JP5889085B2 - Driving assistance device - Google Patents

Description

  The present invention relates to a driving support device that presents advice relating to driving of a vehicle.

  2. Description of the Related Art Conventionally, an apparatus for presenting advice on driving a vehicle to a driver has been proposed. For example, in a driving support device that teaches a recommended accelerator opening for improving fuel efficiency to a driver, it is determined whether or not acceleration driving is performed, and the recommended accelerator opening is determined based on the determination result. Calculated and taught (see, for example, Patent Document 1).

Japanese Patent No. 4740280

  However, in the conventional driving support device, advice is presented in the situation immediately before acceleration running (or the initial situation in which acceleration running is performed), so it takes time to execute the advice. There is a problem that there is a possibility that the driver cannot give advice because there is no room.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide a driving support device that can execute advice with a margin when receiving advice.

  A driving support device according to the present invention includes a vehicle sensor information acquisition unit that acquires vehicle sensor information from a vehicle sensor mounted on a vehicle, and a traveling state determination unit that determines a current traveling state of the vehicle based on the vehicle sensor information. And a route information acquisition unit that acquires route information of the planned travel route of the vehicle, and information on a required time from when the advice regarding driving of the vehicle is presented until a driving operation according to the advice is performed is stored Of the required time storage unit and the planned travel route, the position where the vehicle is predicted to travel after the lapse of the required time from the current time is determined as the advice start position, and a predetermined distance is advanced from the advice start position The position is determined as the advice end position, and a partial path from the advice start position to the advice end position is defined as an advice section. A travel state prediction for predicting a future travel state when the vehicle is traveling in the advice section based on the vehicle section information, the current travel state, and the route information. And an advice output unit that outputs advice according to the future driving state.

  Thus, in consideration of the time required from the time when the advice about driving the vehicle is presented until the driving operation according to the advice is performed, the advice start position (the time required from the current time (for example, the time required for the vehicle) The partial route from the position where the vehicle is predicted to travel after 15 seconds) to the advice end position (a position advanced by a predetermined distance (eg, 500 m) from the advice start position) is determined as the “advice section”. . Based on the vehicle sensor information, the current travel state, and the route information, the future travel state (for example, “stop”, “start”, “steady travel”, “steady acceleration”, “ ”Deceleration” and the like are predicted, and advice according to the future driving state is output. In this way, the time required from the presentation of advice to the execution of the advice is secured, and thus the driver who has received the advice can execute the advice with a margin.

  In addition, the driving support apparatus of the present invention includes a history information storage unit that stores driving history information of the vehicle for each information item included in the route information, and the driving state prediction unit includes a route included in the advice section. The future traveling state when the vehicle is traveling in the advice section may be predicted based on the driving history information of the same information item.

  Thereby, based on the driving history information of the same information item as the route included in the advice section, a future traveling state when the vehicle is traveling in the advice section is predicted. The information items include, for example, the average vehicle speed for each road type (general road, highway, etc.), the average vehicle speed for each road type and number of lanes, the average vehicle speed for each link ID, the average vehicle speed for each link ID column, and the degree of congestion The average vehicle speed is included. By using the driving history information of the same information item (for example, average vehicle speed for each road type), it is possible to improve the prediction accuracy of the future driving state.

  In addition, the driving support device of the present invention includes an intersection information storage unit that stores information on an intersection stop probability that indicates a ratio at which the vehicle attempting to pass through the intersection has stopped at the intersection for each intersection, and the driving state The prediction unit may predict the future traveling state when the vehicle is traveling in the advice section based on an intersection stop probability of an intersection included in the advice section.

  Thus, based on the intersection stop probability of the intersection included in the advice section (the ratio at which the vehicle attempting to pass the intersection stops at the intersection), the future driving state when the vehicle is traveling in the advice section is determined. is expected. For example, if the advice section includes “a well-stopped intersection (intersection with a high intersection stop probability)”, the future traveling state of the route is predicted to be “stop”. Thus, the prediction accuracy of the future traveling state can be improved by using the information on the intersection stop probability.

