JPWO2012004842A1 - Driving operation support device and driving operation support method - Google Patents

Abstract

Based on the front and rear images of the vehicle CR photographed by the photographing unit 730, the determination unit 740 determines whether there is a vehicle ahead of the vehicle CR and whether there is a vehicle behind the vehicle CR. The backward judgment is performed. When the result of the forward determination and / or the result of the backward determination is affirmative, the inter-vehicle distance acquisition unit 750 calculates the distance to the front vehicle and / or the distance to the rear vehicle. In addition, the derivation unit 760A refers to the map information in the storage unit 710 based on the current position of the vehicle CR, identifies the road attribute including the slope information of the road on which the vehicle CR will travel in the future, and then stores the storage unit 710. The maximum efficiency speed of the vehicle CR is obtained with reference to the maximum charging efficiency information. Subsequently, based on the obtained maximum efficiency speed, the determination result by the determination unit 740, and the calculation result by the inter-vehicle distance acquisition unit 750, the derivation unit 760A improves the charging efficiency using regenerative energy and balances traffic safety. Deriving recommended driving operation information.

Description

  The present invention relates to a driving operation support device, a driving operation support method, a driving operation support program, and a recording medium on which the driving operation support program is recorded.

  2. Description of the Related Art In recent years, attention has been focused on electric vehicles and hybrid vehicles from the viewpoint of reducing environmental loads. Such electric vehicles and hybrid vehicles generally include a storage battery and an electric motor. The electric vehicle is driven using an electric motor as a power source. In addition, the hybrid vehicle travels in combination with two types of power sources, a gasoline engine (internal combustion engine) and an electric motor.

  Electric vehicles and hybrid vehicles (hereinafter also referred to as “electric vehicles, etc.”) collect a part of the kinetic energy that the vehicle has during driving as electric energy by the regenerative brake mechanism when the vehicle decelerates and store it in the storage battery. Charge. In order to improve the driving fuel efficiency, which is a characteristic of an electric vehicle including charging of a storage battery by such a regenerative brake mechanism, it is necessary to perform traveling suitable for the electric vehicle. Because of these needs, various techniques for running suitable for electric vehicles have been proposed (see Patent Documents 1, 2, and 3; hereinafter referred to as “conventional examples 1, 2, and 3”).

  Here, in the technology of Conventional Example 1, the route to the destination is divided into a plurality of sections, and the vehicle speed pattern for each section is estimated from the road conditions such as the slopes obtained from the map information and the driving history of the driver. To do. Based on the vehicle speed pattern and the fuel consumption characteristics, the engine and motor operation schedules for each section are set so that the fuel consumption is minimized. In the technique of the conventional example 1, for example, a discharge schedule is set for traveling before a long downhill, and an operation schedule for maximally recovering energy while traveling on the long downhill is set.

  In the technique of Conventional Example 2, the regenerative braking force is automatically controlled based on the road condition where the vehicle travels obtained from the map information and the driving state of the vehicle such as the accelerator operation and the vehicle speed. In the technique of Conventional Example 2, for example, when the driver removes his / her foot from the accelerator pedal before the curve, the control of the regenerative braking force is started. The required braking force is obtained from the vehicle speed, the distance to the curve ahead of the vehicle, and the curvature thereof.

  The technique of Conventional Example 3 is a technique for eliminating a so-called discharge memory in a battery. In the technique of Conventional Example 3, based on the inclination information of the travel route to the destination obtained from the map information, a deep discharge is performed until an approximately long downhill in the travel route, and then the approximately long downhill is performed. The battery is regeneratively charged on the slope.

JP 2000-333305 A Japanese Patent Laid-Open No. 10-201008 JP 2002-171603 A

  In the techniques of Conventional Examples 1 to 3 described above, a driving mode for optimizing energy recovery by the regenerative mechanism is derived based on known information called map information and information on the vehicle such as the position and speed of the vehicle. ing. That is, in the techniques of Conventional Examples 1 to 3, a driving mode preferable for the host vehicle is derived on the assumption that an arbitrary driving mode can be selected only by the circumstances of the host vehicle.

  However, the traveling mode of the vehicle cannot be arbitrarily selected only by the circumstances of the own vehicle. That is, when another vehicle is traveling ahead or behind the vehicle on the road on which the vehicle is traveling, the traveling mode of the host vehicle is determined in consideration of the traveling mode of the other vehicle for traffic safety. There is a need.

  For this reason, a technology capable of assisting driving operation by deriving a driving mode that optimizes energy recovery by the regenerative mechanism in consideration of the driving mode of other vehicles existing in front and / or rear is awaited. Has been. Meeting this requirement is one of the problems to be solved by the present invention.

  The present invention has been made in view of the above circumstances, and is a driving operation support apparatus that can provide driving support information that optimizes energy recovery by a regenerative mechanism while considering the traffic situation of a road that is running. It is another object of the present invention to provide a driving operation support method.

  From the first viewpoint, the present invention is a driving operation support device mounted on a vehicle using a battery unit capable of charging surplus energy during traveling as a power energy source, and road attribute information indicating a road mode is provided. A stored storage unit; a positioning unit that detects the current position of the vehicle; a vehicle detection unit that detects the presence of another vehicle in at least one of the front and rear of the vehicle; and the presence of another vehicle by the vehicle detection unit. An inter-vehicle distance acquisition unit that acquires an inter-vehicle distance from the other vehicle when the vehicle is detected; road attribute information of a traveling road obtained by referring to the storage unit based on the detected current position; A derivation unit for deriving recommended driving operation information based on a detection result by the vehicle detection unit and the acquired inter-vehicle distance; and a presentation unit for presenting the derived recommended driving operation information. A driving operation support apparatus according to claim.

  From a second viewpoint, the present invention includes a storage unit that stores road attribute information indicating a road mode; a positioning unit that detects a current position of the vehicle; and a presentation unit that presents information. A driving operation support method for use in a driving operation support apparatus mounted on the vehicle using a battery unit capable of charging surplus energy during traveling as a power energy source, wherein the driving operation support method is used in at least one of the front and rear of the vehicle. A detection step of detecting the presence of a vehicle; an acquisition step of acquiring an inter-vehicle distance from the other vehicle when the presence of the other vehicle is detected in the detection step; and the storage based on the detected current position. A deriving step of deriving recommended driving operation information based on road attribute information of the traveling road obtained by referring to the inside of the department, a detection result in the detection step, and the acquired inter-vehicle distance; A driving operation support method characterized by comprising the; recommended driving operation information serial derived, a presentation step of presenting to a user by using the presentation unit.

  From a third aspect, the present invention is a driving operation support program that causes a calculation unit to execute the driving operation support method of the present invention.

  According to a fourth aspect of the present invention, there is provided a recording medium in which the driving support program of the present invention is recorded so as to be readable by a calculation unit.

