JPH08156815A - Travel control device for vehicle - Google Patents

Abstract

PURPOSE: To keep the behavior of a vehicle in a constantly stabilized condition in accordance with the travel condition of the driven vehicle to reduce a burden to a driver by communicating road information, ahead a present automobile position, to a travel control device. CONSTITUTION: A road information communication computer 40 is a communicating means for reading allowable operating quantity information, in accordance with a position obtained from a GPS computer 10b, from a travel control information memory device 30 to transfer it to a travel control device 60. An information output device 50 informs a driver of a result from the road information communication computer 40. Consequently, a road condition, at present and probable for a vehicle afterward, can be detected previously or concurrently with the start of the vehicle, and the travel control device 60, received information from a navigation system, can control vehicle operation performance. Also, control information on travel can be displayed, thereby transferring a present condition to the driver by an image or voice.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention has vehicle current position detection accuracy determination means for detecting the current position of a vehicle by vehicle current position detection means and determining the vehicle current position detection accuracy for the vehicle current position. The present invention relates to a vehicle travel control device mounted on a vehicle equipped with a device that displays detected information in a vehicle (hereinafter referred to as a navigation system).

[0002]

2. Description of the Related Art FIG. 11 shows, for example, JP-A-5-69848.
FIG. 7 is a system diagram of a conventional example in a vehicle travel control device (vehicle motion control device) disclosed in Japanese Patent Publication No. In the figure,
1 is the current position of the vehicle GPS (Global Positioning Sys
GPS device including a receiver 1a and a GPS computer 1b for detecting by the tem) method, and 2 is an external storage device that stores the type of road (general road, mountain road, highway, circuit road, etc.) in association with the position on the ground. Reference numeral 3 denotes a road type determination computer that reads the road type corresponding to the current position of the vehicle from the external storage device 2 and determines the road type. Reference numeral 4 denotes a vehicle type that controls the vehicle based on information from the road type determination computer and various sensors. The control device 5 is various sensors, and 6 is a GPS satellite.

Next, the operation of the prior art of this device will be described. The traveling control device 4 in FIG. 11 includes a four-wheel steering control device 4a and a power steering device 4b. The current position of the vehicle is calculated by the GPS method from the GPS computer 1b, and map data and road types are calculated in advance. The road type determination computer 3 searches the type of the road corresponding to the current position from the external storage device 2 stored in association with the four types, and the traveling control device 4 changes the control coefficient based on the searched road type. The controller 4a changes the rear wheel steering angle to
The power steering device 4b changes the steering force assist.

This solves the problem that the traveling control is performed irrespective of the type of road, and the traveling characteristics of the vehicle can be appropriately controlled in relation to the type of road on which the vehicle travels.

Further, the conventional current position detecting method includes, for example, the above-mentioned GPS receiver and GPS computer or gyrolocator, gas tracer, geomagnetic sensor, wheel speed sensor, etc. The above-mentioned methods may be used individually or in combination. ing. For example, in the case of the GPS method, the detection accuracy of the current position depends on the GPS itself or the location of the vehicle that receives the GPS.
For this reason, position correction is performed on the map using a plurality of sensors or a unique calibration and interpolation method.

[0006]

Since the conventional vehicle drive control device as described above does not have a communication means from the navigation system to the vehicle drive control device, the road control information of the navigation system is positively used. Cannot be used for. On the contrary, since the vehicle running control device does not have a communication means from the vehicle running control device to the navigation system, the vehicle running control device cannot positively utilize the function of the navigation system. Furthermore, if there is any error in the information transmitted by the navigation system to the travel control device and the shape of the road on which the vehicle is actually traveling, the travel control device provides means for calibrating or interpolating the error. Since it does not have it, the above-mentioned travel control device has a problem that there is no choice but to rely on the information from the navigation system.

In view of the above points, the present invention has been made to solve the above problems, and the behavior of the vehicle can always be kept stable depending on the running condition of the driving vehicle. It is an object of the present invention to obtain a vehicle travel control device that can reduce the burden on a person when driving a vehicle.

[0008]

A vehicle travel control device according to the present invention has a communication means from the above system to the travel control device in a vehicle equipped with a navigation system, and the system information is utilized for the travel control device. For example, the road information (for example, the bending rate, road gradient, road surface condition, etc.) in front of the current vehicle position is communicated to the travel control device, and the above information can be positively used for the travel control device.