  In addition, the driving support device of the present invention includes a traffic information acquisition unit that acquires traffic information of the planned travel route, and the travel state prediction unit is based on the traffic information of the route included in the advice section. May predict the future driving state when driving in the advice section.

  Thereby, based on the traffic information (for example, VICS (registered trademark) information) of the route included in the advice section, a future traveling state when the vehicle is traveling in the advice section is predicted. For example, if the advice section includes a route “congested”, the future driving state of the route is predicted to be “stopped”. Thus, the prediction accuracy of the future driving state can be improved by using the traffic information.

  The driving support device according to the present invention may further include an order determining unit that determines an order of outputting advice according to the future driving state based on a priority set for each advice.

  As a result, the order in which advices according to future driving conditions are output is determined based on the priority set for each advice. For example, advice that improves fuel consumption is output with priority. Alternatively, advice is output in the order of driving operations to be executed (for example, “deceleration → stop → start → steady acceleration”). Note that the number of advices to be output may be one or two or more.

  The driving support method of the present invention is a driving support method executed by a driving support device, which acquires vehicle sensor information from a vehicle sensor mounted on a vehicle, and the current vehicle status based on the vehicle sensor information. Determining the travel state of the vehicle, obtaining route information of the planned travel route of the vehicle, and the time required for the driving operation according to the advice after the advice regarding the driving of the vehicle is presented. Based on the information, a position that is predicted to be traveled by the vehicle after a lapse of the required time from the current time is determined as an advice start position on the planned travel route, and a position that is advanced by a predetermined distance from the advice start position Is determined as the advice end position, and the partial route from the advice start position to the advice end position is determined as the advice section. Based on the vehicle sensor information, the current travel state, and the route information, predicting a future travel state when the vehicle is traveling in the advice section, and the future travel state Output advice according to the process.

  Also with this method, the time required from the presentation of the advice to the execution of the advice is ensured, as in the case of the above-described device, so that the driver who has received the advice can execute the advice with a margin.

  The driving support program according to the present invention is a driving support program executed by a driving support device, wherein the computer acquires vehicle sensor information from a vehicle sensor mounted on a vehicle, and the vehicle sensor information A process for determining the current traveling state of the vehicle, a process for obtaining route information of the planned traveling route of the vehicle, and a driving operation corresponding to the advice after the advice relating to the driving of the vehicle is presented. Based on the required time information, a position where the vehicle is predicted to travel after the required time elapses from the current time is determined as an advice start position on the planned travel route, and a predetermined distance from the advice start position is determined. The advanced position is determined as the advice end position, and the part from the advice start position to the advice end position A process for determining a road as an advice section, and a process for predicting a future traveling state when the vehicle is traveling in the advice section based on the vehicle sensor information, the current traveling state, and the route information; And a process of outputting advice according to the future driving state.

  This program also secures the time required from the presentation of advice to the execution of the advice, as in the case of the above-described apparatus, so that the driver who has received the advice can execute the advice with a margin.

  According to the present invention, it is possible to execute the advice with a margin when the advice is presented.

The block diagram of the driving assistance apparatus in the 1st Embodiment of this invention Explanatory drawing of the vehicle running state (start, steady running, steady acceleration, deceleration, stop) Illustration of the advice section (partial route from the advice start position to the advice end position) Illustration of intersection stop probability Explanatory drawing of prediction process of future driving state (start) Explanatory drawing of prediction process of future driving state (steady driving) Explanatory diagram of prediction process of future running state (steady acceleration) Explanatory diagram of prediction process of future running state (steady acceleration) Explanatory drawing of prediction process of future running state (deceleration) Explanatory drawing of prediction process of future running state (stop) The block diagram of the driving assistance device in the 2nd Embodiment of this invention Explanatory diagram of vehicle driving history information

  Hereinafter, a driving support device according to an embodiment of the present invention will be described with reference to the drawings. In the present embodiment, a case of a driving support device used for a vehicle navigation device or the like is illustrated. The driving support device has a function of presenting advice on driving the vehicle. This function may be executed by a program stored in the HDD or memory of the apparatus.

(First embodiment)
The configuration of the driving support apparatus according to the first embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram illustrating a configuration of the driving support apparatus according to the present embodiment. As shown in FIG. 1, the driving support device 1 includes a vehicle sensor information acquisition unit 2, a route information acquisition unit 3, a position information acquisition unit 4, and a traffic information acquisition unit 5.

