JPH08110236A - Apparatus for guiding onto course for vehicle - Google Patents

Abstract

PURPOSE: To immediately indicate a new course in a vehicle course-guiding apparatus when a vehicle runs an erroneous lane at a guide intersection having an area where it is prohibited to change lanes. CONSTITUTION: When a transceiver 26 receives data from a beacon thereby to detect that a prohibition area is present at a next intersection where it is prohibited to change lanes, an ECU 24 searches for new courses other than a recommended course and stores in a memory 30. A lane where the vehicle runs at present is recognized based on signals from a winker signal detection sensor 10, a yaw angle detection sensor 12, a lane restriction detection sensor 14, a stearing sensor 16, and wheel velocity difference detection sensors 18, 20. When the lane is an erroneous lane, a new course corresponding to the running lane is read out from the memory 30 and displayed at a display device 31.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a route guidance device for a vehicle, and more particularly to route re-search.

[0002]

2. Description of the Related Art Conventionally, a route guidance device has been developed which displays a route to be traveled on a screen or guides it by voice for the purpose of reducing the driving operation of a vehicle driver. In such a route guidance device, when the driver inputs a destination or a waypoint, the device searches for an optimum route and notifies the driver,
The driver does not always drive along this route,
There are cases where the vehicle travels on a route different from the guide route intentionally or unintentionally.

Therefore, for example, in Japanese Unexamined Patent Publication (Kokai) No. 4-107700, if the driver makes a mistake in the route based on the searched route displayed on the display and the progress of the vehicle, if the driver cannot turn left or right, the route as presented is displayed. There is disclosed a configuration in which when a vehicle cannot proceed, it is determined whether or not the route is changed such as when the route is intentionally changed, the determination result is displayed on a display, and the vehicle is advanced toward the destination.

[0004]

However, there is a lane change prohibition area (a so-called restricted area where a yellow line is drawn) in front of the intersection on the actual road, and according to the guide route, turn right at the next intersection. In some cases, you should drive on a straight lane even if you should. In such a case, since the vehicle is still traveling on the route, re-search is not performed in the above-mentioned conventional technique, and although the driver cannot turn right, the guidance for turning right is displayed, or voice instruction is given, and the driver is instructed. It will be uncomfortable.

The present invention has been made in view of the above problems of the prior art, and its purpose is to drive on an incorrect lane (a lane that cannot travel along a guide route) in a lane change prohibited area. The present invention provides a route guidance device for a vehicle that presents a new guidance route to a driver and can perform a more efficient route guidance in consideration of an intersection where a route error is likely to occur. .

[0006]

In order to achieve the above object, a vehicle route guiding apparatus according to claim 1 is a vehicle route guiding apparatus for searching a recommended route to a destination and guiding a vehicle, Detecting means for detecting a lane change prohibited area existing at an intersection to be route-guided, and lane recognition means for recognizing a lane in which a vehicle in the lane change prohibited area is traveling,
Computation means for computing a route other than the recommended route when the detection means detects a lane change prohibited area, storage means for storing the route obtained by the computation means, and lanes recognized by the lane recognition means In the case of a lane in which traveling along the recommended route is impossible, a route corresponding to the traveling lane is selected from the routes stored in the storage unit, and a control unit for setting as a new recommended route. It is characterized by having.

In order to achieve the above object, the vehicle route guiding apparatus according to a second aspect is the vehicle route guiding apparatus according to the first aspect, in which the lane recognized by the lane recognizing means is further recommended. It is characterized in that it is provided with a transmission means for transmitting the route error information to the roadside device when the lane makes it impossible to travel along the route.

Further, in order to achieve the above-mentioned object, a vehicle route guiding apparatus according to a third aspect searches a recommended route to a destination and transmits the obtained recommended route to a vehicle on the road. The guide device is characterized by having a calculating means for searching a recommended route based on route error information for each intersection transmitted from the vehicle.