Further, the vehicle travel control device according to the present invention has a communication means from the travel control device to the system in a vehicle equipped with a navigation system, and the system control function can be utilized by the travel control device. In order to utilize the functions of the above system, such as transmitting the intention to the driver by means of, or transmitting the intention to the driver by voice, a configuration is provided with means for communicating information from the traveling control device to the system. did.

Further, the vehicle running control device according to the present invention is, in a vehicle equipped with a navigation system, information on the current position of the vehicle communicated from the system in the vehicle running control device, or forward from the current position of the vehicle. Means for estimating and correcting the detection accuracy and the accuracy of the current position detection information of the communicated vehicle, by estimating a case where an error occurs with respect to information such as the road information of the vehicle and the shape of the road on which the vehicle is actually traveling. It has a structure having.

[0011]

In a vehicle equipped with a navigation system, the vehicle travel control device configured as described above has, for example, road information in front of the current position of the navigation system (for example, bending rate, road gradient, road surface condition). Etc.) to the travel control device, it becomes possible to detect the road condition that the vehicle will encounter now or from now on in advance or at the same time as the vehicle progresses. The vehicle motion performance can be actively controlled.

Further, the vehicle running control device according to the present invention further comprises a communication means from the running control device to the navigation system to display the control information on the running so that the driver can hear the image and voice. Can communicate the current situation.

Further, the vehicle travel control device according to the present invention has means for communicating information held by the navigation system to the travel control device, and controls the vehicle travel control device based on the information communicated by the means. In addition to the configuration in which means for communicating information from the travel control device to the navigation system is further provided, in the vehicle travel control device, information on the current position of the vehicle communicated from the navigation system, or Regarding information such as road information ahead of the current position, guess the case where there is some error with the road shape on which the vehicle is actually traveling, and about the detection accuracy and its accuracy about the current position detection information of the communicated vehicle, Calibration of the accuracy and accuracy of the current position detection to make an estimated correction to improve accuracy It is fine interpolations.

[0014]

【Example】

Example 1. FIG. 1 is a system diagram showing an embodiment of the present invention. Reference numeral 10 denotes a GPS including a receiver 10a for detecting the current position of the vehicle by the GPS method and a GPS computer 10b.
A device, 20 is a sensor required to detect the current position of the vehicle by the self-contained navigation method, and 30 is a travel control information storage that stores allowable momentum information such as safe traveling speed and maximum allowable torque in association with the position on the ground. Device, 40 is G
A road information communication computer, which is a communication means for reading out the permissible momentum information corresponding to the position obtained from the PS computer from the travel control information storage device and transmitting the information to the travel control device, 50 is a road information communication computer 40. An information output device 60 for informing the driver or his passengers of the result is a vehicle travel control device 60 including an automatic transmission device 60a, a device 60b for controlling the torque of the engine, and a traction device 60c in the present embodiment.
Reference numeral 0 is various sensors such as a vehicle speed sensor.

In the embodiments of the present invention, a traction control device will be specifically taken up as a vehicle running control device and will be described below. FIG. 2 is a configuration diagram showing one embodiment of the present invention. In the figure, reference numeral 21 is a non-self-contained navigation current position detecting means composed of a GPS receiver for detecting the current position of the vehicle using the GPS system, a GPS computer, and the like, and 22.
Is a self-contained navigation current position detecting means composed of a sensor or the like of the own vehicle for detecting the current position of the vehicle by the self-contained navigation system, and 23 is a road map that stores road information from the viewpoint of the ground position. A road map data storage means composed of an external storage device, 24 is a current position of the own vehicle in association with information of the current position detection means 21 of the non-self-contained navigation or the current position detection means 22 of the self-contained navigation and the road map data storage means 23. Is a vehicle current position detection accuracy determination means for determining the detection accuracy of the vehicle, and the navigation system detects road information a predetermined distance ahead of the current position with respect to the driving vehicle.

Further, 25 is an information output means comprising an external output device for notifying the driver and the passengers of the result of the vehicle current position detection accuracy determination means 24, 26.
Is the allowable momentum information (safe running speed, maximum allowable torque, etc.)
Is stored in association with a position on the ground, and 27 is a communication control unit based on the detection accuracy information determined by the vehicle current position detection accuracy determination unit 24.
And a traction control device for controlling the traction of the vehicle based on the finally determined throttle operation amount signal, and a traction control device for controlling the traction of the vehicle. In addition, it includes a device for controlling the torque of the engine and a control device for controlling the automatic transmission.