The vehicle sensor information acquisition unit 2 has a function of acquiring vehicle sensor information from a vehicle sensor 6 mounted on the vehicle. The vehicle sensor information includes, for example, vehicle speed (km / hour), acceleration (m / second ² ), rudder angle (°) (left turn: positive, right turn: negative), left / right turn signal (left / right turn SW) on Information such as on / off, hazard lamp on / off, brake pressure, side brake on / off, and the like.

  The route information acquisition unit 3 has a function of acquiring route information of a planned travel route from the navigation device 7 mounted on the vehicle. The route information of the planned travel route includes information such as a road ID (link ID), a road type, the number of lanes, a curve angle, and a road shape. In addition, the route information of the planned travel route includes information such as the latitude and longitude of the departure point, the destination, and the stopover point. The route information acquisition unit 3 may have a function of predicting route information of a planned travel route.

  The position information acquisition unit 4 has a function of acquiring vehicle position information from the GPS device 8 mounted on the vehicle. The vehicle position information includes, for example, information such as the latitude and longitude of the current position of the vehicle.

  The traffic information acquisition unit 5 has a function of acquiring traffic information of a planned travel route (described later) from a VICS (registered trademark) server 9 installed in a remote center (traffic information center or the like) via a communication network. I have. The traffic information includes traffic jam information of a route included in the planned travel route. The traffic information may include information on the time (link travel time) required to travel (travel) along the route (link).

  Further, the driving support device 1 includes a traveling state determination unit 10, a traveling state prediction unit 11, and an advice output unit 12. The traveling state prediction unit 11 includes a required time storage unit 13 and an advice section determination unit 14, and the advice output unit 12 includes an advice generation unit 15 and an order determination unit 16. Further, the driving support device 1 includes an intersection information generation unit 17 and an intersection information storage unit 18.

  The traveling state determination unit 10 has a function of determining the current traveling state of the vehicle based on vehicle sensor information (current vehicle speed, acceleration, etc.) input from the vehicle sensor information acquisition unit 2. Here, the traveling state of the vehicle will be described with reference to FIG. As shown in FIG. 2, the running state of the vehicle includes “start”, “steady running”, “steady acceleration”, “deceleration”, “stop”, and the like.

For example, when “the vehicle speed is less than 5 km / hour”, it is determined that the traveling state of the vehicle is “stop”. Further, when “the previous running state is stopped” and “the acceleration is greater than 0 m / sec ² ”, it is determined that the running state of the vehicle is “start”. Further, when “the vehicle speed is greater than 20 km / hour” and “the acceleration is 0 m / sec ² or less”, it is determined that the traveling state of the vehicle is “steady traveling”.

In addition, when “the previous running state is steady running”, “acceleration is greater than 0 m / sec ² ”, and “speed difference is greater than 20 km / hour”, the running state of the vehicle is “steady acceleration” Is determined. Further, when “the acceleration is greater than 0 m / sec ² ” and “the speed difference is greater than 20 km / hour”, it is determined that the traveling state of the vehicle is “deceleration”. In addition, when neither condition is satisfied, the previous traveling state is taken over.

  The required time storage unit 13 stores information on required time (for example, 15 seconds) from when the advice related to driving the vehicle is presented until the driving operation according to the advice is performed. The required time may be, for example, 30 seconds or 1 minute, and can be arbitrarily set.

  The advice section determination unit 14 determines, as an “advice start position”, a position where the vehicle is predicted to travel after the required time has elapsed from the current time (for example, 15 seconds later), and starts the advice. A position advanced by a predetermined distance (for example, 500 m) from the position is determined as an “advice end position”. Then, a partial route from the advice start position to the advice end position is determined as an “advice section”.

  Here, the advice section will be described with reference to FIG. As shown in FIG. 3, for example, when a scheduled travel route from the departure point A to the destination E is set, the vehicle travels after the required time has elapsed (15 seconds later) from the current position B of the vehicle. The position C predicted to be determined is determined as the “advice start position”, and the position D advanced by a predetermined distance (500 m) from the advice start position is determined as the “advice end position”. Then, a route (partial route) from the advice start position C to the advice end position D is determined as an “advice section”.

