JPH08194896A - Controller corresponding to road state ahead of automobile - Google Patents

Abstract

PURPOSE: To control the speed of a vehicle and to alarm the existence of a curve to a driver by detecting a curve without requiring enormous calculation in respect to a controller corresponding to a road state ahead of an automobile which is suitable for the generation of an alarm to a driver on a vehicle going to enter a curve and the control of the vehicle speed. CONSTITUTION: The controller is provided with a navigation system, a judging means 30 for judging the suitability of the traveling state of a vehicle to a road state ahead of the vehicle based upon road information obtained from the navigation system and a nonconformane control meanas 40 for generating an alarm or controlling the traveling state of the vehicle when the means 30 judges that the traveling state of the vehicle is unsuitable to the state of a guide road ahead of the vehicle. The means 30 is set up so as to judge the sutability of the traveling state of the vehicle based upon guide road information set up during the route guide of the navigation system and the means 40 is set up so as to generate an alarm or control the traveling state based upon the judged result of the means 30 during the route guide of the navigation system.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for detecting a road condition in front of a vehicle in advance and issuing an alarm to a driver or controlling the running condition of the vehicle in accordance with the road condition. The present invention relates to a front road condition response control device for an automobile, which is suitable for generating an alarm to a driver and controlling the speed of a vehicle immediately before entering a vehicle.

[0002]

2. Description of the Related Art When a vehicle travels on a curved road, the driver must adjust the vehicle speed so that the vehicle speed does not become excessive with respect to the curvature of the curve in order for the vehicle to turn through the curve. . By the way, a traction control device has been developed which controls the speed of the vehicle so as not to become an excessively high traveling speed when the vehicle travels in a curve. In this device, the lateral acceleration of the vehicle is estimated from the vehicle speed and the steering wheel angle, and when the lateral acceleration is too large, the engine output is suppressed to limit the vehicle speed.

[0003]

By the way, the deceleration operation actually performed by the driver when the vehicle is approaching a curved road is performed not immediately after entering the curve but immediately before entering the curve. That is, it is most desirable that the driver, upon recognizing the curved road, decelerate the vehicle in advance and then enter the curve.

However, the traction control device functions only when the steering wheel is turned while traveling.
That is, the vehicle is actually traveling on a curve, and control is not performed before entering the curve. For this reason, the control by the traction control device at the time of traveling on a curve may give the driver a feeling of strangeness, and it is not possible to realize optimum curve traveling control.

Therefore, it is necessary to detect this before the vehicle enters the curve. As a means for detecting the road condition in front of such a vehicle, it is conceivable to use road map information from the navigation system. . For example, Japanese Patent Publication No. 6-58141 discloses a technique of controlling a transmission according to the current position of a vehicle obtained from a navigation system. This technique detects road conditions in front of the vehicle. However, it does not control the traveling of the vehicle in advance.

Further, Japanese Patent Laid-Open No. 4-75200 discloses that
There is disclosed a technique of setting an area for issuing a warning to the vehicle speed in the road map information obtained from the navigation system and issuing an alarm when the vehicle enters this warning area and the vehicle speed is excessive. In particular, however, the vehicle is not run in advance before entering the required area. Japanese Patent Laid-Open No. Hei 4
Japanese Patent Publication No. -15799 discloses a technique of performing feedforward control of throttle opening of an engine of a vehicle and switching of a shift stage based on a road condition in front of the vehicle obtained from a navigation system. Furthermore, JP-A-4-23
Japanese Patent No. 6699 discloses a technique of controlling the vehicle speed before the vehicle enters a curved road or notifying the vehicle based on the road condition in front of the vehicle obtained from the navigation system. However, these techniques have the following problems.

That is, if the road on which the vehicle is traveling is a single road without branching, the road condition in front of the vehicle can be surely grasped. Therefore, the running condition of the vehicle can be controlled in advance or the road condition in front of the vehicle can be controlled. It is possible to announce. However, there are various intersections including intersections on roads on which automobiles run. For this reason, when the vehicle approaches such a turning point, it is difficult to control the running state of the vehicle in advance or notify the road condition in front of the vehicle without knowing which way the vehicle will go. is there.

For example, as shown in FIG. 39, there is a branch point A in front of the vehicle C, and a curve B is located just ahead of the branch point A of one of the roads D and E ahead of the branch point A. When the vehicle C travels to the road D when it exists, it is extremely effective to reduce the traveling speed of the vehicle in advance or to announce that there is a curve ahead of the vehicle C, but when the vehicle C travels to the road E. When going to step 2, these controls and notifications hinder smooth running.

Of course, when there is a branch point ahead of the road, the existence of a curve is examined for each road ahead of the branch point, and when there is a curve on any road ahead of the branch point, For example, it is conceivable to announce the contents such as "there is a branch point A in front of the road and there is a curve when going left at this branch point A (the road D side)". However, such a notification is complicated, and it may be difficult for the driver to understand the content of the notification, or the driver may find it annoying. In addition, a huge amount of calculation is required. And a significant improvement in memory capacity is required.

The present invention was devised in view of the above-mentioned problems, and when a vehicle enters a curve, it is detected in advance without requiring a large amount of calculation to control the speed of the vehicle or to drive the vehicle. It is possible to easily and reliably control the running condition of the vehicle in advance and warn the driver of the situation, such as being able to warn the presence of a curve on the road. It is an object of the present invention to provide a control device for a front road condition of a vehicle.

[0011]

Therefore, a vehicle forward road condition control device according to the present invention is a navigation system for guiding a vehicle to a destination, and a road stored in the navigation system. Determining means for determining suitability of the traveling state of the vehicle with respect to the road condition in front of the vehicle from the information; In the control device for a road ahead condition of an automobile, which is provided with a control means at the time of non-conformance for generating an alarm or controlling the traveling state of the vehicle, the determination means is set during route guidance of the navigation system. The suitability of the traveling state of the vehicle with respect to the road condition in front of the vehicle is determined based on the guide route information, and the non-conformance control means,
It is characterized in that it is set to issue the alarm or control the traveling state of the vehicle based on the determination result of the determination means during route guidance of the navigation system.

According to a second aspect of the present invention, there is provided a vehicle front road condition correspondence control device for a vehicle ahead of a vehicle based on a navigation system for guiding a vehicle to a destination and road information stored in the navigation system. If there is a curve, a judgment means for judging whether the current speed of the vehicle is too high when entering the curve, and whether an alarm is issued when the judgment means judges that the speed of the vehicle is too high Alternatively, in a forward road condition corresponding control device for an automobile, which comprises a non-conforming control means for controlling the traveling state of the vehicle, the determining means, during route guidance of the navigation system, based on the set guide route information. A determination is made regarding the existence of the curve and the current vehicle speed at the time of entering the curve, and the non-conformance control means determines the navigation system. Is characterized in that it is set to perform the control of the running state of the generator or the vehicle said alarm based on the determination result of said determination means in the pathway derived.

According to a third aspect of the present invention, there is provided a vehicle front road condition handling control device according to the second aspect, wherein the determining means is permitted when the vehicle enters a curve existing on a road in front of the vehicle. A permissible approach lateral acceleration setting means for setting a permissible approach lateral acceleration as a limit value, and a lateral acceleration for estimating an estimated lateral acceleration to occur at the time of entering the curve based on the current vehicle speed of the vehicle and the radius of the curve. Based on the acceleration estimating means, the setting information from the allowable approach lateral acceleration setting means, and the estimation information from the lateral acceleration estimating means, it is determined whether or not the estimated lateral acceleration is larger than the allowable approach lateral acceleration. And an acceleration determining means, and if the lateral acceleration determining means determines that the estimated lateral acceleration is greater than the allowable approach lateral acceleration, the current vehicle speed is determined to be too high. It is characterized in that it is configured to.

According to a fourth aspect of the present invention, there is provided a forward road condition control device for an automobile according to the second or third aspect, wherein the navigation system stores road map information and road map information storage means. Data input means for inputting destination information of a vehicle for route guidance, and the road map information stored in the road map information storage means and the destination inputted in the data input means at the time of route guidance The optimum route from the information and the current position of the vehicle to the destination is selected, and the optimum route is stored as road map data. The determination unit is stored in the optimum route selection unit. It is configured to determine the existence of the curve based on the road map data of the optimum route, and information regarding intersections on the road is added to the road map information of the road map information storage means. In addition, the determination means controls the curve corresponding to the intersection among the curves determined based on the road map data of the optimum route based on the intersection information on the road obtained from the road map information storage means. It is characterized in that it is configured to be excluded from the target curve.

According to a fifth aspect of the present invention, there is provided a vehicle front road condition corresponding control device according to the second aspect, wherein the non-conforming control means controls the traveling state of the vehicle. It is characterized by deceleration control of the vehicle. According to a sixth aspect of the present invention, there is provided a vehicle front road condition corresponding control device according to the fifth aspect, wherein the deceleration control is performed by an output control of an engine mounted on the vehicle.

According to a seventh aspect of the present invention, there is provided a forward road condition control device for an automobile according to the fifth or sixth aspect, wherein the automatic transmission mounted on the vehicle is downshifted. I am trying. According to an eighth aspect of the present invention, there is provided a vehicle front road condition handling control apparatus according to the fifth aspect, wherein the deceleration control is performed in a short term to warn the existence of the curve. It is characterized by that.

[0017]

In the vehicle front road condition control device according to the first aspect of the present invention described above, when the navigation system is guiding the route of the vehicle, the determining means is based on the set route information. The suitability of the running state of the vehicle to the road conditions in front of the vehicle is determined. When the determination means determines that the traveling state of the vehicle is incompatible with the guidance route situation in front of the vehicle, the non-conformance control means issues an alarm or controls the traveling state of the vehicle.

In the vehicle front road condition control device according to the present invention as set forth in claim 2, when the navigation system is guiding the route of the vehicle, the determination means is:
If a curve exists on the road ahead of the vehicle based on the set guide route information, it is determined whether or not the current speed of the vehicle is too high when entering the curve. When the determination means determines that the speed of the vehicle is too high, the non-conformance control means issues an alarm or controls the traveling state of the vehicle.

In the forward road condition control device for a vehicle according to the third aspect of the present invention, when the allowable approach lateral acceleration setting means is used in the determination means, when entering a curve existing on the road ahead of the vehicle. Is set to an allowable approach lateral acceleration as an allowable limit value, and the lateral acceleration estimating means obtains an estimated lateral acceleration estimated to occur at the time of entering the curve from the current vehicle speed of the vehicle and the radius of the curve. . Then, the lateral acceleration determining means determines whether the estimated lateral acceleration is larger than the allowable approach lateral acceleration based on the setting information from the allowable approach lateral acceleration setting means and the estimated information from the lateral acceleration estimating means. judge. In this way, the determining means determines that the current vehicle speed is too high when the lateral acceleration determining means determines that the estimated lateral acceleration is greater than the allowable approach lateral acceleration.

In the forward road condition control device for a vehicle according to the present invention described in claim 4, when the route is guided by the navigation system, first, the destination information of the vehicle for guiding the route is obtained through the data input means. The optimum route selection means inputs the optimum route from the road map information stored in the road map information storage means, the destination information input to the data input means, and the current position of the vehicle to the destination. The optimum route is selected and stored as road map data.

The judging means judges the existence of the curve based on the road map data of the optimum route stored in the optimum route selecting means. Based on this, among the determination curves that are present based on the road map data of the optimum route, those that correspond to the intersections are excluded from the control target curves. Therefore, the above-mentioned nonconforming control means does not control the warning or the running state at the intersection.

According to another aspect of the present invention, there is provided a forward road condition control device for an automobile, wherein the determining means determines that the traveling state of the vehicle is not suitable for the guide route situation in front of the vehicle. The time control means issues an alarm or controls the vehicle to decelerate. According to another aspect of the present invention, there is provided a vehicle front road condition corresponding control device, wherein the deceleration control is performed by output control of an engine mounted on the vehicle.

According to another aspect of the present invention, there is provided a forward road condition control device for a vehicle, which is performed by a downshift control of an automatic transmission mounted on the vehicle. In the vehicle front road condition control device of the present invention according to claim 8, since the deceleration control is performed in a short period of time to warn the existence of the curve, the driver is notified of the warning and the deceleration control of the curve. We can recognize our existence. Further, since the deceleration control is a short-term control, the vehicle speed is slightly reduced by the deceleration control.

[0024]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. FIGS. 1 to 38 show a front road condition correspondence control device for an automobile as one embodiment of the present invention. 1. Overall Configuration This vehicle front road condition support control device uses a vehicle navigation system 50 as shown in FIG. 2 and a traction control system (hereinafter referred to as trace control system) 70 for trace control as shown in FIG. Is configured to.

That is, the present apparatus detects a curve (curved road) on the road ahead of the vehicle based on the road map information ahead of the vehicle obtained from the navigation system 50, and detects the detected curve information and vehicle speed information. Based on the lateral acceleration information corresponding to the vehicle speed used by the trace control system 70, when the vehicle traveling speed can be determined to be too large for the vehicle to travel on this curve, an alarm is issued and the vehicle traveling state is controlled. I am supposed to do it.

Therefore, in this apparatus, as shown in FIG. 1, a curve detecting means 20 for detecting a curve, a judging means 30 for judging the traveling speed of the vehicle with respect to the curve, and a speed of the vehicle by the judging means 30. When it is judged that is too large to turn the curve (in case of non-conformity), a warning that there is a curve ahead or that the speed is too high for the curve is issued and the running condition of the vehicle is controlled Non-conformity The time control means 40 is provided.

Then, the curve detecting means 20 uses the road map information of the optimum route obtained during the route guidance of the navigation system 50, and the judging means 30 uses the lateral acceleration characteristic used in the trace control system 70. ing. As the navigation system 50 and the trace control system 70, those known in the art can be used, but before describing the details of the present control device, related devices such as the navigation system 50 and the trace control system 70 will be briefly described. 2. Related Equipment 2.1 Navigation System As shown in FIG.
A road map information storage means 52 such as a CD-ROM for storing road map information, an input switch (data input means) 54 for inputting the destination and the current position of the vehicle, and a current position estimation means for estimating the current position of the vehicle. 56, an optimum route selecting / storing means 58 for selecting and storing an optimum route from the current position to the destination, a screen information control means 60 for controlling screen display information of map information and optimum route information, and navigation. A navigation voice control means 62 for controlling voice information is provided. Current position estimating means 56,
Optimum route selection / storage means 58, screen information control means 60,
The navigation voice control means 62 is configured by using a microcomputer.

The current position estimating means 56 is a so-called GPS.
The current position is estimated by adding the correction by the map matching method to the position estimation by the navigation and the autonomous navigation. In other words, radio waves emitted from a plurality of (3 or more) artificial satellites [GPS (Global Position)
while estimating the current position of the vehicle by the GPS navigation while obtaining the GPS system 82) through the GPS receiver 82, the traveling route of the vehicle is accumulated based on the information from the vehicle speed sensor 84, the geomagnetic sensor 86, and the gyro compass 88. While estimating the current position of the vehicle by autonomous navigation. Then, with respect to the position estimation by the GPS navigation and the autonomous navigation, the road map information from the road map information storage unit 52 is used to finally estimate the current position by the map matching method.

Road map information storage means (CD-ROM) 5
2, road map information is stored in each of a plurality of hierarchical levels having different scales, and further, road type information such as highways, general national roads, and local roads, and information such as traffic conditions regarding intersections. Remembered The road data in the road map information consists of point data input at predetermined intervals (for example, 10 m pitch) and line data formed by continuously connecting these points. In particular,
The point data is used as a curve detection point used in the curve detection described later.

The optimum route selecting / storing means 58 selects an optimum road between the current position of the vehicle and the destination on the basis of the road map information from the road map information storing means 52, and uses this road information as image information. Memorize as. Screen display control means 6
At 0, the map information from the map information storage unit 52, the optimum route information from the optimum route selection / storage unit 58, and the current position information from the current position estimation unit 56 are processed, and the display 90 includes the current position. Display map information and optimal route information on the screen.

The navigation voice control means 62, together with the screen display control means 60, the map information from the map information storage means 52, the optimum route information from the optimum route selection / storage means 58, and the current position from the current position estimation means 56. Based on the information, voice information regarding navigation such as course change is selected, and necessary voice information is generated through a voice information generating means 92 using an audio system, for example. 2.2 Trace Control System As shown in FIG. 3, the trace control system 70 includes a target lateral acceleration calculating means 72 for calculating a target lateral acceleration Gy _th of a vehicle during a curve turn, a target lateral acceleration calculating means 72, and a driving characteristic described later. A target longitudinal acceleration setting means 74 for setting a target longitudinal acceleration Gx _th based on the information from the estimating means 78, a torque converting means 76A for converting the target longitudinal acceleration Gx _th into an engine torque, and the converted torque to a certain limit. It has clipping means 76B for clipping inside, and target throttle opening degree setting means 76C for setting a target throttle opening degree of the engine according to the clipped engine torque. The trace control system 70 includes a traction control switch 71
Is activated when is set to the input state. Although not shown, the traction control lamp is turned on when the trace control system 70 is activated.