[0009]

In the vehicle route guiding device according to the first aspect, the lane change prohibited area (so-called restricted area having a yellow line).
If you are driving in a lane that cannot travel along the recommended route at a certain intersection, for example, at an intersection that has right and left turns and straight lanes, even if the recommended route is a right turn, go straight or on the left lane. If the vehicle is traveling on a road, it will return to the original recommended route corresponding to the lane currently being driven from the new route calculated in advance when it is detected that there is a lane change prohibited area. The driver is informed of the new route. As a result, it is possible to prevent the driver from forcibly attempting to change lanes even in the lane change prohibited area, and to eliminate the anxiety of the driver and reliably guide the route.

In the vehicle route guiding apparatus according to the second aspect, when the vehicle travels in the wrong lane, the error information about the intersection is transmitted (uplink) to the roadside machine.

As a result, the information on the intersection where the route is likely to be mistaken can be collected on the side of the roadside machine, and can be used for reference in future road planning and the like.

In the vehicle route guiding device according to the third aspect,
In the dynamic route guidance for transmitting guidance information for reaching the destination from the roadside machine to the vehicle, statistically the route error information transmitted from the vehicle as in the route guidance device according to claim 2 is used. Process and guide the vehicle based on this route error information.

As a result, for example, it is possible not to guide to an intersection where an error is likely to occur, and the efficiency of route guidance can be improved.

[0014]

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 shows the configuration of this embodiment.
A winker signal detection sensor 10, a yaw angle (or lateral movement amount) detection sensor 12, a lane regulation detection sensor 14, a steering sensor 16, and wheel speed difference detection sensors 18 and 20 are provided, and the detection signals are sent to a microcomputer 22. Output. A gyro or a G sensor can be used as the yaw angle sensor 12, and an image recognition device that recognizes a yellow line or a road sign can be used as the lane regulation detection sensor 14. Although not shown, various devices such as GPS used in a normal navigation system are also mounted. Each detection signal processed by the microcomputer 22 is sent to the electronic control unit E.
It is output to the CU 24. Based on the data from the road beacon received by the transmitter / receiver 26 and the signal from the microcomputer 22, the ECU 24 allows the vehicle to be in the lane regulation area and to travel along the guide route stored in the memory 30. If it is determined that the driver is in the wrong lane, the alarm 32 notifies the driver of that fact and selects a new route suitable for the wrong lane from the guide routes calculated and stored in advance. Indicator 3
Display in 1.

FIG. 2 conceptually shows the state of processing in this embodiment. Vehicle 200 has beacon 10 on the road
The information received from 0 includes road link information, and the lane information for each link length L and each sub-link Lsn (n = 0, 1, 2, 3 in FIG. 2) (how many lanes there are)
It also includes information such as right and left turns, straight lanes, and lane regulation information. When the transceiver 26 of the vehicle 200 receives these beacon information, the ECU 24 determines whether or not there is a lane regulation before the next intersection 300.
Then, if there is a lane regulation, the map database 28 is accessed to search for a new route in the case where the lane is wrong, and the route is stored in the memory 30. In the case of FIG. 2, it can be seen from the information from the beacon 100 that there is a three-lane restriction lane before the next intersection. Therefore, when the guide route is a right turn, a new route for a left turn and a straight route is searched in advance. To remember. On the other hand, the travel distance from the beacon is constantly calculated based on the detection signal from each sensor,
Know where the vehicle is at the intersection. Then, the route at the next intersection 300 in the guide route is compared with the traveling lane in which the vehicle is currently located. For example, in the case where the guidance route is a right turn at the next intersection 300 in FIG. 2 and the current traveling position is a straight lane, the ECU 24 immediately informs the alarm 32 that the vehicle is in the wrong traveling lane, and The driver is informed that the vehicle will return to the original guide route if the driver follows the route shown below, and goes straight from the new routes (routes for left turn and straight drive) stored in the memory 30 in advance. The new route in the case of doing is selected and displayed on the display unit 31. This allows
The driver does not feel uncomfortable because he / she cannot turn right but is instructed to make a right turn, and does not feel anxious because the route for returning to the initial route is promptly presented.

The operation of this embodiment will be described in more detail below with reference to the flow charts of FIGS.