  The intersection information generation unit 17 calculates, for each intersection, a probability (intersection stop probability) indicating a ratio at which a vehicle that has attempted to pass through the intersection has stopped at the intersection. The intersection information storage unit 18 stores information on the intersection stop probability calculated by the intersection information generation unit 17.

  Here, the intersection stop probability will be described with reference to FIG. For example, as shown in FIG. 4A, the vehicle travels “10 times” from the route of “link ID = 1” to the route of “link ID = 2” at the intersection of “endpoint ID = 1”. Stop “5 times”, travel “20 times” from the route of “Link ID = 3” to the route of “Link ID = 2”, stop “2 times”, and stop from the route of “Link ID = 2” It is assumed that the vehicle travels “5 times” on the route of ID = 1 and stops “3 times”. In that case, the stop probability of the intersection of “endpoint ID = 1” is calculated as “15/35”.

  Alternatively, as illustrated in FIG. 4B, the stop probability when traveling from the route of “Link ID = 1” to the route of “Link ID = 3” at the intersection of “End point ID = 1” is “5/10”. May be calculated. Similarly, the probability of stopping when traveling at the intersection of “endpoint ID = 1” from the route of “link ID = 3” to the route of “link ID = 2” may be calculated as “2/20”.

  The traveling state prediction unit 11 has a function of predicting a “future traveling state” when the vehicle is traveling in the advice section based on the vehicle sensor information, the current traveling state, and the route information. Further, the traveling state prediction unit 11 can predict the “future traveling state” when the vehicle is traveling in the advice section based on the intersection stop probability of the intersection included in the advice section. Further, the traveling state prediction unit 11 can predict the “future traveling state” when the vehicle is traveling in the advice section based on the traffic information of the route included in the advice section.

  The advice output unit 12 outputs advice according to the future traveling state. The advice generation unit 15 generates advice according to the future traveling state. The order determination unit 16 determines the order of outputting advice according to the future traveling state based on the priority. The advice generation unit 15 may generate an advice corresponding to a future traveling state in advance. Further, the advice generation unit 15 may estimate and generate advice having a high driving improvement effect of the driver from the past driving history. For example, the priority (order) of advice is set higher as the fuel efficiency improves. Alternatively, the priority (order) of advice is set in the order of driving operations to be executed. The priority may be set for each advice.

  Here, with reference to FIGS. 5 to 10, the “future travel state” prediction process will be described.

FIG. 5 is an explanatory diagram of a prediction process of a future running state (start). As shown in FIG. 5, the traveling state prediction unit 11 predicts that the state will be “start” after the stop state (or the state immediately before the stop) (condition 1). For example, based on the current vehicle sensor information, “vehicle speed v is lower than threshold speed v1 _th (5 km / hour)” and “acceleration a is lower than predetermined threshold acceleration a _th (0 m / second ² )” In the future, it is predicted to be in a “start” state.

  In addition, when there is a place where there is a possibility of stopping, the traveling state prediction unit 11 predicts that the vehicle will start in the future (condition 2). For example, based on the intersection information of the planned travel route, if “there is an intersection that stops well (intersection with an intersection stop probability greater than 60%) in the advice section”, it is predicted that the state will be “start” in the future. Alternatively, based on the route information (map information) of the planned travel route, if “the advice section includes a curve satisfying a predetermined condition (a curve having an angle of less than 160 °)”, the state of “start” in the future It is predicted that

In addition, the traveling state prediction unit 11 predicts that a “start” state will occur in the future in a traffic situation that may stop (condition 3). For example, based on the VICS (registered trademark) information of the planned travel route, “when the travel time of the link included in the advice section travels along the route (link) at a predetermined average speed v2 _th (5 km / hour). In the future (link length / v2 _th ) ”, it is predicted that a“ start ”state will occur in the future.

  FIG. 6 is an explanatory diagram of a prediction process of a future traveling state (steady traveling). As shown in FIG. 6, the traveling state predicting unit 11 predicts that the state is “steady traveling” after the start state (condition 1). For example, based on the current vehicle sensor information, if “the current state is a start”, it is predicted that the state will be “steady running” in the future.