Next, the outline of this operation will be described with reference to FIG. First, when the engine is started and the electric power is supplied from the vehicle battery (not shown), the control device starts operating, and executes the processing contents shown in FIG. 3 (hereinafter, referred to as main routine processing). . Here, since a pulse train signal having a frequency proportional to the traveling speed is input from the wheel speed sensor (not shown) when the vehicle is traveling, the interrupt processing as shown in FIG. Let's do it separately.

Since the navigation system communicates asynchronously with the main routine process shown in FIG. 3 of the vehicle travel control device, the communication interrupt process as shown in FIG. 5 is carried out similarly to the wheel speed sensor process. Is performed separately from the main routine processing as shown in FIG. That is, the wheel speed sensor process is interrupted by the microcomputer every time a pulse train signal (not shown) is input, and the cycle T of the pulse train signal is held.
Is determined by a timer (not shown), the process is moved to the main routine shown in FIG. 3, and the communication interrupt process is also the same as the main routine process of the vehicle travel control device from the navigation system. The allowable torque information transmitted asynchronously is transmitted to the R in the microcomputer.
After being loaded into the AM and stored therein, the processing is shifted to the main routine shown in FIG.

Further, an example of this operation will be specifically described with reference to the flowchart of FIG. In the main routine process, first, the microcomputer is initialized in step S301, and then, in step S302, the current traveling speed Vn is calculated from the latest pulse period T obtained by the interrupt routine process of FIG. The current traveling speed Vn at this time is obtained by the following equation. Vn = g / Δt (where g is a conversion constant)

In step S303, the slip ratio of the vehicle is calculated using the obtained acceleration of the vehicle, the vehicle speed, etc., and the slip control process is executed. Continued Step S30
In 4, the control / non-control determination is made as to whether or not the above-mentioned slip control is being performed, and only when the slip control is not controlled, step S
If the slip control is in progress, the process proceeds to step S31.
Go to 0.

This makes it possible to control the dynamic performance of the vehicle according to the road condition, for example, the curved road ahead of the current position of the vehicle, without impairing the conventional slip control function.

Further, in step S305, the driver's required torque representing the driver's intention is obtained from the engine speed and the accelerator pedal depression amount. In step S306, an allowable driving torque value is calculated from the road information such as road curvature and road gradient related to the current position of the vehicle or ahead of the vehicle, which is received by the communication system from the navigation system. The above driver required torques are compared, and if the value of the driver required torque exceeds the allowable value, the process proceeds to step S307, and if not satisfied, the process proceeds to step S308.

In step S309 (when the above conditions are satisfied), the current control target torque Tn is calculated by the following equation. Tn = K1 × εn + Tn−1 K1 here means a coefficient for obtaining the current target torque value from the torque deviation εn between the driver's required torque and the allowable torque information.

Step S310 is a target torque-target throttle conversion unit when slip control or control by the navigation system is under control, and the target torque-target throttle conversion unit uses the predetermined search data (target for the current throttle opening amount). A target throttle opening (for achieving the torque), that is, a throttle opening reduction amount is obtained, and the operation control amount of the throttle valve is calculated based on this.

The throttle valve control amount Th at this time is obtained by the following equation. Th = K1 × εh + K2 × αh Here, K1 means a coefficient for obtaining the control amount from the throttle opening deviation εh, and K2 means a coefficient for obtaining the control amount from the throttle moving speed. The control amount Th derived in step S310 determines the driving direction of the throttle valve based on the calculation result, and the opening / closing control of the slot valve is performed in step S311.

These operations are executed in step S312 at predetermined intervals, and after a predetermined time elapses, the process returns to step S302 to repeat the series of processes described above.

In this embodiment, shift control, that is, downshift and upshift, has been described as the deceleration promoting means. However, other deceleration promoting means such as cylinder deactivation, fuel cut, ignition timing, valve opening / closing timing, valve lift amount, etc. It goes without saying that means for controlling the engine speed, means for applying a load to the engine such as turning the compressor of the air conditioner, or a braking device such as a brake may be used or combined. .

Embodiment 2 FIG. Another embodiment of the present invention will be described below with reference to FIG. In the present embodiment as well, a traction control device will be taken up and described as a vehicle travel control device.

