is registered ("parking / stopping vehicle presence information shown in the figure" is registered in the road information database). When parking / stopped vehicle presence information is registered in the base station side database 32 in step S170, the processing performed by the road information creation / distribution device 2 proceeds to step S180.

In step S180, it is determined whether the position of the parked vehicle estimated in step S160 is a non-priority road or a priority road that intersects with the non-priority road ("position of parked vehicle shown in the figure" Judgment "). When the position of the parked vehicle is determined in step S180, the processing performed by the road information creation / distribution device 2 proceeds to step S190.
In step S190, the parking / stopping vehicle position signal is output to the base station side database 32, and parking / stopping vehicle position information is registered ("parking / stopping vehicle position information shown in the figure" is registered in the road information database). In step S190, when parking / stopped vehicle position information is registered in the base station side database 32, the processing performed by the road information creation / distribution device 2 proceeds to step S200.

In step S200, the plurality of vehicles C includes an information signal including temporary stop intersection information, an information signal including parking / stopped vehicle presence information, and an information signal including parking / stopping vehicle position information via the communication path 4. It transmits to the vehicle side receiving unit 26 ("transmit to in-vehicle device" shown in the figure). In step S200, when each of the above information signals is transmitted to the vehicle-side receiving unit 26 included in the plurality of vehicles C, among the processes performed by the road information creating / distributing system S, the processes performed by the road information creating / distributing apparatus 2 Ends (END).
(Processing performed by the parked vehicle position determination unit 36C)
Next, among the processes performed by the road information creation / distribution device 2, an example of the process performed in step S180, that is, the process performed by the parking / stopped vehicle position determination unit 36C will be described.

FIG. 5 is a flowchart illustrating an example of the second determination process among the processes performed by the parking / stopped vehicle position determination unit 36C.
As shown in FIG. 5, when the parking / stopped vehicle position determination unit 36C starts the second determination process (START), first, the process of step S181 is performed.
In step S181, it is determined whether or not two consecutive stops of the vehicle C are detected within the determination range in front of the temporary stop intersection (two consecutive times before the temporary stop intersection shown in the figure). Did you detect a stoppage? ”).

If it is determined in step S181 that two consecutive stops of the vehicle C have been detected ("Y" shown in the drawing) within the determination range before the temporary stop intersection, the parked vehicle position determination unit 36C The process to be performed proceeds to step S182.
On the other hand, if it is determined in step S181 that two consecutive stops of the vehicle C are not detected ("N" shown in the figure) within the determination range before the temporary stop intersection, The process performed by the determination unit 36C ends (END).

In step S182, it is determined whether or not the distance between the two consecutive stop positions detected in step S181 is longer than the stop position determination distance (5 [m]) (“between stop positions shown in the figure”). Distance <distance for stopping position determination? ").
In step S182, when it is determined that the distance between the two consecutive stop positions is longer than the stop position determination distance ("Y" shown in the drawing), the parking / stopped vehicle position determination unit 36C performs the following process: Control goes to step S183.

On the other hand, if it is determined in step S182 that the distance between the two consecutive stop positions is equal to or less than the stop position determination distance ("N" in the drawing), the parking / stopped vehicle position determination unit 36C performs processing. Ends (END).
In step S183, it is determined whether or not the steering angle of the vehicle C has changed beyond a preset position determination steering angle between the two consecutive stop positions detected in step S181 ("steering" shown in the figure). Angle ≧ steering angle for position determination? ”).

If it is determined in step S183 that the steering angle of the vehicle C has changed more than a preset steering angle for position determination (“Y” in the figure) between two consecutive stop positions, The process performed by the vehicle position determination unit 36C proceeds to step S184.
On the other hand, if it is determined in step S183 that the change amount of the steering angle of the vehicle C between the two consecutive stop positions is less than the steering angle for position determination ("N" in the figure), the parked and stopped vehicle The processing performed by the position determination unit 36C ends (END).