The target lateral acceleration calculating means 72 calculates the target lateral acceleration Gy _th by the following equation based on the detection information from the steering angle sensor 80 and the vehicle speed sensor 84. Gy _th = δ / [ω ・ {A + (1 ・ VB)}] where δ is the steering angle, VB is the vehicle speed (vehicle speed), ω is the wheelbase of the vehicle, and A is the characteristics of the suspension and tires and the road surface condition. Is the stability factor of the vehicle determined by.

In the target longitudinal acceleration setting means 74, the target lateral acceleration Gy is calculated based on, for example, a map shown in FIG.
_The target longitudinal acceleration Gx _th is set based on _th , the vehicle speed VB, and the driver's driving characteristics (crimp degree).
When the target longitudinal acceleration Gx _th is determined in this manner, the torque converting means 76A converts the target longitudinal acceleration Gx _th into an engine torque, and the clipping means 76B clips the torque within a certain limit, and then the target throttle opening. The target throttle opening degree is set by the degree setting means 76C according to the engine torque.

Therefore, when a steering operation is performed during a curve turn, the throttle opening of the engine is controlled by the throttle drive means 94 to control the traveling of the vehicle in a turn state in which the target lateral acceleration Gy _th is achieved. Of. 2.3 Estimation of driving characteristics In order to control the running of the car including the trace control,
I also want to reflect the driver's preferences. Since the driver's preference appears as a characteristic of driving performed by the driver, the driving characteristic suitable for each driver is realized by estimating the driving characteristic of the driver and reflecting it in the traveling control of the vehicle.

Here, the driving characteristics of the driver are defined as follows. In other words, the driver prefers slow running at a relatively constant speed with mild acceleration and deceleration (such running is called "loose running"), or acceleration or deceleration is fast and comparatively high speed and sharp driving. A driver's driving characteristic is a comfortable running degree or a sharp running degree, such as whether he / she prefers such running as "snacking". Such driving characteristics can be estimated based on a physical quantity representing the driving state of the vehicle.

However, since the driving characteristic of the driver changes according to the road traffic situation in which the vehicle is traveling, the driving characteristic estimation means 78 of the driver estimates the road traffic situation by the road traffic situation estimation means 78A. Driving characteristics,
The estimation is made based on the road traffic condition and the physical quantity representing the driving condition of the vehicle. (A) Estimation of road traffic situation The road traffic situation estimation means 78A shows the road traffic situation as shown in FIG.
Estimate as shown in.

That is, the vehicle speed VB and the steering wheel angle (steering angle)
From δ, a traveling time ratio, an average speed, and an average lateral acceleration are obtained as parameters of the vehicle traveling state. this house,
The average velocity and the average lateral acceleration are general values and are calculated by a known method. On the other hand, the traveling time ratio is a ratio [= Td / (Td + Ts)] of the traveling time Td to the total time Tall (= Td + Ts) obtained by adding the traveling time Td of the vehicle and the stop time Ts, and when the ignition is turned on. When the vehicle speed VB is equal to or lower than a predetermined value (for example, 10 km / h), the stop time Ts is counted, and when the vehicle speed VB is higher than the predetermined value (for example, 10 km / h), the running time Ts is counted.

Then, based on the traveling time ratio, the average speed, and the average lateral acceleration, the degree of urban area, the degree of congested road, and the degree of mountain road are estimated. Fuzzy inference is used for these estimations. For example, in urban areas, the average speed is low and the running time ratio is medium,
The characteristic of a congested road is that the average speed is low and the traveling time ratio is low, and the characteristic of a mountain road is that the traveling time ratio is high and the lateral acceleration integrated value is high. By setting the membership function and the fuzzy rule based on such characteristics, it is possible to estimate the urban area degree, the congested road degree, and the mountain road degree. (A) Estimation of Driving Characteristics In the driving characteristics estimation means 78, physical quantities (that is, accelerator opening, vehicle speed, longitudinal acceleration that can be calculated from vehicle speed, vehicle speed and steering wheel angle) obtained in this way and representing road traffic conditions and vehicle driving conditions As shown in FIG. 6, the driving characteristics of the driver are estimated based on the lateral acceleration that can be calculated from

That is, first, the frequency of each physical quantity (accelerator opening, vehicle speed, longitudinal acceleration, lateral acceleration) representing the driving state of the vehicle is analyzed by a known statistical method, and the average value and variance of each physical quantity are calculated. calculate. And
Based on the average value and variance of each of these physical quantities, and the road traffic conditions of the estimated degree of urban area, congestion degree, and mountain road degree, the average value and variance of each physical quantity characterized for each road condition, and The driving characteristic of the driver can be estimated from the correspondence with the driving characteristic of the driver.

Here, a neural network is used to estimate the driving characteristics. That is, as the driver's driving becomes sharper, the average value and variance of each physical quantity become higher, and as the driver's driving becomes slower, the average value and variance of each physical quantity become lower. Of course, this is evaluated on a different scale for each road condition, but a neural network is used so that the correspondence between the average value and variance of each physical quantity according to each road condition and the driving characteristics of the driver is used as an associative model. Is forming.

Then, the average value and variance of each physical quantity, and the road traffic conditions such as the urban area degree, the congested road degree, and the mountain road degree are input to this neural network to obtain the driving characteristics (looseness degree or acne degree) of the driver. I am trying.
Of course, this driving characteristic is estimated by constantly inputting the latest data for each physical quantity and road traffic condition, and even if the driving characteristic of the driver changes, it can be estimated accordingly. You can do it. Therefore, the degree of relaxation or the degree of cramping obtained by the driving characteristic estimation means is an appropriate estimation of the characteristic of the driver actually driving. 3. Description of Each Part of the Present Device Next, each part of the front road condition handling control device 10 of the vehicle will be described by dividing it into a part related to curve detection, a part related to vehicle speed determination, and a part related to non-conforming control. . 3.1 Curve Detection The curve detection means 20 extracts necessary information from the navigation system 50 and detects the condition of the curve in front of the vehicle.

Here, the curve detecting means 20 recognizes a curve satisfying the following two conditions as a curve to be detected based on the map information of the navigation system 50 and the traveling state of the vehicle. The radius R of the curve is small within a certain range [eg,
The curve radius R is not more than a predetermined value (for example, 200 m)].

The curve has a poor visibility. The condition is that the curve radius R of the highway is at least 2
The curve radius R is set to about 50 m, and it is set on the assumption that the risk is low and the need for alarm control is low even if the curve radius R is gentler than a predetermined value, even if the vehicle enters at a relatively high speed. In other words, it is based on the idea of not only giving an unpleasant feeling to the driver but also enhancing the control effect by performing the alarm and the control only when the necessity is high.

The reason is that it is considered that the risk is low for a curve with good visibility. It should be noted that the curve satisfying these conditions, that is, the curve to be detected is a region shown by diagonal lines in FIG.
/ S ² ). The curve detecting means 20 detects the angle θ shown in FIG. 9 as the curve angle.

The curve detecting means 20 will be described in detail below. As shown in FIG.
0 is provided with a sampling distance setting means 21, a curvature index calculating means 22, a curve determining means 23, a blind curve detecting means 24, a control target curve selecting means 25, a continuous curve determining means 26, a hairpin curve detecting means 27 and the like. There is. (1) Curve Detection Principle In the curvature index calculation means 22, as shown in FIG. 10, for example, the point B on the road line RL in front of the vehicle (this is the curve detection point) is a sampling distance L behind. A first vector AB from the point A to the point B by giving one point (point A) and a second point (point C) ahead of the curve detection point (point B) by the sampling distance L; Point B to point C
The angle θ between the second vector BC and the second vector BC is calculated as the curvature index at the point B.

The curve radius R is calculated from the sampling distance L and the curvature index θ by the following equation. R = L / [2 · sin (θ / 2)] That is, the value of the curvature index θ is an index representing the bending degree of the curve at the point B, and the larger the curvature index θ, the point B
The radius of curvature R of the curve is small and the curve is steep.

Then, in the curve judging means 23, the curvature index θ calculated by the curvature index calculating means is compared with the curve judgment reference curvature index θ _O (θ _O > 0) as the threshold value of the curve judgment, and | If θ | ≧ θ _O , it is determined that the point B is curved. On the contrary,
If θ | <θ _O , it is determined as a straight road.

When the curvature index θ is positive, the curve is curved clockwise (right curve), and the curvature index θ
A negative value indicates a counterclockwise rotation (left curve). The detection points such as the point B are given on the road line RL in front of the vehicle at appropriate intervals, and the curvature index θ is set for each detection point.
By calculating, the characteristics of the road shape, that is, the curvature change of the curve can be extracted.

In addition, in the case of this device, the curve detection point is 10 m on the road line RL so that the point data (input at 10 m pitch) in the road map information selected at the time of route guidance can be used. The pitch is set, and the sampling distance L is also set to an integral multiple of this pitch interval. For example, as the points for obtaining the curvature indexes corresponding to the points A and C, the curve detection points behind or in front of the curve detection points are also used. Therefore, the curvature index θ is calculated every 10 m on the road line RL.

In the curve judging means 23, the curvature index θ of the detection points arranged on the road line RL is the curve judgment reference curvature index θ.
_When | θ | ≧ θ _O from the condition of | θ | <θ _O with respect to _O , the curve detection point at this time is set as the curve start point LS,
It is judged that the curve starts from this curve start point LS. On the contrary, the curvature index θ is |
When | θ | <θ _O from the condition of θ | ≧ θ _O , the curve determination means 23 determines the curve detection point at this time as the curve end point LE.

Then, the curve judging means 23 judges as a curve from the curve start point LS to the curve end point LE, and the information that the curve exists and the curve start point LS and the curve end point LE. , Curve start point LS
The minimum value of the curve radius R from the curve end point LE to the curve end point LE is output as the curve radius representing this curve. (2) Setting of sampling distance The sampling distance setting means 21 is the curvature index calculating means 2
The sampling distance L used in 2 is set based on the radius R of the curve. That is, as shown in FIG. 10, the curve detecting means 20 basically has a length L of 2
The bending degree of the curve is calculated from the angle of the straight line of the book, but with the sampling distance setting means 21,
The length (sampling distance) L of the straight line at this time is set according to the curve radius R.

As the sampling distance L, for example, one corresponding to the curve radius R is selected from a plurality of distance data stored in advance in the sampling distance setting means, and the sampling distance L = L _min ( R <100
m), the sampling distance L = L _mid (100 m ≦
When R ≦ 200 m), sampling distance L = L
_A sampling distance L is selected from three types of distance data of _max (when R> 200 m) (L
_min <L _mid <L _max ).

The radius of curvature R at each curve detection point
Is calculated by the above equation, but the curvature radius R relating to the target detection point cannot be obtained unless the sampling distance L is determined. Therefore, in this embodiment, the target detection point can be detected in advance. The curve radius R is used. The sampling distance L is initialized to the maximum value L _max at the start of curve detection, and then the sampling distance L is updated again according to the calculated value of the curve radius R. (3) Correction of curve start point LS By the way, as described above, the sampling distance L is set according to the radius of the curve, but the curve is changed according to the set value of the sampling distance L. The size of the criterion curvature index θ _O is also changed.

For example, the sampling distance L = L _min , L
_The curve determination reference curvature index θ _O = θ ₂ is set for _mid , and θ _O = θ ₁ is set for L = L _max (θ ₂ > θ ₁ ). Further, as shown in FIG. 11, it is conceivable that the curve start point detected by the above-mentioned curve determination means 23 does not always coincide with the actual curve start point.

This is because the curvature index θ is calculated from the angle formed by the two straight lines, and further, the length of these two straight lines is a relatively large sampling distance L (here, L _min , L _mid , or L _max ). In addition, the magnitude of the set value (here, θ ₂ or θ ₁ ) of the curve determination reference curvature index θ _O also has an influence.

As a result, as shown in FIG. 11, the curve start point may be detected before the actual curve start point. Therefore, the curve determination means 2
3 is provided with a correction unit 23A that corrects the position of the curve start point so as to correspond to the error of the curve start point that occurs with the setting of the sampling distance L. a. In the case of a curve without a relaxation curve In the correction means 23A, for a curve without a relaxation curve as shown in FIG. 11, the correction value for the error at the curve start point is calculated as follows. Note that FIG.
The distance e in is the straight line distance between the actual curve start point (point P) and the point C when the curvature index θ = θ ₀ .

When the curve radius is R = 20 m (sampling distance L = L _min , curve determination reference curvature index θ _O = θ
₂ ). When the curvature index theta = theta ₂ is than the actual curve starting point (point P) a ₁ (= sampling distance L _min -
The curve start point (point B) is detected before the distance e).

Therefore, the above distance a ₁ (for example, 23 m)
Is used as a correction value, and it is determined that the actual curve start point (point P) is ahead of the curve start point (point B) by a ₁ . Curve radius R = 30 m (sampling distance L =
L _min , curve determination reference curvature index θ _O = θ ₂ ). When the curvature index θ = θ ₂ , the correction value is a ₂ (for example, 19
m). Thus, it is determined that the actual curve start point (point P) is ahead of the curve start point (point B) by a ₂ .

When the curve radius is R = 50 m (sampling distance L = L _min , curve determination reference curvature index θ _O = θ
₂ ). When the curvature index θ = θ ₂ , the correction value is a
₃ (for example, 13 m). As a result, it is determined that the actual curve start point (point P) is ahead of the curve start point (point B) by a ₃ .

When the curve radius is R = 70 m (sampling distance L = L _min , curve determination reference curvature index θ _O = θ
₂ ). When the curvature index θ = θ ₂ , the correction value is a
It becomes ₄ (for example, 8m). As a result, it is determined that the actual curve start point (point P) is ahead of the curve start point (point B) by a ₄ .

When the curve radius is R = 100 m (sampling distance L = L _mid , curve determination reference curvature index θ _O =
θ ₂ ). When the curvature index θ = θ ₂ , the correction value is a ₅
(For example, 26 m). As a result, it is determined that the actual curve start point (point P) is ahead of the curve start point (point B) by a ₅ .

When the curve radius is R = 150 m (sampling distance L = L _mid , curve determination reference curvature index θ _O =
θ ₂ ). When the curvature index θ = θ ₂ , the correction value is a ₆
(For example, 14 m). As a result, it is determined that the actual curve start point (point P) is ahead of the curve start point (point B) by a ₆ .

When the curve radius is R = 200 m (sampling distance L = L _mid , curve determination reference curvature index θ _O =
θ ₂ ). When the curvature index θ = θ ₂ , the correction value is a ₇
(For example, 4 m). As a result, it is determined that the actual curve start point (point P) is ahead of the curve start point (point B) by a ₇ .

The correction means 23A sets the correction amount from the size of the curve radius R according to the error calculated as described above.
The correction values for each of the above-mentioned curve radii R are input to the correction means 23A as a data table as shown in FIG. Further, in the case of a curve radius R other than the above, the correction value is calculated by performing the primary interpolation from the above data. b. When there is a relaxation curve On the other hand, in the case of a curve having a relaxation curve as shown in FIG. 12, the correction unit 23A calculates the correction amount as follows.

Here, the relaxation curve means that at any point on the curve, the product of the distance from the starting point (point P) of the curve to the above arbitrary point and the radius of curvature at the above arbitrary point is always constant. It is a curve having the following property. When the length of the relaxation curve is L ₁ and the radius of the curve is R, the change amount of the relaxation curve in the y direction (S shown in FIG. 12) can be calculated by the following equation. S = L ₁ ^{2 2} / 24R Therefore, when substituting 20 to 200 m for the curve radius R of this calculation formula, S falls within the range of about 0.5 m at the maximum, and point B (relaxation curve) shown in FIG. It can be considered that the upper point) is on an extension of the straight line AP.

Thus, the correction amount corresponding to the curve radius R is obtained as follows. When curve radius R = 20 m (relaxation curve distance L ₁ = d
₁ , sampling distance L = L _min ). Curvature index θ = θ ₀
Then, the distance e from the actual curve starting point (point P) to the curve starting point (point B) detected by the curve detecting means 20 is b ₁ (for example, 12 m), which is the actual curve starting point ( This means that the curve start point (point B) is detected before b ₁ before point P). Therefore, the correction amount is b ₁ .

When the curve radius is R = 30 m (relaxation curve distance L ₁ = d ₂ , sampling distance L = L _min ). When the curvature index θ = θ ₀ , the actual curve start point (point P)
Curve start point (point B) before b ₂ (for example, 7 m)
Has been detected, and therefore the correction amount is b
It becomes ₂ .

When the curve radius is R = 50 m (relaxation curve distance L ₁ = d ₃ , sampling distance L = L _min ). When the curvature index θ = θ ₀ , the actual curve start point (point P)
Curve start point (point B) ahead of b ₃ (eg 4 m)
Is detected and the correction amount is b ₃ (in this case, b ₃ = -4
m).

When the curve radius is R = 70 m (relaxation curve distance L ₁ = d ₄ , sampling distance L = L _min ). When the curvature index θ = θ ₀ , the actual curve start point (point P)
The curve start point (point B) is detected in front of b ₄ (for example, 12 m), and the correction amount is b ₄ (in this case, b ₄ =
-12 m).

When the curve radius is R = 100 m (relaxation curve distance L ₁ = d ₅ , sampling distance L = L _mid ). When the curvature index θ = θ ₀ , the curve start point (point B) is detected b ₅ (for example, 2 m) before the actual curve start point (point P), and therefore the correction amount is b ₅ . Become.

