JP6331371B2 - Driving evaluation apparatus and driving evaluation method - Google Patents

Description

  The present invention relates to a driving evaluation device and a driving evaluation method for evaluating driving when passing an intersection.

  With regard to this type of equipment, the period from 60m before the intersection to the point 30m after passing the intersection is set as the period during which the vehicle is traveling straight, and the confirmation is made based on the driver's confirmation behavior detected during this period. There is known a confirmation behavior evaluation device that evaluates (Patent Document 1).

Japanese Unexamined Patent Publication No. 2004-157880, paragraph 0075, FIG.

Conventional devices uniformly evaluate driving behavior in a section defined by distance.
However, when a plurality of intersections are included in the section, there is a problem in that the evaluation accuracy cannot be maintained because driving behaviors of other intersections that are not evaluation targets are also evaluated together.

  The problem to be solved by the present invention is to maintain the accuracy of driving evaluation regardless of the distance between intersections.

  When acquiring the position and vehicle information of the vehicle which passes the 1st intersection used as evaluation object, and setting between the 1st position and the 2nd position corresponding to the position of the 1st intersection as an evaluation section In addition, when the distance between the first intersection and the second intersection is equal to or less than the predetermined distance, the evaluation section in which the second position is changed so that the predetermined distance is shorter than the distance between the first intersection and the second intersection. And the vehicle information of the evaluation section is analyzed to evaluate the driving when the vehicle passes the first intersection.

  According to the present invention, even when two intersections are close to each other, it is possible to evaluate the operation when passing through one intersection. As a result, it is possible to maintain or improve the accuracy of driving evaluation regardless of the distance between intersections.

It is a lineblock diagram of a driving evaluation system containing a driving evaluation device concerning an embodiment of the present invention. It is a figure which shows transfer of the information of each function which the control apparatus of the driving | running evaluation apparatus of this embodiment has. It is the 1st figure for explaining an intersection and a predetermined field. It is a 2nd figure for demonstrating an intersection and a predetermined area | region. It is a 1st figure for demonstrating an intersection and a predetermined area | region in case the intersection is provided adjacently. It is a 2nd figure for demonstrating an intersection and a predetermined area | region in case the intersection is provided adjacently. It is a 1st figure for demonstrating the setting method of the evaluation area for driving | running evaluation at the time of passing a 1st intersection. It is a 2nd figure for demonstrating the setting method of the evaluation area for driving | running evaluation at the time of passing a 1st intersection. It is a 1st flowchart figure which shows the control procedure of the driving | running evaluation at the time of the intersection straight line of the driving | running evaluation system which concerns on this embodiment. It is a 2nd flowchart figure which shows the control procedure of the driving | running evaluation at the time of the intersection straight line of the driving | running evaluation system which concerns on this embodiment.

  Hereinafter, the driving | running evaluation apparatus 100 which concerns on this embodiment of this invention is demonstrated based on drawing. In the present embodiment, the driving evaluation apparatus according to the present invention is applied to an in-vehicle driving evaluation apparatus 100, and the driving evaluation system 1000 including another in-vehicle apparatus will be described as an example.

  The driving evaluation apparatus 100 of the present embodiment evaluates whether or not driving of one or a plurality of vehicles is appropriate or the degree of appropriateness from vehicle information when passing through an intersection. For example, the driving evaluation apparatus 100 uses the minimum speed of the vehicle, the stop time, and the stop position (the distance from the center of the intersection to the position where the minimum speed is reached) to determine whether or not the stop is correctly performed at the intersection that needs to be stopped. Diagnose. In general, the smaller the minimum speed, the longer the stop time, and the greater the stop position, the greater the distance from the intersection. In addition, the driving evaluation apparatus 100 evaluates whether or not the turning (driving) when making a right or left turn is appropriate using the maximum lateral acceleration, the maximum yaw rate, and the maximum speed during the turning. In general, it can be evaluated that the smaller the acceleration, yaw rate, and speed, the more appropriate the turn. A standard evaluation reference value can be set experimentally in advance as the reference for evaluation of these operations. The control device 10 evaluates whether the right / left turn driving is appropriate based on the comparison result with the evaluation reference value. The driving behavior evaluation result output by the driving evaluation apparatus 100 can be used for evaluation of the driving skill of the driver, extraction of driving habits, and evaluation of safe driving tendency.

  FIG. 1 is a block configuration diagram of a driving evaluation system 1000 including a driving evaluation apparatus 100 according to the present embodiment. As shown in FIG. 1, the driving evaluation system 1000 of this embodiment includes a driving evaluation device 100, a vehicle controller 20, a navigation device 30, various sensors 40, and an output device 50. Each of these devices is connected by a CAN (Controller Area Network) or other in-vehicle LAN, and exchanges information with each other.

  In addition, the driving | operation evaluation system 1000 of this embodiment can be provided with the external device 60 which is not vehicle-mounted. The external device 60 includes a control device 61, a storage device 62, and a roadside device 63. The control device 61 is a remote server and causes the in-vehicle driving evaluation device 100 to execute driving evaluation processing. In this case, the control device 61 performs the same operation as that of the control device 10 of the driving evaluation device 100 described later. The storage device 62 collects and stores the evaluation results of the driving evaluation device 100 mounted on each vehicle. The roadside device 63 is a device that constitutes an ITS (Intelligent Transport Systems), and can provide intersection position information and the like to the vehicle-side driving evaluation device 100 via the communication device 14.

Hereinafter, each device provided in the driving evaluation system 1000 will be described.
The vehicle controller 20 of the present embodiment includes an ECU that manages various types of vehicle information and controls operations. The vehicle controller 20 of this embodiment includes a vehicle speed, steering angle, yaw rate, vehicle longitudinal acceleration (hereinafter also referred to as longitudinal acceleration), vehicle lateral acceleration (hereinafter referred to as lateral acceleration) detected by various sensors described below. Vehicle information 21 including “)” is acquired. The vehicle controller 20 can appropriately use the automatic driving control device known at the time of filing this application.

The navigation device 30 of this embodiment includes a current position detection device 31 having a GPS (Global Positioning System). The navigation device 30 refers to the map information 32 and searches for a route from the current position to the destination. In addition, the navigation device 30 refers to the intersection information 33 and detects an intersection on the route traveled by the searched vehicle. The navigation device 30 detects the current position detected by the current position detection device 31 and an intersection approaching on the route on which the host vehicle travels. The detected intersection is an intersection through which the driver of the vehicle passes.
The detected current position is sent to the driving evaluation apparatus 100. The navigation device 30 of the present embodiment can appropriately use the navigation device known at the time of filing this application.

  Various sensors 40 of this embodiment include a vehicle speed sensor 41, an acceleration sensor 42, a steering sensor 43, and a yaw rate sensor 44. The vehicle speed sensor 41 detects the vehicle speed of the vehicle. The acceleration sensor 42 detects longitudinal acceleration and lateral acceleration of the vehicle. The steering sensor 43 detects the steering amount of the vehicle. The yaw rate sensor 44 detects the yaw rate of the vehicle and the yaw angle of the vehicle. As the various sensor devices 41 to 44 of the present embodiment, various sensor devices known at the time of filing the present application can be appropriately used.