  In step S184, it is determined that the position of the parked vehicle is on the non-priority road ("determination that a parked vehicle exists on the non-priority road that intersects at the temporary stop intersection" shown in the figure). If it is determined in step S184 that the position of the parked / stopped vehicle is on the non-priority road, the process performed by the parked / parked vehicle position determination unit 36C ends (END).

(Operation)
Next, an example of the operation performed by the road information creation / distribution system S of the present embodiment will be described with reference to FIGS. In the following description, as an example, the vehicle C1 is the host vehicle and the vehicle C2 is another vehicle.
The plurality of vehicles C2 (other vehicles) transmit a travel information signal to the base station side receiving unit 38 via the controller 20 and the vehicle side transmitting unit 24 while traveling.
In the base station B that has received the travel information signal via the base station side receiving unit 38, the temporarily stopped intersection determining unit 36A determines whether or not the road intersecting at the selected signal no-intersection is a non-priority road. . Furthermore, a signal-free intersection where the determined non-priority road intersects is determined as a temporarily stopped intersection. Then, the temporary stop intersection signal is transmitted to the vehicle-side receiver 26 via the base station-side transmitter 40.

In the base station B that has received the travel information signal, the parked vehicle estimation unit 36B estimates the presence of parked vehicles within the determination range from the temporary stop intersection determined by the temporary stop intersection determination unit 36A. Then, the parked vehicle presence signal is transmitted to the vehicle side receiving unit 26 via the base station side transmitting unit 40.
Further, in the base station B that has received the travel information signal, the parked vehicle position determination unit 36C determines whether the parked vehicle position estimated by the parked vehicle estimation unit 36B is on a non-priority road. It is judged whether it is on the priority road which intersects with. Then, the parking / stopped vehicle position signal is transmitted to the vehicle-side receiving unit 26 via the base station-side transmitting unit 40.

  The vehicle C1 that has received the temporary stop intersection signal, the parked vehicle presence signal, and the parked vehicle position signal via the vehicle-side receiving unit 26 detects the current position of the vehicle C by the vehicle position detection unit 8 during traveling. . When the traveling vehicle C1 (own vehicle) approaches the temporary stop intersection and the first time condition and the second time condition are satisfied, the notification content generation unit 30 generates the notification from the notification unit 22. The warning of the content according to the command signal is notified to the driver of the host vehicle.

  Here, in the present embodiment, in the base station B that has received the travel information signal, the parking / stopped vehicle estimation unit 36B performs at least one of the first estimation process and the second estimation process, and the temporary stop intersection determination unit 36A Presence of parked vehicles near the determined temporary stop intersection is estimated. In addition to this, whether the position of the parked and stopped vehicle estimated by the parked vehicle estimation unit 36B is on a non-priority road or a priority road that intersects the non-priority road Determine.

Accordingly, in the present embodiment, it is possible to estimate the presence of a parked vehicle near the temporary stop intersection.
For this reason, even when the outlook situation for intersecting roads has deteriorated due to the presence of parked vehicles, the presence of parked vehicles during the driving on priority and non-priority roads until entering the temporary stop intersection, It becomes possible to make the driver of the traveling vehicle recognize.

  As described above, the road information creation / distribution method implemented by the operation of the road information creation / distribution apparatus 2 of the present embodiment receives the travel information including the vehicle speed and position information transmitted by the vehicle, and A position is memorize | stored and a temporary stop intersection is determined based on the received driving information. In addition, based on the received travel information, the presence of a parked vehicle that is a vehicle parked or parked within the determination range from the determined temporary stop intersection is estimated. And it is the method of transmitting the temporary stop intersection information which is the information of the determined temporary stop intersection, and the parked vehicle presence information which is the information of the estimated parked vehicle. In this method, an intersection at which a non-priority road including a point that needs to be temporarily stopped among roads that intersect at a stored intersection is determined as a temporarily stopped intersection. The temporary stop intersection includes a point where the probability that the vehicle speed is equal to or lower than the predetermined determination speed within the predetermined determination range from the stored intersection is equal to or higher than the predetermined determination probability. Determine the intersection where the roads intersect.