Curve radius R = 150 m (relaxation curve distance L ₁ = d ₆ , sampling distance L = L _mid ). When the curvature index θ = θ ₀ , the curve start point (point B) is detected ahead of the actual curve start point (point P) by b ₆ (for example, 13 m), and the correction amount is b ₆ (= −). Thirteen
m).

When the curve radius is R = 200 m (relaxation curve distance L ₁ = 50 m, sampling distance L = L _mid ).
When the curvature index θ = θ ₀ , the curve start point (point B) is detected ahead of the actual curve start point (point P) by b ₇ (for example, 30 m), and the correction amount is b ₇ (= −). Thirty
m).

In the case of a curve having a relaxation curve, the correction means 23A sets the correction amount according to the above calculation result. The correction values for each of the above-mentioned curve radii R are
The correction means 23 is used as a data table as shown in FIG.
When the curve radius R is input to A and is other than the above, the correction value is calculated by performing primary interpolation from the above data. This makes it possible to easily and quickly correct a curve having a curve radius that is not set in the data table.

Thus, the correction of the curve starting point LS is
By providing the correction means 23A with a data table of correction values corresponding to the preset curve radius R, the curve start point LS can be corrected by the correction means 23A, and the curve start point LS can be detected more accurately. By performing different correction depending on whether the detected curve is a curve having a relaxation curve or a curve having no relaxation curve, it is possible to perform correction according to the curve condition of the road.

Further, in the correcting means 23A, the correction value can be easily calculated in a short time by setting the correction value for each curve radius R in advance and inputting it as a data table. is there. In general, since the curve connecting portion has a relaxation curve, the correction process is performed using the data table shown in FIG.

By correcting the curve start point LS, it is possible to accurately detect the curve situation in front of the vehicle without requiring enormous calculation, and to appropriately perform warning and vehicle speed control at accurate timing. Will be able to. By the way, in the correction means 23A for the above-mentioned curve start point, etc., only a typical correction value of the curve radius is converted into a data table, and for curves having other curve radii, primary interpolation is performed from the above data table to correct Although the value is calculated, for example, a correction value corresponding to each 1 m change in the curve radius may be prepared and such a subdivided data table may be stored in the correction means 23A. Good. Further, the correcting means 23A similarly corrects the curve end point LE. (4) Blind Curve Detection Next, the blind curve detection will be described. In the curve detecting means 20, the curve radius R is equal to or less than a predetermined value.
A curve satisfying two conditions that the visibility of the curve is not good is set as a control target curve. The condition is that the curvature index θ ₀ as a threshold value of the curve determination reference is set to a predetermined value (here, It is either θ ₁ or θ ₂ and is determined by either sampling distance L)
By setting to, you will automatically be satisfied.

On the other hand, the conditions are as follows:
Since it is not judged, it needs to be examined separately. Therefore, the curve detecting means 20 is provided with a blind curve determining means 24 for determining a blind curve. That is, the blind curve determination means 24 determines whether or not the curve is a blind curve which cannot be seen when entering the curve. Based on the information from the blind curve determination means 24, the detection curve is a blind curve. This detection curve is adopted as the control target curve only when it is determined that

This is because the driver usually does not feel the necessity of warning or speed control for a curve with good visibility, and even if a curve with good visibility is used, the driver will always be warned and controlled. On the contrary, it is often annoying. Therefore, the blind curve judging means 24 judges whether it is a blind curve or a curve with good visibility as follows. That is, as shown in FIG. 15, at the back of the curve range (curve depth) seen from the vehicle at the curve start position,
When the curve continues, this is determined as a blind curve.

Here, when the curve depth is expressed using the angle θB in FIG. 15, the curve depth θB is calculated from the distance M from the driver's viewpoint to the road side, the road width LB and the curve radius R by the following formula. It can be calculated geometrically. θB = θB1 + θB2 = cos ^-1 [R / (R + LB)] + cos ^-1 [R / (R + M)] On the other hand, the actual angle θR of the curve shown in FIG. It can be calculated based on the curve end point position information. Here, the curve start point is LS and the curve end point is LE,
LE-LS is the curve length (that is, the arc length of the curve)
When expressed as, the actual curve angle θR is calculated by the following equation. θR = (LE-LS) / R Then, the curve depth θB is compared with the actual curve angle θR, and the actual curve angle θR is the curve depth θR.
When it is larger than B, this curve is detected as a blind curve.

By the way, as can be seen from the above equation, if the distance M and the road width LB are assumed to be certain values, the curve depth θ
B is determined according to the curve radius R. Therefore, the blind curve determination means 24 sets the distance M to 6 m and the road width LB.
Is assumed to be 3 m, the curve in the shaded area obtained as shown in FIG. 16 is determined to be a blind curve.

As described above, the blind curve judging means 24 judges the curve to be a blind curve when the curve continues even in the front area which is not actually seen by the driver at the curve start point. It has an advantage that the determination of the curve becomes very close to the driver's feeling. Further, it is considered that the road information and the vehicle position information by the navigation system 50 include some errors, but as shown in FIG. 17, the curve depth obtained by the information from the navigation system 50 is true. Curve depth (actual curve depth)
It has been confirmed experimentally that an accuracy of about 80% or more is secured, and there is no particular practical problem. (5) Selection of Control Target Curve Next, the selection of the control target curve will be described. In the control target curve selection means 25, only the curve recognized as the blind curve by the blind curve determination means 24 is selected as the control target curve. To do. That is, the condition of the control target curve is included in the curve condition that the curve determination reference curvature index θ _O is θ ₁ and θ ₂ .
Here, the conditions are given.

The curve recognized by the blind curve judging means 24 as not a blind curve is a curve with good visibility, and it is determined that the control target curve selecting means 25 selects the curve which does not require control.
It is designed to be excluded from the controlled curve. (6) Detection of continuous curve Further, the curve detecting means 20 is provided with a continuous curve determining means 26 for determining whether the curve is an independent curve or a continuous curve, and the non-conforming control means 40.
In the alarm means 44 provided in the continuous curve judging means 2
Based on the determination information from 6, the different alarms are issued depending on whether the curve is a single curve or a continuous curve.

In the continuous curve judging means 26, when there is a first curve and a second curve from the side of the road ahead of the vehicle which is closer to the vehicle, the distance between these first and second curves is If it is equal to or greater than the set value, it is determined that the first curve and the second curve are independent curves, and if the mutual distance between these first and second curves is smaller than the set value, there is a continuous curve. It is designed to judge.

The method of determining the continuous curve will be described. As shown in FIG. 18, first, the n-th curve start point is L _1n and the n-th curve end point is L _2n . Specifically, the start and end points of the first curve are set to L ₁₁ and L _21.
The starting and ending points of the second curve are set to L ₁₂ and L ₂₂ , and the starting and ending points of the third and subsequent curves are set to L ₁₃ , L _23, ...

Next, the mutual distance D between the curves (inter-curve distance or simply distance) is calculated from the above-mentioned curve start point information and curve end point information. For example, when the distance between the first curve and the second curve is represented by D ₁₂ , the distance D ₁₂ is geometrically determined from the position information of the second curve start point L ₁₂ and the first curve end point L _21. The calculation formula here is D ₁₂
= L ₁₂ −L ₂₁ .

Then, the distance D ₁₂ between the first curve and the second curve is compared with the threshold D _0, and the distance D ₁₂ is the threshold D _0.
When it is smaller (D ₁₂ <D ₀ ), it is determined that the first curve and the second curve are continuous curves. Further, the distance D ₁₂ is greater than or equal to the threshold value D ₀ (D ₁₂ ≧ D
_In the case of ₀ ), since the first curve and the second curve are sufficiently separated from each other, the first curve is determined to be a single curve.

Similarly, the distance D ₂₃ between the second curve and the third curve and the distance D ₃₄ between the third curve and the fourth curve are sequentially calculated in the same manner, and the continuous curve continues. It is also possible to detect whether or not. The threshold value D ₀ is set to 100 m, for example. This allows the driver to know if there is a continuous curve in front of the vehicle and to take appropriate measures against the curve. Further, the warning means 44 issues a different warning depending on whether the curve detected based on the judgment information from the continuous curve judgment means 26 is a single curve or a continuous curve, so that the driver can move forward. It is possible to know concretely whether the curve of the road is a continuous curve or a single curve, and it becomes possible to perform an appropriate operation on the curve.

If the warning means 44 issues a voice warning and detects a continuous curve, the voice warning content is set so that the driver can be notified of the fact. It is possible to clearly recognize whether the curve of is a continuous curve or a single curve, so that the vehicle can be operated with a margin. Furthermore, since the continuous curve determination means 26 determines whether the curve of the road ahead is a continuous curve or an independent curve by comparing the inter-curve distance D with the threshold value D ₀ , the continuous curve determination is performed. There is an advantage that it can be performed reliably.

The continuous curve judging means 26 detects a large number (for example, four) of curves in front of the vehicle and judges whether or not each curve is continuous.
Only two curves, a first curve and a second curve, are detected from near the front of the vehicle, and
It may be possible to determine whether the two curves are continuous or independent.

By thus determining only the two curves, the first curve and the second curve, the time required for detection can be shortened, and the power consumed by this device is also reduced. There is an advantage that labor can be saved. (7) Detection of Hairpin Curve Next, the detection of the hairpin curve will be described. The hairpin curve detection means 27 is provided in the curve detection means 20, and the hairpin curve detection means 27 actually calculates by the following equation. When the curve angle θR is a predetermined value (for example, 130 °) or more, this curve is determined to be a hairpin curve. θR = [(LE-LS) / R] · (180 ° / π) where LS is the curve start point, LE is the curve end point, and LE-LS is the curve length (that is, the arc length of the curve). It is an arithmetic expression to be calculated.

The information on the hairpin curve detected by the hairpin curve detecting means 27 is output to the alarm means 44. 3.2 Vehicle Speed Judgment The judgment means 30 for judging the vehicle speed has an allowable approach lateral acceleration (also referred to as lateral acceleration threshold value) as a judgment reference value (threshold value).
Allowable approach lateral acceleration setting unit 3 for obtaining Gy ^* according to the vehicle speed
2, an expected lateral acceleration calculation unit 34 that calculates an expected lateral acceleration Gypre that will occur when the vehicle enters at the current vehicle speed VB with respect to the detected radius R of the curve, and an allowable approach lateral acceleration Gy ^* . Expected lateral acceleration Gypre (simply G
(also expressed as y), and a vehicle speed determination unit 36 for determining whether or not the current vehicle speed VB is too high. (1) Setting of allowable approach lateral acceleration In the allowable approach lateral acceleration setting unit 32, a vehicle speed-lateral acceleration correspondence curve L1 having a target longitudinal acceleration Gx _th of 0 in the map used in the trace control system 70 as shown in FIG. By using it, the allowable approach lateral acceleration Gy ^* corresponding to the vehicle speed VB is set.

Vehicle speed-lateral acceleration correspondence curve L1 for Gx _th = 0
Has a characteristic that the target lateral acceleration value Gy _th of the trace control decreases as the vehicle speed VB increases. This is because the load on the tire in the driving direction (front-rear direction) increases and the limit value against the lateral acceleration of the tire decreases at high speeds.
It reduces y _th . Here, the constant value Gy1 is set at low speed, and the constant value Gy2 (Gy1 is set at high speed).
> Gy2).

The allowable approach lateral acceleration Gy ^* is given to the target lateral acceleration value Gy _th (Gx _th = 0) having such characteristics as shown in the following equation. Gy ^* = Gy _th −K1 (where 0 ≦ K1 ≦ 2) As shown in FIG. 19, the correction coefficient K1 is a constant value (for example, a constant value so as to reduce the target lateral acceleration value Gy _th by a certain amount in the low speed range). K1 = 1) and then, a 0 to be equal to the target lateral acceleration value Gy _th in high-speed range, the mid-speed range, the allowable approach lateral acceleration Gy ^* and linear the allowable approach lateral acceleration Gy ^* and high speed range of the low-speed range Is given to contact.

This is designed so that the vehicle enters the curve in a lateral acceleration state having a margin more than the trace control especially in the low speed range. When the allowable approach lateral acceleration Gy ^* is determined in this manner, the allowable approach speed V ^* is also determined according to the curve radius R by the following equation. V ^* = (R · Gy ^* ) ^1/2 (2) Calculation of expected lateral acceleration In the expected lateral acceleration calculating section 34, the expected lateral acceleration Gypre is detected by the curve radius R detected by the curve detecting means and the vehicle speed sensor 84. It is calculated from the following formula based on the vehicle speed VB.

Gypre = VB ² / R (3) Vehicle speed determination In the vehicle speed determination unit 36, the allowable approach lateral acceleration Gy ^* and the expected lateral acceleration Gypre obtained from the allowable approach lateral acceleration setting unit 32 and the expected lateral acceleration calculation unit 34 are used. Compare with
If the following formula is established, it is determined that the current vehicle speed VB is too high to enter the curve ahead.

Gypre> Gy^* Then, the predicted lateral acceleration Gypre is equal to the allowable approach lateral acceleration Gy.
^*If the current vehicle speed VB is too high,
Is the allowable approach lateral acceleration G of the expected lateral acceleration Gypre.
y^*The excess level (overspeed level) for
It has become. For example, the threshold is Gy^*1, Gy^*2
(However, Gy^*1 = Gy^*+ G1, Gy ^*2 = Gy^*
+ G2,0 <g1 <g2)
As shown below, small excess (level 1), medium excess (level)
2), it can be classified into 3 levels: large excess (level 3)
it can.

Gy ^* <Gypre ≤ Gy ^* 1 ··· (Level 1) Gy ^* 1 <Gypre ≦ Gy ^* 2 ··· (Level 2) Gy ^* 2 <Gypre ··· .. (Level 3) The result of such classification determination can be used for an alarm or vehicle speed control described later.

By the way, regarding the vehicle speed determination, the vehicle speed VB
^May be directly compared with the allowable approach speed V ^* . That is, if the following equation is established, it may be determined that the vehicle speed VB is too high. VB> V ^{* In} this case, when the vehicle speed VB is higher than the allowable approach speed V ^* (when the current vehicle speed VB is too high), the excess level (speed excess level) of the vehicle speed VB with respect to the allowable approach speed V ^* is determined. To configure.

For example, the thresholds are set to V ^* 1, V ^* 2 (however,
V ^* 1 = V ^* + V1, V ^* 2 = V ^* + V2,0 <V1 <
As V2), the speed excess level can be classified into three levels of small excess (level 1), medium excess (level 2), and large excess (level 3) as follows. V ^* <VB ≤ V ^* 1 (Level 1) V ^* 1 <VB ≤ V ^* 2 ... (Level 2) V ^* 2 <VB ........ (Level 3) The above V1 and V2 are, for example, V1 = 5 km / h, V2
= 20km / h can be set.

The result of such classification determination can be used for an alarm or vehicle speed control which will be described later. Further, the classification of the overspeed level is not limited to the three types as described above, and an appropriate number may be provided. (4) Correction of Allowable Approach Lateral Acceleration By the way, the above-described allowable approach lateral acceleration Gy ^* does not always correspond to the vehicle speed alone, and various other factors such as road width conditions, driver's driving characteristics, psychology, etc. may be used. It may be changed according to the parameters. Therefore, in this device,
As shown in FIG. 1, correction means 38A, 38B, 38C are provided, and correction is performed based on factors other than the vehicle speed, as will be described below. Allowed lateral acceleration Gy ^* corrected with
It is based on. a. Road width correction The driver can afford a relatively large lateral acceleration when the road width on the curved road is large when driving on a curve, but a relatively small lateral acceleration occurs when the road width on the curved road is small. You can easily feel a sense of danger because you cannot afford even at the stage. Of course, the allowable lateral acceleration Gy ^* when entering the curve also corresponds to the road width, and the degree of danger that the driver feels when entering the curve varies depending on the road width.

Therefore, in the road width correspondence correcting means 38A,
For example, as shown in FIG. 20, it is conceivable to change the allowable approach lateral acceleration Gy ^* according to the road width. That is, if the road width is large, the allowable approach lateral acceleration Gy ^* is increased, and if the road width is small, the allowable approach lateral acceleration Gy ^* is decreased. In the present embodiment, all roads are classified according to their attributes (road width), for example, roads having a higher classification rank than general national roads (thick roads) and roads other than these (thin roads).
The system is roughly classified into systems to simplify correction of the allowable approach lateral acceleration Gy ^* with respect to the road width.

Then, on a thick road, the allowable approach lateral acceleration Gy ^* set on the basis of the target lateral acceleration value Gy _th of the trace control is used as it is. The allowable approach lateral acceleration Gy ^* set based on Gy _th is corrected. Gy ^* = Gy ^* -K2 (where K2> 0) b. Correction for driving characteristics In addition, allowable approach lateral acceleration Gy when entering a curve
^* Depends on the driver's mood and driving characteristics. In other words, when the driver wants to drive slowly, even a small lateral acceleration Gy ^* is dangerous, so it is suitable to set the allowable approach lateral acceleration Gy ^* low.
When the driver wants to perform crisp driving, he / she does not feel any danger until the lateral acceleration Gy ^* becomes relatively large. Therefore, it is suitable to set the allowable approach lateral acceleration Gy ^* high.