  The output device 50 of the present embodiment outputs a driving evaluation result. The output device 50 includes a display 51 and a speaker 52. The output device 50 includes a communication device 53. The communication device 53 can output the evaluation result to the external storage device 62. The storage device 62 can collect evaluation results of a plurality of vehicles. The communication device 53 can output the evaluation result to the vehicle-mounted vehicle controller 20. The vehicle controller 20 performs driving support and vehicle control using the evaluation result.

  As shown in FIG. 1, the driving evaluation apparatus 100 of this embodiment includes a control device 10. The driving evaluation device 100 of this embodiment can exchange information with the external device 60 using the communication function 14.

  The control apparatus 10 of the driving | running evaluation apparatus 100 of this embodiment is demonstrated. The control device 10 of the present embodiment operates as a driving evaluation device 100 by executing a ROM (Read Only Memory) 12 storing a program for evaluating driving at an intersection and a program stored in the ROM 12. A CPU (Central Processing Unit) 11 as a circuit and a RAM (Random Access Memory) 13 functioning as an accessible storage device are included.

  Hereinafter, each function realized by the control device 10 of the driving evaluation device 100 will be described. FIG. 2 is a diagram illustrating a flow of information of each function.

  The control device 10 of the driving evaluation apparatus 100 according to the present embodiment includes an intersection position acquisition function 1.1, a vehicle information acquisition function 1.2, an evaluation section setting function 1.3, and a driving evaluation function 1.4. Have. The control device 10 of the present embodiment is a computer that executes each function by cooperation of software for realizing the above function and the above-described hardware. As described above, this computer is an on-board computer or an external computer that can exchange information via communication.

  First, the intersection position acquisition function 1.1 of the control device 10 of the present embodiment will be described. The control device 10 of the present embodiment acquires position information such as the GPS coordinates of the intersection. The control device 10 of the present embodiment acquires information on whether or not each intersection seeks a temporary stop. The intersection to be evaluated is an intersection on the route on which the vehicle travels. The route on which the vehicle travels can be identified from the position information detected by the current position detection device 31. The control device 10 may sequentially acquire the position of the traveling intersection, may acquire the position of the intersection scheduled to travel from now on, or may acquire the position of the already traveled intersection. The navigation device 30 searches for a route on which the vehicle travels. Further, the position of the intersection on the searched route is obtained with reference to the intersection information 33. Further, the position information of the intersection may be acquired from the external roadside device 63 while traveling.

  Next, the vehicle information acquisition function 1.2 of the control device 10 of the present embodiment will be described. The control device 10 acquires the position of the vehicle passing through the intersection and vehicle information. The control device 10 acquires vehicle information including the position of the vehicle and various detection data detected when traveling at the position. The control device 10 stores the vehicle information and the position information at least temporarily in association with each other. The control device 10 acquires the position of the vehicle from the current position detection device 31. The control device 10 acquires vehicle information from the various sensors 40. The vehicle information 21 includes the vehicle speed, steering angle, yaw rate, yaw angle, vehicle longitudinal acceleration (hereinafter also referred to as longitudinal acceleration), and vehicle lateral acceleration (hereinafter also referred to as lateral acceleration).

  The vehicle information acquisition function 1.2 of the control device 10 outputs vehicle information used for evaluation from the intersection information and the acquired detection data (vehicle information) when the host vehicle passes through the intersection. The vehicle information acquisition function 1.2 outputs the predetermined section upstream of the intersection and the predetermined section downstream of the intersection, that is, detection data before and after passing through the intersection as vehicle information for evaluation.

  FIG. 3A shows a route R through which the vehicle passes and a predetermined area Xerea including the intersection X. The vehicle travels on route R from Start to End. Hereinafter, although the process of the intersection X will be described, the control device 10 performs the same process for the intersections Yf1, Yf2, Yb1, and Yb2 existing on the route R.

  FIG. 3B is an enlarged view of the area A including the predetermined area Xerea shown in FIG. 3A. In FIG. 3B, the central coordinates of the intersection X (intersection coordinates), the first position S1 corresponding to the intersection X, and the upstream side between the first position S1 and the point Pb at a predetermined distance b [m] upstream. The evaluation section dpb and the downstream evaluation section dpb between the point Pf of the predetermined distance f [m] on the downstream side from the first position S1 are shown. Vehicle information detected in the upstream evaluation section and the downstream evaluation section (Pb-S1-Pf section) is used for driving evaluation when the vehicle passes the intersection. There is only one intersection X in the evaluation section dpb (Pb-S1-Pf section) shown in FIGS. 3A and 3B.

  Here, the first position S1 is a position corresponding to the position of the intersection X to be evaluated. The first position S1 is the current position of the vehicle that is first acquired when the vehicle enters the proximity area Xarea defined with the position of the first intersection X as a reference. Further, in the proximity area Xare, the current position of the vehicle closest to the center position of the intersection X may be used. The proximity area Xarea is an area within a predetermined radius r [m] from the center coordinates of the intersection X. The value of the predetermined radius r can be appropriately defined according to the scale of the intersection. The center coordinates of the intersection X may not be on the route through which the vehicle actually passes, and may deviate from the travel point of the vehicle (the history point of the current position). By defining the first position S1 in this way, the position of the first intersection X to be evaluated can be matched with the actual travel position, and a more appropriate evaluation section can be set.

  The vehicle information acquisition function 1.2 of the control device 10 determines whether or not an intersection has been passed from the intersection information and the detected current position. When the current position (traveling position) is included within a predetermined radius r [m] from the center coordinates (intersection coordinates) of the intersection X shown in FIGS. 3A and 3B, it is determined that the vehicle passes the intersection X. In this case, detection is performed in the upstream evaluation section dpb with a predetermined distance b [m] upstream from the first position S1 and in the downstream evaluation section dpb with a predetermined distance f [m] downstream from the first position S1. The vehicle information for evaluation is extracted and output as vehicle information for evaluation. This vehicle information is vehicle information for evaluation.

  If the current position (traveling position) is not detected within the predetermined radius r [m] from the center coordinates of any intersection X, the subsequent processing is not performed because the intersection X is not passed. Further, when the current position (travel position) is not detected at the predetermined distance b [m] on the upstream side and the predetermined distance f [m] on the downstream side based on the travel point (current position) closest to the center of the intersection X. Therefore, it is determined that the intersection passing is not completed, and the vehicle information is not output.

Subsequently, the evaluation section setting function 1.3 of the control device 10 of the present embodiment will be described.
Hereinafter, the intersection X to be evaluated for driving is referred to as a first intersection, and an intersection adjacent to the first intersection is referred to as a second intersection.

  As shown in FIG. 3A and FIG. 3B, the control device 10 includes a first position S1 defined on the basis of the position of the first intersection to be evaluated, and a first position S1 at a predetermined distance b from the first position S1. The interval between two positions Pb is set as the upstream evaluation section dbp.