It is a block diagram for demonstrating the structure of the driving operation assistance apparatus which concerns on 1st Embodiment of this invention. It is a block diagram for demonstrating the structure of the driving operation assistance apparatus which concerns on 2nd Embodiment of this invention. It is a block diagram for demonstrating schematically the structure of the navigation apparatus which concerns on one Example of this invention. It is a flowchart for demonstrating the determination process of the other vehicle in the apparatus of FIG. It is a flowchart for demonstrating the calculation process of the inter-vehicle distance with the other vehicle in the apparatus of FIG. It is a flowchart for demonstrating the calculation process of the speed of the other vehicle in the apparatus of FIG. It is a flowchart for demonstrating the derivation | leading-out process of the driving operation information in the apparatus of FIG. It is a flowchart for demonstrating the derivation | leading-out process which considered only the back vehicle in FIG. It is a flowchart for demonstrating the derivation | leading-out process which considered only the front vehicle in FIG. It is a flowchart for demonstrating the derivation | leading-out process which considered the front back vehicle in FIG.

  Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the following description and drawings, the same or equivalent elements are denoted by the same reference numerals, and redundant description is omitted.

[First Embodiment]
First, a driving operation support apparatus 700A according to the first embodiment of the present invention will be described with reference to FIG.

<Configuration>
FIG. 1 shows a schematic configuration of a driving operation support apparatus 700A according to the first embodiment.

  As shown in FIG. 1, the driving operation support device 700A is mounted on a vehicle CR that charges a storage battery using regenerative energy. The driving operation support device 700A includes a storage unit 710 and a positioning unit 720. The driving operation support apparatus 700A includes an imaging unit 730 as a part of the vehicle detection unit, a determination unit 740 as a part of the vehicle detection unit, and an inter-vehicle distance acquisition unit 750. Furthermore, the driving operation support apparatus 700A includes a derivation unit 760A and a presentation unit 770.

  The storage unit 710 stores map information in which road attribute information indicating road modes is registered. In the first embodiment, the road attribute information includes road inclination information and curve mode information. Further, the storage unit 710 stores maximum charging efficiency information in which the maximum efficiency speed at which the charging efficiency to the storage battery is maximized by using regenerative energy and road attributes such as road inclination and curve mode are associated with each other. Has been. The storage unit 710 can be accessed by the derivation unit 760A.

  Note that the maximum charging efficiency information is obtained in advance for each vehicle type of the vehicle CR based on experiments, simulations, experiences, and the like.

  The positioning unit 720 detects the current position of the vehicle CR. The current position detected by the positioning unit 720 is sent to the derivation unit 760A.

  The photographing unit 730 photographs a peripheral image in a predetermined photographing direction. The image captured by the imaging unit 730 is sent to the determination unit 740 and the inter-vehicle distance acquisition unit 750. In the first embodiment, the shooting direction is the front and rear of the vehicle CR.

  The determination unit 740 receives the captured image sent from the imaging unit 730. Then, the determination unit 740 analyzes the captured image and determines whether there is another vehicle in the shooting direction. The determination result by the determination unit 740 is sent to the inter-vehicle distance acquisition unit 750 and the derivation unit 760A.

  In the first embodiment, since the shooting direction is the front and rear of the vehicle CR, the determination unit 740 determines whether there is another vehicle (hereinafter referred to as “front vehicle”) in front of the vehicle CR. Two types of determinations are performed: forward determination and backward determination of whether or not another vehicle (hereinafter referred to as “rear vehicle”) exists behind the vehicle CR. Then, the determination unit 740 sends the result of the front determination and the result of the rear determination to the inter-vehicle distance acquisition unit 750 and the derivation unit 760A.

  The inter-vehicle distance acquisition unit 750 receives the photographed image sent from the photographing unit 730 and the determination result sent from the determination unit 740. If the result of the forward determination is affirmative (that is, if the presence of the forward vehicle is detected), the inter-vehicle distance acquisition unit 750 analyzes the forward captured image and calculates the distance to the forward vehicle. Is calculated to obtain the distance to the preceding vehicle. In addition, the inter-vehicle distance acquisition unit 750 analyzes the rear captured image when the result of the rear determination is affirmative (that is, when the presence of the rear vehicle is detected), and the distance to the rear vehicle. Is calculated to obtain the distance to the rear vehicle. The distance information to the other vehicle calculated by the inter-vehicle distance acquisition unit 750 is sent to the derivation unit 760A.

  The deriving unit 760A receives the current position sent from the positioning unit 720, the determination result sent from the determining unit 740, and the distance information to other vehicles sent from the inter-vehicle distance obtaining unit 750. Then, the deriving unit 760A derives recommended driving operation information based on the current position, the determination result, and the distance information.

  In deriving the recommended driving operation information, the deriving unit 760A first refers to the map information in the storage unit 710 based on the current position of the vehicle CR, and includes road information including road inclination information and curve mode information. Read attribute information. The deriving unit 760A is preferable from the viewpoint of efficient charging using regenerative energy and traffic safety based on the read road attribute information, the determination result of the presence of another vehicle, and the distance information with the other vehicle. Driving operation information is derived as recommended driving operation information. The recommended driving operation information derived by the deriving unit 760A is sent to the presentation unit 770.

  Details of the derivation process by the derivation unit 760A will be described later.

  The presentation unit 770 receives the recommended driving operation information sent from the derivation unit 760A. Then, the presentation unit 770 presents the recommended driving operation information to the user. In the first embodiment, the presentation unit 770 includes a speaker, and provides recommended driving operation information to the user by voice output.

<Operation>
Next, the operation of the driving operation support apparatus 700A configured as described above will be described mainly focusing on the derivation process of recommended driving operation information.

  In driving operation support apparatus 700A, positioning unit 720 detects the current position of vehicle CR, and sends the detected current position to derivation unit 760A. In addition, the imaging unit 730 captures front and rear images of the vehicle CR, and sends the captured images to the determination unit 740 and the inter-vehicle processing acquisition unit 750.

<< Existence determination process for other vehicles >>
The determination process of the presence of another vehicle is performed by the determination unit 740 that has received the captured image sent from the imaging unit 730.

  In the determination process, the determination unit 740 analyzes a captured image in front of the vehicle CR and determines whether or not there is a front vehicle ahead of the vehicle CR. In addition, the determination unit 740 analyzes a captured image behind the vehicle CR and determines whether or not there is a rear vehicle behind the vehicle CR. Then, the determination unit 740 sends the result of the front determination and the result of the rear determination to the inter-vehicle distance acquisition unit 750 and the derivation unit 760A.

<Calculation processing of distance between other vehicles>
The inter-vehicle distance calculation process with another vehicle is performed by the inter-vehicle distance acquisition unit 750 that has received the captured image sent from the imaging unit 730 and the determination result sent from the determination unit 740.

  In the calculation process of the inter-vehicle distance, the inter-vehicle distance acquisition unit 750 analyzes the forward captured image and analyzes the front inter-vehicle distance from the vehicle CR to the front vehicle when the result of the front determination by the determination unit 740 is affirmative. Calculate the distance. Further, when the result of the rear determination by the determination unit 740 is affirmative, the inter-vehicle distance acquisition unit 750 analyzes the rear captured image and calculates the rear inter-vehicle distance from the vehicle CR to the rear vehicle. Then, the inter-vehicle distance acquisition unit 750 sends the calculated front inter-vehicle distance and / or rear inter-vehicle distance to the deriving unit 760A as distance information.