Like conventional navigation systems,
When the driver first inputs the destination and the waypoint, the ECU 2
An optimum route 4 to the destination is searched and stored in the memory 30, and the current position and the searched route are displayed on the display 31 together with the map data to inform the driver. When the vehicle is traveling along the route, the ECU 24 causes the transceiver 26 to
Then, it is determined whether or not the data is received from the beacon 100 (S101). The transceiver 26 periodically emits a transmission radio wave, and when it enters the area covered by the beacon 100,
Data from beacon 100 is received. When the beacon data is received, the ECU 24 recognizes the lane in which the host vehicle 200 is traveling based on the lane information included in the data from the beacon (S102). The recognition result is stored in the memory 30 (S103), and then it is determined from the beacon information whether or not there is a lane regulation before the next intersection 300 (S104). If there is no lane regulation, the vehicle can travel along the searched route, so normal route guidance is performed (S108), and it is determined again whether or not the data from the beacon 100 has been received (S109). If the received data is received by the transmitter / receiver 26
Is used to transmit to the beacon 100 to perform normal road-vehicle communication (S110).

On the other hand, when the lane regulation is present, it may not be possible to travel according to the route depending on the traveling lane even if the normal route guidance is performed. Therefore, the ECU 24 performs the calculation for the case of the out-of-route, It is stored in the memory 30 (S105). In this way, it is possible to present the new route to the driver immediately when the route is actually lost by performing a calculation in advance in case of the route deviating, for example, when the guide route is a right turn. In advance, the new routes for straight traveling and left turn are calculated and stored in advance. Then, the distance from the beacon 100 is constantly calculated in a predetermined processing cycle (S106), and the movement amount in the lane width direction is calculated based on the detection signals from the various sensors 10 to 20 (S107). In addition, sublink (Ls
n: refer to FIG. 2) and calculate the traveling distance (S111), E
The CU 24 recognizes where the vehicle is before the intersection, that is, the lane that the vehicle is currently traveling, from the movement amount and the lane number (S112). Next, it is determined whether or not the recognized lane is a correct lane, that is, whether or not the lane is located in a lane that can travel along the guide route (S114). If the lane is correct, the process proceeds to S108 described above and normal route guidance is performed. On the other hand, if the lane is not correct, the error status bit of the lane is turned on (S11
5) The intersection name to be passed, the status of the status bit (“0” if correct, “1” if incorrect), and the destination name are stored as a set in the memory 30 (S116). This storage is for transmitting the fact that the route is wrong to the roadside device (S110) and using it for error statistics, as described later. Then, the ECU 24 preliminarily sets S
A new route that matches the currently traveling lane is selected from the new routes calculated and stored in 105, and the driver is notified using the display device 31 (S117).

After the driver is notified of the new route, various sensors are provided in case the driver ignores this notification or tries to change lanes without noticing that he is in the lane change area. Is used to constantly monitor the amount of movement in the lane width direction (S118), and it is confirmed whether or not the driver is trying to change lanes (S119). If the amount of movement in the lane width direction is greater than or equal to the lane width, or if the lane regulation detection sensor 14 detects that the vehicle has crossed the yellow line, it is determined that the driver is about to change lanes, and A warning of prohibition of change is given to the driver by means of the display 31 or a voice, and it is also advised that the driver can return to the route again if the new route is followed (S1).
20).

After the driver is notified of the new route, the mileage from the beacon 100 is constantly monitored (S12).
1) It is determined whether or not the vehicle has passed the restricted area (S122). If the vehicle passes the restricted area,
Further, it is determined whether or not the vehicle is traveling along the new route (S123). If the vehicle is traveling along the new route, the process proceeds to S108 again to perform normal navigation, and if the vehicle is not traveling along the new route, the new route (return route) is calculated again (S124). ), And informs the driver (S125).

As described above, in the present embodiment, when the vehicle enters the intersection where the restricted area exists and the vehicle is traveling on the wrong lane that cannot travel along the guide route, Since the driver can immediately be notified of the new route that was calculated in anticipation of incorrect lanes, without giving the driver any discomfort or anxiety,
You can lead to the original route.