As described above, the present device is provided with the driving characteristic estimating means 78 for estimating the driving characteristics (loose running degree / snacky running degree) of the driver, which is used in the trace control system 70. However, also in this device, the driver's driving characteristic (acne degree) α estimated by the driving characteristic estimating means 78 is used, and the driving characteristic correspondence correcting means 38B according to this acne degree α, as in the following equation, Corrected allowable approach lateral acceleration G for road width
I am trying to correct y ^* .

Gy ^* = Gy ^* + α · K3 (however, K3≈0.2G) Note that the degree of acne driving α is 0 ≦ α ≦ 1 (0 when driving most slowly, the most driving sharply). If it is, it is 1). Also, when this correction is illustrated,
For example, as shown in FIG. c. The curve radius error correction correction determining means 30 compares the allowable approach lateral acceleration Gy ^* and the expected lateral acceleration Gypre to determine whether the vehicle speed VB is too large. The curve radius R is used to calculate the expected lateral acceleration Gypre. Therefore, the size of the curve radius R greatly affects the vehicle speed determination. However, since the curve radius R is calculated based on the information from the navigation system 50 as described above, it is not always calculated with high accuracy, and the calculated value of the curve radius R inevitably has an error. Will occur.

That is, at present, the map information stored in the navigation system 50 is generally written in the CD-ROM based on a 1/25000 scale map (Geographical Survey Institute map) based on an aerial photograph. The error that occurs when making a map from this and the CD-R from this map
Errors are accumulated due to an error that occurs when writing to the OM and the limit of the dot pitch that is written to the CD-ROM.
Therefore, an error naturally occurs in the value of the curve radius R calculated based on such map information.

If an error occurs in the calculated value of the curve radius R in this way, an error occurs in the vehicle speed determination, and the vehicle speed VB is actually increased.
Is too large and warning or control is necessary, but this is not done, or there is a case where warning or control is carried out even if the vehicle speed VB is not too large. This is a safe operation because it does not require an alarm or control, but it does not cause a serious problem. However, if the alarm or control that is originally necessary is not executed, it may give a driver a sense of danger.

Therefore, even if there is a calculation error in the curve radius R, it is desirable to be able to reliably execute the necessary warning and control. Here, the curve radius error correspondence correction means 38
From C, the allowable approach lateral acceleration Gy which is the criterion for the vehicle speed
^* Is corrected so that there is a margin for the calculation error of the curve radius R. First, in order to examine the calculation error of the curve radius R, when the correlation between the curve radius calculated based on the information from the navigation system and the curve radius that is kinematically determined when the vehicle is running is experimentally determined, There are characteristics as shown in FIG. As shown in the figure, this result shows that the curve radius calculated based on the information of the navigation system is within an error range of about ± 20%.

Thus, if there is an error of about ± 20% in the curve radius R, the expected lateral acceleration Gypre (= Gy) at the time of entering the curve is corresponding to the actual value (curve in FIG. 23). With respect to Ga), an error of about ± 20% occurs up to the curve Gb on the + side and up to the curve Gc on the − side. Especially, when the error of the predicted lateral acceleration Gypre is on the negative side (curve Gc),
Since the lateral acceleration Gy is estimated to be smaller than the actual value, the alarm and control that are originally necessary may not be executed.

Therefore, in the present embodiment, as shown in FIG. 24, the value of the allowable approach lateral acceleration Gy ^* corrected for the road width and the driving characteristic is set to the error ratio K4 (K4 =-).
20%) [Gy ^* = Gy ^* × (1+
K4)], it corresponds to the expected lateral acceleration Gypre including an error of about -20%. According to this, when the negative error of the predicted lateral acceleration Gypre does not reach -20% (-20 <error <0), when there is no error or when the error is positive, the lateral acceleration Gypre is actually Even if the original allowable lateral lateral acceleration Gy ^* is not reached, it is determined that the vehicle speed VB is too high, but since this is a safe direction determination, there is no particular problem. 3.3 Non-conforming control (vehicle speed excess control) When the non-conforming control means 40 determines that the vehicle speed VB is too high for entering the curve ahead by the determining means 30,
An alarm indicating that there is a curve is issued ahead of this, and the running state (speed) of the vehicle is controlled. However, it is necessary to perform it at an appropriate timing in order to generate an alarm and start speed control. Therefore, this device is provided with an alarm / control start determination means 42 for determining the start of an alarm or control. (1) Warning / Control Start Judgment The warning / control start judgment means 42 includes a warning / control start distance setting section 42A and a warning / control start judgment section 42B.

The alarm / control start distance setting unit 42A sets how far ahead of the curve start point LS detected by the curve detecting means 20 the alarm / control start is started. The distance (warning / control start distance) Lneed from the control start point to the curve start point LS is set as follows. a. Setting of alarm / control start distance Lneed a. Setting of Alarm / Control Start Distance Lneed As shown in FIG. 25, before the curve, the braking start position by the driver has little correlation with the size of the curve radius R, but rather is determined by the size of the current vehicle speed VB. You can see that it is done. Therefore, here, in FIG.
From the characteristics of No. 5, the alarm / control start distance is calculated by the following equation (in the present embodiment, since the distance mainly related to the alarm start,
Lneed, which is called the alarm start distance, is calculated. Lneed = α · VB −β [m] However, when the vehicle speed VB is a predetermined value (here, 50 km / h) or less, an alarm is issued by the non-conforming control means 40 in order to maintain the matching of the alarm operation and the operation. Start distance L
The need is set to a constant value (for example, 30 m).

This is because the non-conforming time control means 40 has a predetermined time (for example, 2 seconds) after the alarm means 44 is activated.
This is because the control is started at this time, and if the alarm start distance Lneed is too short, this predetermined time (2 in this case).
This is because it will enter the curve in (sec). Therefore, when the vehicle speed VB is equal to or lower than the predetermined value, the warning start distance L
The need is clipped to a predetermined value, and the vehicle speed V
FIG. 26 is a graph showing the relationship between B and the alarm start distance Lneed.

By the way, as described above, at present, based on the information from the navigation system 50, an error will occur in the map information. Further, this error also affects the detection of the position of the own vehicle, and an error also occurs in the distance between the vehicle and the curve start point P. If this error is small, it can be ignored and the alarm start distance Lneed can be set using the above equation. However, in reality, the information error (navigation error) from the navigation system 50 is relatively large and ignored. It is not possible.

That is, although the vehicle actually enters the warning start distance Lneed to the curve start point P, the vehicle has not yet entered the warning start distance Lneed due to an error of the navigation system 50. It is conceivable that it will be judged as. Of course, conversely, it may be determined that the vehicle has entered the warning start distance Lneed even though the vehicle has not actually entered the warning start distance Lneed. In this case, there is no particular problem because the alarm operation and the control operation are performed earlier than the original timing.

Therefore, it is necessary to set the alarm start distance Lneed in consideration of this navigation error. In this case, in the simplest case, the alarm start distance Lneed should be newly set in addition to the alarm start distance Lneed by the maximum value LEmax (for example, 40 m) of the assumed navigation error. That is, if the alarm start distance considering the navigation error is Lneed ^* , this alarm start distance Lne
ed ^* is as follows. Lneed ^* = Lneed + LEmax However, with such a setting, if a navigation error occurs in a direction in which the distance to the curve is determined to be shorter than the actual distance, the timing of the curve alarm or control may be too early.

Therefore, in this embodiment, Lneed ^* is set as the warning start distance in consideration of the navigation error as follows. Lneed ^* = Llimit + LEmax That is, the minimum braking margin Llimit is set even if the start of the brake operation is delayed by the maximum LEmax due to a navigation error.

Here, Llimit corresponds to the area shown in FIG. 27, and the free running distance that the vehicle travels between the time when the driver hears the warning and the time when the driver steps on the brake, and the driver steps on the brake, The current vehicle speed VB is added to the target vehicle speed (allowable traveling speed) V ^* and the distance traveled while decelerating. For example, the free running time is 0.5 seconds, the reference deceleration G
x is 3 m / s ² , reference lateral acceleration (allowable lateral acceleration) Gy is 6 m / s ^2, and units of velocity VB and V ^* are [k
m / h], Llimit = 0.5 (VB / 3.6) + [(VB / 3.6) ^2- (V ^* / 3.6) ² ] / (2.Gx).

In the above equation, (V ^{* /} 3.6) ² = Gy
By substituting R = 6R or deceleration ^{Gx = 3m / s 2, Llimit} = 0.5 (VB /3.6)Tasu〔(VB /3.6) ² -6R] / 6 = 0.139VB +0. 0129VB the ² -R. Therefore, Lneed ^* is a ^{Lneed * = Llimit + LEmax = 0.139VB} + 0.0129VB 2 -R + LEmax.

[0118] Incidentally, setting the navigation error LEmax example, ^{40m, Lneed * = 0.139VB + 0.0129VB} 2 -R + 40 a (m). Then, the warning start distance Lneed when there is no navigation error and the warning start distance Lneed when the above error correction is performed
FIG. 28 shows ^* and the graph. This FIG. 28
Lneed ^* > in many areas, as shown in the graph
Since it is Lneed, the alarm start distance is usually Lneed
^{* Will} be set.

However, in a region where the vehicle speed VB is low, the alarm start distance Lneed ^* becomes 40 m (= maximum value LEmax of navigation error) or less, so in this case, the alarm start distance Lneed ^* is LEmax (40 m in this case). It is designed to be clipped to. When Lneed> Lneed ^* , Lneed is selected as the alarm start distance.

The warning start distance Lneed ^* in consideration of the above navigation error is the allowable lateral acceleration G when traveling on a curve.
Although y is calculated as 6 m / s ² , the driver hears the warning by the warning means 44 before the curve and decelerates within a predetermined time (for example, 2 seconds) (deceleration Gx = 6 m / s).
² ) and enter the curve, in order to keep the lateral acceleration generated on the curve within the normal 3 m / s ² , set the allowable lateral acceleration Gy = 3 m / s ² and set the alarm start distance Lneed ^*
Should be calculated.

Therefore, (V ^{* /} 3.6) ² = Gy
By substituting R = 3R, deceleration ^{Gx = 6m / s 2, Llimit} = 0.5 (VB /3.6)Tasu〔(VB /3.6) ² -3R] / 12 = 0.139VB +0. ^{00643VB 2 -0.25R Lneed * = 0.139VB +} 0.00643VB 2 -0.25R + 40 a (m).

Also in this case, if Lneed ^* > Lneed, Lneed ^* is selected as the alarm start distance, and Lneed ^* <Lneed
If so, Lneed is selected as the alarm start distance. Further, similarly to the above, the alarm start distance Lneed ^*
Is less than 40 m (= maximum navigation error value LEmax), Lneed ^* is clipped to 40 m.

When the alarm start distance Lneed ^* is set in this way, the alarm / control start determination section 42B outputs an alarm / control start signal when the vehicle position reaches a position corresponding to this alarm start distance Lneed ^*. To do. That is, information on the curve start point LS detected by the curve detection means 20 and the start distance L set by the alarm / control start distance setting means 42A.
When the vehicle enters the alarm / control start point, the control start signal is output based on the information of need ^* and the current position information from the current position estimation means 56.

As described above, the alarm / control start determination means 42 of the present apparatus sets the alarm control start distance in consideration of the error in the starting point position of the curve caused by the error in the information from the navigation system 50. By doing so, the alarm control start distance can be set accurately, and
The warning and vehicle speed control can be safely performed without delaying the start of the warning and vehicle speed control.

Further, in the alarm control start determination means 42, the alarm control start distance Lneed based on the linear relationship between the vehicle speed VB and the braking start distance to the curve start point as shown in FIG.
By setting, there is an advantage that the alarm control start distance Lneed can be easily calculated. Further, the curve detecting means 20 detects the radius R of the curve,
The warning control start determination means 42 calculates a target vehicle speed V ^* at the time of entering the curve from a preset target lateral acceleration Gy at the time of entering the curve and a curve radius R, and a target deceleration Gx from the current vehicle speed VB of the vehicle. If the alarm control start distance is set based on the deceleration distance when the vehicle is decelerated to the vehicle speed V ^* and the idling distance of the vehicle, the alarm control start distance actually required for the alarm and the vehicle speed control can be calculated. You can

In the alarm control start determination means 42, if the alarm control start distance Lneed is increased by the error error LEmax of the road information stored in the navigation system 50, the alarm control can be easily performed with a simple calculation formula. You can correct the starting distance. On the other hand, the alarm control start determination means 42
Then, the target vehicle speed V ^* at the time of entering the curve is calculated from the preset reference lateral acceleration Gy at the time of entering the curve and the curve radius R detected by the curve detecting means 20, and the current vehicle speed V of the vehicle is calculated.
The first warning control start distance Llimit + by adding the deceleration distance when the vehicle is decelerated from B to the target vehicle speed at the reference deceleration Gx, the idling distance of the vehicle, and the distance corresponding to the error in the start position of the curve
The second warning control start distance is calculated by calculating LEmax and adding the braking start distance to the curve start point, which has a linear relationship with the vehicle speed VB, the idling distance of the vehicle, and the distance corresponding to the error in the curve start point position. Lneed + LEmax is calculated, and the first and second of these are calculated.
Alarm control start distance Llimit + LEmax, Lneed + LEmax
If the maximum distance of the three types of distances LEmax and the distance LEmax corresponding to the error of the start point position of the curve is set as the alarm control start distance, the alarm control start distance can be surely corrected, The warning and vehicle speed control can be safely performed without delaying the start of the warning and vehicle speed control. (2) Control content at the time of nonconformity (control content at the time of vehicle speed over) The nonconformity control means 40 is an alarm means (voice information control means) 44 and a throttle opening / automatic transmission control means (throttle / AT control means) 46. The voice information control means 44 controls the voice warning before entering the curve,
Through the throttle / AT control means 46, the throttle opening control of the engine before entering the curve and the shift control of the automatic transmission are performed. a. Exclusion from Control Target In the non-conforming control means 40 of the present device, such a voice warning and throttle / AT control are set to be performed only at a certain vehicle speed or higher. That is, if the vehicle speed VB is input from the vehicle speed sensor 84 to the nonconforming control means 40 and the vehicle speed VB is equal to or higher than the set value V0 (for example, 30 km / h), an alarm or control is performed, but less than the set value V0 (for example, 30 km / h). In that case, no alarm or control is given.

This is because at a low vehicle speed, unless the vehicle has a sharp curve with an extremely small curve radius, excessive lateral acceleration does not occur even if the vehicle enters the curve as it is. This is because it is considered that the driver can adjust the vehicle speed suitable for the curve with a margin. In addition, by limiting the area where alarms and controls are performed in this way, the frequency of alarms and control can be reduced, and the effect of alarms and throttle
It is also possible that AT control becomes stable.

By the way, in this apparatus, the curve detecting means 2
The case where the curved road detected by 0 is a right turn or a left turn at an intersection (including a branch point) may be included. That is, in the curve detecting means 20, the optimum route B as shown in FIG.
Since the curve is detected from the information on R (solid line), it is not known whether or not the bent portion BP of the optimum route BR is an intersection, and if the route BR is in a predetermined bent state, it is determined to be a curve. Therefore, for example, the intersection P1 or the branch point P2 shown in FIG. 29 may be determined as a curve.
The two-dot chain line in FIG. 29 indicates roads other than the optimum route BR.

When making a right or left turn at such an intersection P1 or a branch point P2, navigation information indicating in advance which way to turn is issued, so there is no need to warn that "a curve exists". This warning is not appropriate for intersections. Further, since the navigation information is normally provided from a stage with a sufficient time, the driver may feel uncomfortable if the throttle / AT control is performed.

Therefore, in the nonconforming control means 40 of the present device, the curve detection means 20 is based on the detection information from the curve detection means 20 and the intersection information added to the road map information from the road map information storage means 52. The curve corresponding to the intersection among the curves detected in step 3 is set so that voice warning and throttle / AT control are not performed.

The alarm control, throttle control, and AT control will be described in detail below. (3) Alarm control a. Alarm voice content The alarm means (voice information control means) 44 alerts a single curve with a message content such as "This curve ahead." Or "Curve. Please be careful."
For a continuous curve, an alarm is issued with the message contents such as "The curve will continue in the future" or "It is a continuous curve. Please be careful." Of course, this warning is issued when the vehicle speed VB is equal to or higher than the set vehicle speed V0 (for example, 30 km / h) and the target curve is not an intersection as described above.

Further, in the vehicle speed determination means 30 described above,
Although the overspeed level before the curve is determined, this device changes the message content as follows according to the overspeed level. That is, the vehicle speed VB is V ^* <VB
In the case of a small excess (level 1) such as ≤V ^* + V1 etc., a warning is given with a message content such as "This curve ahead" or "Curve. Please be careful." For a continuous curve, a warning message will be issued with the message "Curve will continue in the future." Or "Continuous curve. Please be careful.", But the vehicle speed VB is V ^* + V1.
<VB ≤ V ^* + V2, etc. Medium level (level 2) and vehicle speed VB
In case of a large excess (level 3) such as V ^* + V2 <VB, the following alarm is issued.

In other words, when the vehicle speed is medium excess (level 2), a warning is issued for a single curve with a message such as "This curve is ahead. Please decelerate." , The alarm will be issued with the message contents such as "The curve will continue in the future. Also, if the vehicle speed is too high (level 3), "Dangerous. Please apply the brakes" for a single curve.
A warning is given by the message contents such as, and for continuous curves,
An alarm is issued with the message contents such as "The curve is continuous and dangerous. Please press the brake."