《Derivation process of recommended driving operation information》
The recommended driving operation information derivation process includes the current position of the vehicle CR sent from the positioning unit 720, the determination result of the presence of other vehicles in front and / or behind the vehicle CR sent from the determination unit 740, and the inter-vehicle distance. This is performed by the derivation unit 760A that receives the front inter-vehicle distance and / or the rear inter-vehicle distance sent from the acquisition unit 750.

  In the derivation process, the derivation unit 760A performs the first identification that is the identification of the presence or absence of the forward vehicle and / or the backward vehicle based on the result of the forward determination and the result of the backward determination. In addition, the derivation unit 760A refers to the road attribute information in the storage unit 710 based on the current position of the vehicle CR, and specifies the road attribute including the slope of the road on which the vehicle CR will travel in the future, the curve mode, and the like. The second specification for specifying the maximum efficiency speed corresponding to the attribute of the road on which the vehicle CR will travel in the future is performed with reference to the maximum charging efficiency information in the storage unit 710. Then, the deriving unit 760A derives the recommended driving operation information as follows corresponding to the combination of the first specific result and the second specific result.

  (A1) When neither the front vehicle nor the rear vehicle exists, the deriving unit 760A derives the driving operation information for traveling at the specified maximum efficiency speed as the recommended driving operation information.

  (B1) When only the forward vehicle exists, the deriving unit 760A performs driving at a speed close to the specified maximum efficiency speed while maintaining a sufficient inter-vehicle distance from the forward vehicle. Is derived as recommended driving operation information. When it is determined that the speed of the front vehicle is slower than the speed of the vehicle CR due to changes in the inter-vehicle distance with the preceding vehicle, driving with an emphasis on maintaining the inter-vehicle distance is compared to the other cases. The operation information is derived as recommended driving operation information.

  (C1) When only the rear vehicle is present, the deriving unit 760A performs driving at a speed close to the specified maximum efficiency speed while maintaining a sufficient inter-vehicle distance from the rear vehicle. Is derived as recommended driving operation information. In addition, when it is judged that the speed of the rear vehicle is faster than the speed of the vehicle CR due to the time change of the inter-vehicle distance with the rear vehicle, the driving with an emphasis on maintaining the inter-vehicle distance is compared to the case where it is not so. The operation information is derived as recommended driving operation information.

  (D1) When both the front vehicle and the rear vehicle are present, the derivation unit 760A maintains a sufficient distance between both the front vehicle and the rear vehicle at a speed close to the specified maximum efficiency speed. The driving operation information for performing the driving is derived as recommended driving operation information. In addition, when it is judged that the speed of the front vehicle is slower than the speed of the vehicle CR due to the time change of the inter-vehicle distance with the preceding vehicle, and / or the speed of the rear vehicle due to the time change of the inter-vehicle distance with the rear vehicle. When it is determined that is faster than the speed of the vehicle CR, driving operation information with an emphasis on maintaining the inter-vehicle distance is derived as recommended driving operation information as compared with the case where the vehicle speed is not. Here, when it is determined that the speed of the front vehicle is slower than the speed of the vehicle CR, and the speed of the rear vehicle is determined to be faster than the speed of the vehicle CR, particularly for maintaining the distance between the front vehicle and the vehicle. Driving operation information with emphasis is derived as recommended driving operation information.

  When the recommended driving operation information is derived in this way, the deriving unit 760A generates presentation information (voice guidance information in the first embodiment) for presenting the derived recommended driving operation information to the user. Part 770. Then, the presentation unit 770 presents the presentation information sent from the derivation unit 760A to the user. In the first embodiment, recommended driving operation information is presented to the user in the form of guidance voice.

  As described above, in the first embodiment, based on the front and rear images of the vehicle CR captured by the imaging unit 730, the determination unit 740 determines whether or not there is a front vehicle in front of the vehicle CR. A front determination and a rear determination as to whether or not a rear vehicle exists behind the vehicle CR are performed. If the result of the front determination and / or the result of the rear determination is affirmative, the inter-vehicle distance acquisition unit 750 calculates the distance to the front vehicle and / or the distance to the rear vehicle.

  In addition, the derivation unit 760A refers to the map information in the storage unit 710 based on the current position of the vehicle CR, and specifies the road attributes including the slope of the road on which the vehicle CR will run in the future and the mode of the curve. By referring to the maximum charging efficiency information in the storage unit 710, the maximum efficiency speed corresponding to the attribute of the road on which the vehicle CR will travel in the future is obtained. Subsequently, based on the obtained maximum efficiency speed, the determination result by the determination unit 740, and the calculation result by the inter-vehicle distance acquisition unit 750, the derivation unit 760A improves charging efficiency using regenerative energy and balances traffic safety. Deriving recommended driving operation information. The recommended driving operation information derived in this way is presented to the user by the presentation unit 770.

  Therefore, according to the first embodiment, it is possible to provide the driving support information that optimizes the energy recovery by the regenerative mechanism while considering the traffic situation of the road that is running.

[Second Embodiment]
Next, a driving operation support apparatus 700B according to a second embodiment of the present invention will be described with reference to FIG.

<Configuration>
FIG. 2 shows a schematic configuration of a driving operation support apparatus 700B according to the second embodiment.

  As shown in FIG. 2, the driving operation support device 700B includes a derivation unit 760B instead of the derivation unit 760A, and a vehicle speed acquisition unit, as compared with the driving operation support device 700A of the first embodiment described above. 780, the vehicle speed calculation part 785, and the point further provided with the electrical storage amount detection part 790 differ. Hereinafter, description will be made mainly focusing on these differences.

  In the second embodiment, the inter-vehicle distance acquisition unit 750 sends the calculated distance information to the derivation unit 760B and the vehicle speed calculation unit 785.

  Said vehicle speed acquisition part 780 receives the vehicle speed measurement result from the vehicle speed sensor 910 with which the vehicle CR was equipped. And the vehicle speed acquisition part 780 converts the said vehicle speed measurement result into the signal form which the vehicle speed calculation part 785 can process, and sends it to the vehicle speed calculation part 785 as the speed of vehicle CR.

  The vehicle speed calculation unit 785 receives the distance information sent from the inter-vehicle distance acquisition unit 750 and the speed of the vehicle CR sent from the vehicle speed acquisition unit 780. Then, the vehicle speed calculation unit 785 calculates the speed of the front vehicle and / or the speed of the rear vehicle based on the distance information and the speed of the vehicle CR. Then, the vehicle speed calculation unit 785 sends the speed of the vehicle CR and the calculated speed of the front vehicle and / or the speed of the rear vehicle as speed information to the derivation unit 760B.

  Note that details of the speed calculation processing of the other vehicle by the vehicle speed calculation unit 785 will be described later.

  The power storage amount detection unit 790 detects a power storage amount (remaining battery amount) in the storage battery 920 that increases or decreases during traveling of the vehicle CR. The storage amount detection result by the storage amount detection unit 790 is sent to the derivation unit 760B as storage amount information.

  The deriving unit 760B sends the current position sent from the positioning unit 720, the judgment result sent from the judging unit 740, the distance information to the other vehicle sent from the inter-vehicle distance obtaining unit 750, and the vehicle speed calculating unit 785. Speed information and the storage amount information sent from the storage amount detection unit 790 are received. Then, the deriving unit 760B derives recommended driving operation information based on the current position, the determination result, the distance information, the speed information, and the power storage amount information.