(Effects of the first embodiment)
The road information creation / distribution system S of the present embodiment can achieve the effects described below.
(1) The base station side receiving unit 38 receives travel information including the speed and position information of the vehicle C transmitted from the vehicle C, and the base station side map data storage unit 42 stores the position of the intersection. Based on the traveling information received by the base station side receiving unit 38, the parked and stopped vehicle estimating unit 36B is parked or parked within the determination range from the intersection determined by the temporarily stopped intersection determining unit 36A as a temporarily stopped intersection. Presence of a parked vehicle that is a vehicle is estimated.
For this reason, it is possible to estimate the presence of a parked vehicle near the temporary stop intersection.
As a result, even if the outlook situation for intersecting roads has deteriorated due to the presence of parked vehicles, the presence of parked vehicles when traveling on priority and non-priority roads until entering the temporary stop intersection, It becomes possible to make the driver of the traveling vehicle C recognize.

  This makes it possible to reduce the possibility of contact with a vehicle or the like traveling on an intersecting road when entering a temporary stop intersection where the presence of a parked vehicle is estimated. In addition, it is possible to reduce the possibility of contact with a pedestrian who uses the above facility when traveling on a priority road or a non-priority road.

(2) The travel information received by the base station side receiving unit 38 and the position of the intersection stored in the base station side map data storage unit 42 without the need for an imaging device such as a camera or a detection device such as a radar. Based on this, it is possible to estimate the presence of a parked vehicle near the temporary stop intersection.
As a result, it is possible to suppress an increase in the cost of the vehicle C on which the in-vehicle device 1 is mounted, and it is possible to estimate the existence of a parked vehicle near the temporary stop intersection.

(3) The traveling information is information in which the information on the steering angle of the vehicle C is associated with the speed and position information of the vehicle C. In addition to this, when the parking / stopping vehicle estimation unit 36B changes the steering angle of the vehicle C within the determination range to be equal to or greater than the preset presence determination steering angle, there is a parking / stopping vehicle within the determination range. presume.
Therefore, it is possible to estimate the presence or absence of a parked vehicle near the temporary stop intersection based on the steering angle information transmitted from the vehicle C without the need for an imaging device such as a camera or a detection device such as a radar. It becomes.
As a result, it is possible to suppress an increase in the cost of the vehicle C on which the in-vehicle device 1 is mounted, and a parking / stopping vehicle corresponding to a vehicle other than the vehicle C that transmits the steering angle information in the vicinity of the temporary stop intersection. Presence can be estimated.

(4) The travel information is information in which time information is associated with speed and position information of the vehicle C. In addition to this, the parked vehicle estimation unit 36B estimates that there is a parked vehicle within the determination range when the stop time of the vehicle C within the determination range is equal to or greater than the preset stop determination time. To do.
For this reason, it is possible to estimate the presence of a parked vehicle in the vicinity of the temporary stop intersection based on the stop time of the vehicle C that has transmitted the travel information without requiring an imaging device such as a camera or a detection device such as a radar. It becomes.
As a result, it is possible to suppress an increase in cost of the vehicle C on which the in-vehicle device 1 is mounted, and to estimate the existence of a parked vehicle corresponding to the vehicle C that has transmitted the travel information in the vicinity of the temporary stop intersection. Is possible.

(5) Parking / parking vehicle position determination section 36C that determines whether the position of the parking / stopping vehicle estimated by the parking / parking vehicle estimation section 36B is on a non-priority road or a priority road that intersects the non-priority road. Is provided.
For this reason, it becomes possible to determine the position where the parked and stopped vehicle exists on the road intersecting at the temporary stop intersection.
As a result, depending on the position of the parked vehicle in the vicinity of the temporary stop intersection, when traveling on the priority road or non-priority road until entering the temporary stop intersection, It becomes possible to make the driver of the vehicle who is present recognize.