In FIG. 6, reference numeral 71 indicates the current position of the vehicle.
A non-self-contained navigation current position detecting means composed of a GPS receiver and a GPS computer which detect using the PS system, and 72 a sensor which the vehicle owns to detect the current position of the vehicle by the self-contained navigation system. A self-contained navigation current position detecting means, which is composed of an external storage device 73 for storing a predetermined distance of road information such as a bending rate, a road gradient, and a road surface condition from the viewpoint of the position of the road map on the ground. The map data storage means 74 is a vehicle for determining the detection accuracy of the current position of the own vehicle in association with the information of the current position detection means 71 of the non-self-contained navigation or the current position detection means 72 of the self-contained navigation and the road map data storage means 73. It is a current position detection accuracy determination means, and detects, by the navigation system, bending rate information and the like ahead of the current position with respect to the driving vehicle by a predetermined distance.

75 is a vehicle current position detection accuracy determination means 74.
In order to inform the driver and his / her passengers of the result of (1), information output means composed of an external output device such as an indicator, for example, 76 shows the allowable momentum information such as safe running speed and maximum allowable torque at the position on the ground. The traveling control information storage means 77 which is associated and stored is a traveling control device for performing traveling control of the vehicle based on the detection accuracy information determined by the vehicle current position detection accuracy determination means 74, and finally determined. A traction control device for controlling the traction of the vehicle based on the throttle operation amount signal, a device for controlling the engine torque for controlling this traction, and a control for controlling the automatic transmission. Comprised of devices.
Reference numeral 78 is a first communication means for transmitting the detection accuracy information determined by the vehicle current position detection accuracy determination means 74 to the travel control device 77, and 79 is a first communication means for transmitting the travel control information of the travel control device 77 to the information output means 75. It is the second communication means.

Next, an example of this operation will be specifically described with reference to the flowchart of FIG. 7, but step S8
Since the processing from 01 to step S805 is the same as the main routine processing of FIG. 3, description thereof will be omitted. Step S80
In 6, a permissible drive torque value is calculated from road information such as a road curvature and a road gradient related to the current position of the own vehicle or the front thereof received by the first communication means from the navigation system. And the above-mentioned driver-requested torque are compared, and if the value of the driver-requested torque exceeds the allowable value, the process proceeds to step S807 for turning on the indicator, and if not satisfied, the indicator is turned off. Then, the process proceeds to step S808. After that, the same processing as in FIG. 3 is performed.

In the present embodiment, an example of an indicator is given as the notification means, but it goes without saying that any means for recognizing the operating condition of the control device, such as voice, vibration, fragrance, etc. may be used.

Example 3. Another embodiment of the present invention will be described below with reference to the drawings. In the present embodiment, a traction control device will be taken up as a vehicle travel control device and will be described as an embodiment. FIG. 8 is a block diagram showing an embodiment of the present invention. In the figure, the same symbols as those in FIG. 6 indicate the same or corresponding parts. 107 receives the result of the traveling control information storage means 76 and the detection accuracy information determined by the vehicle current position detection accuracy determination means 74, and, for example, on the road on which the driver is about to travel, the road shape within that route. In order to improve the accuracy of the road map data of, the error between the road shape before and after the current position of the vehicle and the road shape before and after the current position of the vehicle on the road map data is calculated in advance in the road map data. A road shape estimating and correcting unit 108 estimates and corrects the difference between the current position of the included vehicle and the road shape based on the quantitatively analyzed result, and 108 estimates and corrects the road shape. Correction means 10
7 is a travel control device for controlling the travel of the vehicle based on the information determined as a result, and a traction control device for controlling the traction of the vehicle based on the finally determined throttle operation amount signal. And a device for controlling the torque of the engine to control this traction, and a control device for controlling the automatic transmission.

Next, an example of the outline of this operation will be specifically described with reference to the flowchart of FIG. 9, but step S1101.
Since steps from S1105 to S1105 are the same as the main routine processing of FIG. 3, description thereof will be omitted. Step S110
In 6, the allowable driving torque value calculated based on the road map data received from the navigation system via the communication means is compared with the above-mentioned driver required torque, and the value of the driver required torque exceeds the allowable value. In case of
Step S1107 and step S of error estimation of search result
After proceeding to 1108 and turning on the indicator indicating that this control is in operation, the procedure proceeds to step S1110. Further, the indicator is turned off during slip control.

In step 1107, the road conditions before and after the current position of the vehicle are estimated from the road map data received from the navigation system. The procedure for estimating this road condition is shown in FIG. 10, among the road map data received from the navigation system in step S121, the road map data storage means 73 of FIG.
And the output result of the vehicle current position detection accuracy determination means 74
Received through the communication means 78. Further, it receives the permissible momentum information regarding the current position from the traveling control information storage means 76. In step S122, the road shape obtained as a result of the above S121, for example, road curvature, number of lanes, lane shape,
A model of the road shape is formed, including the presence or absence of road shoulders.