As a result, the driver can be urged to pay attention to the curve and the action to be taken so as to cope with excessive vehicle speed. b. Alarm voice generation timing The timing for generating such an alarm voice is after the time when the vehicle reaches a point before the curve start point LS by the alarm start distance Lneed ^* . In other words, basically, the vehicle starts the alarm start distance Lneed rather than the curve start point LS.
^{When the} vehicle speed VB is judged to be too high (Gypre> Gy ^* ) by the judging means 30 when the vehicle arrives at the point before ^* minutes,
Give an alarm.

Further, the vehicle gives an alarm rather than the curve start point LS.
Start distance Lneed^*When the alarm start point just before the minute is reached
The vehicle speed VB is too high by the determination means 30 (Gypre>
Gy ^*), But after this, from the warning start point
Also accelerates the vehicle at a point near the curve start point LS
The vehicle speed VB is too high by the judging means 30 (Gypre> G
y^*) Is likely to be determined.

The present apparatus is designed to give an alarm even in such a case. Therefore, the voice information control means 4
In No. 4, when the vehicle reaches the alarm start point, unless it is determined that the vehicle speed VB is too high (Gypre> Gy ^* ),
Information for vehicle speed determination (whether Gypre> Gy ^* or not) is read in a required short cycle until the curve start point LS is reached. c. Voice Priority By the way, such an alarm is outputted as voice information through a voice information generating means 92 using an audio system.
As described above, since the voice information related to the navigation is also output to 2, the voice information may collide with each other. Therefore, in the present apparatus, the information is ranked, and the audio information is output in order according to such a priority.

For navigation, a message is issued stepwise when it is necessary to make a right turn or a left turn at an intersection or a branch point, or when the vehicle approaches a destination. In other words, at a point N kilometers before the intersection or fork, a primary message such as "N kilometers ahead, in the right (left) direction." Is issued, and at a point n hundred meters before the intersection or fork, A secondary message such as "n hundred meters ahead, right (left) direction." Is issued, and at a point several tens of meters before the intersection or fork, or at a point where you can see the intersection or fork, "Soon, right (left ) It is the direction. ”And other tertiary messages (final navigation voice information) are issued.

At a point N kilometers before the destination, a primary message such as "I will arrive in N kilometers later." Is issued, and at a point n hundred meters before the destination, "n It will arrive in a hundred meters. "
Send a secondary message such as, and at the point where you can see the destination, for example, tens of meters before the destination, "Soon,
Arrive. The third message (final navigation voice information) such as "is issued.

Regarding the order of the curve information and the navigation information, the navigation final message is given first priority, but the curve information is given second priority. Therefore, the curve information has priority over the order of the navigation information other than the final message. For example, the navigation information and curve information at each stage regarding an intersection are ranked as follows.

"Soon, right (left) direction.""This is a curve." Or "the curve continues.""N hundred meters ahead, right (left) direction.""N kilometers ahead, right ( Therefore, for example, if the final navigation audio information and the curve information overlap, the audio information of "Soon, right (left) direction.""The curve is ahead." Will occur. In addition, when the navigation information other than the final information and the curve information are overlapped, "This is the curve.""N 100 meters ahead,
Right (left) direction. The voice information of "is generated continuously.

The reason why the final navigation voice information is prioritized over the curve information is as follows.
In other words, during route guidance, if the final navigation voice information is issued at an inappropriate timing, the original performance of route guidance may not be exhibited, so the final navigation voice information should be issued at an appropriate timing. In addition, when the final navigation voice information is given, the driver can usually restrain the vehicle speed to increase the attention to the road condition ahead, and it is considered that the voice information can also deal with the curve ahead. is there. Of course, since the curve information is transmitted after the final navigation voice information, the driver can be sure to recognize the curve ahead. d. Alarm interruption control in continuous curve As described above, the information content of the alarm sound is changed according to the curve type such as a single curve or a continuous curve. ,
The curve warning and speed control, which will be described later, are interrupted (temporarily prohibited) for a certain distance.

Such a continuous curve has, for example, a curved road in a mountainous area, and a large number of curves may be continuous. However, under such a road condition, it is troublesome for the driver to issue an alarm for each curve. It is possible. Of course, even in such a continuous curve, the alarm cannot be issued if the vehicle speed is suppressed, but in the case of a driver who performs so-called snappy driving, the vehicle speed cannot be suppressed and an alarm is issued for each curve. Such a situation is also possible.

Therefore, the curve warning is interrupted only for a certain traveling distance (for example, several hundred meters). The alarm control logic according to such a curve type can be shown as in FIG. First, as shown in step A1, when a curve is detected, it is determined whether or not this curve is a continuous curve.

In this judgment, there is a first curve with a starting point L ₁₁ and an ending point L _{21 in} front of the vehicle, and there is a second curve with a starting point L ₁₂ and an ending point L ₂₂ ahead of this first curve. When there is a curve, the distance (inter-curve distance) Lstrait (the distance between the curves corresponds to D ₀ in FIG. 18) of the straight line portion connecting these two curves is a predetermined value (for example,
If it is less than 200 meters in the case shown in FIG. 30, it is determined as a continuous curve.

On the contrary, the inter-curve distance Lstrait is a predetermined value (2
00m) or more, or the distance between curves Lstrait
If it is unknown, it is determined as a single curve. The inter-curve distance Lstrait becomes unknown when the second curve cannot be detected ahead of the first curve, and the curve detection is limited only to some extent in front of the current position of the vehicle due to restrictions such as calculation speed. The second curve may not be detected when the distance from the first curve to the second curve is long or the first curve itself is long because it is performed for different sections. . In such a case, the first curve is processed as a single curve.

When it is determined that the curve in front of the vehicle (first curve) is the independent curve, the independent curve alarm "This is the next curve." Is issued as shown in step A2. Of course, this warning is issued when the vehicle speed VB is judged to be too high (Gypre> Gy ^* ) at a point before the start point L _{11 of the} curve by the warning start distance Lneed ^{* or} when the vehicle speed VB is judged to be higher than the start point L _11. The vehicle speed VB is too high at a point before the warning start distance Lneed ^* minutes (Gypre>
Gy ^* ) is not determined, but the vehicle speed VB is too high on the assumption that the starting point L ₁₁ is approached from this point (Gypre> G
y ^* ) Only when it is determined.

When it is determined that the curve in front of the vehicle (first curve) is a continuous curve, a continuous curve alarm "Curve continues." Is issued as shown in step A3. Of course, this warning also occurs when it is determined that the vehicle speed VB is too high (Gypre> Gy ^* ) at a point before the start point L _{11 of the} curve by the warning start distance Lneed ^* , or when the vehicle speed VB is higher than the start point L _11. The vehicle speed VB is too high at a point before the warning start distance Lneed ^* minutes (Gypre>
Gy ^* ) is not determined, but the vehicle speed VB is too high on the assumption that the starting point L ₁₁ is approached from this point (Gypre> G
y ^* ) Only when it is determined.

After issuing the continuous curve alarm "Curve continues.", As shown in step A4,
The curve warning is interrupted until the traveling distance Lpast of the vehicle after the warning is calculated and the traveling distance Lpast reaches a predetermined traveling distance (several hundred meters). e. Processing of continuous curves that could not be detected before the occurrence of the curve alarm As described above, when the inter-curve distance Lstrait becomes unknown,
Although the first curve is processed as a single curve, the inter-curve distance Lstrait becomes unclear when the first curve itself is too long and the warning or control processing is performed on the first curve. The second curve may not be detected. Even in such a case, as the vehicle travels on the first curve, the second curve ahead of the first curve can be detected.

If the inter-curve distance Lstrait between the first curve and the second curve is less than a predetermined value (200 meters), the curve is a continuous curve. Since the alarm interruption control is not performed, it is possible to issue an alarm regarding the second curve. Of course, if the inter-curve distance Lstrait is equal to or greater than the alarm start distance Lneed ^* , no problem occurs. However, if the inter-curve distance Lstrait is less than the alarm start distance Lneed ^* , the second curve is generated even though the first curve is not completed. This will give an alarm to the curve, which gives the driver a feeling of strangeness.

In order to prevent such a feeling of strangeness, it is necessary to set the alarm for the second curve not to be issued until the end of the first curve. But,
In this case, the inter-curve distance Lstrait is the alarm start distance Lneed
^{Since it is} less than ^* and short, after all, it is necessary to issue an alarm for the second curve as soon as possible after the first curve is completed.

However, if the inter-curve distance Lstrait is too short, issuing an alarm for the second curve at the end of the first curve may not be effective. In consideration of such a situation, the present apparatus performs the following processing. That is, the distance between curves Lstrait
Is a predetermined distance (for example, 20 meters) or more, an alarm is issued to the second curve when the first curve ends. If the inter-curve distance Lstrait is less than a predetermined distance (for example, 20 meters), the alarm for the second curve is not issued. This will prevent the ineffective warning from being issued,
The driver will not feel uncomfortable. f. Exceptional processing during alarm interruption control on continuous curves As described above, alarm interruption control is performed on continuous curves, but it is expected that large lateral acceleration will occur in the middle of continuous curves as compared to previous curves. When there is such a sharp curve (so-called hairpin curve), the need for alarm is extremely high. Therefore, when such a sharp curve (hairpin curve) exists, alarm interruption control is performed even during alarm interruption control. Is temporarily stopped, a curve alarm is given, and the alarm interruption control is resumed.
The presence of this hairpin curve can be detected from the detection information from the curve detecting means 20.
In addition, the curve warning in this case may be issued with a specific message content such as "a sharp curve (or a hairpin curve)." (4) Overview of vehicle speed control (throttle control and downshift control) Vehicle speed control is performed through throttle control and downshift control. The first purpose of this vehicle speed control is basically after a curve warning and after When the vehicle does not try to reduce the vehicle speed, another alarm (vehicle speed control) different from the voice is given again to try to prompt the driver to decelerate. The second purpose is to prompt the driver to decelerate when the curve warning cannot be given instead.

Therefore, the vehicle speed control is performed when the driver does not try to reduce the vehicle speed within a predetermined time t2 (for example, 2 seconds) after the curve warning. By the way, when the driver tries to reduce the vehicle speed, first, the depression of the accelerator pedal is released, and then the brake pedal is depressed. However, when the vehicle speed VB is slightly reduced, the accelerator pedal may only be released and the brake pedal may not be depressed, but only the engine brake may be used for deceleration.

Therefore, in this vehicle speed control, when it is determined that the vehicle can be decelerated only by the engine brake when the curve alarm is determined, it is determined whether or not the accelerator pedal is released (that is, the accelerator opening becomes 0). Whether or not it is possible to determine the start of vehicle speed control based on whether or not the accelerator switch is ON or OFF), and if it can be determined that the vehicle cannot be decelerated only by the engine brake, it is determined whether or not the brake pedal is depressed (that is, ON or OFF of the brake switch). The start of vehicle speed control is determined.

The determination as to whether or not the vehicle can be decelerated only by the engine brake is based on the above-described speed excess level. That is, the vehicle speed VB is V ^* <VB ≤
In the case of a small excess (level 1) such as V ^* + V1, it is possible to decelerate only by engine braking, and the vehicle speed VB is V ^*
In the case of + V1 <VB in the case of medium excess (level 2) and large excess (level 3), it is assumed that the engine braking alone cannot decelerate.

The vehicle speed control is performed by either one of the throttle control and the downshift control. That is, if the accelerator pedal is depressed, throttle control is used, and if the accelerator pedal is not depressed, shift down control is used. This accelerator pedal judgment is t2 (2 seconds) from the curve alarm.
I will do it later.

Therefore, if the accelerator pedal is not released after the curve warning, the throttle control is used. If the accelerator pedal is released after the curve warning, the vehicle speed is slightly exceeded (level If it is determined to be 1), vehicle speed control is not performed,
If it is determined that the vehicle speed is over the medium level (level 2) or more when the curve alarm is determined, the vehicle speed control is performed by using the downshift control.

The throttle control and the downshift control will be described below. (5) Throttle control a. Details of control In this throttle control, when there is a vehicle speed limit command, the actual output torque T of the engine with respect to the driver request torque TM
This is a control for temporarily suppressing E to make the driver perceive a danger. For example, a torque correction coefficient C1 having a characteristic as shown in FIG. 31 is multiplied by the driver request torque TM as in the following equation to obtain the engine output torque TE. Is set to control the throttle opening degree of the engine through the throttle driving means 94.

TE = C1 · TM As a result, the engine output torque TE is momentarily suppressed to 50% of the driver's required torque TM at the start of control, and thereafter 100% of the driver's required torque TM is reached during t3 (for example, 3 seconds).
It will return to a linear shape with a size of%. Even during this t3 (for example, 3 seconds), if the ending condition described later is satisfied, the throttle control is ended at that time, so the throttle control is performed only for a maximum of t3 (for example, 3 seconds).

However, the following start condition and end condition are given to this throttle control. b. Throttle control start condition Throttle control is, in principle, started when the driver depresses the accelerator pedal at t2 (for example, 2 seconds) after the curve alarm is issued. Is the case where both are established.

The vehicle speed VB is the set value V0 (for example, 30 km /
h) or above. The driver must depress the accelerator pedal at t2 (for example, 2 seconds) after the curve alarm is issued. Similar to the alarm condition, it is considered that the driver can adjust the vehicle speed to a curve suitable for the curve at a low vehicle speed, as in the alarm condition, and in particular, it is considered that the driver is not required to detect the danger. Is.

The conditions are essential conditions for throttle control. That is, the present throttle control is a control for lowering the engine torque output with respect to the driver request torque TM as described above, and cannot be executed unless the driver request torque TM is present, that is, the accelerator pedal is not depressed. Is. Further, a time lag is provided between the curve alarm and the time point t2 (for example, 2 seconds) after the curve alarm is generated, because the throttle control is performed by the driver even if the curve alarm control is performed. This is because it is positioned as the second warning operation for coping with the case where there is not. c. Throttle control end condition Throttle control ends during t3 (for example, 3 seconds) as described above. However, when the driver indicates the intention of acceleration during the throttle control or when the trace control is started by entering a curve. Is a case where the throttle control is terminated in the middle even if the time t3 (for example, 3 seconds) has not elapsed, and one of the following conditions is satisfied.

When t3 (for example, 3 seconds) has elapsed since the throttle control was started. When the driver indicates willingness to accelerate during throttle control. When trace control is started during throttle control. The driver's willingness to accelerate can be detected by the accelerator pedal opening (accelerator opening). For example, if the accelerator opening itself becomes large, it can be considered that the driver is willing to accelerate.Also, even if the accelerator opening itself does not become large, if the driver depresses the accelerator pedal a certain amount or more, the driver will also be able to It can be considered as showing an intention to accelerate.

From this point of view, in the present device, when the accelerator opening is less than 50% at the start of the throttle control, the throttle control is started at the time when the accelerator opening is increased to 50% or more after the start of the throttle control. When the accelerator opening is 50% or more at the start, the throttle control is set to end when the cumulative value of the accelerator pedal depression operation after the throttle control starts reaches 20% of the accelerator opening. There is.

The condition is that when the driver enters the curve and the trace control is started, the driver can naturally recognize the existence of the curve and must not interfere with the trace control. The throttle control as the situation response control is ended. d. Other Conditions Regarding Throttle Control It is set not to perform control again on a curve for which control (throttle control or shift down control) has been completed once. That is, for example, throttle control is not performed on a curve whose shift-down control, which will be described later, is completed by turning the accelerator on.

This is because the vehicle speed control (throttle control or shift-down control) for the same curve is performed only once so as to suppress the harmful effects of this vehicle speed control. In other words, it is considered sufficient to perform a slight deceleration control at an appropriate timing to promote deceleration, and if this deceleration control is too strong or is performed many times, it may cause a great discomfort to the driver. Conceivable. Therefore, the content of the throttle control is set so that the deceleration control does not become excessive, and the present condition is set so that the vehicle speed control (throttle control or shift down control) is not repeatedly performed on the same curve.

[0166] The vehicle starts warning than the curve start point LS.
Distance Lneed^*When the alarm start point just before the minute is reached
Indicates that the vehicle speed VB is too high by the determination means 30 (Gypre> G
y^*) Is not judged, but after this, from the warning start point
At a point near the curve start point LS, due to vehicle acceleration, etc.
The vehicle speed VB is too high by the engine determination means 30 (Gypre> Gy
^*), A curve warning is issued t
Throttle control start condition when 2 (for example, 2 seconds) has elapsed
And the curve start point LS is reached
Throttle control is performed only when not.

If the throttle control start condition is satisfied even when the alarm is interrupted on the continuous curve, the throttle control is performed in the following cases. When the distance Lstrait between curves is equal to or longer than the alarm start distance Lneed ^{*, the} alarm start distance Lneed is larger than the curve start point LS.
^* Throttle control will be performed when the alarm start point is reached by minutes.

[0168] The distance L between curves is the alarm start distance L
If it is less than need ^* but is equal to or more than a predetermined distance (for example, 20 meters), throttle control is performed when the first curve ends. If the inter-curve distance Lstrait is less than the alarm start distance Lneed ^{* and} less than a predetermined distance (for example, 20 meters), throttle control is not performed. In the case of a continuous curve that could not be detected before the curve alarm was issued, if the throttle control start condition
The control is executed similarly to the curve alarm.