(6) The traveling information is information in which time information is associated with the speed and position information of the vehicle C.
When the parked vehicle position determination unit 36C detects the estimated time within the range of the stop position determination interval, the parked vehicle position determination unit 36C determines that the position of the parked vehicle is on the non-priority road and sets the estimated time to the stop position determination interval. If the vehicle is detected outside the range, it is determined that the position of the parked vehicle is a priority road.
For this reason, it becomes possible to determine the position of the parked vehicle based on the estimated time that is the time when the parked vehicle estimation unit 36B estimated the presence of the parked vehicle and the preset stop position determination interval.
As a result, an imaging device such as a camera or a detection device such as a radar is not required, and an increase in the cost of the vehicle C on which the in-vehicle device 1 is mounted can be suppressed, and the position of a parked vehicle can be determined. It becomes possible.

(7) The traveling information is information in which the information on the steering angle of the vehicle C is associated with the information on the speed and position of the vehicle C.
In addition, the parked vehicle position determination unit 36C determines that the position of the parked vehicle is on a non-priority road. This determination is made by steering between stop positions whose distance between two consecutive stop positions of the vehicle C detected within the determination range is longer than the stop position determination distance and longer than the stop position determination distance. This is performed when the angle changes beyond the position determination steering angle.
Therefore, based on the distance between two consecutive stop positions of the vehicle C, the preset stop position determination distance, the steering angle of the vehicle C, and the preset position determination steering angle, It is possible to determine that the position is on a non-priority road.
As a result, an imaging device such as a camera or a detection device such as a radar is not required, and an increase in the cost of the vehicle C on which the in-vehicle device 1 is mounted can be suppressed, and the position of a parked vehicle can be determined. It becomes possible.

(8) The in-vehicle device 1 detects the speed of the vehicle C detected by the vehicle speed detection unit 6, information on the position of the vehicle C detected by the vehicle position detection unit 8, and the steering angle of the vehicle C detected by the steering angle detection unit 10. Is provided with a vehicle-side transmission unit 24 that transmits travel information including
As a result, the traveling information of the vehicle C on which the in-vehicle device 1 is mounted can be transmitted to the road information creation / distribution device 2.

(9) The in-vehicle device 1 includes a vehicle-side receiving unit 26 that receives the temporary stop intersection information and the parked vehicle presence information transmitted by the road information creation / distribution device 2. In addition, a notification unit 22 that notifies the driver of the vehicle C of a warning according to the information about the temporary stop intersection received by the vehicle side reception unit 26 and the parked vehicle presence information is provided.
For this reason, it is possible to notify the driver of the traveling vehicle C of a warning indicating the presence of a parked vehicle when traveling on the priority side road or the non-priority side road until entering the temporary stop intersection. It becomes.
As a result, it is possible to suppress the occurrence of human errors such as contact with parked vehicles.

(10) When the vehicle C equipped with the vehicle-mounted device 1 enters the temporary stop intersection from the non-priority road, the notification unit 22 responds to the possibility that a parked vehicle exists on the priority road that intersects the non-priority road. A warning of the contents is notified to the driver of the vehicle C. In addition to this, the driver of the vehicle C is notified of a warning corresponding to the alert regarding the vehicle entering the temporary stop intersection from a blind spot generated by a parked vehicle that may be present on the priority road.
For this reason, when driving on the non-priority side road until entering the temporary stop intersection, the driver of the vehicle C traveling on the non-priority side road is notified of the warning according to the parked vehicle existing on the priority road. Can be notified.
As a result, even if the visibility situation has deteriorated due to parked vehicles on the priority road, when traveling on the non-priority road and entering the temporary stop intersection, the vehicle entering the temporary stop intersection from the priority road It is possible to suppress contact and the like.

(11) When the vehicle C equipped with the in-vehicle device 1 enters the temporary stop intersection from the priority road, the notification unit 22 warns the vehicle with a warning according to the possibility that a parked vehicle exists on the non-priority road. Inform the C driver. In addition to this, a warning according to the alert regarding the attention object moving on the travel route of the vehicle C on which the vehicle-mounted device 1 is mounted from a blind spot generated by a parked vehicle that may exist on a non-priority road is issued. The driver of the vehicle C is notified.
For this reason, when traveling on the priority side road until entering the temporary stop intersection, a warning of the content corresponding to the parked vehicle existing on the non-priority road is given to the driver of the vehicle C traveling on the priority side road It is possible to notify.
As a result, even if the visibility situation has deteriorated due to parked vehicles on non-priority roads, vehicles that enter the temporary stop intersection from non-priority roads when traveling on the priority road and entering the temporary stop intersection It becomes possible to suppress the contact etc. to. In addition to this, on the priority side road on which the vehicle C is traveling, it is possible to suppress contact with a pedestrian crossing the traveling route.