  When deriving the recommended driving operation information, the deriving unit 760B first refers to the map information in the storage unit 710 based on the current position of the vehicle CR, as in the above-described deriving unit 760A, and the slope of the road that is running Road attribute information including information and curve mode information is read. The deriving unit 760B uses the regenerative energy based on the read road attribute information, the determination result of the presence of the other vehicle, the distance information with the other vehicle, the speed information of the vehicle CR and the speed of the other vehicle. The information of preferable driving operation is derived from the viewpoint of efficient charging and traffic safety. The recommended driving operation information derived by the deriving unit 760B is sent to the presentation unit 770.

  Details of the derivation process by the derivation unit 760B will be described later.

<Operation>
Next, the operation of the driving operation support apparatus 700B configured as described above will be described mainly focusing on the speed calculation processing of other vehicles and the derivation processing of recommended driving operation information.

  In the driving operation support device 700B, as in the driving support device 700A described above, the positioning unit 720 detects the current position of the vehicle CR and sends the detected current position to the deriving unit 760B. In addition, the imaging unit 730 captures front and rear images of the vehicle CR, and sends the captured images to the determination unit 740 and the inter-vehicle processing acquisition unit 750.

  Further, in the driving operation support device 700B, as in the driving support device 700A described above, the determination unit 740 performs the determination process of the presence of another vehicle, and the inter-vehicle distance acquisition unit 750 calculates the inter-vehicle distance from the other vehicle. Process. Then, the determination result by the determination unit 740 is sent to the inter-vehicle distance acquisition unit 750 and the derivation unit 760B, and the distance information including the inter-vehicle distance calculated by the inter-vehicle distance acquisition unit 750 is the derivation unit 760B and the vehicle speed. It is sent to the calculation unit 785.

  Further, in the driving operation support device 700B, the vehicle speed acquisition unit 780 converts the measurement result of the speed of the vehicle CR sent from the vehicle speed sensor 910 into a signal form that can be processed by the vehicle speed calculation unit 785, and the speed is calculated as the speed of the vehicle CR. This is sent to the vehicle speed calculation unit 785. In addition, the storage amount detection unit 790 detects the storage amount in the storage battery 920 and sends the detection result to the deriving unit 760B as storage amount information.

<< Velocity calculation process for other vehicles >>
The speed calculation process of the other vehicle is performed by the vehicle speed calculation unit 785 that receives the inter-vehicle distance information sent from the inter-vehicle distance acquisition unit 750 and the speed of the vehicle CR sent from the vehicle speed acquisition unit 780.

  When the distance information includes the inter-vehicle distance with the preceding vehicle in the calculation process of the speed of the other vehicle, the vehicle speed calculating unit 785 determines the vehicle CR and the vehicle CR based on the time change of the inter-vehicle distance with the preceding vehicle. A forward relative speed, which is a relative speed with the preceding vehicle, is calculated. Subsequently, the vehicle speed calculation unit 785 calculates the speed of the forward vehicle based on the calculated forward relative speed and the speed of the vehicle CR.

  Further, when the distance information includes the inter-vehicle distance with the rear vehicle, the vehicle speed calculation unit 785 is the relative speed between the vehicle CR and the rear vehicle based on the time change of the inter-vehicle distance with the rear vehicle. Calculate the backward relative speed. Subsequently, the vehicle speed calculation unit 785 calculates the speed of the rear vehicle based on the calculated rear relative speed and the speed of the vehicle CR.

  Then, the vehicle speed calculation unit 785 sends the calculated speed of the preceding vehicle and / or the speed of the rear vehicle together with the speed of the vehicle CR to the deriving unit 760B as speed information.

《Derivation process of recommended driving operation information》
The recommended driving operation information derivation process includes the current position of the vehicle CR sent from the positioning unit 720, the determination result of the presence of other vehicles ahead and / or behind the vehicle CR sent from the determination unit 740, and the inter-vehicle distance acquisition unit. This is performed by the derivation unit 760B that has received the front inter-vehicle distance and / or the rear inter-vehicle distance sent from 750, the speed information sent from the vehicle speed calculation unit 785, and the storage amount information sent from the storage amount detection unit 790.

  In the derivation process, the derivation unit 760B identifies the presence or absence of the front vehicle and / or the rear vehicle based on the result of the front determination and the result of the rear determination, similarly to the derivation unit 760A described above. I do. Similarly to the derivation unit 760A described above, the derivation unit 760B refers to the map information in the storage unit 710 based on the current position of the vehicle CR, and the slope of the road on which the vehicle CR will travel in the future, the mode of the curve, etc. After specifying the road attribute including the second reference to the maximum charging efficiency information in the storage unit 710, the second specification for specifying the maximum efficiency speed corresponding to the attribute of the road on which the vehicle CR will travel in the future is performed. Then, the deriving unit 760B derives recommended driving operation information in the following manner, corresponding to the combination of the first specific result and the second specific result.

  (A2) When neither the front vehicle nor the rear vehicle exists, the deriving unit 760B sets the recommended future speed of the vehicle CR as the maximum efficiency speed. Then, the deriving unit 760B derives driving operation information for running at the recommended speed as a recommended driving operation information candidate while specifying the speed change direction from the current speed of the vehicle CR.

  Subsequently, the deriving unit 760B performs a charge determination that is a determination as to whether the battery is in an overcharged state or is expected to be in an overcharged state when traveling at a recommended speed based on the stored power amount information. . When the result of this charging determination is negative, the deriving unit 760B determines the derived recommended driving operation information candidate as recommended driving operation information. On the other hand, when the result of the charge determination is affirmative, driving operation information from the viewpoint of traffic safety is derived as recommended driving operation information without being limited to traveling at the maximum efficiency speed.

  (B2) When only the forward vehicle exists, the deriving unit 760B first performs a forward vehicle speed determination that is a determination as to whether or not the speed of the forward vehicle is equal to or higher than the maximum efficiency speed. If the result of the forward vehicle speed determination is affirmative, the deriving unit 760B sets the recommended future speed of the vehicle CR as the maximum efficiency speed. Then, as in the case of (a2) described above, the derivation unit 760B specifies driving operation information for running at the recommended speed while identifying the speed change direction from the current speed of the vehicle CR. Derived as operation information candidates.

  Subsequently, the deriving unit 760B performs the above-described charging determination. If the result of this charging determination is negative, the deriving unit 760B determines the derived recommended driving operation information candidate as recommended driving operation information, as in the case of (a2) described above. On the other hand, if the result of the charge determination is affirmative, the driving operation information from the viewpoint of ensuring a sufficient inter-vehicle distance from the preceding vehicle without regard to traveling at the maximum efficiency speed is recommended. Derived as information.

  When the result of the forward vehicle speed determination described above is negative, the derivation unit 760B can secure the inter-vehicle distance to the forward vehicle at a safe distance determined according to the future speed of the vehicle CR, and The speed as close as possible to the maximum efficiency speed is set as the recommended speed of the vehicle CR in the future. Then, the deriving unit 760B derives driving operation information for running at the recommended speed as a recommended driving operation information candidate while specifying the speed change direction from the current speed of the vehicle CR.