That is, as the vehicle travels on the first curve, the second curve ahead of the first curve can be detected. As a result, the curve between the first curve and the second curve can be detected. If the distance Lstrait is equal to or longer than the alarm start distance Lneed ^*, there is no problem, but if the distance Lstrait between curves is less than the alarm start distance Lneed ^* , the throttle control is performed as follows when the throttle control start condition is satisfied. Be done.

The distance between curves Lstrait is the alarm start distance L
If it is less than need ^* but is equal to or more than a predetermined distance (for example, 20 meters), a warning for the second curve is issued at the time when the first curve ends, and at the same time throttle control is performed. If the inter-curve distance Lstrait is less than a predetermined distance (for example, 20 meters), throttle control is not performed as with the curve alarm for the second curve. (6) Downshift control a. Control content This downshift control is performed when the driver does not depress the accelerator pedal. That is, the throttle control is a control for temporarily suppressing the actual output torque TE of the engine with respect to the driver's required torque TM so as to be the starting condition thereof, and therefore cannot be executed unless the driver depresses the accelerator pedal. . Therefore, when the accelerator pedal is not depressed in this way, a command signal is issued to the ECU (electronic control unit) 96 for the automatic transmission to perform the downshift control so that the driver senses the danger by the vehicle speed limitation. Of.

In this apparatus, this downshift control is performed when the shift position is in the high speed stage, and is not performed in the low speed stage. Here, it is assumed that the gear position of the automatic transmission is the fifth gear. In this case, if the shift position is the fifth gear, the gear shifts down to the fourth gear and the shift position is the fourth gear. If there is, the gear is downshifted to the third speed, and if the shift position is equal to or lower than the third speed, the downshift is not performed.

However, when the vehicle speed is in the medium to low speed range and the gear stage is the fifth speed, even if downshifting from the fifth speed to the fourth speed does not affect the speed of the vehicle, the driver is warned. The effect will be extremely low. Therefore, in the present device, when the vehicle speed is in the medium-low speed range (for example, VB ≤70 km / h) and the gear is the fifth speed, the fifth to third speeds are provided so that the driver can be warned. It is set to shift down at a stretch.

As long as the shift-down control is performed on a certain curve and this shift-down control is continued, even if a curve alarm or speed control is required for the next curve, the shift-down control is performed again. The down control is set not to be performed. This is intended to avoid excessive downshifting with respect to the running state, but of course, this is not limited to once the downshift control is completed.

That is, although the downshift control will be described in the section of the condition for ending the downshift control, which will be described later, when the downshifted shift position is lower than the normal shift control shift position, it continues. When the normal shift position is reached, the process ends. Therefore, when the downshift control is continued, it means that the gear position lower than the original shift position is selected, and further downshifting in such a case will result in the shift position being too low speed. Will end up. Therefore, the continuous downshift operation is prohibited while the downshift control is continued. b. Shift down control start condition In principle, the shift down control is started when the driver does not depress the accelerator pedal at time t2 (for example, 2 seconds) after the curve alarm is issued. This is the case where both conditions are met.

The vehicle speed VB is the set value V0 (for example, 30 km /
h) or above. The driver must not depress the accelerator pedal at t2 (for example, 2 seconds) after the curve alarm is issued. The vehicle speed VB is too high (level 2) when the curve warning is judged.
It is judged as above.

Similar to the alarm condition and the throttle control condition, it is considered that the driver can affordably adjust the vehicle speed suitable for the curve at a low vehicle speed, and particularly the control that makes the driver perceive a danger is performed. This is because it is considered unnecessary. The condition is that this device positions the shift-down control as a vehicle speed control that is performed instead of the throttle control when the throttle control cannot be performed. Therefore, the condition for downshift control is that the accelerator pedal is not depressed, which is essential for throttle control.

However, after the curve alarm is issued, t2
The accelerator pedal is depressed at a point after (for example, 2 seconds), but immediately after this, if the accelerator pedal is released before the curve start point LS is reached, shift down control is executed at this point. Of course, if the curve start point LS is reached, this control is not performed. That is, if the accelerator pedal is depressed at a time point after the curve warning t2 (for example, 2 seconds), the throttle control is performed according to the depression amount of the accelerator pedal from this time point. If the accelerator pedal is released before reaching the limit, the throttle control is released at this point and the downshift control is performed.

This is because it is considered that the driver does not decelerate because the driver continues to depress the accelerator pedal even after the deceleration control by the throttle control is performed after t2 after the curve warning is issued.
It is conceivable that if the accelerator pedal is released after the throttle control, the driver is trying to decelerate according to the throttle control. In this case, shift down control is performed to assist the driver in deceleration. . c. Shift down control termination condition The shift down control is set to terminate when any of the following conditions is satisfied.

When the accelerator pedal is depressed. When the shift position is the same as the normal shift position. When trace control is started during downshift control. The condition is that the accelerator pedal is depressed when the driver feels dissatisfied with the deceleration due to the downshift. In this case, the downshift control is released to prioritize the driver's will and downshift. The control prevents the driver from feeling uncomfortable.

The condition is that when the downshifted shift position becomes the same as the shift position under normal shift control,
Since the shift-down control to the normal shift control can be smoothly performed, the shift-down control is terminated at this point and the normal shift control is set. Further, when the downshift control is completed, the prohibition of the continuous downshift described above is released, and the deceleration control by the new downshift control becomes possible.

The condition is that when the driver enters the curve and the trace control is started, the driver can naturally recognize the existence of the curve and must not interfere with the trace control. The downshift control as the situation corresponding control is ended. d. Other conditions regarding shift-down control It is set not to perform control again on a curve for which control (throttle control or shift-down control) has been completed once. For example, the downshift control is not performed on the curve where the throttle is completed.

As described above, the vehicle speed control (throttle control or shift-down control) for the same curve is performed only once so as to suppress the adverse effects of this vehicle speed control. Warning start distance Lneed ^*
When the alarm start point just before is reached, the judging means 3
At 0, it is not judged that the vehicle speed VB is too high (Gypre> Gy ^* ), but after this, the curve start point L is higher than the alarm start point.
At a point approaching S, the determination means 30 is determined by accelerating the vehicle or the like.
When it is determined that the vehicle speed VB is too high (Gypre> Gy ^* ) at t2 after the curve warning (for example, 2)
Seconds), the shift down control start condition,
Only when both of the above are satisfied and the curve start point LS is not reached, the downshift control is performed. Even when the alarm is interrupted on the continuous curve, if the downshift control start conditions are satisfied, the downshift control is performed in the following cases.

The inter-curve distance Lstrait is the alarm start distance L
In the case of need ^* or more, the shift-down control is performed when the alarm start point Lneed ^* before the curve start point LS is reached. If the inter-curve distance Lstrait is less than the alarm start distance Lneed ^* but is a predetermined distance (for example, 20 meters), the first
The shift-down control is performed when the curve of is completed.

The inter-curve distance Lstrait is the alarm start distance L
If it is less than need ^{* and} less than a predetermined distance (for example, 20 meters), downshift control is not performed. In the case of a continuous curve that could not be detected before the occurrence of the curve alarm, if the downshift control start conditions, and are satisfied, the control is executed similarly to the curve alarm. That is,
While traveling on the first curve, the second curve ahead of the first curve can be detected. As a result, the first curve can be detected.
There is no problem if the inter-curve distance Lstrait between the curve No. and the second curve is equal to or greater than the alarm start distance Lneed ^*, but if the inter-curve distance Lstrait is less than the alarm start distance Lneed ^* , the shift-down control start condition, If, and hold, downshift control is performed as follows.

The inter-curve distance Lstrait is the alarm start distance L
If the distance is less than need ^* but is equal to or more than a predetermined distance (for example, 20 meters), a warning for the second curve is issued at the time when the first curve ends, and at the same time downshift control is performed. If the inter-curve distance Lstrait is less than a predetermined distance (for example, 20 meters), the downshift control is not performed like the curve warning for the second curve. 4. Operation of this device Since the vehicle front road condition response control device as one embodiment of the present invention is configured as described above, for example, as shown in FIG. 32, an alarm and vehicle speed control are performed. 4.1 Overall Control Operation FIG. 32 is a flow chart showing the main routine for the operation of this device, and this device repeats the operation as shown in FIG. 32 at the required control cycle.

First, the road map data and the current position are read from the road map information storage means 52 and the current position estimation means 56 of the navigation system 50 (step B1).
0), this information is displayed on the display (step B10). Then, it is determined whether or not the route is being guided (step B30). If the route is not being guided, the route guiding process and the curve alarm and the vehicle speed control which are the main operations of the present apparatus are not performed, and each flag (flags F1 to F4 ) Or the timer T is reset to the initial state (step B110) and stands by in the next control cycle. The flags F1 to F4 and the timer T
Will be described later.

On the other hand, if the route guidance is in progress, the route guidance processing, that is, the guidance route (optimum route) is displayed on the display, and the voice guidance of the intersection or the branch road is appropriately performed (step B4).
0). This voice guidance is performed based on the priority relationship with the curve warning, and when the curve warning has priority, it is postponed or interrupted. Then, curve detection processing is performed (step B50). The detailed operation of this process will be described later, but if the presence of a curve is not detected by this process,
From the determination step of step B60, the required flags (flags F1 to F3) and the timer T are reset to the initial state (step B120), and stand by in the next control cycle.

If there is a curve, the process proceeds from the determination step of step B60 to step B70 to start warning / control whether the vehicle is within the warning / control start distance Lneed and at the position before entering the curve. The determination means 42 determines. If the vehicle is not in this condition, step B120
The initialization process is performed and the control waits for the next control cycle. When it is determined in step B70 that the vehicle is within the warning / control start distance Lneed and before entering the curve, a vehicle speed determination process (step B80) is performed. Although the detailed operation of this process will be described later, if the current vehicle speed is not too high to enter the curve ahead, from the determination in step B90, the alarm / control process is not performed and the process waits in the next control cycle. If the vehicle speed is too high for entering the curve, the routine proceeds from step B90 to constant to step B100 to issue an alarm and control (vehicle speed control) described later. 4.2 Curve Detection Operation The curve detection by the curve detection means 20 will be described. For example, the curve detection is performed as shown in the flowchart of FIG.

First, in step C1, the sampling distance L is set by the sampling distance setting means 21, and then the procedure proceeds to step C2 where the curvature index calculating means 2 is set.
The curvature index θ indicating the curve angle is calculated by 2. In the curvature index calculating means 22, for example, a first point (point A) and a curve detection point (point B) located a sampling distance L behind the point B (curve detection point) on the road line RL in front of the vehicle. On the other hand, a second point (point C) ahead of the sampling distance L is given, and an angle formed by the first vector AB from the point A to the point B and the second vector BC from the point B to the point C θ is calculated as a curvature index at the curve detection point (point B) (see FIGS. 9 and 10).

Next, in step C3, the curve determination means 23 determines the curve. This curve determination is performed by comparing the above-mentioned curvature index θ with a curve determination reference curvature index θ _O (θ _O > 0) as a threshold, and if | θ | ≧ θ _O , the curve detection point is a curve. If YES is determined, the process proceeds to the step C4 through the YES route. On the contrary, if | θ | <θ _O , it is determined that the road is a straight road and the vehicle returns through the NO route.

When the road curve is determined in step C3, the curve determining means 23 sets the curve start point LS and the curve end point LE in step C4. This is to set a curve detection point where the curvature index θ is | θ | ≧ θ _O from the state of | θ | <θ _O with respect to the curve determination reference curvature index θ _O as the curve start point LS, and the curvature index θ is | θ | <θ from the condition of | θ | ≧ θ _O
The curve detection point that becomes _O is set as the curve end point LE.

Next, in Step C5, the correction means 2
The start point LS and the end point LE of the curve are corrected by 3A. This correction is performed using a data table as shown in FIG. 14, for example. Then, when the curve radius R is calculated using the sampling distance L and the curvature index θ in step C6, the process proceeds to step C7, and the blind curve determination means 24 performs the blind curve calculation. This blind curve calculation is a calculation for determining whether or not the curve determined in step C3 is a blind curve. For example, the following calculation is performed.

That is, the curve angle within the range of the driver's visual angle at the curve start point LS is defined as the curve depth θB, and the curve depth θB is defined as the distance M from the driver's viewpoint to the roadside, the road width LB, and the curve radius R. Calculate using.
Further, the actual curve angle θR is calculated based on the information of the curve start point LS and the curve end point LE in step C5.

Then, in step C8, based on the blind curve calculation result in step C7,
It is determined whether the detection target curve is a blind curve. This is determined by the blind curve determination means 24 by comparing the above-mentioned curve θB and the actual curve angle θR, and the actual curve angle θR.
Is larger than the curve depth θB, this curve is determined as a blind curve. Then, if it is determined that this curve is a blind curve, the procedure proceeds to YES through the YES route, and if it is determined that this curve is not a blind curve, the procedure returns through the NO route.

Next, in step C9, the continuous curve judging means 26 judges whether or not the curve is continuous. This is to calculate the inter-curve distance D from the information of the start point LS and the end point LE of the two curves and compare this with a threshold value D _{0. If the} inter-curve distance D is smaller than the threshold value D ₀ , the curves are continuous. It is determined that If the distance D is larger than the threshold value D ₀ , the curve is determined to be a single curve.

After the continuous curve is determined in step C9, the process proceeds to step C10, and the hairpin curve detecting means 24A determines whether or not the curve is a hairpin curve. The hairpin curve is detected as a hairpin curve if, for example, the actual curve angle θR is a predetermined value (for example, 130 °) or more.

Then, in step C10, after the hairpin curve is detected, the process returns. 4.3 Vehicle Speed Judgment Processing Operation The vehicle speed judgment is performed by the judging means 30 as shown in FIG. 34. First, the allowable approach lateral acceleration setting unit 32 sets a lateral acceleration threshold (allowable approach lateral acceleration) Gy ^* ( Step D10). This lateral acceleration Gy ^* is given to the target lateral acceleration value Gy _th (Gx _th = 0) obtained by the vehicle speed-lateral acceleration corresponding curve used in the trace control system 70 as shown in the following equation.

Gy ^* = Gy _th −K1 (where 0 ≦ K1 ≦ 2) Then, the road width correction means 38A causes the lateral acceleration threshold Gy ^*.
Is corrected (step D20), that is, if the road width is large, the allowable approach lateral acceleration Gy ^* is increased, and if the road width is small, the allowable approach lateral acceleration Gy ^* is decreased. Further, the supplemental lateral acceleration threshold G
The y ^* is corrected for driving characteristics (step D30). That is,
The lateral acceleration Gy ^* is increased as the driver's degree of pimple becomes higher, and the lateral acceleration Gy ^* is made smaller as the driver's degree of pimple becomes lower (that is, the degree of relaxation is higher).

Further, the navigation error correction means 38C corrects the lateral acceleration threshold value Gy ^* by the navigation error (step D40). That is, in order to deal with the navigation error, that is, the error of the curve radius calculated based on the navigation information, the allowable approach lateral acceleration Gy ^* is corrected to the decreasing side according to the assumed navigation error. On the other hand, in the expected lateral acceleration calculation unit 34,
Calculate the expected lateral acceleration Gypre (step D50),
That is, the curve radius R detected by the curve detecting means 20.
And the vehicle speed VB detected by the vehicle speed sensor 84,
The expected lateral acceleration Gypre is calculated from the following equation.

Gypre = VB ² / R Then, the vehicle speed determination unit 36 compares the allowable approach lateral acceleration Gy ^* obtained from the allowable approach lateral acceleration setting unit 32 and the expected lateral acceleration calculation unit 34 with the expected lateral acceleration Gypre. Then, it is determined whether or not the current vehicle speed VB is too high to enter the curve ahead (step D60). That is, if the following equation is established, the current vehicle speed VB is too high to enter the curve ahead.

Gypre> Gy ^{* When the} vehicle speed VB is too high, for example, the vehicle speed VB is an allowable approach speed V when the vehicle speed VB is an excessive speed level such as a small excess (level 1), a medium excess (level 2), or a large excess (level 3).
Whether ^* is exceeded by more than V1 (for example, 5 km / h) (step D90), the vehicle speed VB is the allowable approach speed V ^* is V
The value is set after judging whether it exceeds more than 2 (for example, 20 km / h) (step D110).

That is, if the excess of the vehicle speed VB is V1 or less, level 1 (step D100); if the excess of the vehicle speed VB is larger than V1 and V1 or less, level 2 (step D120),
If the excess of the vehicle speed VB is larger than V2, level 3 (step D130) is set. 4.4 Operation of Warning / Vehicle Speed Control The warning / vehicle speed control is performed by the non-conforming control means 40. For example, as shown in FIG. 35, first, curve information (continuous curve, hairpin curve, distance between curves), vehicle speed VB,
Read overspeed level and map information (step E1)
0). Then, it is determined whether or not the target curve is an intersection using the map information (step E12). If the curve is an intersection, no warning / vehicle speed control is performed.