In step S123, an error with respect to the lateral direction (when the vehicle traveling direction is tentatively referred to as the longitudinal direction and the direction orthogonal to the longitudinal direction is tentatively referred to as the lateral direction) on the road map data is estimated based on the quantitative data. . For example, assuming that the navigation system extracts the road curvature R from the road map data by using N points at intervals of L, the modeled road shape and the road shapes before and after the current position of the own vehicle are obtained. The correlation between the error and the intervals L and N is calculated in advance. The calculation result may be approximated as a certain function or may be mapped.

The lateral error between the road map data and the actual road shape before and after the vehicle is clarified by the function or map defined here. The relationship between the actual road shape before and after the vehicle and the lateral error of the road map data, which is the result of this calculation, is defined by either a linear function, a stepwise changing function, or a non-linear function. May be.

In step S124, the result of S123 is applied to the road map data received in S121 to convert it into a lateral error of the road shape before and after the present position of the vehicle with respect to the road map data. Further, for example, a means for turning on a level indicator or the like and notifying the driver of the estimation result of S124 as the accuracy of the map data may be provided.

On the other hand, if not established, as shown in FIG. 9, in step S1109, the indicator showing that this control is in operation is turned off. In step S1110 (when the above conditions are satisfied), the current control target torque Tn is calculated by the following equation. Tn = K1 × εn + Tn−1 K1 here means a coefficient for obtaining the current target torque value from the torque deviation εn between the driver's required torque and the allowable torque information.

Step S1111 is a target torque-target throttle conversion unit when the slip control or the navigation control is under control. Based on predetermined search data (the target torque at the current throttle opening amount is achieved). Target throttle opening, for
That is, the throttle opening reduction amount is obtained, and the operation control amount of the throttle valve is calculated based on this. The throttle valve control amount Th at this time is obtained by the following equation. Th = K1 × εh + K2 × αh Here, K1 is a coefficient for obtaining the control amount from the throttle opening deviation εh, and K2 is a coefficient for obtaining the control amount from the throttle moving speed.

Further, when the navigation control is being performed, the accuracy of the map data in the lateral direction of the vehicle is reflected as a control coefficient in the throttle valve operation control amount which is the result of S1111 in response to the result of S1106. The throttle valve control amount Th at this time is obtained by the following equation. Th = (K1 × εh + K2 × αh) × K3 K1 here is a coefficient for obtaining the control amount from the throttle opening deviation εh, K2 is a coefficient for obtaining the control amount from the throttle moving speed, and K3 is the road. Refers to the error coefficient estimated to improve the horizontal accuracy included in the map data.

The control amount Th derived in step S1111 determines the driving direction of the throttle valve based on the calculation result, and the opening / closing control of the throttle valve is performed in step S1112. These operations are performed in step S111.
In step 3, the process is executed for each predetermined cycle, and after a predetermined time has elapsed, the process returns to step S1102, and the series of processes described above is repeated.

In the present embodiment, in order to improve the accuracy and accuracy of the road map data, an example of the level indicator is given as a means for notifying the driver of the lateral error of the vehicle estimated by the system. Any means for recognizing the operating status of the device, such as voice, vibration, fragrance, etc., may be used.

[0044]

As described above, the present invention detects the current position of a vehicle from the current position information of the vehicle detected by the vehicle current position detection means and the road information stored in the road map data storage means. This communication means has a communication means for determining accuracy, displaying the determined detection accuracy information in the vehicle, and transmitting the detection accuracy information of the current position of the vehicle determined by the vehicle current position detection accuracy determination means. Since the momentum of the vehicle at the current position is controlled based on the detection accuracy information of the current position and the allowable momentum information of the traveling control information storage device transmitted from the vehicle, the road information of the navigation system can be used for traveling control and the traveling of the vehicle can be performed. The situation can be kept stable.

Further, the detection accuracy information of the current position of the vehicle determined by the vehicle current position detection accuracy determination means is transmitted,
The momentum of the vehicle at the current position is controlled based on the detection accuracy information of the current position and the allowable momentum information of the travel control information storage device, the control information of the travel control device is transmitted, and it is determined by the vehicle current position detection accuracy determination means. Since this information and the control information of the travel control device are displayed inside the vehicle, it is possible to reduce the load on the driver during the vehicle driving operation.