  Similarly, the control device 10 has, as the position corresponding to the first intersection X, the first position S1 defined on the basis of the position of the first intersection to be evaluated, and a position at a predetermined distance f from the first position S1. Is set as the upstream evaluation section dbp. That is, there are two second positions, point Pb and point Pf. Hereinafter, these are also collectively referred to as a second position P. In the example shown in FIGS. 3A and 3B, the evaluation section in the present embodiment is a section from Pb through S1 to Pf.

  4A and 4B are diagrams for explaining an intersection and a predetermined region when the intersection is provided close to the vehicle. As shown in FIGS. 4A and 4B, another second intersection Yf1 may exist in the vicinity of the first intersection X to be evaluated. The difference d (XY) between the position X of the first intersection X and the position Y of the second intersection Yf1 is not more than a predetermined value. The predetermined distance f [m] or b [m] used when defining the evaluation section can be used as the predetermined value in the present embodiment. As described above, the evaluation section is the section of f [m] upstream from the travel position S1 closest to the first intersection X and the section of b [m] downstream from the travel position S1. As shown in FIG. 4B, the difference d (XY) between the position of the first intersection X and the position of the second intersection Yf1 (the second intersection is also collectively referred to as Y) is smaller than f [m]. When (XY) <f [m], the vehicle information of the evaluation section obtained for evaluating the driving at the first intersection X includes vehicle information when passing through the second intersection Yf1. It will be. Under such circumstances, if the first intersection X is evaluated based on the vehicle information of the evaluation section, even the vehicle information when passing through the second intersection Yf1 will be evaluated. As a result, the operation for passing through the first intersection X cannot be accurately evaluated.

  For this reason, the control apparatus 10 of the driving | running evaluation apparatus 100 of this embodiment is the case where the distance of the 1st intersection X which is evaluation object and the other 2nd intersection Y adjacent to this 1st intersection X is below predetermined distance. Are set to the evaluation sections dpb and dpf in which the second positions Pb and Pf are changed so that the predetermined distance is shorter than the distance between the first intersection and the second intersection. In the present embodiment, the predetermined distance is a distance from the first position S1 defining the evaluation section to the second positions Pb and Pf.

  Referring to the example of FIG. 4B, in a normal process, the control device 10 has a section upstream of the predetermined distance b [m] from the first position S1 and a section downstream of the predetermined distance f [m] from the first position S1. Is set as the evaluation section, and when the distance between the first intersection X and the second intersection Yf1 is shorter than the predetermined distance b [m] or the predetermined distance f [m], the second positions Pb and Pf are determined. The position is changed to a position close to the first position S1, and a new evaluation section is set. Specifically, the second position Pf having one end of the evaluation section on the downstream side in FIG. 4B is changed to a position Qf close to the first position S1. The control device 10 sets a section between the first position S1 and the changed second position Qf on the downstream side and a section between the first position S1 and the upstream second position Pb as evaluation sections.

  Here, the evaluation section on the downstream side of the first position S1 has been described as an example, but the same applies to the evaluation section on the upstream side of the first position. The difference between the position of the first intersection X and the position of the second intersection Yb1 when the second intersection Yb1 exists upstream of the first position S1 and within a predetermined distance b [m] from the second position S1. When d (XY) is smaller than b [m], d (XY) <b [m], the second position Pb is changed to a position closer to the first position S1.

  Thereby, even if it is a case where the distance of the 1st intersection X and the 2nd intersection Y is shorter than the predetermined distance which defines an evaluation section, the evaluation section where the driving only for passing the 1st intersection X is performed can be defined. . Thereby, the vehicle information at the time of passing through the second intersection Y can be prevented from being included in the vehicle information at the time of passing through the first intersection X.

  In addition, the control device 10 of the present embodiment determines that the predetermined distances b [m] and f [m] are the first intersection X and the second intersection Y as the distance between the first intersection X and the second intersection Y is shorter. The evaluation sections dpb and dpf are set so as to be shorter than the distance between the intersections. That is, the shorter the distance between the intersections of the first intersection X and the second intersection Y, the closer the second position Pf is to the first position S1 or the first intersection X. Thereby, vehicle information by driving for passing through the second intersection Y can be prevented from being included in vehicle information by driving for passing through the first intersection X. That is, it is possible to further reduce the influence of driving when passing through the second intersection Y on evaluation of driving when passing through the first intersection X, which is an evaluation target.

  Note that the determination process of whether or not the distance between the first intersection X and the second intersection Yf1 is equal to or less than a predetermined distance is based on the first position S1 closest to the first intersection X among the traveling positions and the first of the traveling positions. The determination may be made by determining whether or not the distance between the 2-intersection Yf1 and a point on the closest route is equal to or less than a predetermined distance.

  Based on FIG.5 and FIG.6, the method of judging the range of an intersection from the vehicle information of the vicinity of an intersection and setting an evaluation area is demonstrated. 5 and 6 show the relationship between distance and speed and the relationship between distance and yaw rate.

  FIG. 5 shows the distance-speed relationship and the distance-yaw rate relationship when no other intersection exists in the vicinity of the first intersection X. As described above, when there is no other intersection in the evaluation section of the first intersection X to be evaluated, as described above, the section b [m] and the downstream section from the first position S1 to the upstream side. The interval of f [m] is set as the default evaluation interval.

  FIG. 6 shows a distance-speed relationship, a distance-steering angle relationship, and a distance-yaw rate relationship when another second intersection Y (Yb, Yf) is present in the vicinity of the first intersection X. As shown in the figure, not only the first intersection X but also other vehicle information of the second intersection Y (Yb, Yf) is detected.

  In the case where the first intersection X and the second intersection Y shown in FIG. 6 coexist in the evaluation section, the control device 10 of the present embodiment is vehicle information for passing through the first intersection X to be evaluated. Adjust the evaluation interval to collect only.

Hereinafter, the adjustment method of the evaluation section of the control device 10 of the present embodiment will be described.
As a first method, the control device 10 determines the distance between the middle point T1 between the first intersection X and the second intersection Yb to the first intersection X1, and the distance between the first intersection X1 and the second intersection Yf. A section from the middle point T2 to the first intersection X1 is set as an evaluation section. The first intersection X is the center of the road, and there is a deviation from the vehicle travel position (current position history). In consideration of this deviation amount, the first position S1 corresponding to the position of the first intersection X may be used as a reference. The control device 10 includes a section from the midpoint T1 ′ to the first position S1 between the first position S1 and the second intersection Yb and the closest travel position S2b, and a travel position closest to the first position S1 and the second intersection Yf. The section from the midpoint T2 ′ to S2f to the first position S1 may be set as the evaluation section. According to this method, the evaluation section can be set regardless of the traveling state of the vehicle. Since vehicle information is not taken into consideration, the load of the setting process is light and the process can be performed quickly.

  Note that this first method is such that the position corresponding to the maximum or minimum of the vehicle information acquired with time shown in FIGS. 5 and 6 is a predetermined region in the vicinity of the first position S1, and the second positions Pb and Pf. You may employ | adopt, when not existing in the predetermined area | region of the vicinity, or the predetermined area | region of the 1st position and the midpoint T1 of the 2nd position, and T2. Furthermore, when this first method is used, the length of the evaluation section is set to be shorter as the distance between the first intersection X and the second intersection Y is shorter.