(12) The parked vehicle presence information includes information on the time when the parked vehicle estimation unit 36B estimated the presence of the parked vehicle. Moreover, the time information detection part 12 with which the vehicle-mounted apparatus 1 is provided detects the time information which is information including the present time and day of the week.
In addition, the notification unit 22 notifies the driver of the vehicle C of a warning. The warning notification is the current time information detected by the time information detecting unit 12 when the time when the parked vehicle estimation unit 36B estimated the presence of the parked vehicle is within the preset range of the determination time. This time and day of the week are within the range of the existence determination time.

For this reason, it is possible to notify the driver of the vehicle C of the warning from the notification unit 22 based on the time (time, day of week) when there is a high possibility that the parked vehicle is actually present near the temporary stop intersection. It becomes.
As a result, the warning unit 22 does not give a warning to the driver of the vehicle C during the time when there is a low possibility that a parked vehicle is actually present near the temporary stop intersection. Annoyance can be reduced.

(13) The road information creation / distribution system of this embodiment includes a road information creation / distribution device 2 and an in-vehicle device 1.
As a result, based on the travel information detected by the vehicle C, the road information creation / distribution device 2 can determine a temporary stop intersection and distribute the determined temporary stop intersection to the vehicle C. In addition, the road information creation / distribution device 2 can estimate the presence of a parked vehicle near the determined temporary stop intersection, and deliver the estimated presence of the parked vehicle to the vehicle C.

(14) In the road information creation / distribution method of the present embodiment, the travel information transmitted by the vehicle is received, the position of the intersection is stored, and the temporarily stopped intersection is determined based on the received travel information. In addition, based on the received travel information, the presence of a parked vehicle that is a vehicle parked or parked within the determination range from the determined temporary stop intersection is estimated. And the temporary stop intersection information which is the information of the determined temporary stop intersection, and the parking / stopping vehicle presence information which is the information of the estimated parking / stopping vehicle are transmitted.

For this reason, it is possible to estimate the presence of a parked vehicle near the temporary stop intersection.
As a result, even if the outlook situation for intersecting roads has deteriorated due to the presence of parked vehicles, the presence of parked vehicles when traveling on priority and non-priority roads until entering the temporary stop intersection, It becomes possible to make the driver of the traveling vehicle recognize.

(Modification)
(1) In the present embodiment, the determination of a temporary stop intersection and the presence of a parked vehicle are estimated based on the travel information and map data, but the present invention is not limited to this. That is, for example, by referring to the map data stored in the base station side map data storage unit 42 and using information indicating the facilities existing within the set range, the determination result of the stop intersection, the parked vehicle The existence estimation result may be corrected.
In this case, for example, if the facility that is within the determination range from the determined temporary stop intersection is a cram school, the estimated result of the presence or absence of the parked vehicle is not corrected between 15:00 and 21:00 on weekdays. During the day of the week, the estimated result of the presence / absence of a parked vehicle is corrected by reducing the possibility of existence.

(2) In the present embodiment, the parked vehicle estimation unit 36B determines the position of the parked vehicle using the estimated time when the parked vehicle is estimated, but the present invention is not limited to this. That is, for example, the content of the map data stored in the vehicle-side map data storage unit 28 or the base station-side map data storage unit 42 may be updated using the estimated time. For example, when the time zone of the estimated time is a regular time zone on weekdays and the estimated time is short, the content that the facility included in the map data is a cram school is updated. In addition, when the estimated time zone is an irregular time zone that is not limited by the day of the week and the estimated time is short, the content included in the map data is updated to the convenience store.