  In addition, when the current state is “starting” and there is no place where there is a possibility of stopping, the traveling state prediction unit 11 predicts that the state will be “steady traveling” in the future (condition 2). For example, based on the current vehicle sensor information and the intersection information of the planned travel route, “the current state is a start” and “there is no intersection that stops well (intersection with an intersection stop probability greater than 60%) in the advice section. ", It is predicted that it will be in a" steady state "state in the future. Alternatively, if “the current state is start” and “the advice section does not include a curve satisfying a predetermined condition (a curve having an angle of less than 160 °)”, it is predicted that the state will be “steady driving” in the future. Is done.

In addition, the traveling state prediction unit 11 predicts that the current state is “start” and there is no possibility of stopping (the condition 3). For example, based on the current vehicle sensor information and the VICS (registered trademark) information of the planned travel route, “the current state is a start” and “the link travel time of the route included in the advice section is the route (link ) _Is less than the time (link length / v2 _th ) when the vehicle travels at a predetermined average speed v2 _th (5 km / hour).

  FIG. 7 and FIG. 8 are explanatory diagrams of prediction processing for a future traveling state (steady acceleration). As shown in FIG. 7, when the current state is “steady travel” and the planned travel route is a road shape that can be overtaken and travel at a vehicle speed higher than the current speed, It is predicted that the state will be “steady acceleration (steady acceleration by overtaking)” (condition 1). For example, based on current vehicle sensor information and route information (map information) of a planned travel route, “current state is steady running”, “number of lanes is 2 or more”, and “set for each road type When the cruising vehicle speed (highway: 80 km / hour, general road: 60 km / hour) is greater than the current vehicle speed by 20 km / hour or more, it is predicted that the vehicle will enter a “steady acceleration” state in the future.

Further, in addition to the above condition 1 (condition 1 in FIG. 7), the traveling state prediction unit 11 predicts that the vehicle will be in a “steady acceleration (steady acceleration by overtaking)” state in the future when the traffic situation is overtaking ( Condition 2). For example, based on the VICS (registered trademark) information of the planned travel route, “the link travel time of the route included in the advice section is determined based on the current vehicle speed or a predetermined cruising speed v3 _th (highway: 80 km / time, general road: 60 km / h) is less than the time (link length / v3 _th) when traveling in "case, is expected to be the state of the future" constant acceleration ".

  Further, as shown in FIG. 8, the traveling state prediction unit 11 can change the vehicle speed range (for example, change from a general road to a highway) in the current state of “steady traveling” and the planned traveling route. If it is a road shape, it is predicted that it will become a “steady acceleration (steady acceleration by changing the vehicle speed range)” in the future (condition 1). For example, based on current vehicle sensor information and route information (map information) of a planned travel route, “the current state is steady travel” and “cruising vehicle speed set for each road type (highway: 80 km / In the case of “time, general road: 60 km / hour” is greater than the current vehicle speed by 20 km / hour or more ”, it is predicted that a“ steady acceleration ”state will occur in the future (example 1). Also, if “the current state is steady driving” and “cruising vehicle speed is from small to large, and the difference is a vehicle speed range change of 20 km / hour or more”, it is predicted that the state will be “steady acceleration” in the future. (Example 2).

In addition to the above condition 1 (condition 1 in FIG. 8), the traveling state predicting unit 11 determines that in the future “steady acceleration (steady state by changing the vehicle speed range) when the planned traveling route is a traffic situation in which the vehicle speed range can be changed. Acceleration) ”state. For example, “the link travel time of the route included in the advice section is the time when the route (link) travels at a predetermined cruising speed v3 _th (highway: 80 km / hour, general road: 60 km / hour) (link _Is less than (length / v3 _th ) ”, it is predicted that a“ steady acceleration ”state will occur in the future.