  As a result, even if the evaluation section cannot be set based on vehicle information such as the vehicle speed, the evaluation section can be set based on the distance between the intersections. Even so, it can be prevented that evaluation becomes impossible.

  Next, the second method will be described. The control device 10 of the present embodiment is a position corresponding to the maximum or minimum of vehicle information acquired over time, and the position in the vicinity of the midpoint of the first intersection X and the second intersection Y is determined. The second positions Pb and Pf are set, and the evaluation positions from the first position S1 to the left and right second positions Pb and Pf are set. When both of the two second intersections Y adjacent to the upstream side and the downstream side of the first intersection X are present at a position equal to or less than a predetermined distance, the second position Pf passes from the second position Pb through the first position S1. Up to the evaluation interval. If there is a position corresponding to the maximum or minimum of multiple vehicle information in the vicinity of the midpoint of the first intersection X and the second intersection Y, it corresponds to the maximum or minimum of the vehicle information closest to the midpoint Select the position.

  Moreover, according to a different viewpoint, the 2nd method can be implemented based on the stability of vehicle information. Specifically, the control device 10 of the present embodiment is a position where the amount of change in vehicle information acquired over time is a value equal to or less than a predetermined value, and is between the first intersection X and the second intersection Y. The positions on the route closest to the point are set as the second positions Pb and Pf, and the first position to the second position are set as the evaluation section. The first position S1 and the second positions Pb and Pf can be positions where the vehicle has traveled, that is, positions included in the detected current position history.

  The vehicle information shown in FIG. 6 will be described as an example. In the upper graph of FIG. 6, the distance-speed relationship is indicated by equally spaced broken lines, and the distance-steering angle relationship is indicated by a one-dot chain line. The control device 10 according to the present embodiment is in a region near the middle point of the first intersection X (or the first position S1) and the second intersection Yb (or the travel position closest to the second intersection) and the vehicle speed ( The vehicle speed (dashed line) closest to the midpoint of the point Qb where the broken line) shows the maximum and the first intersection X (or the first position S1) and the second intersection Yf (or the travel position closest to the second intersection) is the maximum. A section between the indicated point Qf is set as an evaluation section DQ. The area near the midpoint can be set in advance by the position of the midpoint and the distance from the midpoint. The distance defining the neighborhood region can be shortened as the distance between the first intersection and the second intersection is shorter.

  According to the distance-speed relationship shown on the upper side of FIG. 6, a point where the vehicle speed (broken line) shows the maximum may be extracted as a point where the amount of change in the vehicle speed (broken line) is a predetermined value or less. The control device 10 according to the present embodiment is in a region near the middle point of the first intersection X (or the first position S1) and the second intersection Yb (or the travel position closest to the second intersection) and the vehicle speed ( Closest to the point Qb where the amount of change in the broken line) is less than or equal to a predetermined value, and the midpoint of the first intersection X (or first position S1) and the second intersection Yf (or the travel position closest to the second intersection) A section between the point Qf where the change amount of the vehicle speed (broken line) shows a value equal to or less than a predetermined value is set as the evaluation section DQ.

  When the evaluation section is set using the vehicle speed, the vehicle speed closest to the midpoint of the first intersection X (or the first position S1) and the second intersection Yb (or the travel position closest to the second intersection) is An evaluation section can be defined by a point showing the maximum. Thereby, the optimal evaluation interval can be defined.

  As shown in FIG. 6, the vehicle in the evaluation sections S1-Pb, S1-Pf uniformly defined by the first intersection X (or the first position S1) and the second positions Pb, Pf separated by a predetermined distance from the first intersection X (or the first position S1). In the information (vehicle speed, steering angle, yaw rate), not only the intersection X to be evaluated but also changes in vehicle information when passing through the adjacent intersections Yb and Yf appear. In such a case, it is difficult to accurately evaluate driving when passing through the first intersection X, which is the evaluation target, from the vehicle information of the default evaluation sections S1-Pb and S1-Pf.

  On the other hand, the vehicle evaluation information when the driving evaluation device 100 of the present embodiment passes through the first intersection X to be evaluated in the evaluation section DQ set when the distances of the plurality of intersections are equal to or less than the predetermined distance. Only appears. As described above, by defining the evaluation section according to the feature of the change in the vehicle information, it is possible to extract the vehicle operation section for passing through the single intersection. Moreover, between adjacent intersections, the driving situation may change due to the presence of parked vehicles, pedestrian crossings, traffic jams, and the like, and the sections in which the characteristics of the vehicle information appear may differ accordingly. Since the second method considers changes in the value of the vehicle information, compared to the first method, the approach speed to the first intersection X to be evaluated and the departure speed from the first intersection X are stabilized. Can be sought. Moreover, in order to evaluate the driving | running | working at the time of passing the 1st intersection, such as the approach speed to the 1st intersection, and the leaving vehicle speed from the 1st intersection by setting an evaluation section according to the feature of change of vehicle information Necessary information loss can be prevented.

  In the example described above, an example using the maximum of the vehicle speed is shown, but the evaluation section may be set using the values of the steering angle, the yaw rate, the yaw angle, and the acceleration. When different vehicle information is used, the end points Qb and Qf of the evaluation section are slightly shifted. For example, as shown in the upper diagram of FIG. 6, the control device 10 is near the midpoint of the first intersection X (or the first position S1) and the second intersection Yb (or the travel position closest to the second intersection). Near the point Qb where the steering angle (one-dot chain line) is maximum in the region, and the midpoint of the first intersection X (or the first position S1) and the second intersection Yf (or the travel position closest to the second intersection) Is set as an evaluation section DQ corresponding to a section between a point near the point Qf where the steering angle (one-dot chain line) is minimum in the region near the point. In addition, as shown in the lower diagram of FIG. 6, the control device 10 determines whether the middle point of the first intersection X (or the first position S1) and the second intersection Yb (or the travel position closest to the second intersection). In the vicinity of the point Qb where the yaw rate (solid line) shows the maximum in the vicinity region and the midpoint of the first intersection X (or the first position S1) and the second intersection Yf (or the travel position closest to the second intersection) A section corresponding to a point near the point Qf where the yaw rate (solid line) shows the minimum in the vicinity region is set as the evaluation interval DQ.

  Next, the third method will be described. The control apparatus 10 of this embodiment calculates | requires the point in which the vehicle information nearest to each intersection shows maximum or minimum, and sets an evaluation area on the basis of the calculated maximum or minimum point. This will be described using the example shown in FIG. The control device 10 determines the position X1 that is the position corresponding to the maximum or minimum of the vehicle information acquired over time and is closest to the first intersection X as the first position S1 (in FIG. Is generated, but S1 is instructed for convenience). The control device 10 sets the position Yb1 closest to the second intersection Yf and the position Yf1 closest to the second intersection Yb, which is a position corresponding to the maximum or minimum of the vehicle information acquired over time. And the control apparatus 10 sets the upstream evaluation area from the midpoint of 1st position S1 and 2nd position Yb1 to 1st position S1, and from the midpoint of 1st position S1 and 2nd position Yf1 A downstream evaluation section is set up to the first position S1.