Further, the allowable momentum information of the vehicle related to the current position on the ground is stored, and the detection accuracy information of the current position of the vehicle determined by the vehicle current position detection accuracy determination means and the allowable momentum information of the travel control information storage device are stored. And the control information of the travel control device, which is determined by the vehicle current position detection accuracy determination means, and which controls the vehicle at the current position based on the estimated correction output. Is displayed in the vehicle, there is an effect that the traveling control device of the vehicle can be accurately controlled.

[Brief description of drawings]

FIG. 1 is a system diagram showing a vehicle travel control device that is an embodiment of the present invention.

FIG. 2 is a configuration diagram showing a vehicle travel control device that is an embodiment of the present invention.

FIG. 3 is a flowchart showing the operation of the vehicle travel control device that is an embodiment of the present invention.

FIG. 4 is a flowchart showing an interrupt routine process which is an embodiment of the present invention.

FIG. 5 is a flowchart showing communication interrupt processing according to an embodiment of the present invention.

FIG. 6 is a configuration diagram showing a vehicle travel control device that is another embodiment of the present invention.

FIG. 7 is a flowchart showing an operation of a vehicle travel control device that is another embodiment of the present invention.

FIG. 8 is a configuration diagram showing a vehicle travel control device that is another embodiment of the present invention.

FIG. 9 is a flowchart showing the operation of the vehicle travel control device according to another embodiment of the present invention.

FIG. 10 is a flow chart showing a procedure of estimating, which is another embodiment of the present invention.

FIG. 11 is a system diagram showing a conventional vehicle travel control device.

[Explanation of symbols]

10: GPS device 23: Road map data storage means 24: Vehicle current position detection accuracy determination means 25: Information output means 26: Travel control information storage means 27: Travel control device 28: Communication means 30: Travel control information storage device 50: Information output device 60: Travel control device

Claims (3)

[Claims] 1. A vehicle current position detecting means for detecting a current position of a vehicle on the ground, a road map data storing means for storing road map data related to the current position on the ground, and a vehicle current position detecting means for detecting the current position. Vehicle current position detection accuracy determination means for determining the detection accuracy of the current position of the vehicle from the stored vehicle current position information and the road information stored in the road map data storage means, and the vehicle current position detection accuracy determination means The information output means for displaying the detection accuracy information determined by the inside of the vehicle, the travel control information storage device for storing the allowable momentum information of the vehicle related to the current position on the ground, and the vehicle current position detection accuracy determination means. Communication means for transmitting the detection accuracy information of the determined current position of the vehicle, and detection of the current position transmitted from this communication means A travel control device for a vehicle, comprising: a travel control device that controls a momentum of a vehicle at a current position based on accuracy information and allowable momentum information of the travel control information storage device. 2. A vehicle current position detecting means for detecting a current position of the vehicle on the ground, a road map data storage means for storing road map data related to the current position on the ground, and a vehicle current position detecting means for detecting the current position. The vehicle current position detection accuracy determination means for determining the detection accuracy of the current position of the vehicle from the current position information of the vehicle and the road information stored in the road map data storage means, and the current position on the ground. A travel control information storage device that stores the allowable momentum information of the vehicle, a first communication unit that transmits the detection accuracy information of the current position of the vehicle determined by the vehicle current position detection accuracy determination unit, and a transmission from this communication unit The momentum of the vehicle at the current position is controlled based on the detected accuracy information of the current position and the allowable momentum information of the traveling control information storage device. The traveling control device, the second communication means for transmitting traveling control information of the traveling control device, the information determined by the vehicle current position detection accuracy determination means and the control information of the traveling control device are displayed in the vehicle. A traveling control device for a vehicle, comprising: an information output means. 3. A vehicle current position detecting means for detecting a current position of the vehicle on the ground, a road map data storage means for storing road map data related to the current position on the ground, and a vehicle current position detecting means for detecting the current position. The vehicle current position detection accuracy determination means for determining the detection accuracy of the current position of the vehicle from the current position information of the vehicle and the road information stored in the road map data storage means, and the current position on the ground. A traveling control information storage device that stores the allowable momentum information of the vehicle, a communication unit that transmits the detection accuracy information of the current position of the vehicle determined by the vehicle current position detection accuracy determination unit, and the above-described transmission unit transmitted from this communication unit. Prediction and correction of the road shape based on the detection accuracy information of the current position and the allowable momentum information of the traveling control information storage device. A correction unit, a travel control device that controls the vehicle at the current position based on the output of the estimated correction unit, the information determined by the vehicle current position detection accuracy determination unit and the control information of the travel control device are stored in the vehicle. A vehicle traveling control device, comprising: an information output device for displaying.