  FIG. 9 is an explanatory diagram of prediction processing for a future traveling state (deceleration). As shown in FIG. 9, when the current traveling state is other than “stop” or other than “deceleration” and the road shape is such that the cruising vehicle speed of the planned traveling route is greatly reduced, "Is predicted (condition 1). For example, based on the current vehicle sensor information and the route information (map information) of the planned travel route, “the current state is neither stop or deceleration” and “cruising vehicle speed (highway) set for each road type : 80 km / hour, general road: 60 km / hour) is predicted to be in a “decelerated” state in the future (example 1). In addition, if “the current state is neither stop nor deceleration” and “cruising vehicle speed changes from the largest to the smallest, and the difference is a vehicle speed range change of 20 km / hour or more”, it will be in the “decelerated” state in the future. (Example 2).

  Furthermore, based on the current vehicle sensor information and the intersection information of the planned travel route, “the current state is neither stop nor deceleration” and “an intersection that stops well in the advice section (intersection stop probability is greater than 60%) When there is an “intersection)”, it is predicted that a “deceleration” state will occur in the future (example 3). Alternatively, if “the current state is neither stop or deceleration” and “the advice section includes a curve that satisfies a predetermined condition (a curve whose angle is less than 160 °)”, the state of “deceleration” in the future (Example 3).

In addition, the travel state prediction unit 11 predicts that the current travel state is other than “stop” or “deceleration” and that the planned travel route is in a traffic situation that needs to be decelerated, it will be in a “deceleration” state in the future. (Condition 2). For example, based on the current vehicle sensor information and the VICS (registered trademark) information of the scheduled travel route, “the current state is neither stop nor deceleration” and “the link travel time of the route included in the advice section is: If the route (link) is greater than the current vehicle speed or the time (link length / v3 _th ) when traveling at a predetermined cruising speed v3 _th (highway: 80 km / hour, general road: 60 km / hour) Expected to be in a “decelerated” state.

FIG. 10 is an explanatory diagram of a prediction process of a future traveling state (stop). As shown in FIG. 10, the traveling state prediction unit 11 predicts that the vehicle will enter a “stop” state after the deceleration state (or a state close to deceleration) (condition 1). For example, based on the current vehicle sensor information, if “the current state is deceleration” and “the vehicle speed v is less than or equal to a predetermined threshold speed v4 _th (10 km / hour)”, the state will be “stopped” in the future. Expected to be.

  In addition, when there is a place where there is a possibility of stopping, the traveling state prediction unit 11 predicts that the state will be “stopped” in the future (condition 2). For example, based on the intersection information of the planned travel route, if “there is an intersection that stops well (intersection with an intersection stop probability greater than 60%) in the advice section”, it is predicted that the state will be “start” in the future. Alternatively, based on the route information (map information) of the scheduled travel route, if “the advice section includes a curve that satisfies a predetermined condition (a curve with an angle of less than 160 °)”, the state of “stop” in the future It is predicted that

In addition, the traveling state prediction unit 11 predicts that the vehicle will stop in the future in a traffic situation that may stop (condition 3). For example, based on the VICS (registered trademark) information of the planned travel route, “when the travel time of the link included in the advice section travels along the route (link) at a predetermined average speed v2 _th (5 km / hour). In the future (link length / v2 _th ) ”, it is predicted that a“ stop ”state will occur in the future.

  According to the driving support apparatus 1 of the first embodiment, the advice can be executed with a margin when the driver receives the advice.

  In other words, in the present embodiment, the advice start position (current position) of the planned travel route of the vehicle is considered in consideration of the time required from when the advice related to driving the vehicle is presented until the driving operation according to the advice is performed. The partial path from the advice end position (position advanced by a predetermined distance (eg, 500 m) from the advice start position) to the advice end position (position where the vehicle is predicted to travel after elapse of the required time (for example, 15 seconds)) Is determined. Based on the vehicle sensor information, the current travel state, and the route information, the future travel state (for example, “stop”, “start”, “steady travel”, “steady acceleration”, “ ”Deceleration” and the like are predicted, and advice according to the future driving state is output. In this way, the time required from the presentation of advice to the execution of the advice is secured, and thus the driver who has received the advice can execute the advice with a margin.