  In the example described above, an example using the maximum of the vehicle speed is shown, but the evaluation section may be set using the values of the steering angle, the yaw rate, the yaw angle, and the acceleration. When different vehicle information is used, the end points Qb and Qf of the evaluation section are slightly shifted. For example, as shown in the upper diagram of FIG. 6, the control device 10 is located at the position corresponding to the maximum or minimum of the steering angle (one-dot chain line) acquired over time, and is the most at the second intersection Yb. The closest position is Yb2, and the closest position to the second intersection Yf is Yf2. Then, the control device 10 sets an upstream evaluation section from the midpoint between the first position S1 and the second position Yb2 to the first position S1, and from the midpoint between the first position S1 and the second position Yf2. A downstream evaluation section is set up to the first position S1. As shown in the lower diagram of FIG. 6, the control device 10 is a position corresponding to the maximum or minimum of the yaw rate (solid line) acquired over time and closest to the second intersection Yb. And a position Yf3 closest to the second intersection Yf. Then, the control device 10 sets an upstream evaluation section from the midpoint of the first position S1 and the second position Yb3 to the first position S1, and from the midpoint of the first position S1 and the second position Yf3. A downstream evaluation section is set up to the first position S1.

  In this way, by defining the evaluation section according to the change in the value of the vehicle information, it is possible to extract the vehicle operation section for passing through a single intersection.

  This method is premised on deceleration or stopping at an intersection and steering operation. For this reason, in the control device 10 of the present embodiment, the position corresponding to the maximum or minimum of the vehicle information acquired with time is the vicinity of the first position, the vicinity of the second position, or the first position and the first position. When it does not exist in the vicinity of the midpoint of the two positions, the length of the evaluation section is set to be shorter as the distance between the intersections is shorter.

  Specifically, the control device 10 preferably uses the first method or the second method when the vehicle speed maximum is not detected because the vehicle does not decelerate at the intersection due to the green light. As a result, when a feature of the vehicle information is found near each intersection or near the middle point, an evaluation section is set in consideration of the feature of the vehicle information. On the other hand, when the feature of the vehicle information is not seen, Since the evaluation section is set based on the positional relationship of each intersection without considering the feature, it is possible to set the evaluation section according to the situation. Furthermore, when a plurality of intersections exist within a predetermined distance, it is possible to prevent a situation in which an appropriate evaluation section cannot be set because a feature of vehicle information cannot be detected.

  As described above, in these three methods, vehicle information such as longitudinal acceleration, lateral acceleration, and yaw angle can be used in addition to vehicle speed, steering angle, and yaw rate. For example, as shown in FIG. 6, when the steering angle and the yaw rate are changed and the vehicle is making a right or left turn, the longitudinal acceleration, the lateral acceleration, and the yaw rate also have characteristics according to the position of the intersection. The vehicle information of the longitudinal acceleration, the lateral acceleration, and the yaw angle can be similarly used in the above three methods.

  Finally, the operation evaluation function of the control device 10 of the present embodiment will be described. The control device 10 analyzes the vehicle information of the set evaluation section and evaluates the driving when the vehicle goes straight through the intersection. The control device 10 diagnoses whether or not the temporary stop is correctly performed at the intersection where the temporary stop is necessary. Specifically, the minimum vehicle speed in the evaluation section, the entry speed to the evaluation section, the departure speed from the evaluation section, the acceleration at the time of deceleration when temporarily stopping in the evaluation section, the acceleration at the start after the primary stop, etc. Is output as an evaluation value for driving straight ahead.

  The control device 10 outputs whether or not the evaluation section is shortened, and identification information indicating whether the shortened evaluation section is on the upstream side or the downstream side of the first intersection X together with the result of the driving evaluation. . As a result, by associating the evaluation result with information on whether the changed evaluation section is upstream or downstream of the first intersection X, it is divided into a residential area with a narrow intersection and a suburb with a wide intersection. The results of driving evaluation can be analyzed. In addition, when the interval between the adjacent intersections on the upstream side is short and the evaluation section is reset only on the upstream side, the interval between the adjacent intersections on the downstream side is short and the evaluation section is reset only on the downstream side. In each case, the evaluation result of driving can be analyzed.

Then, based on FIG. 7, the control procedure of the driving | running evaluation apparatus 100 of this embodiment is demonstrated.
In step S10, the control apparatus 10 specifies the intersection used as evaluation object. In the present embodiment, an intersection that is on the traveling route of the host vehicle and is ahead in the traveling direction and is closest to the current position is specified as a target for driving evaluation. Then, the control device 10 sets an evaluation interval between the first position S1 defined based on the position of the first intersection X and the second positions Pb and Pf located at a predetermined distance from the first position S1. To do.

  In step S11, the control device 10 initializes (sets to zero) a flag that stores a determination as to whether or not the distance between the first intersection X and the other adjacent intersections Yb and Yf is within a predetermined distance.

  In step S12, the control device 10 determines the position information of the first intersection to be evaluated and the position information of the other second intersection Y adjacent thereto based on the current position of the vehicle and the intersection information on the travel route. To get.

  In step S13, the control device 10 determines whether the distance between the first intersection X and the second intersection Yb on the upstream side (near side) is equal to or less than a predetermined distance. When the distance between the first intersection X and the second intersection Yb is equal to or less than the predetermined distance, the process proceeds to step S14, and an adjacent flag indicating that there is a nearby intersection is added to the information of the first intersection and the second intersection. Information indicating that the upstream second intersection Yb is adjacent to the first intersection X is attached to the adjacent flag. If the distance between the first intersection X and another adjacent second intersection Y is not less than or equal to the predetermined distance, the process skips steps S14 to S16 and proceeds to step S17.

  In continuing step S15, the control apparatus 10 changes the evaluation area for evaluating the driving | operation at the time of passing the 1st intersection X between the 1st intersection X and the 2nd intersection Yb. The above-described method can be used for the setting section change processing. In step S <b> 16, the control device 10 extracts the vehicle information detected in the set evaluation section as evaluation target data for evaluating driving in passing from the time of entering the first intersection X. The evaluation target data extraction process may be performed together with the downstream evaluation section in the subsequent step S21.

  Next, in step S17, the control device 10 determines whether or not the distance between the second intersection Yf adjacent to the first intersection X in the passing direction (adjacent to the downstream side) and the first intersection X is equal to or less than a predetermined distance. Judging. When the distance between the first intersection X and the second intersection Yf is equal to or less than the predetermined distance, the process proceeds to step S18, and an adjacent flag indicating that there is a nearby intersection is added to the information of the first intersection and the second intersection. Information indicating that the second intersection Yb on the downstream side is adjacent to the first intersection X is attached to the adjacent flag.