  Subsequently, the deriving unit 760B performs the above-described charging determination. When the result of this charging determination is negative, the deriving unit 760B determines the derived recommended driving operation information candidate as recommended driving operation information. On the other hand, if the result of the charge determination is affirmative, the driving operation information from the viewpoint of ensuring a sufficient space between the vehicle ahead and the vehicle without regard to driving at the recommended speed is recommended driving operation information. To derive.

  (C2) When only the rear vehicle exists, the deriving unit 760B first performs a rear vehicle speed determination that is a determination as to whether or not the speed of the rear vehicle is equal to or lower than the maximum efficiency speed. If the result of the rear vehicle speed determination is affirmative, the deriving unit 760B sets the recommended future speed of the vehicle CR as the maximum efficiency speed. Then, the deriving unit 760B derives driving operation information for running at the recommended speed as a recommended driving operation information candidate while specifying the speed change direction from the current speed of the vehicle CR.

  Subsequently, the deriving unit 760B performs the above-described charging determination. When the result of this charging determination is negative, the deriving unit 760B determines the derived recommended driving operation information candidate as recommended driving operation information. On the other hand, if the result of the charge determination is affirmative, the driving operation information from the viewpoint of ensuring sufficient space between the vehicle behind and the recommended driving operation information without regard to traveling at the maximum efficiency speed. Derived as

  When the result of the rear vehicle speed determination described above is negative, the derivation unit 760B can secure the inter-vehicle distance to the rear vehicle at a safe distance determined according to the future speed of the vehicle CR, and The speed as close as possible to the maximum efficiency speed is set as the recommended speed of the vehicle CR in the future. Then, the deriving unit 760B derives driving operation information for running at the recommended speed as a recommended driving operation information candidate while specifying the speed change direction from the current speed of the vehicle CR.

  Subsequently, the deriving unit 760B performs the above-described charging determination. When the result of this charging determination is negative, the deriving unit 760B determines the derived recommended driving operation information candidate as recommended driving operation information. On the other hand, if the result of the charge determination is affirmative, the driving operation information from the viewpoint of ensuring a sufficient distance from the rear vehicle without regard to driving at the recommended speed is recommended driving operation information. To derive.

(D2) When both the front vehicle and the rear vehicle exist, the deriving unit 760B first performs the above-described front vehicle speed determination and the rear vehicle speed determination.
(D21) If both the front vehicle speed determination result and the rear vehicle speed determination result are affirmative, the recommended driving operation information is derived in the same manner as in the case of (a2) described above.

  (D22) When the result of the front vehicle speed determination is negative and the result of the rear vehicle speed determination is positive, the derivation unit 760B determines whether the speed of the front vehicle is higher than the speed of the rear vehicle. Make a difference judgment. When the vehicle speed difference determination result is affirmative, the deriving unit 760B derives recommended driving operation information in the same manner as in the case where the result of the forward vehicle speed determination is negative in (b2) described above. To do.

  On the other hand, when the result of the vehicle speed difference determination is negative, the deriving unit 760B secures the inter-vehicle distance to the preceding vehicle to be equal to or greater than the first safety distance determined according to the future speed of the vehicle CR. The vehicle CR's future recommendation is to set a speed as close as possible to the maximum efficiency speed while focusing on ensuring that the inter-vehicle distance to the vehicle behind the vehicle is greater than the second safety distance determined according to the future speed of the vehicle CR. Speed. Then, the deriving unit 760B derives driving operation information for running at the recommended speed as a recommended driving operation information candidate while specifying the speed change direction from the current speed of the vehicle CR.

  Subsequently, the deriving unit 760B performs the above-described charging determination. When the result of this charging determination is negative, the deriving unit 760B determines the derived recommended driving operation information candidate as recommended driving operation information. On the other hand, if the result of the charge determination is affirmative, the distance between the vehicle behind and the vehicle behind the vehicle is determined not to be limited to traveling at the recommended speed, but to ensure that the distance between the vehicle ahead and the vehicle is at least the first safety distance. Is derived as recommended driving operation information that is more important than securing a distance equal to or greater than the second safe distance determined in accordance with the future speed of the vehicle CR.

  (D23) When the result of the front vehicle speed determination is affirmative and the result of the rear vehicle speed determination is negative, the derivation unit 760B performs the above-described vehicle speed difference determination. When the vehicle speed difference determination result is affirmative, the deriving unit 760B derives recommended driving operation information in the same manner as in the case where the result of the rear vehicle speed determination is negative in (c2) described above. To do.

  On the other hand, when the result of the vehicle speed difference determination is negative, the derivation unit 760B displays the recommended driving operation information in the same manner as when the vehicle speed difference determination result is negative in (d22) described above. To derive.

  (D24) When the result of the front vehicle speed determination is negative and the result of the rear vehicle speed determination is negative, the derivation unit 760B determines that the result of the vehicle speed difference determination is negative in the above (d22) and (d23). The recommended driving operation information is derived in the same manner as in the case of the target.

  When the recommended driving operation information is derived in this way, the deriving unit 760B generates presentation information (voice guidance information in the second embodiment) for presenting the derived recommended driving operation information to the user. Part 770. Then, the presentation unit 770 presents the presentation information sent from the derivation unit 760B to the user in the same manner as in the first embodiment described above.

  As described above, in the second embodiment, based on the images of the front and rear of the vehicle CR photographed by the photographing unit 730, the determination unit 740 determines whether there is a front vehicle ahead of the vehicle CR. A front determination and a rear determination as to whether or not a rear vehicle exists behind the vehicle CR are performed. If the result of the front determination and / or the result of the rear determination is affirmative, the inter-vehicle distance acquisition unit 750 acquires the distance to the front vehicle and / or the distance to the rear vehicle. Further, the vehicle speed calculation unit 785 is based on the speed of the vehicle CR acquired by the vehicle speed acquisition unit 780, and the time change of the distance to the front vehicle and / or the distance to the rear vehicle acquired by the inter-vehicle distance acquisition unit 750, The speed of the vehicle ahead and / or the speed of the vehicle behind is calculated.

  In addition, the derivation unit 760B refers to the map information in the storage unit 710 based on the current position of the vehicle CR, and specifies the road attributes including the slope of the road on which the vehicle CR will run in the future and the mode of the curve. By referring to the maximum charging efficiency information in the storage unit 710, the maximum efficiency speed corresponding to the attribute of the road on which the vehicle CR will travel in the future is obtained. Subsequently, the deriving unit 760B is based on the obtained maximum efficiency speed, the determination result by the determination unit 740, the calculation result by the inter-vehicle distance acquisition unit 750, the calculation result by the vehicle speed calculation unit 785, and the detection result by the power storage amount detection unit 790. From the viewpoint of improving charging efficiency using regenerative energy and harmonizing traffic safety, recommended driving operation information is derived. The recommended driving operation information derived in this way is presented to the user by the presentation unit 770.

  Therefore, according to the second embodiment, it is possible to provide quantitative driving support information that optimizes the energy recovery by the regenerative mechanism while considering the traffic situation of the running road.

  In the first and second embodiments described above, the inter-vehicle distance from another vehicle is calculated by analyzing the captured image. On the other hand, a range finder may be further provided, and the inter-vehicle distance from other vehicles may be acquired by the range finder.