If the curve is not an intersection, it is determined whether the vehicle speed is equal to or higher than a predetermined value V0 (for example, 30 km / h) (step E20). Vehicle speed is a predetermined value V0 (eg 30km / h)
In the following cases, warning and vehicle speed control will not be performed. On the other hand, if the vehicle speed is equal to or higher than the predetermined value V0 (for example, 30 km / h), the flag F1 is 1
It is determined whether or not (step E30). This flag F1
Is set to 1 when an alarm is given to the target curve, and is set to 0 otherwise.

If the alarm is not issued, the process proceeds to step E40, and it is determined whether the vehicle is currently traveling on a curve.
The curve in this case is not the alarm target curve, but the curve immediately before that. If the vehicle is not traveling on a curve, it is determined whether the flag F4 is 1 (step E50). The flag F4 is set to 1 when the alarm prohibition state is set for the target curve, and is set to 0 otherwise. The warning is prohibited within the required travel distance after the warning is issued on the first curve of the continuous curve.

If the alarm is not prohibited, it is determined whether the flag F3 is 1 (step E60). This flag F3 is
It is set to 1 if the vehicle is traveling on a curve when the vehicle enters the warning / control start distance Lneed (step E130), and is set to 0 otherwise. If the flag F3 is not 1, alarm control is performed (step E70) and the flag F1 is set to 1 (step E80).

Then, the count value T of the counter is increased by the control period (ΔT) (step E90). This count value T counts the time t2 (for example, 2 seconds) from the alarm control to the vehicle speed control. When the alarm control is performed in this way, in the next control cycle, it is determined whether or not the brake pedal is depressed by proceeding from step E30 to step E92, and if the brake pedal is depressed, the flag F2 is set to 0 in step E94.
The vehicle speed control is not performed and the process returns.

On the other hand, if the brake pedal is not depressed, the routine proceeds to step E100, where it is judged if the flag F2 is 1 or not. The flag F2 is set to 1 when the vehicle speed control is performed on the target curve, and is set to 0 otherwise. If the vehicle speed control is not performed yet,
In step E110, the count value T is the predetermined value [t2
(For example, 2 seconds)], and a predetermined value [t
2 (for example, 2 seconds)] is returned, and if a predetermined value [t2 (for example, 2 seconds)] is reached, step E
The process proceeds to 120 and vehicle speed control is performed.

On the other hand, although the alarm is not prohibited, step E60
If it is determined that the flag F3 is 1, in this case, the distance between the vehicle and the curve start point is smaller than Lneed, so the routine proceeds to step F140, where the inter-curve distance Lstrait is the predetermined distance L.
It is determined whether it is 0 (for example, 20 m) or more. Where L
If the strait is equal to or greater than the predetermined distance L0 (for example, 20 m), alarm control (step E150) and vehicle speed control (step E16) are performed.
0) and sets flag F1 to 1 and F4 to 0 (step E170). Lstrait is a predetermined distance L
If it is not more than 0 (for example, 20 m), neither alarm control nor vehicle speed control is performed.

On the other hand, while the warning is prohibited, the process proceeds to step E180, where the vehicle travel distance Lpast after the warning is started.
Is counted and it is determined whether or not the distance Lpast reaches a predetermined value (step E190). When the distance Lpast reaches the predetermined value, the warning prohibition flag F4 is set to 0 to cancel the warning prohibition. The count value T is updated until the distance Lpast reaches a predetermined value (step E200). Then, it is determined whether or not there is a hairpin on the target curve (step E21).
0) If there is no hairpin, the alarm prohibition is continued, but if there is a hairpin, alarm control is performed (step E2).
20), the flag F1 is set to 1 (step E23).
0).

Even while the alarm is prohibited, the timer T keeps the predetermined value [t.
2 (for example, 2 seconds)], vehicle speed control is performed. 4.5 Operational content of alarm control Alarm control is performed, for example, as shown in FIG. That is, first, it is determined whether there is priority navigation information (step F10). Here, firstly, since the final navigation voice information is prioritized, if the final navigation voice information is present, the generation of the navigation information is instructed (step F70). If there is no navigation information, or if there is navigation information but navigation information other than the final navigation voice information, the process proceeds to step F20.

Then, it is judged whether or not the target curve is a continuous curve. If it is not a continuous curve, step F30
Go to F and issue a warning message warning message according to the overspeed level. In other words, if the vehicle speed is too small (level 1), a warning message such as "This curve is ahead." Or "Curve. Please be careful." Is issued, and if the vehicle speed is medium excess (level 2), "Beyond." It is a curve. Please decelerate. "If the vehicle speed is too high (level 3), an alarm will be issued with the message" Danger. Please step on the brake. "

On the other hand, if the target curve is a continuous curve, the process proceeds to step F40, the alarm stop flag F4 is set to 1, the alarm stop state is set, and the running distance Lpast of the vehicle after the alarm prohibition is started is counted. Is started (step F50), and the process proceeds to step F60 to issue an alarm command of an alarm message according to the speed excess level. In other words, if the vehicle speed is too small (level 1), a warning message will be issued with the message "Curve ahead will be continuous." Or "Continuous curve. Please be careful."
In the case of, the warning is given by the message such as "The curve will continue in the future. Please decelerate." If the vehicle speed is too high (level 3), "The curve is continuous and dangerous. Please apply the brakes." The warning is given by the message contents such as ". 4.6 Details of Vehicle Speed Control Vehicle speed control is performed, for example, as shown in FIG. That is, first, it is determined whether or not the accelerator pedal is being depressed (step G10). If the accelerator pedal is being depressed, throttle control is selected. First, it is determined whether the throttle control end condition is satisfied (step G20). That is, it is determined whether or not any one of the following is established.

Whether t3 (for example, 3 seconds) has elapsed since the throttle control was started? Was the driver willing to accelerate during throttle control? Was trace control started during throttle control? If the throttle control end condition is not satisfied, step G
At 30, throttle control is performed. In this throttle control, for example, the engine output torque TE with respect to the driver request torque TM is instantaneously reduced with the torque correction coefficient C1 having the characteristic shown in FIG. 31, and then t3 (for example, 3
(Seconds), the torque is gradually returned so as to correspond to the driver request torque TM.

When the throttle control end condition is satisfied during this throttle control, the vehicle speed control end flag F2 is set to 1 (step G60), the timer T is reset to 0 (step G70), and the vehicle speed control by the throttle control is ended. To do. On the other hand, if the accelerator pedal is not depressed,
Shift down control is selected. First, it is determined whether or not the vehicle speed excess level is level 2 or higher (step G32). If it is not level 2 or higher (that is, if level 1), the shift down control is not performed and the vehicle speed control is performed. The end flag F2 is set to 1 (step G60), the timer T is reset to 0 (step G70), and the vehicle speed control is ended.

If it is at level 2 or higher, the routine proceeds to step G40, where it is determined whether or not the shift stage which is the downshift control prohibition condition is the medium speed stage or lower (third speed stage or lower). If the shift stage is the medium speed stage or lower (third speed stage or lower), the downshift control is not performed, the vehicle speed control end flag F2 is set to 1 (step G60) and the timer T is reset to 0 (step G
70) and terminates the vehicle speed control.

If the shift speed is not the middle speed or lower (third speed or lower), that is, if the fourth speed or the fifth speed is selected,
Shift down control is performed. (Step G50). In this downshift control, it is determined whether the vehicle speed VB is in the middle speed range or lower (V ₀ or lower), and the vehicle speed VB is in the middle speed range or lower (VB ≤
If V ₀ ), shift down to the third gear. That is, regardless of whether the current gear is the fifth gear or the fourth gear, the downshift is performed to the third gear. Also, the vehicle speed VB is higher than the medium speed range (V
If B> V ₀ ), downshift by one stage. That is,
If the current gear is the fifth gear, the gear is downshifted to the fourth gear, and if it is the fourth gear, the third gear is downshifted.

When such a downshift command is issued, the vehicle speed control end flag F2 is set to 1 (step G6).
0) and reset the timer T to 0 (step G7
0), the vehicle speed control by the downshift control is ended. 5. Effects of warning and vehicle speed control of this device The following effects can be obtained by such warning and vehicle speed control. (1) The navigation system 5 with the curve detecting means 20
Since the road map information of the optimum route obtained during the route guidance of 0 is used, the road to be alarmed or the vehicle speed control is specified,
It is possible to detect the curve condition in front of the vehicle quickly and reliably without enormous calculation. Therefore,
It is possible to reliably perform warning and vehicle speed control in real time while driving. (2) When the target curve is an intersection, no warning or vehicle speed control is performed, so no inconsistent warning "curve exists" is issued to the intersection, and navigation information is disturbed. Nothing. Therefore, there is an advantage that the driver can perform appropriate processing at the intersection through the navigation information without feeling uncomfortable. (3) Further, since the curve detection uses the map information of the navigation system and properly corrects the calculation error due to the use of the map information, the curve condition in front of the vehicle does not require enormous calculation. Can be accurately detected. Therefore, the warning and the vehicle speed control can be appropriately performed. (4) In addition, since the curve detecting means removes a curve having a large curve radius or a curve with good visibility as a curve to be subject to warning or vehicle speed control, a blind curve is set, so that an alarm for the curve is issued. By performing the vehicle speed control and the vehicle speed control only when the need is high, it is possible to prevent the driver from feeling uncomfortable and to expect an effect of enhancing the control effect. (5) Further, since it is determined whether the curve is a continuous curve or an independent curve and an alarm is issued according to these curve types, there is an advantage that the driver can take appropriate measures for the curve. (6) Also, when entering a continuous curve, the curve warning and speed control are suspended for a certain distance (temporary prohibition).
Therefore, it is not necessary to issue an alarm for each curve, for example, on a curved road in the mountains. Therefore, without issuing an alarm for each curve in a continuous curve, it is possible to avoid an unnecessary alarm for a curve that is easily recognized by the driver, and avoid a situation where the alarm becomes a noise. (7) Of course, warning and speed control are interrupted only for a certain distance, so if a continuous curve continues for a long time, warning and speed control will be performed at appropriate time intervals. It is possible to achieve a well-balanced contradictory purpose, such as not making the alarm feel loud. (8) In addition, even when such a curve warning or speed control is interrupted, if a hairpin curve is expected to generate a large lateral acceleration compared to the curve so far, an alarm is issued. Therefore, the interruption of the alarm and speed control is temporarily stopped and the alarm and speed control for the hairpin curve are performed. Therefore, there is an advantage that safe traveling can be surely promoted while taking into consideration the discomfort of the driver. (9) Further, the allowable approach lateral acceleration (lateral acceleration threshold value) Gy ^* for determining the vehicle speed excess is corrected by the road width and the driving characteristics of the driver, so that the discomfort caused by the curve warning and the speed control is reduced. In other words, if the road width on a curved road is large, warning and speed control are not performed until a relatively large lateral acceleration occurs, and if the road width on a curved road is small, a warning and speed control are performed. Therefore, the control is suitable for the driver's feeling. Also,
Based on the driving characteristics of the driver, the curve warning and the speed control are performed with a threshold value according to the individuality of each driver, and the control is adapted to the feeling felt by each driver. (10) Even if an error occurs in the curve radius R calculated from the error in the navigation information, the lateral acceleration threshold Gy is increased by this amount.
^{Since *} is corrected (navigation correction), it is possible to avoid a situation in which an originally necessary alarm or control is not executed due to such an error. When it is dangerous, a curve warning and speed control will be surely performed. (11) Further, an error may occur at the control start point based on the warning / control start distance Lneed due to an error in the navigation information. In this case as well, in consideration of this error, there should be no control delay. In consideration of this, the alarm / control start distance Lneed is set according to the vehicle speed so that the control start that is contrary to this can be suppressed too early. Therefore, the warning and the vehicle speed control can be performed at an appropriate timing when entering the curve. (12) When navigating a route, the final navigation voice information is given first priority, and then the curve information is given priority over the order of navigation information other than the final voice information. Final navigation voice information is emitted at the right time,
The original performance of route guidance can be reliably demonstrated. Moreover, since the curve information has priority over the other navigation information of relatively low importance, caution can be surely promoted for the curve. (13) Since the type of curve warning is provided according to the degree of excess of the vehicle speed, the driver can be prompted to perform an appropriate process, and the effect of the curve warning is enhanced. (14) In the case of vehicle speed control, if the driver has an intention to request engine torque (that is, the accelerator pedal is depressed), the engine torque is limited by throttle control to perform vehicle speed control. Otherwise, vehicle speed control is performed by downshifting. Therefore, deceleration control can be reliably performed. (15) Moreover, the throttle control and the downshift control are not performed at the same time, and the throttle control is time limited [t3 (for example, 3 seconds)], and the downshift control ends when the vehicle speed decreases to a vehicle speed commensurate with the downshift position. However, this deceleration does not become excessive, but rather the effect of warning the driver is the main rather than the effect of decelerating the vehicle speed. That is, the vehicle speed can be controlled by the driver's will, and the driver can be warned without giving the driver any discomfort. (16) Further, since the vehicle speed control is performed after a lapse of time from the curve warning, unnecessary vehicle speed control can be avoided if the driver indicates deceleration intention during this time, and vehicle speed control according to the driver's intention will not be disturbed. 6. Others 6.1 Second example regarding selection of curve to be controlled (second example of curve determination with poor visibility instead of blind curve) Next, a second example of curve determination with poor visibility instead of a blind curve in this device will be described. To do.

In the above-described embodiment, the curve that cannot be seen (that is, the blind curve) is the control target. That is, the blind curve determination means 24 geometrically calculates the curve depth θB from the distance M from the driver's viewpoint to the road side, the road width LB, and the curve radius R, and this curve depth θB is used as the actual curve angle. It is determined whether or not it is a blind curve by comparison with the above, and only this blind curve is the control target. However, in the second embodiment, a predetermined time is required for steering operation when the vehicle is traveling at a predetermined speed. Whether or not it is a control target curve is determined by whether or not it takes (for example, 3 seconds) or more.

That is, provided in the curve detecting means 20.
The steering operation time determination means (not shown)
Necessary for the driver to perform steering operation on a curve
Time is calculated from various conditions, and this calculated time
If it is 3 seconds or more, the curve is a curve with poor visibility.
It is determined that there is. This is the normal outlook
A certain amount of steering operation is required on a bad curve
The driver must operate the steering wheel for 3 seconds or longer (step
At least 1.5 seconds before turning the steering wheel off
A minimum of 1.5 seconds is required for the operation. For this reason,
In the tearing operation time determination means, as shown in FIG.
Allowable traveling speed V^*, Curve radius R, actual curve angle
Degree θR, curve length LC and allowable lateral acceleration Gy ^*Using
To judge whether it is a curve with poor visibility
There is. LC> 3V^*= 3 (Gy^*・ R)^1/2 That is, in the above equation, the allowable traveling speed V^*Ran for 3 seconds
Since the mileage at that time and the curve length LC are compared,
is there.

Here, by substituting LC = RθR, θR> (3 / R)  (Gy ^* R) ^1/2 = 3 (Gy ^* / R) ^1/2 . Then, a curve whose actual curve angle θR satisfies the above equation is detected as a control target curve, that is, a curve with poor visibility. Information such as the allowable traveling speed V ^* , the curve radius R, the actual curve angle θR, the curve length LC, and the allowable lateral acceleration Gy ^* is stored in the navigation system 50, the curvature index calculation means 22, It is based on detection information from the curve determination means 23 and the like.

As described above, according to the second embodiment of the present invention for determining a curve with poor visibility, it is determined whether the curve has poor visibility based on the time required for steering operation. You can easily judge. Further, since it is not necessary to carry out the calculation in consideration of the distance M from the driver's viewpoint to the road side, the road width LB, etc., there is an advantage that a curve with poor visibility can be determined relatively accurately. Further, there is an advantage that it is possible to reliably determine a curve with poor visibility as a control target. 6.2 Other Configuration Examples of Other Parts (a) In the present embodiment, the vehicle speed control is not intended for the effect of reducing the actual vehicle speed but for the purpose of warning the driver. Of course, the vehicle speed control may be configured to have the purpose of reducing the actual vehicle speed. In this case, it is possible to selectively use vehicle speed control for the purpose of reducing the actual vehicle speed and vehicle speed control for the purpose of warning the driver. (B) In addition, in the above-described embodiment, for a curve that requires special attention, such as a hairpin curve, an alarm is issued if the vehicle speed is high even when the alarm control is interrupted. The alarm may be issued at a required timing based on the alarm / control start distance Lneed regardless of the vehicle speed of the vehicle, that is, even if the vehicle speed is not particularly high. This allows a driver who is driving safely to deal with hairpin curves and the like with a margin. (C) Furthermore, the front road condition handling control device for a vehicle may be configured by using only the main part of the above embodiment. For example, various kinds of processing caused by the error in the navigation information can be omitted if the error in the navigation information becomes small and can be ignored. (D) Further, the vehicle front road condition response control device should be used to warn not only the curve in front of the vehicle but also other road conditions such as whether the road is a narrow uphill road or a narrow downhill road. You can also (E) Further, in this embodiment, both the alarm and the vehicle speed control are appropriately used, but a configuration in which only one of these is used is also conceivable.