  In step S19, the control apparatus 10 changes the evaluation section for evaluating the driving | operation at the time of passing the 1st intersection X between the 1st intersection X and the 2nd intersection Yf. The above-described method can be used for the setting section change processing. In step S20, the control device 10 extracts the vehicle information detected in the set evaluation section as evaluation target data for evaluating the driving at the time of leaving after passing through the first intersection X.

  On the other hand, if the distance between the first intersection X and another adjacent second intersection Y is not less than the predetermined distance in step S17, the process proceeds to step S23, and the default evaluation section is applied without changing the evaluation section. Then, the process proceeds to step S20.

  In step S21, the control apparatus 10 evaluates the driving | operation at the time of a vehicle passing the 1st intersection X based on the vehicle information which is the evaluation object data extracted in step S16 and step 20.

  Finally, in step S22, the control device 10 outputs an operation evaluation result. The identification result of the target intersection, whether or not the evaluation section is changed, and information that identifies whether the end point of the changed evaluation section belongs to the upstream side or the downstream side of the first intersection are attached to the evaluation result. Can do. Thereby, driving | running evaluation can be performed according to each condition.

  Subsequently, the evaluation interval changing process will be further described. The above-described three methods can be appropriately adopted according to the attribute of each adjacent intersection and the traveling state of the vehicle.

  For example, if any of the adjacent intersections is an intersection that requires a temporary stop, the feature of the vehicle information that changes according to the position of the intersection can be easily obtained, so the third method using the feature of the vehicle information is used. It is preferable to use it.

  Specifically, when both the first intersection X and the second intersection Y are intersections that require a temporary stop, the control device 10 corresponds to the minimum vehicle speed included in the vehicle information acquired over time. A position that is a position and is closest to the first intersection is defined as a first position S1. Furthermore, the control device 10 sets the positions corresponding to the minimum vehicle speed included in the vehicle information acquired with time and closest to the second intersection as the second positions Pb and Pf. And the control apparatus 10 sets from the midpoint of 1st position S1 and 2nd position Pb, Pf to 1st position S1 as an evaluation area. Information about whether or not the passing intersection seeks a temporary stop may be obtained by referring to the map information 31 and the intersection information 33 of the navigation device 30 or acquired from the roadside device 63 of the external device 60. Also good.

  Thereby, when both the 1st intersection X and the 2nd intersection Y pass the intersection for which a temporary stop is requested | required, an evaluation area can be set appropriately based on the characteristic of a clear vehicle speed change.

  In addition, when any one of the adjacent intersections is a priority road or a signalized intersection, the vehicle may not stop temporarily, and the vehicle speed may not be minimized. For this reason, when a point where the vehicle speed is stable between intersections (for example, a constant vehicle speed ± within a predetermined value) or a point where the vehicle speed is maximum is detected, the second method using the feature of the vehicle speed Is preferably used.

  Specifically, when the change amount of the vehicle speed included in the vehicle information acquired between the first intersection X and the second intersection Y is less than a predetermined value, the control device 10 determines that the first intersection and the second intersection. The second position is a position in a predetermined area near the middle point of the vehicle and where the vehicle speed included in the vehicle information acquired with time is maximum or the amount of change in the vehicle speed is less than or equal to a predetermined value. Pb and Pf are set, and the first position S1 to the second positions Pb and Pf are set as evaluation sections. Thereby, when the feature that the vehicle speed is stabilized can be detected, the evaluation section can be appropriately set based on the feature of the change in the vehicle speed even when the temporary stop is not performed.

  Further, when a temporary stop is not required at the intersection and the stable state of the vehicle speed is not confirmed, the evaluation section is defined based on the position of the intersection using the first method without using the vehicle information. As a result, when a traffic jam occurs between the intersections and the traffic situation affects the characteristics of the vehicle information, the evaluation section is defined without using the vehicle information. Thereby, the suitable evaluation area according to a condition can be set.

  The evaluation section setting function of the control device 10 sends evaluation section definition information to a driving evaluation function described later. In this case, identification information as to whether the evaluation section set by changing the predetermined distance short is upstream or downstream of the first intersection X to be evaluated is sent together.

FIG. 8 is a flowchart showing a procedure for selecting the evaluation section changing method described above.
As shown in FIG. 8, first, it is examined whether or not the vehicle information has a feature. It is determined whether or not feature points such as maximum, minimum, maximum, minimum, and stop point exist in the vehicle information of the default evaluation section. If there is no feature in the vehicle information, the process proceeds to step S106, and an evaluation section is set based on the positional relationship between the intersections. In step S106, an evaluation section is set using the first setting method described above. Specifically, the control device 10 is a middle point between the first intersection X and the downstream second intersection Yf from the second position Pb which is the middle point between the first intersection X and the upstream second intersection Yb. The section up to the second position Pf is set as the evaluation section.

  If the vehicle information has a feature in step S101, the process proceeds to step S102. The control device 10 acquires information on whether or not the first intersection and the second intersection are intersections that require a temporary stop from the navigation device 30 or the roadside device 63. If both intersections require a temporary stop, the process proceeds to step S104, and a third setting method using vehicle information is selected.

  In step S101, the control device 10 determines the first position from the midpoint between the point closest to the first intersection X and the vehicle speed showing the minimum and the point closest to the upstream second intersection Yb and the vehicle speed showing the minimum. The section up to S1 is the upstream evaluation section. Similarly, the control device 10 determines the first position S1 from the midpoint between the point closest to the first intersection X and the vehicle speed showing the minimum, and the point closest to the downstream second intersection Yf and the vehicle speed showing the minimum. The section up to is the downstream evaluation section. The upstream evaluation section and the downstream evaluation section may be combined into one evaluation section, or when the upstream or downstream second intersection Y is separated from the first intersection by a predetermined distance, The upstream evaluation section or the downstream evaluation section may be combined with the default evaluation section.

  Returning to step S102, if the two intersections do not require a temporary stop, the control device 10 proceeds to step S103, and determines whether or not the vehicle speed between the intersections is stable. Whether or not the vehicle speed is stable can be determined by whether or not the amount of change in the vehicle speed is less than a predetermined value. If it is not determined that the vehicle speed is stable, the process proceeds to step S106, and the evaluation section is set based on the positional relationship between the intersections without using the vehicle information.

  On the other hand, if it is determined that the vehicle speed is stable, the process proceeds to step S105, and the second setting method is selected. The control device 10 sets a second position Q in a region near the midpoint of the first intersection X and the second intersection Y, where the vehicle speed is maximum, or a change amount of the vehicle speed is a predetermined value or less, A section from the second position Q to the first position S1 is set as an evaluation section.

  When the evaluation section is set, the process proceeds to steps 16 and 20 shown in FIG. 7, and the driving evaluation process is executed.

  In the process of FIG. 8, the setting method for the upstream evaluation section of the first intersection X and the setting method for the downstream evaluation section can be determined separately. That is, the evaluation section may be updated by any one of the first to third setting methods on the upstream side or the downstream side of the first intersection X, and the evaluation section may be set by another setting method for the other.

  Since this embodiment of the present invention is configured as described above and operates as described above, the following effects can be obtained.