  In the present embodiment, the intersection stop probability of the intersection included in the advice section (the ratio at which the vehicle that tried to pass the intersection stopped at the intersection) is when the vehicle is traveling in the advice section. Future driving conditions are predicted. For example, if the advice section includes “a well-stopped intersection (intersection with a high intersection stop probability)”, the future traveling state of the route is predicted to be “stop”. Thus, the prediction accuracy of the future traveling state can be improved by using the information on the intersection stop probability.

  Further, in the present embodiment, based on traffic information (for example, VICS (registered trademark) information) of a route included in the advice section, a future driving state when the vehicle is traveling in the advice section is predicted. The For example, if the advice section includes a route “congested”, the future driving state of the route is predicted to be “stopped”. Thus, the prediction accuracy of the future driving state can be improved by using the traffic information.

  Moreover, in this Embodiment, the order which outputs the advice according to the future driving | running | working state is determined based on the priority set for every advice. For example, advice that improves fuel consumption is output with priority. Alternatively, advice is output in the order of driving operations to be executed (for example, “deceleration → stop → start → steady acceleration”). Note that the number of advices to be output may be one or two or more.

(Second Embodiment)
Next, the driving assistance apparatus 1 of the 2nd Embodiment of this invention is demonstrated. Here, the driving assistance device 1 according to the second embodiment will be described with a focus on differences from the first embodiment. Unless otherwise specified, the configuration and operation of the present embodiment are the same as those of the first embodiment.

  FIG. 11 is a block diagram illustrating a configuration of the driving support device 1 according to the present embodiment. As shown in FIG. 11, the driving support apparatus 1 includes a history information generation unit 19 and a history information storage unit 20. The history information generation unit 19 generates vehicle driving history information for each information item included in the route information. The history information storage unit 20 stores the driving history information generated by the history information generation unit 19. The traveling state prediction unit 11 predicts a future traveling state when the vehicle is traveling in the advice section based on the driving history information of the same information item as the route included in the advice section. The information items include, for example, the average vehicle speed for each road type (general road, highway, etc.), the average vehicle speed for each road type and number of lanes, the average vehicle speed for each link ID, the average vehicle speed for each link ID column, and the degree of congestion The average vehicle speed is included.

  FIG. 12 is an explanatory diagram of vehicle driving history information. As shown in FIG. 12, the driving history information is generated as a histogram of the average vehicle speed every N seconds during normal driving (horizontal axis: vehicle speed, vertical axis: frequency) for each road type. For example, driving history information of “highway” is generated based on the driving history when the vehicle travels on a route of “link ID = 1,. When the “highway” is included in the advice section, the future driving state is predicted based on the driving history information of the “highway”. Further, driving history information of “general road” is generated based on the driving history when the vehicle travels on the route of “link ID = 2, 3,... When the “general road” is included in the advice section, the future driving state is predicted based on the driving history information of the “general road”.

  In the case where the traveling state prediction unit 11 predicts “steady acceleration” or “deceleration”, instead of using the “cruising vehicle speed set for each road type” in the first embodiment, the present embodiment The "average vehicle speed at normal time for each road type (the average vehicle speed of the driver)" is used.

  Also by the driving support device 1 of the second embodiment, the same operational effects as the first embodiment are exhibited.

  Moreover, in the present embodiment, based on the driving history information of the same information item (for example, average vehicle speed for each road type) as the route included in the advice section, the future when the vehicle is traveling in the advice section The driving state is predicted. By using the driving history information of the same information item, the prediction accuracy of the future driving state can be improved.

  The embodiments of the present invention have been described above by way of example, but the scope of the present invention is not limited to these embodiments, and can be changed or modified according to the purpose within the scope of the claims. is there.

  As described above, the driving support device according to the present invention has an effect that the advice can be executed with a margin when the presentation of the advice is received, and is useful as a vehicle navigation device or the like.