  In the first and second embodiments, the driving operation information is presented to the user by voice. However, the driving operation information can be further presented by an image.

  In the first and second embodiments, the photographing unit 730 photographs both the front and rear of the vehicle CR. However, the photographing unit 730 photographs either the front or the rear of the vehicle CR. The driving operation information may be derived in consideration of other vehicles in the shooting direction.

  In the first and second embodiments, the imaging unit 730 is provided. However, instead of the imaging unit 730, a radar unit including a radar device may be provided.

  Moreover, in said 2nd Embodiment, the electrical storage amount detection part 790 which detects the electrical storage amount of the storage battery 920 was provided. On the other hand, if the storage battery 920 does not cause deterioration or characteristic change due to overcharging, the storage amount detection unit 790 is omitted and processing corresponding to the detection result of the storage amount detection unit 790 in the derivation unit 760B is omitted. can do.

  In the second embodiment, the overcharge of the storage battery 920 is avoided as much as possible. However, the charge control using the regenerative energy in consideration of the discharge memory characteristic and / or the charge memory characteristic of the storage battery 920 is further performed. It may be.

  Further, all or part of the determination unit 740, the inter-vehicle distance acquisition unit 750, and the derivation unit 760A in the first embodiment, or the determination unit 740, the inter-vehicle distance acquisition unit 750, and the derivation unit 760B in the second embodiment. In addition, all or part of the vehicle speed calculation unit 785 may be configured by including a computer as a calculation unit, and the functions of the above-described units may be realized by executing a program. These programs may be acquired in a form recorded on a portable recording medium such as a CD-ROM or DVD, or may be acquired in a form distributed via a network such as the Internet. Can do.

  Hereinafter, an embodiment of the present invention will be described with reference to FIGS. In the following description and drawings, the same or equivalent elements are denoted by the same reference numerals, and redundant description is omitted.

[Constitution]
FIG. 3 shows a schematic configuration of a navigation device 100 having a function as a driving operation support device according to an embodiment. The navigation device 100 is an aspect of the driving operation support device 700B (see FIG. 2) of the second embodiment described above.

  As shown in FIG. 3, the navigation device 100 is mounted on a vehicle CR. The navigation device 100 is connected to a vehicle speed sensor 910 and a storage battery 920 that are installed in the vehicle CR.

  The navigation device 100 includes a control unit 110, a storage unit 120 as a storage unit 710, and imaging units 130F and 130R as imaging units 730 (part of a vehicle detection unit). In addition, the navigation device 100 includes a sound output unit 140 as a presentation unit 770, a display unit 150, and an operation input unit 160. Furthermore, the navigation device 100 includes a storage battery information acquisition unit 170 as a storage amount detection unit 790, a travel information acquisition unit 180 as a vehicle speed acquisition unit 780, and a GPS (Global Positioning System) reception unit as a part of the positioning unit 720. 190.

  The control unit 110 performs overall control of the entire navigation device 100. The control unit 110 will be described later.

  The storage unit 120 includes a hard disk device that is a nonvolatile storage device. The storage unit 120 stores various data necessary for the operation as the navigation device 100. The data stored in the storage unit 120 in this way includes map information (MPD) in which road attribute information including road inclination information and curve mode information is registered. Further, the data stored in the storage unit 120 includes maximum efficiency speed at which charging efficiency to the storage battery is maximized by using regenerative energy, and maximum charging efficiency information (OPD) associated with road attributes. It is.

  The storage unit 120 can be accessed by the control unit 110.

  The photographing unit 130F includes a camera device (not shown). This photographing unit 130F photographs the front of the vehicle CR. The front image data, which is a result of photographing by the photographing unit 130F, is sent to the control unit 110.

  The photographing unit 130R includes a camera device (not shown) similarly to the photographing unit 130F. This photographing unit 130R photographs the rear of the vehicle CR. The rear image data that is the result of photographing by the photographing unit 130R is sent to the control unit 110.

  The sound output unit 140 includes a speaker and outputs sound corresponding to the sound data received from the control unit 110. Under the control of the control unit 110, the sound output unit 140 outputs guidance voices such as a traveling direction of the vehicle CR, a traveling state, and a traffic state in a future planned traveling route. In addition, the sound output unit 140 outputs a guidance voice corresponding to the recommended driving operation information.

  The display unit 150 includes a display device such as a liquid crystal panel, and displays an image corresponding to the display data received from the control unit 110. The display unit 150 displays map information, images such as route information, guidance information, and the like under the control of the control unit 110.

  The operation input unit 160 includes a key unit provided in the main body of the navigation device 100 and / or a remote input device including the key unit. Here, as a key part provided in the main body part, a touch panel provided in a display device of the display unit 150 can be used. In addition, it can replace with the structure which has a key part, or can also employ | adopt the structure input with a sound using a voice recognition technique in combination.

  When the user operates this operation input unit 160, setting of operation contents and operation commands of the navigation device 100 are performed. For example, the user uses the operation input unit 160 to set destination information and the like for searching for a planned route to a destination to be described later. Such input contents are sent from the operation input unit 160 to the control unit 110 as operation input data.

  Said storage battery information acquisition unit 170 detects the electrical storage amount (battery residual amount) in the storage battery 920 which increases / decreases when the vehicle CR is traveling. The acquisition result by the storage battery information acquisition unit 170 is sent to the control unit 110 as charge / discharge information data of the storage battery 920.

  The travel information acquisition unit 180 acquires various information during travel of the vehicle CR. The travel information acquisition unit 180 includes an acceleration sensor, an angular velocity sensor, and the like, and detects acceleration and angular velocity acting on the vehicle CR. The travel information acquisition unit 180 is used for data exchange between the navigation device 100 and a vehicle speed sensor 910 mounted on the vehicle CR, and acquires speed data that is a detection result of the vehicle speed sensor 910. Each data obtained in this way is sent to the control unit 110 as travel information data.

  The GPS receiving unit 190 calculates the current position of the vehicle CR based on reception results of radio waves from a plurality of GPS satellites. The GPS receiving unit 190 measures the current time based on the date / time information transmitted from the GPS satellite. Information regarding these current position and current time is sent to the control unit 110 as GPS information data.

  Next, the control unit 110 will be described. The control unit 110 includes a central processing unit (CPU) and its peripheral circuits. Various functions are realized by the control unit 110 executing various programs. Among these functions, functions as a part of the positioning unit 720, the determination unit 740 (a part of the vehicle detection unit), the inter-vehicle distance acquisition unit 750, the derivation unit 760B, and the vehicle speed calculation unit 785 in the second embodiment described above. Is also included.

  The control unit 110 receives charge / discharge information data of the storage battery 920 sent from the storage battery information acquisition unit 170. The control unit 110 also receives the travel information data sent from the travel information acquisition unit 180 and the GPS information data sent from the GPS receiving unit 190.

  In addition, the control unit 110 responds to the search command specifying the destination information by the user, and uses the map information MPD stored in the storage unit 120 to plan the travel route of the vehicle CR to the destination. Explore. Here, the search command specifying the destination information by the user is notified to the control unit 110 as operation input data from the operation input unit 160.