  [1] The driving evaluation apparatus 100 of the present embodiment according to the present invention evaluates between the first position S1 and the second positions Pb and Pf defined on the basis of the position of the first intersection X to be evaluated. When the distance between the first intersection X and the second intersection Y is equal to or less than a predetermined distance, the second distance is set so that the predetermined distance is shorter than the distance between the first intersection and the second intersection. An evaluation section in which the positions Pb and Pf are changed is set. According to the present embodiment, even when two intersections X and Y are close to each other, driving can be evaluated based on vehicle information detected in an evaluation section including only one intersection. As a result, it is possible to maintain or improve the accuracy of driving evaluation regardless of the distance between intersections.

  [2] According to the driving evaluation apparatus 100 of the present embodiment according to the present invention, the position corresponds to the maximum or minimum of vehicle information acquired over time, and the first intersection X and the second intersection Y Positions in the vicinity region of the middle point are set as the second positions Pb and Pf, and the range from the first position S1 to the left and right second positions Pb and Pf is set as the evaluation section. In this manner, by defining the evaluation section according to the characteristics of the change in the vehicle information, it is possible to extract the vehicle operation section for passing through a single intersection according to the traveling situation.

  [3] The driving evaluation device 100 of the present embodiment according to the present invention is a position where the value of the change amount of the vehicle information acquired over time is a predetermined value or less, and the first intersection X and the second The positions in the area near the midpoint of the intersection Y are defined as second positions Pb and Pf. And the driving | running evaluation apparatus 100 sets from 1st position S1 to right-and-left 2nd position Pb and Pf as an evaluation area. In this manner, by defining the evaluation section according to the characteristics of the change in the vehicle information, it is possible to extract the vehicle operation section for passing through a single intersection according to the traveling situation.

  [4] The driving evaluation apparatus 100 according to the present embodiment of the present invention obtains the maximum or minimum of the vehicle information closest to each intersection, and sets the evaluation section based on the obtained maximum or minimum point. Thereby, the vehicle operation area for passing a single intersection can be extracted by defining an evaluation area according to the change of the value of vehicle information.

  [5] In the driving evaluation apparatus 100 according to the present embodiment of the present invention, the second position Pf is brought closer to the first position S1 or the first intersection X as the distance between the intersections is shorter. Thereby, vehicle information by driving for passing through the second intersection Y can be prevented from being included in vehicle information by driving for passing through the first intersection X. That is, it is possible to further reduce the influence of driving when passing through the second intersection Y on evaluation of driving when passing through the first intersection X, which is an evaluation target.

  [6] In the driving evaluation apparatus 100 according to the present embodiment of the present invention, the position corresponding to the maximum or minimum of the vehicle information has a predetermined area in the vicinity of the first position S1, and a predetermined area in the vicinity of the second positions Pb and Pf. Or if the distance between the first intersection X and the second intersection Y is shorter, the length of the evaluation section is shorter when the distance between the first intersection X and the second intersection Y is shorter. Set to be shorter. As a result, even if the evaluation section cannot be set based on vehicle information such as the vehicle speed, the evaluation section can be set based on the distance between the intersections. Even so, it can be prevented that evaluation becomes impossible.

  [7] The driving evaluation device 100 of the present embodiment according to the present invention minimizes the vehicle speed included in the vehicle information acquired over time when any of the adjacent intersections is an intersection for which a temporary stop is required. A corresponding position and the position closest to the first intersection is defined as a first position S1. If any of the adjacent intersections is an intersection that requires a temporary stop, it is easy to obtain the characteristics of the vehicle information that changes according to the position of the intersection, so it is possible to set an evaluation section based on a clear characteristic of the vehicle speed change .

  [8] The driving evaluation device 100 of the present embodiment according to the present invention has a position in a predetermined region near the midpoint of the first intersection and the second intersection when the change amount of the vehicle speed is less than a predetermined value. In addition, points where the maximum vehicle speed or the amount of change in the vehicle speed included in the vehicle information acquired over time is a predetermined value or less are defined as second positions Pb and Pf. And the driving | running evaluation apparatus 100 sets from 1st position S1 to 2nd position Pb, Pf as an evaluation area. Thereby, when the feature that the vehicle speed is stabilized can be detected, the evaluation section can be appropriately set based on the feature of the change in the vehicle speed even when the temporary stop is not performed.

  [9] The driving evaluation apparatus 100 according to the present embodiment of the present invention uses, as vehicle information, the vehicle speed, the vehicle steering angle, the vehicle yaw rate, the vehicle yaw angle, the vehicle longitudinal acceleration, and the vehicle left-right direction. The acceleration is used. Such vehicle information is information that is likely to change when the vehicle passes through an intersection or turns left or right. By setting the evaluation section in which the intersection passing operation (driving) is performed based on the vehicle information, an appropriate evaluation section according to the behavior of the vehicle can be set.

  [10] The driving evaluation apparatus 100 of the present embodiment according to the present invention is the current position of the vehicle acquired first when the vehicle enters within the proximity area Xarea defined with reference to the position of the first intersection X. The first position S1 is used as a reference for setting the evaluation section. The center coordinate of the intersection X is not on the route through which the vehicle actually passes, and may deviate from the vehicle travel point (the history point of the current position), but by using the first position S1, The position of the first intersection X to be evaluated can be matched with the actual travel position, and a more appropriate evaluation section can be set.

  [11] The driving evaluation apparatus 100 according to the present embodiment of the present invention determines whether or not the evaluation section is shortened and whether the shortened evaluation section is upstream or downstream of the first intersection X. The identification information is output together with the result of the driving evaluation. As a result, by associating the evaluation result with information on whether the changed evaluation section is upstream or downstream of the first intersection X, it is divided into a residential area with a narrow intersection and a suburb with a wide intersection. The results of driving evaluation can be analyzed.

  [12] When the driving evaluation method according to the present embodiment is executed by the control devices 10 and 61 that are computers, the above-described effects can be obtained.

  The embodiment described above is described for facilitating the understanding of the present invention, and is not described for limiting the present invention. Therefore, each element disclosed in the above embodiment is intended to include all design changes and equivalents belonging to the technical scope of the present invention.

  That is, in this specification, although driving evaluation device 100 is explained as an example of one mode of driving evaluation device concerning the present invention, the present invention is not limited to this.

  In this specification, as an example of the driving evaluation apparatus according to the present invention, the driving evaluation apparatus 100 including the control device 10 including the CPU 11, the ROM 12, and the RAM 13 will be described as an example. However, the present invention is not limited to this. Absent.

  Further, in the present specification, as one aspect of the driving evaluation device having the intersection position acquisition means, the vehicle information acquisition means, the evaluation section setting means, and the driving evaluation means according to the present invention, an intersection position acquisition function, a vehicle The driving evaluation apparatus 100 including the control apparatus 10 that executes the information acquisition function, the evaluation section setting function, and the driving evaluation function and the communication function 14 will be described as an example, but the present invention is limited to this. is not.

  Further, in this specification, a driving evaluation system 1000 including a driving evaluation device 100 that is an aspect of the driving evaluation device according to the present invention, a vehicle controller 20, a navigation device 30, various sensors 40, and an output device 50. However, the present invention is not limited to this.