(3) In the present embodiment, the reception target for receiving the non-priority road information and the stop target position information transmitted by the road information creation / distribution device 2 is the vehicle C equipped with the vehicle-mounted device 1 including the vehicle-side receiving unit 22. did. However, the reception target of non-priority road information and stop target position information is not limited to this.
In other words, the reception target of the non-priority road information and the stop target position information can be accessed, for example, by wireless communication to the communication path 4 and portable communication devices / terminals (such as mobile phones having a network function) that can be carried by pedestrians. It is good.

(4) In the present embodiment, the message content of the voice information output from the notification unit 18 is changed according to the position of the stop target position and the host vehicle, the vehicle speed of the host vehicle, and the like, but is not limited thereto. For example, the volume of the voice information may be changed along with the change of the message content.

DESCRIPTION OF SYMBOLS 1 In-vehicle apparatus 2 Road information creation and distribution apparatus 4 Communication path 6 Vehicle speed detection part 8 Vehicle position detection part 10 Steering angle detection part 12 Time information detection part 14 ROM
16 RAM
18 vehicle-side database 20 controller 22 notification unit 24 vehicle-side transmission unit 26 vehicle-side reception unit 28 vehicle-side map data storage unit 30 notification content generation unit 32 base station-side database 34 travel information recording unit 36 road condition determination unit 36A temporary stop intersection Determining unit 36B Parked vehicle estimation unit 36C Parked vehicle position determining unit 38 Base station side receiving unit 40 Base station side transmitting unit 42 Base station side map data storage unit S Road information creation / distribution system C Vehicle (C1, C2)
B Base station PC Parked vehicle OC Other vehicle MC Own vehicle W Pedestrian ST Stop sign

Claims (12)