DESCRIPTION OF SYMBOLS 1 Driving assistance apparatus 2 Vehicle sensor information acquisition part 3 Route information acquisition part 4 Location information acquisition part 5 Traffic information acquisition part 6 Vehicle sensor 7 Navigation apparatus 8 GPS apparatus 9 VICS (trademark) server 10 Running condition determination part 11 Running condition prediction Section 12 Advice output section 13 Time required storage section 14 Advice section determination section 15 Advice generation section 16 Order determination section 17 Intersection information generation section 18 Intersection information storage section 19 History information generation section 20 History information storage section

Claims (7)

A vehicle sensor information acquisition unit for acquiring vehicle sensor information from a vehicle sensor mounted on the vehicle;
A traveling state determination unit that determines a current traveling state of the vehicle based on the vehicle sensor information;
A route information acquisition unit for acquiring route information of the planned travel route of the vehicle;
A required time storage unit that stores information on a required time from when the advice relating to driving of the vehicle is presented until the driving operation according to the advice is performed;
Of the scheduled travel route, a position where the vehicle is predicted to travel after the required time has elapsed is determined as an advice start position, and a position advanced by a predetermined distance from the advice start position is defined as an advice end position. An advice section determination unit that determines a partial route from the advice start position to the advice end position as an advice section;
Based on the vehicle sensor information, the current traveling state, and the route information, a traveling state prediction unit that predicts a future traveling state when the vehicle is traveling in the advice section;
An advice output unit for outputting advice according to the future running state;
A driving support apparatus comprising: A history information storage unit that stores driving history information of the vehicle for each information item included in the route information;
The travel state prediction unit predicts the future travel state when the vehicle is traveling in the advice section based on driving history information of the same information item as a route included in the advice section. The driving support apparatus according to 1. For each intersection, the vehicle is provided with an intersection information storage unit that stores information on an intersection stop probability that indicates a rate at which the vehicle that has attempted to pass through the intersection has stopped at the intersection.
The said driving | running | working state estimation part estimates the said future driving | running state when the said vehicle is drive | working the said advice division based on the intersection stop probability of the intersection contained in the said advice division. The driving support apparatus according to 2. A traffic information acquisition unit for acquiring traffic information of the planned travel route;
The said driving | running | working state estimation part estimates the said future driving | running | working state when the said vehicle is drive | working the said advice division based on the traffic information of the path | route included in the said advice division. The driving support device according to any one of the above.   The driving | operation in any one of Claims 1-4 provided with the order determination part which determines the order which outputs the advice according to the said future driving state based on the priority set for every said advice. Support device. A driving support method executed by the driving support device,
A vehicle sensor information acquisition unit of the driving support device acquires vehicle sensor information from a vehicle sensor mounted on the vehicle;
A traveling state determination unit of the driving support device determines a current traveling state of the vehicle based on the vehicle sensor information;
A route information acquisition unit of the driving support device acquires route information of a planned travel route of the vehicle;
Based on information on a required time from when the advice about the driving of the vehicle is presented to when the driving operation according to the advice is performed , the advice section determination unit of the driving support device includes the current time Is determined as the advice start position, the position advanced by a predetermined distance from the advice start position is determined as the advice end position, and the position from the advice start position is determined. Determining a partial route to the advice end position as an advice section;
The driving state prediction unit of the driving support device predicts a future driving state when the vehicle is driving the advice section based on the vehicle sensor information, the current driving state, and the route information. When,
The advice output unit of the driving support device outputs advice according to the future driving state;
A driving support method comprising: A driving support program executed by the driving support device,
Causing the vehicle sensor information acquisition unit of the driving support device to execute a process of acquiring vehicle sensor information from a vehicle sensor mounted on the vehicle;
Causing the driving state determination unit of the driving support device to execute a process of determining a current driving state of the vehicle based on the vehicle sensor information;
Causing the route information acquisition unit of the driving support device to execute processing for acquiring route information of a planned travel route of the vehicle;
Based on the information on the required time from when the advice related to driving the vehicle is presented to the advice section determination unit of the driving support device until the driving operation according to the advice is performed, Is determined as the advice start position, the position advanced by a predetermined distance from the advice start position is determined as the advice end position, and the position from the advice start position is determined. to execute the process of determining the partial route to the advice end position as advice compartments,
A process of predicting a future traveling state when the vehicle is traveling in the advice section, based on the vehicle sensor information, the current traveling state, and the route information, in the traveling state prediction unit of the driving support device And execute
The driving support program which makes the advice output part of the said driving assistance apparatus perform the process which outputs the advice according to the said future driving state.

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