  In this specification, the driving evaluation apparatus 100 mounted on a vehicle will be described as an example. However, the driving evaluation apparatus includes an external server 60 that is not mounted on the vehicle and an external device 60 that includes a control device 61 such as a computer that can be brought into the vehicle. You may comprise as 100.

DESCRIPTION OF SYMBOLS 1000 ... Driving evaluation system 100 ... Driving evaluation apparatus 10 ... Control apparatus 20 ... Vehicle controller 21 ... Vehicle information 30 ... Navigation apparatus 31 ... Current position detection apparatus 32 ... Map information 33 ... Intersection information 40 ... Various sensors 41 ... Vehicle speed sensor 42 ... Acceleration sensor 43 ... Steering sensor 44 ... Yaw rate sensor 50 ... Output device 51 ... Display 52 ... Speaker 53 ... Communication device 60 ... External device 61 ... Control device 62 ... Storage device 63 ... Roadside device

Claims (19)

Intersection position acquisition means for acquiring the position of the intersection to be evaluated;
Vehicle information acquisition means for acquiring vehicle information and vehicle information passing through the intersection ;
A first evaluation section is set between a first position corresponding to the intersection and a second position at a predetermined distance from the first position ,
If the distance between the other second intersection adjacent to the first intersection and the first intersection in which the vehicle passes is equal to or less than the predetermined distance is shorter than the distance between the second intersection and the first intersection Evaluation section setting means for setting the section as the second evaluation section ;
Driving evaluation means for analyzing the vehicle information of the first evaluation section or the second evaluation section set by the evaluation section setting means and evaluating driving when the vehicle passes the intersection. Evaluation device. The driving evaluation device according to claim 1, wherein the second evaluation section does not include the second intersection. The driving evaluation apparatus according to claim 1 or 2, wherein the vehicle information of the second evaluation section analyzed by the driving evaluation means does not include the vehicle information when passing through the second intersection. The said evaluation area setting means sets the space between the first position and the third position closer to the first position or the first intersection than the second position as the second evaluation section. The driving | running evaluation apparatus as described in any one of these. The evaluation section setting means determines a position corresponding to the maximum or minimum of the vehicle information acquired over time, which is a position in the vicinity of the midpoint of the first intersection and the second intersection . position and then, the operation evaluation apparatus according to from the first position to the third position to one of claims 1 to 4, characterized in that to set as the second evaluation interval. The evaluation section setting means is a position in a region near the midpoint of the first intersection and the second intersection, and the change amount of the vehicle information acquired over time shows a value that is a predetermined value or less. position and third position, the operation evaluation device according to from the first position to the third position to one of claims 1 to 4, characterized in that to set as the second evaluation interval. The evaluation section setting means includes
A temporally acquired a position corresponding to the maximum or minimum of the vehicle information, and a position closest to the first intersection and the first position,
The position corresponding to the maximum or minimum of the vehicle information acquired over time and the position closest to the second intersection is the third position,
The driving evaluation apparatus according to any one of claims 1 to 4, wherein the second evaluation section is set from a midpoint between the first position and the third position to the first position. The evaluation interval setting means, the shorter the distance between the second intersection and the first intersection, according to any one of claims 1 to 7, characterized in that the shorter the second evaluation interval Driving evaluation device. The evaluation section setting means includes
Any of the second intersection and the first intersection is, when it is the intersection to determine the pause,
A position corresponding to the minimum of the vehicle speed included in the over time the acquired vehicle information and the position closest to the first intersection and the first position,
The position corresponding to the minimum vehicle speed included in the vehicle information acquired over time and the position closest to the second intersection is the third position,
The driving evaluation apparatus according to any one of claims 1 to 4, wherein the second evaluation section is set from a midpoint between the first position and the third position to the first position. The evaluation section setting means, when the amount of change in the vehicle speed included in the vehicle information acquired between the first intersection and the second intersection is less than a predetermined value,
A point in the vicinity of the middle point of the first intersection and the second intersection, and a point at which the vehicle speed included in the vehicle information acquired over time exhibits a maximum or the amount of change in the vehicle speed is a predetermined value 5. The driving according to claim 1 , wherein a point indicating the following value is set as a third position, and the range from the first position to the third position is set as the second evaluation section. Evaluation device. Passage determination means for determining whether or not the vehicle has passed through the intersection is further provided, the passage determination means being acquired by the intersection position acquisition means and the vehicle information acquisition means. The driving evaluation device according to any one of claims 1 to 4, wherein it is determined whether the vehicle has passed the intersection based on a position of the vehicle. The passage determining means is that the vehicle has passed the intersection when the position of the vehicle acquired by the vehicle information acquisition means is included in a predetermined distance from the intersection acquired by the intersection position acquisition means. The driving | running evaluation apparatus of Claim 11 which judges. The driving evaluation apparatus according to any one of claims 1 to 12, wherein the vehicle information acquisition unit includes a current position detection device and a vehicle speed sensor that detect a current position based on GPS information . The driving evaluation device according to any one of claims 1 to 13, further comprising a communication device that communicates with an external storage device, wherein the driving evaluation result by the driving evaluation unit is transmitted to the external storage device. The driving | running evaluation apparatus as described in any one of Claims 1-13 which further has a vehicle controller, a navigation apparatus, and vehicle-mounted LAN which connects these. The vehicle information includes at least one of a speed of the vehicle, a steering angle of the vehicle, a yaw rate of the vehicle, a yaw angle of the vehicle, a longitudinal acceleration of the vehicle, or a lateral acceleration of the vehicle. The driving | running evaluation apparatus as described in any one of Claims 1-15 . The first position, the vehicle enters located within a defined proximity region as a reference of the first intersection, any one of claims 1 to 16 is the current position of the first acquired a the vehicle The driving evaluation apparatus according to 1. The driving evaluation means determines whether the second evaluation section has been shortened, and identification information on whether the shortened second evaluation section is upstream or downstream of the first intersection, The driving evaluation device according to claim 1 , wherein the driving evaluation device outputs the result together with the result of the driving evaluation. A driving evaluation method to be executed using a computer for driving evaluation comprising storage means, evaluation section setting means, first determination means, second determination means, and evaluation means ,
Said storage means, and storing the position and the vehicle information of the vehicle transmitted from the vehicle,
The first determining means determining whether or not the vehicle passes an intersection based on the position of the vehicle stored in the storage means;
A step in which the evaluation section setting means sets a first evaluation section between a first position corresponding to an intersection determined to pass the vehicle and a second position at a predetermined distance from the first position. When,
The second determining means determining whether or not a distance from another second intersection adjacent to the first intersection determined to pass the vehicle is equal to or less than the predetermined distance;
When the second determination means determines that the distance between the first intersection and the second intersection is equal to or less than the predetermined distance, the evaluation section setting means determines that the first intersection and the second intersection Setting a section shorter than the distance to the second evaluation section;
The evaluation means analyzes the vehicle information stored in the storage means in the first evaluation section or the second evaluation section and evaluates driving when the vehicle passes an intersection. Driving evaluation method.

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