A base station side receiving unit that receives travel information including information on the speed and position of the vehicle transmitted by the vehicle;
A map data storage unit storing the position of the intersection;
Based on the received travel information, the probability that the speed of the vehicle is equal to or lower than a predetermined determination speed within a predetermined determination range from the intersection stored in the map data storage unit is set in advance. A temporary stop that is an intersection where a non-priority road that includes a point that needs to be temporarily stopped among roads that intersect at an intersection stored in the map data storage unit intersects an intersection that includes a point that exceeds a probability A temporary stop intersection determination unit that determines an intersection;
Based on the received travel information, a parking / stopping vehicle estimation that estimates the presence of a parking / stopping vehicle that is parked or parked within the determination range from the intersection determined by the temporary stop intersection determination unit as a temporary stop intersection And
A parked vehicle position determination unit that determines whether the position of the parked vehicle estimated by the parked vehicle estimation unit is on the non-priority road or a priority road that intersects the non-priority road;
Temporary stop intersection information, which is information of a temporary stop intersection determined by the temporary stop intersection determination unit, parking vehicle presence information, which is information of a parked vehicle estimated by the parked vehicle estimation unit, and the parked vehicle position A road information creation / distribution device comprising: a base station side transmission unit configured to transmit parking / stopped vehicle position information that is information of parking / stopped vehicle determined by the determination unit. The travel information is information in which information on the steering angle of the vehicle is associated with information on the speed and position of the vehicle,
The parking / stopped vehicle estimation unit estimates that the parked / stopped vehicle exists in the determination range when a steering angle of the vehicle in the determination range changes to a preset presence determination steering angle or more. The road information creation / distribution device according to claim 1. The travel information is information that associates time information with speed and position information of the vehicle,
The parked vehicle estimation unit estimates that the parked vehicle exists in the determination range when the stop time of the vehicle in the determination range is equal to or greater than a preset stop determination time. The road information creation / distribution device according to claim 1 or 2, characterized by the above. The travel information is information that associates time information with speed and position information of the vehicle,
When the parked vehicle position determination unit detects an estimated time, which is the time when the parked vehicle estimation unit estimates the presence of the parked vehicle, within a preset stop position determination interval, the position of the parked vehicle The vehicle is determined to be on the non-priority road, and if the estimated time is detected outside the stop position determination interval, the position of the parked vehicle is determined to be the priority road. The road information creation / distribution device according to any one of claims 1 to 3 . The travel information is information in which information on the steering angle of the vehicle is associated with information on the speed and position of the vehicle,
The parked and stopped vehicle position determination unit is configured such that a distance between two consecutive stop positions of the vehicle detected within the determination range is longer than a preset stop position determination distance, and the stop position determination distance The position of the parked and stopped vehicle is determined to be on the non-priority road when the steering angle changes more than a preset position determination steering angle between stop positions longer than the distance. The road information creation / distribution device according to any one of claims 1 to 4 . An in-vehicle device that transmits the travel information to the road information creation / distribution device according to any one of claims 1 to 5 ,
A vehicle speed detector for detecting the speed of a vehicle equipped with the in-vehicle device;
A vehicle position detector for detecting the position of the vehicle;
A steering angle detector for detecting a steering angle of the vehicle;
Travel information including vehicle speed detected by the vehicle speed detector, vehicle position detected by the vehicle position detector, and vehicle steering angle detected by the steering angle detector is provided to the road information creation / distribution device. A vehicle-side device comprising: a vehicle-side transmission unit for transmission. An in-vehicle device that receives the temporary stop intersection information and the parked / stopped vehicle presence information from the road information creation / distribution device according to any one of claims 1 to 5 ,
A vehicle-side receiving unit that receives the temporary stop intersection information and parked vehicle presence information transmitted by the road information creation / distribution device;
An in-vehicle device comprising: a notifying unit for notifying a driver of the vehicle of a warning corresponding to the information about the stop intersection information and the parked vehicle presence information received by the vehicle side receiving unit. The notification unit responds to the possibility that the parked vehicle is present on a priority road that intersects the non-priority road when a vehicle equipped with the in-vehicle device enters the temporary stop intersection from the non-priority road. A warning of contents and a warning of contents in response to a warning regarding a vehicle entering the temporary stop intersection from a blind spot generated by a parked vehicle that may be present on the priority road, to the driver of the vehicle The in-vehicle device according to claim 7 , wherein notification is performed. The notification unit responds to the possibility that the parked vehicle is present on the non-priority road when a vehicle equipped with the in-vehicle device enters the temporary stop intersection from a priority road that intersects the non-priority road. Warning of contents and warnings of contents in response to alerts regarding cautionary objects that move on the travel route of vehicles equipped with the in-vehicle device from blind spots generated by parked vehicles that may be present on the non-priority road The vehicle-mounted device according to claim 7 or 8 , wherein the vehicle driver is notified to the driver of the vehicle. The parked vehicle presence information includes information on the time when the parked vehicle estimation unit estimated the presence of a parked vehicle,
The in-vehicle device includes a time information detection unit that detects time information that is information including the current time and day of the week,
The notification unit includes a time at which the parked vehicle estimation unit estimates the presence of a parked vehicle within a preset presence determination time range and the time information detected by the time information detection unit includes The vehicle-mounted vehicle according to any one of claims 7 to 9 , wherein the warning is notified to a driver of the vehicle when the time and day of the week are within the range of the existence determination time. Equipment . A road information creation / distribution device according to any one of claims 1 to 5 , and an in-vehicle device according to any one of claims 6 to 10 , comprising: Road information creation / distribution system. Receiving travel information including information on the speed and position of the vehicle transmitted by the vehicle;
Remember the location of the intersection,
Based on the received travel information, a point where a probability that the speed of the vehicle is equal to or lower than a predetermined determination speed within a predetermined determination range from the stored intersection is equal to or higher than a predetermined determination probability. The intersection where the road including the intersection intersects with the stored intersection, the intersection intersecting the non-priority road including the point that needs to be temporarily stopped among the roads intersecting at the stored intersection,
Based on the received travel information, estimate the presence of a parked vehicle that is a vehicle parked or parked within the determination range from the determined temporary stop intersection,
Determining whether the position of the parked vehicle that has estimated the presence is on the non-priority road or a priority road that intersects the non-priority road;
Pause intersection information that is information on the determined stop intersection, parked vehicle presence information that is information on the estimated parked vehicle, parked vehicle position information that is information on the determined parked vehicle, Road information creation / distribution method characterized by transmitting

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