[0222]

As described in detail above, according to the vehicle forward road condition control device of the present invention as set forth in claim 1, a navigation system for guiding a vehicle to a destination,
Determining means for determining suitability of the traveling state of the vehicle to the road situation in front of the vehicle from the road information stored in the navigation system; and road condition in which the traveling state of the vehicle is in front of the vehicle by the determining means. In the vehicle forward road condition correspondence control device which is provided with an alarm when it is determined to be non-conforming with respect to the vehicle, or with a non-conforming control means for controlling the traveling state of the vehicle, the determining means is the navigation system. In the trans-road situation control device, the determining means determines the suitability of the traveling state of the vehicle to the road situation in front of the vehicle during route guidance of the navigation system based on the set guide route information. At the same time, the nonconformance control means generates the alarm or outputs the alarm based on the determination result of the determination means during route guidance of the navigation system. Due to the configuration that is set to control both traveling states, it is possible to reliably grasp the road condition in front of the vehicle without enormous calculation, and to obtain the road condition in front in this way. By controlling the running state of the vehicle based on this and by warning the driver accordingly, while suppressing the cost required for the device,
The driver can be prompted to drive in accordance with the road conditions ahead. This has an advantage that the driver can deal with various road conditions with a margin.

According to the vehicle front road condition handling control device of the present invention, the navigation system for guiding the vehicle to the destination and the road information stored in the navigation system are used to detect the front of the vehicle. If there is a curve on the road, a judgment means for judging whether the current speed of the vehicle is too high when entering the curve, and an alarm is issued if the judgment means judges that the speed of the vehicle is too high. Or in a forward road condition control device for an automobile having non-conformance control means for controlling the running state of the vehicle, the determining means determines whether or not the set guide route information is provided during route guidance of the navigation system. Based on the presence of the curve and the current speed of the vehicle when entering the curve, the non-conformance control means,
The configuration is such that the alarm is generated or the traveling state of the vehicle is controlled based on the determination result of the determination means during route guidance of the navigation system, which results in enormous numbers when the vehicle enters a curve. This can be reliably detected without requiring calculation, and the device can be controlled by controlling the running state of the vehicle or issuing a warning to the driver based on the forward curve information obtained in this way. It becomes possible to urge the driver to enter the curve ahead while driving appropriately while suppressing the cost. This has an advantage that the driver can deal with the curve appropriately with a margin.

According to the vehicle forward road condition correspondence control device of the present invention as set forth in claim 3, in the configuration of claim 2, when the judging means enters a curve existing on the road ahead of the vehicle. An allowable approach lateral acceleration setting means for setting an allowable approach lateral acceleration as a limit value allowable for the vehicle, and an estimated lateral acceleration estimated to occur at the time of entering the curve based on the current vehicle speed of the vehicle and the radius of the curve. It is determined whether the estimated lateral acceleration is greater than the allowable approach lateral acceleration based on the lateral acceleration estimating means to be obtained, the setting information from the allowable approach lateral acceleration setting means, and the estimated information from the lateral acceleration estimating means. And a lateral acceleration determining unit that determines that the current vehicle speed is too high when the lateral acceleration determining unit determines that the estimated lateral acceleration is greater than the allowable approach lateral acceleration. By being configured so that, when the vehicle is entering a curve, the vehicle speed can be reliably determined whether too high in order to enter the curve.
By controlling the running state of the vehicle and issuing a curve warning only when the vehicle speed is too high based on this vehicle speed determination, excessive control and warnings for countermeasures against curve entry are avoided, and the driver feels uncomfortable with the control and warnings for curve entry. It can be executed only when necessary so as not to give it. This can be expected to improve the effect of control and alarm.

According to the vehicle front road condition correspondence control device of the present invention of claim 4, in the configuration of claim 2 or 3, the navigation system includes road map information storage means for storing road map information. A data input means capable of inputting destination information of a vehicle for the route guidance; and the road map information stored in the road map information storage means and the data input means inputted at the time of the route guidance. The optimum route from the destination information and the current position of the vehicle to the destination is selected, and the optimum route is stored as road map data. The determining unit stores the optimum route in the optimum route selecting unit. It is configured to determine the existence of the curve on the basis of the road map data of the optimized route, and the information about the intersection on the road is added to the road map information of the road map information storage means. Together are, the said determination means,
The curve corresponding to the intersection among the curves determined based on the road map data of the optimum route based on the intersection information on the road obtained from the road map information storage means is excluded from the control target curve. By doing so, it is possible to avoid the inconvenience of determining an intersection as a curve and giving a control or warning, and it is possible to prevent the control or warning about a curve from interfering with the guidance of navigation information about an intersection. It is possible to avoid unnecessary control and warning, and execute control and warning for entering a curve only when necessary so as not to make the driver feel uncomfortable. This can be expected to improve the effect of control and alarm.

According to the forward road condition control device for an automobile of the present invention as set forth in claim 5, in the configuration as set forth in any one of claims 2 to 4, the running condition control of the vehicle by the non-conforming time control means is performed. With the configuration of controlling the deceleration of the vehicle, when the vehicle speed is too high, it is possible to make the driver recognize that the vehicle speed is too high from the sense of speed and assist the actual deceleration of the vehicle. .

According to the vehicle forward road condition control device of the present invention of claim 6, in the configuration of claim 5, the deceleration control is performed by output control of an engine mounted on the vehicle. With the configuration, when the vehicle speed is too high, it is possible to easily realize that the driver recognizes that the vehicle speed is too high and assist the actual deceleration of the vehicle.

According to the vehicle forward road condition control device of the present invention as set forth in claim 7, in the configuration of claim 5 or 6, the control is performed by the downshift control of the automatic transmission mounted on the vehicle. With the configuration, when the vehicle speed is too high, it is possible to easily realize the driver to recognize that the vehicle speed is excessive and to assist the actual deceleration of the vehicle instead of controlling the output of the engine.

According to the vehicle front road condition control device of the present invention as set forth in claim 8, in the configuration of claim 5, the deceleration control is performed in a short term to warn the existence of the curve. With this configuration, the driver can be more surely notified of the existence of the curve by the alarm and the deceleration control. Moreover, since the vehicle speed is reduced only slightly by this deceleration control, deceleration contrary to the driver's will can be avoided, and the driver's deceleration operation can be prompted while suppressing the driver's discomfort in deceleration control. become.

[Brief description of drawings]

FIG. 1 is a configuration diagram showing a front road condition response control device for an automobile as an embodiment of the present invention.

FIG. 2 is a configuration diagram showing a navigation system related to a vehicle front road condition handling control device as an embodiment of the present invention.

FIG. 3 is a configuration diagram showing a trace control system related to a vehicle front road condition handling control device as an embodiment of the present invention.

FIG. 4 is a diagram showing a vehicle speed-lateral acceleration correspondence map related to a vehicle front road condition correspondence control apparatus as one embodiment of the present invention.

FIG. 5 is a diagram illustrating estimation of road traffic conditions related to a vehicle front road condition handling control device according to an embodiment of the present invention.

FIG. 6 is a diagram illustrating estimation of driving characteristics related to a vehicle front road condition handling control device as one embodiment of the present invention.

FIG. 7 is a schematic block diagram for explaining curve detection in a vehicle front road condition handling control apparatus as an embodiment of the present invention.

FIG. 8 is a diagram showing a region of a curve to be detected by the curve detecting means of the vehicle front road condition handling control apparatus as one embodiment of the present invention.

FIG. 9 is a diagram for explaining calculation of a curve angle in a curve detection means of a vehicle front road condition handling control apparatus as one embodiment of the present invention.

FIG. 10 is a diagram for explaining the calculation of a curve angle and the sampling distance in the curve detection means of the vehicle front road condition handling control apparatus as one embodiment of the present invention.

FIG. 11 is a diagram for explaining the correction of the curve starting point in the curve detecting means of the vehicle front road condition handling control apparatus as one embodiment of the present invention, showing the curve starting point of a curve without a relaxation curve. It is a figure explaining correction.

FIG. 12 is a diagram for explaining the correction of the curve start point in the curve detection means of the vehicle front road condition handling control apparatus as one embodiment of the present invention, showing the curve start point of a curve having a relaxation curve; It is a figure explaining correction.

FIG. 13 is a data table for correcting the curve start point according to the curve radius in the curve detection means of the vehicle front road condition handling control apparatus as one embodiment of the present invention, which is for a curve without a relaxation curve. It is a data table.

FIG. 14 is a data table for correcting the curve start point according to the curve radius in the curve detection means of the vehicle front road condition handling control apparatus as one embodiment of the present invention, which is for a curve having a relaxation curve. It is a data table.

FIG. 15 is a schematic diagram for explaining a curve depth of a blind curve in the curve detecting means of the vehicle front road condition handling control apparatus as one embodiment of the present invention.

FIG. 16 is a diagram showing an area of a blind curve which is a control target in the curve detecting means of the vehicle front road condition handling control apparatus as one embodiment of the present invention.

FIG. 17 is a graph showing the degree of variation between the curve depth obtained from the navigation information and the actual curve depth in the curve detection means of the vehicle front road condition control device as one embodiment of the present invention.

FIG. 18 is a diagram for explaining a method of determining a continuous curve in the curve detecting means of the vehicle front road condition handling control apparatus as one embodiment of the present invention.

FIG. 19 is a diagram showing a setting characteristic of an allowable approach lateral acceleration (lateral acceleration threshold value) used in the vehicle front road condition handling control apparatus as one embodiment of the present invention.

FIG. 20 is a diagram showing the characteristics of road width corresponding correction of the allowable approach lateral acceleration used in the vehicle front road condition corresponding control device as one embodiment of the present invention.

FIG. 21 is a diagram showing the characteristics of the correction of the allowable approach lateral acceleration corresponding to the driving characteristics, which is used in the vehicle front road condition correspondence control apparatus as one embodiment of the present invention.

FIG. 22 is a diagram for explaining an error in navigation information used in a vehicle front road condition handling control device as one embodiment of the present invention.

FIG. 23 is a diagram for explaining a curve radius error correspondence correction (navigation error correction) caused by an error in navigation information used in a vehicle forward road condition correspondence control device as an embodiment of the present invention.

FIG. 24 is a diagram showing a characteristic of a curve radius error correspondence correction (navigation error correction) of the allowable approach lateral acceleration used in the vehicle front road condition correspondence control device as one embodiment of the present invention.

FIG. 25 is a graph showing the correlation between the curve approach speed and the braking start position in the curve detecting means of the vehicle front road condition handling control apparatus as one embodiment of the present invention.

FIG. 26 is a graph showing the relationship between the vehicle speed and the control start distance in the curve detection means of the vehicle front road condition handling control apparatus as one embodiment of the present invention.

FIG. 27 is a graph for explaining calculation of a minimum required braking distance in the curve detection means of the vehicle front road condition control device as one embodiment of the present invention.

FIG. 28 is a graph showing an error-corrected control start distance in the curve detecting means of the vehicle forward road condition control device according to the embodiment of the present invention.

FIG. 29 is a diagram schematically showing an example of the optimum route information from the navigation information used in the vehicle front road condition handling control device as one embodiment of the present invention.

FIG. 30 is a diagram showing the logic of alarm control by the vehicle front road condition handling control device as one embodiment of the present invention.

FIG. 31 is a diagram showing the characteristics of throttle control by a vehicle front road condition handling control device as one embodiment of the present invention.

FIG. 32 is a flowchart showing the overall operation of the vehicle ahead road condition handling control device as one embodiment of the present invention.

FIG. 33 is a flowchart showing a curve detecting operation of the vehicle front road condition handling control apparatus as one embodiment of the present invention.

FIG. 34 is a flowchart showing a vehicle speed determination operation of a vehicle ahead road condition handling control device as one embodiment of the present invention.

FIG. 35 is a flowchart showing an alarm / vehicle speed control operation of a vehicle ahead road condition control device as one embodiment of the present invention.

FIG. 36 is a flowchart showing an alarm control operation of a vehicle ahead road condition control device according to an embodiment of the present invention.

FIG. 37 is a flow chart showing a vehicle speed control operation of a vehicle ahead road condition handling control device as one embodiment of the present invention.

FIG. 38 is a schematic diagram showing a second embodiment of curve determination with poor visibility in place of a blind curve in the curve detecting means of the vehicle front road condition control device as one embodiment of the present invention.

[Fig. 39] Fig. 39 is a schematic diagram showing a problem when dealing with a road situation ahead of an automobile.

[Explanation of symbols]

10 Forward Road Condition Response Control Device 20 Curve Detection Means 21 Sampling Distance Setting Means 22 Curvature Index Calculation Means 23 Curve Judgment Means 23A Correction Means 24 Blind Curve Judgment Means 25 Controlled Curve Selection Means 26 Continuous Curve Judgment Means 27 Hairpin Curve Detection Means 30 Judgment means 32 Allowable approach lateral acceleration setting part 34 Expected lateral acceleration calculation part 36 Vehicle speed judgment part 38A Road width correspondence correction means 38B Driving characteristic correspondence correction means 38C Curve radius error correspondence correction means 40 Nonconforming control means 42 Warning / control start judgment means 42A Alarm / control start distance setting part 42B Alarm / control start determination part 44 Alarm means (voice information control means) 46 Throttle opening / automatic transmission control means (throttle / AT control means) 50 Car navigation system 52 Road map information Storage means 54 Input switch (data input means) 56 Current position estimation means 58 Optimal route selection / storage means 60 Screen information control means 62 Navigation voice control means 70 Traction control system (trace control system) 71 Traction control switch 72 Target lateral acceleration calculation Means 74 Target longitudinal acceleration setting means 76A Torque conversion means 76B Clip means 76C Target throttle opening setting means 78 Driving characteristic estimation means 78A Road traffic condition estimation means 80 Steering angle sensor 82 GPS receiver 84 Vehicle speed sensor 86 Geomagnetic sensor 88 Gyro compass 90 Display 92 Voice information generating means 94 Throttle driving means 96 ECU for automatic transmission (electronic control unit)

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁶ Identification code Internal reference number FI Technical display location G08G 1/00 K 1/09 S V 1/16 D G09B 29/00 A

Claims (8)

[Claims] 1. A navigation system for guiding a vehicle to a destination, and a judging means for judging suitability of a traveling state of the vehicle to a road condition ahead of the vehicle from road information stored in the navigation system. When the determination means determines that the traveling state of the vehicle is incompatible with the road condition in front of the vehicle, an alarm is issued, or an incompatibility control means for controlling the traveling state of the vehicle is provided for an automobile. In the forward road condition handling control device, the determining means determines the suitability of the traveling state of the vehicle to the road condition in front of the vehicle based on the set guide route information during route guidance of the navigation system. At the same time, the non-conforming time control means issues the alarm or the vehicle based on the determination result of the determination means during route guidance of the navigation system. Characterized in that it is set to perform the control of the running state, the forward road condition corresponding control device of the motor vehicle. 2. A navigation system for guiding a vehicle to a destination and a current vehicle speed when entering a curve if a road ahead of the vehicle has a curve based on road information stored in the navigation system. And a determination means for determining whether the vehicle speed is too high, and a non-conforming control means for issuing an alarm or controlling the running state of the vehicle when the determination means determines that the speed of the vehicle is too high. In the forward road condition control device for a vehicle, the determination means determines whether the curve exists and the current vehicle at the time of entering the curve based on the set guide route information during route guidance of the navigation system. The determination is made regarding the speed, and the non-conformity control means determines the speed based on the determination result of the determination means during route guidance of the navigation system. Characterized in that it is set to perform the generation or control of the running state of the vehicle distribution, forward road condition corresponding control device of the motor vehicle. 3. The allowable approach lateral acceleration setting means for setting the allowable approach lateral acceleration as a limit value allowable when entering a curve existing on a road ahead of the vehicle, and the present vehicle of the present determination means. From the vehicle speed of the vehicle and the radius of the curve to obtain an estimated lateral acceleration that is estimated to occur when the vehicle enters the curve; A lateral acceleration determining means for determining whether or not the estimated lateral acceleration is greater than the allowable approach lateral acceleration based on the estimated information, and the lateral acceleration determining means determines that the estimated lateral acceleration is greater than the allowable approach lateral acceleration. 3. The vehicle forward road condition handling control device according to claim 2, wherein the current vehicle speed is determined to be too high when it is determined to be too large. 4. The navigation system comprises: road map information storage means for storing road map information; data input means for inputting destination information of a vehicle for the route guidance; and the road at the time of the route guidance. The optimum route from the road map information stored in the map information storage means, the destination information input to the data input means, and the current position of the vehicle to the destination is selected, and the optimum route is used as road map data. The determining means further comprises an optimum route selecting means to be stored, and the determining means is configured to determine the presence of the curve based on the road map data of the optimum route stored in the optimum route selecting means. Information about an intersection on the road is added to the road map information of the means, and the determination means is based on the intersection information on the road obtained from the road map information storage means. The curve corresponding to the intersection among the curves determined based on the road map data of the optimum route is configured to be excluded from the control target curve. Control device for front road conditions of automobiles. 5. The front road condition response control of an automobile according to claim 2, wherein the control of the traveling state of the vehicle by the non-conforming control means is a deceleration control of the vehicle. apparatus. 6. The deceleration control is performed by output control of an engine mounted on the vehicle.
The vehicle front road condition adaptive control device according to claim 5. 7. The vehicle forward road condition correspondence control device according to claim 5, wherein the deceleration control is performed by downshift control of an automatic transmission mounted on the vehicle. 8. The vehicle forward road condition responsive control device according to claim 5, wherein the deceleration control is configured to be performed in a short period of time to warn the presence of the curve.