  Further, the control unit 110 appropriately stores the map information (MPD) and the like in the storage unit 120 based on the travel information data sent from the travel information acquisition unit 180 and the GPS information data sent from the GPS receiving unit 190. Refer to and provide navigation information to the user. The navigation information providing process includes (a) a map display for displaying a map of an area designated by the user on the display device of the display unit 150, (b) where the vehicle CR is located on the map, The display unit is used to calculate which direction it is heading and display it on the display device of the display unit 150 and present it to the user. The processing includes control for displaying guidance guidance on 150 display devices, control for outputting voice for guidance guidance from the speaker of the sound output unit 140, and the like.

  The control unit 110 also recommends recommended driving operation information based on the front image data and rear image data sent from the photographing units 130F and 130R, the charge / discharge information data sent from the storage battery information acquisition unit 170, and the map matching result. To derive. Then, the control unit 110 generates voice guidance data corresponding to the derived recommended driving operation information and sends it to the sound output unit 140.

  The recommended driving operation information derivation process by the control unit 110 will be described later.

[Operation]
The operation of the navigation device 100 configured as described above will be described mainly focusing on the derivation process of recommended driving operation information.

  In the navigation device 100, the imaging unit 130F captures the front image of the vehicle CR and sends the front image data to the control unit 110, and the imaging unit 130R captures the rear image of the vehicle CR and the rear image data as the control unit. Send to 110. Further, in the navigation device 100, the storage battery information acquisition unit 170 detects the amount of power stored in the storage battery 920 (the remaining battery level) that increases or decreases when the vehicle CR travels, and sends it to the control unit 110 as charge / discharge information data. Furthermore, in the navigation apparatus 100, the travel information acquisition unit 180 acquires travel information including the current speed of the vehicle CR and sends travel information data to the control unit 110. In addition, the GPS receiving unit 190 sends GPS information data to the control unit 110.

  After the control unit 110 that has received these data performs processing related to derivation of recommended driving operation information, it performs determination processing for the presence of another vehicle, processing for calculating an inter-vehicle distance from another vehicle, and processing for calculating the speed of the other vehicle The derivation process of recommended driving operation information is performed.

<Determining the presence of other vehicles>
The control unit 110 periodically performs a process for determining the presence of another vehicle. In the determination process, as shown in FIG. 4, first, in step S <b> 11, the control unit 110 analyzes the front image from the viewpoint of extracting the preceding vehicle. Subsequently, in step S12, the control unit 110 determines whether or not a vehicle ahead is present.

If the result of the determination in step S12 is affirmative (step S12: Y), the process proceeds to step S13. In step S13, the control unit 110 sets the flag FL _F to “ON”. And a process progresses to step S15 mentioned later.

If the result of the determination in step S12 is negative (step S12: N), the process proceeds to step S14. In step S14, the control unit 110 sets the flag FL _F to “OFF”. Then, the process proceeds to step S15.

  In step S15, the control unit 110 analyzes the rear image from the viewpoint of extracting the rear vehicle. Subsequently, in step S16, the control unit 110 determines whether or not there is a rear vehicle.

If the result of the determination in step S16 is affirmative (step S16: Y), the process proceeds to step S17. In step S17, the control unit 110 sets the flag FL _R to “ON”. Thereafter, the determination process for the presence of the other vehicle is terminated.

If the result of the determination in step S16 is negative (step S16: N), the process proceeds to step S18. In the step S18, the control unit 110 sets the flag FL _R to "OFF". Thereafter, the determination process for the presence of the other vehicle is terminated.

<Calculation processing of distance between other vehicles>
When the above-described determination process for the presence of another vehicle is completed, the control unit 110 performs an inter-vehicle distance calculation process with respect to the other vehicle.

In the calculation process of the inter-vehicle distance, as shown in FIG. 5, first, in step S21, the control unit 110 determines whether or not the flag FL _F is set to “ON”. If the result of this determination is negative (step S21: N), the process proceeds to step S23 described later.

If the result of the determination in step S21 is affirmative (step S21: Y), the process proceeds to step S22. In step S22, the control unit 110, in view of the distance calculated by analyzing the forward image, and calculates the inter-vehicle distance DT _F to the preceding vehicle. Then, the process proceeds to step S23.

In step S23, the control unit 110 determines whether or not the flag FL _R is set to “ON”. If the result of this determination is negative (step S23: N), the current inter-vehicle distance calculation process is terminated.

If the result of the determination in step S23 is affirmative (step S23: Y), the process proceeds to step S24. In step S24, the control unit 110, in view of the distance calculated by analyzing the rearward image, it calculates the inter-vehicle distance DT _R of the rear vehicle. Then, the current inter-vehicle distance calculation process is terminated.

<Calculation processing of speed of other vehicles>
When the above-described processing for calculating the inter-vehicle distance with the other vehicle is completed, the control unit 110 performs the calculation processing for the speed of the other vehicle.

Upon calculation of such speed, as shown in FIG. 6, first, in step S31, the control unit 110 determines whether the inter-vehicle distance DT _F to the preceding vehicle is calculated. If the result of this determination is negative (step S31: N), the process proceeds to step S34 described later.

If the result of the determination in step S31 is affirmative (step S31: Y), the process proceeds to step S32. In step S32, the control unit 110, based on the time change of the vehicle distance DT _F calculated recently, to calculate the relative speed V _RF with respect to the vehicle CR of the forward vehicle. In the case where the inter-vehicle distance DT _F in-vehicle calculation process of the previous has not been calculated, the control unit 110 is adapted to the relative velocity V _RF to be "0".

Subsequently, in step S33, the control unit 110, based on the current speed and the relative speed V _RF of the vehicle CR, it calculates the velocity V _F of the front vehicle. Then, the process proceeds to step S34.

In step S34, the control unit 110 determines whether the inter-vehicle distance DT _R of the rear vehicle is calculated. If the result of this determination is negative (step S34: N), the speed calculation process for the other vehicle ends.

If the result of the determination in step S34 is affirmative (step S34: Y), the process proceeds to step S35. In step S35, the control unit 110, based on the time change of the vehicle distance DT _R calculated recently, to calculate the relative velocity V _RR with respect to the vehicle CR of the rear vehicle. In the case where the inter-vehicle distance DT _R has not been calculated in the inter-vehicle calculation process of the last time, as in the case of the relative velocity V _RF, control unit 110, is a relative velocity V _RR as a "0" ing.

Subsequently, in step S36, the control unit 110 calculates the speed V _{R of the} rear vehicle based on the current speed and the relative speed V _RR of the vehicle CR. And the calculation process of the speed of another vehicle is complete | finished.

<Derivation process of recommended driving operation information>
When the processing of the speed of the other vehicle described above is completed, the control unit 110 performs recommended driving operation information derivation processing.

In the derivation process, as shown in FIG. 7, first, in step S41, the control unit 110 determines whether or not there is a preceding vehicle by determining whether or not the flag FL _F is set to “ON”. Determine whether or not. If the result of this determination is negative (step S41: N), the process proceeds to step S42.

In step S42, the control unit 110 determines whether or not there is a rear vehicle by determining whether or not the flag FL _R is set to “ON”. If the result of this determination is negative (step S42: N), the process proceeds to step S44.