Since the present embodiment is configured to transmit (uplink) information on an intersection with an incorrect route to the roadside device, the base station side statistically processes this information to easily make an incorrect intersection. Etc. can be specified and can be used for future road maintenance (for example, establishment of a right-turn-only road) and traffic control (for example, holiday regulation). In addition, it is possible to avoid guiding as much as possible to intersections with many route errors.

FIG. 6 is a flowchart on the side of a roadside machine when an intersection with many route errors is deleted from the guide route.

First, from the data sent from the vehicle, all combinations having the intersection of the status bit "1" (error bit) are listed (S20).
1). Then, the listed combinations are sorted in an erroneous number of times (S202), and combinations exceeding the limit value amax are picked up to pick up intersections and their related links that have an extremely large number of erroneous times (S203). Then, the intersection (node) and link data listed in S203 are deleted from the route guidance map database stored on the roadside (S20).
5). Further, the links are weighted in the route search in order of the number of incorrect intersections so that the weight increases according to the number of intersections equal to or less than the limit value amax and the incorrect number of times (S205).
A route search is performed in consideration of the processes of 203 and S204 (S206). If the Dijkstra method or the like is used for the route search processing, it will be difficult to select a link with a large weight.
An intersection with less error is preferentially selected to calculate a desired route. Then, the route obtained by searching is transmitted (downlink) to the vehicle side via the beacon 100 (S207). As a result, the vehicle driver can reach the destination more reliably without passing through an easily prone intersection.

[0026]

As described above, according to the vehicle route guide device of the first aspect, even if the driver enters a wrong lane at an intersection where a lane change prohibited area exists, the driver can immediately take a new route. Can be presented. Therefore, it is possible to effectively prevent the driver from rushing to change lanes, and it is possible to surely return to the original recommended route and continue the route guidance to the destination.

Further, according to the vehicle route guiding apparatus of the second aspect, the information about the intersection with the wrong route can be managed on the side of the roadside machine, and can be applied to road planning to improve the efficiency of the route guidance. Can be planned.

Further, according to the vehicle route guiding apparatus of the third aspect, the recommended route is determined in consideration of the intersection where the route error is likely to occur, so that more efficient route guidance can be performed.

[Brief description of drawings]

FIG. 1 is a configuration block diagram of an embodiment of the present invention.

FIG. 2 is an explanatory diagram of processing in the vicinity of an intersection according to the embodiment.

FIG. 3 is a processing flowchart of the embodiment.

FIG. 4 is a processing flowchart of the embodiment.

FIG. 5 is a processing flowchart of the embodiment.

FIG. 6 is a processing flowchart of the embodiment.

[Explanation of symbols]

 10 blinker signal detection sensor 12 yaw angle detection sensor 14 lane regulation detection sensor 16 steering sensor 18, 20 wheel speed difference detection sensor

Claims (3)

[Claims] 1. In a vehicle route guidance device for guiding a vehicle by searching a recommended route to a destination, a detection means for detecting a lane change prohibited area existing at an intersection to be route guided, and a lane change prohibited area. Lane recognition means for recognizing the lane in which the own vehicle is traveling, calculation means for calculating a route other than the recommended route when the detection means detects a lane change prohibited area, and the calculation means Corresponding to a lane traveling from the route stored in the storage unit when the lane recognized by the lane recognizing unit is a lane that makes traveling along the recommended route impossible. A route guide device for a vehicle, comprising: a control unit that selects a route to be set and sets it as a new recommended route. 2. The route guidance device for a vehicle according to claim 1, further comprising route error information when the lane recognized by the lane recognition means is a lane that makes it impossible to travel along the recommended route. A route guidance device for a vehicle, comprising: a transmission means for transmitting to the aircraft side. 3. A route guidance device for a vehicle, which searches for a recommended route to a destination and transmits the obtained recommended route to a vehicle on the road, based on route error information for each intersection transmitted from the vehicle. A route guidance device for a vehicle, comprising: a computing unit that searches for.