In step S44, since neither the front vehicle nor the rear vehicle exists, the control unit 110 performs driving operation information derivation processing that does not consider the front vehicle and the rear vehicle. In the derivation process in step S44, the control unit 110 refers to the map information (MPD) in the storage unit 120 based on the current position of the vehicle CR, and the road inclination, curve, and the like on which the vehicle CR will travel in the future. Identify road attributes that contain Subsequently, the control unit 110 refers to the maximum charging efficiency information (OPD) in the storage unit 120 based on the identified road attribute, and determines the maximum efficiency speed V _O corresponding to the attribute of the road on which the vehicle CR will travel in the future. Identify.

Next, the control unit 110 sets the future recommended speed of the vehicle CR as the maximum efficiency speed V _O. Then, the control unit 110 derives driving operation information for running at the recommended speed V ₀ as a recommended driving operation information candidate while specifying the speed change direction from the current speed of the vehicle CR. For example, driving operation information indicating that “the vehicle should decelerate slowly from the current speed to the speed V _O and then continue traveling at the speed V ₀ ” is derived as a recommended driving operation information candidate.

  Whether the control unit 110 is predicted to be in an overcharged state or in an overcharged state when traveling at a recommended speed based on the current storage amount obtained based on the charge / discharge information data. An overcharge determination, which is a determination of whether or not, is performed. When the result of the overcharge determination is negative, the control unit 110 determines the derived recommended driving operation information candidate as recommended driving operation information.

  On the other hand, when the result of the overcharge determination described above is affirmative, the control unit 110 does not stick to driving at the recommended speed, and uses driving operation information from the viewpoint of traffic safety as recommended driving operation information. To derive. For example, driving operation information indicating that “the current speed is a little too fast and should be decelerated a little” is derived as recommended driving operation information.

  In this way, the driving operation information derivation process that does not consider the front vehicle and the rear vehicle ends. And a process progresses to step S48 mentioned later.

  If the result of the determination in step S42 described above is affirmative (step S42: Y), the process proceeds to step S45. In step S45, since only the rear vehicle exists, the control unit 110 performs driving operation information derivation processing considering only the rear vehicle. Thereafter, the process proceeds to step S48. Details of the processing in step S45 will be described later.

If the result of determination in step S41 described above is affirmative (step S41: Y), the process proceeds to step S43. In step S43, the control unit 110 determines whether or not there is a rear vehicle by determining whether or not the flag FL _R is set to “ON”. If the result of this determination is negative (step S43: N), the process proceeds to step S46.

  In step S46, since only the forward vehicle exists, the control unit 110 performs a driving operation information derivation process considering only the forward vehicle. Thereafter, the process proceeds to step S48. Details of the processing in step S46 will be described later.

  If the result of the determination in step S43 described above is affirmative (step S43: Y), the process proceeds to step S47. In step S47, since there are a front vehicle and a rear vehicle, the control unit 110 performs a driving operation information derivation process in consideration of both the front vehicle and the rear vehicle. Thereafter, the process proceeds to step S48. Details of the processing in step S47 will be described later.

  When the driving operation information is derived in any of steps S44 to S47, in step S48, the control unit 110 generates guidance voice data corresponding to the derived driving operation information. Then, the control unit 110 sends the generated guidance voice data to the sound output unit 140. Then, the current driving operation information derivation process ends.

  Thereafter, the control unit 110 periodically performs a process for determining the presence of another vehicle, a process for calculating an inter-vehicle distance from another vehicle, a process for calculating the speed of the other vehicle, and a process for deriving driving operation information.

  The sound output unit 140 that receives the guidance voice data corresponding to the driving operation information outputs a voice according to the guidance voice data. As a result, recommended driving operation information is presented to the user.

<< Derivation process in step S45 >>
Next, the driving operation information derivation process in consideration of only the rear vehicle in step S45 described above will be described.

In the derivation process in step S45, as shown in FIG. 8, first, in step S51, the control unit 110 specifies the current maximum efficiency speed V ₀ . When specifying the current maximum efficiency speed V ₀ , the control unit 110 first refers to the map information (MPD) in the storage unit 120 based on the current position of the vehicle CR, as in the processing in step S44 described above. The road attributes including the slope of the road where the vehicle CR will travel in the future, the mode of the curve, and the like are specified. Then, the control unit 110 refers to the maximum charging efficiency information (OPD) in the storage unit 120 based on the specified road attribute, and determines the maximum efficiency speed V _O corresponding to the attribute of the road on which the vehicle CR will travel in the future. Identify.

Next, in step S52, the control unit 110 determines whether or not the speed V _{R of the} rear vehicle is equal to or less than the maximum efficiency speed V _O. If the result of this determination is affirmative (step S52: Y), the process proceeds to step S53.

In step S53, the control unit 110, a future recommended speed of the vehicle CR, and the maximum efficiency speed V _O. Then, the control unit 110 derives, as recommended driving operation information candidates, first rear consideration information for traveling at the recommended speed V ₀ while specifying the speed change direction from the current speed of the vehicle CR. For example, the control unit 110 derives, as a recommended driving operation information candidate, driving operation information that “accelerate slowly from the current speed to the speed V _O and then continue to travel at the speed V ₀ ”. And a process progresses to step S55 mentioned later.

If the result of the determination in step S52 described above is negative (step S52: N), the process proceeds to step S54. In this step S54, a safe distance determined in accordance with the future speed of the vehicle CR can be secured as the inter-vehicle distance to the rear vehicle, and a speed as close as possible to the maximum efficiency speed V ₀ is set as the recommended future speed of the vehicle CR. and V _1. Then, the control unit 110, while specifying the speed changing direction from the current speed of the vehicle CR, the second rear account information for traveling in the recommended speed V _1, derives as a recommended driving operation information candidate. For example, the control unit 110 derives, as a recommended driving operation information candidate, driving operation information indicating that “the vehicle speed should be slowly increased from the current speed to the speed V ₁ in order to secure the inter-vehicle distance with the rear vehicle”. Then, the process proceeds to step S55.

  In step S55, the control unit 110 is predicted to be in an overcharged state when it is in an overcharged state or travels at a recommended speed based on the current storage amount obtained based on the charge / discharge information data. Whether or not, that is, the above-described overcharge determination is performed. If the result of this determination is negative (step S55: N), the process proceeds to step S56.

  In step S56, the control unit 110 determines the recommended driving operation information candidate derived in step S53 or step S54 as recommended driving information. Thereafter, the process of step S45 ends.

  If the result of the determination in step S55 described above is affirmative (step S55: Y), the process proceeds to step S57. In step S57, the control unit 110 derives driving operation information as recommended driving operation information from the viewpoint of ensuring a sufficient distance between the vehicle and the rear vehicle without regard to traveling at the recommended speed. For example, the control unit 110 derives, as recommended driving operation information, driving operation information indicating that “the rear vehicle is approaching and should be accelerated to ensure an inter-vehicle distance of X [m] or more”. To do. Thereafter, the process of step S45 ends.

<< Derivation Process in Step S46 >>
Next, the driving operation information derivation process in consideration of only the preceding vehicle in step S46 will be described.

In the derivation process in step S46, as shown in FIG. 9, first, in step S61, the control unit 110 performs the maximum corresponding to the attribute of the road on which the vehicle CR will travel in the same manner as in step S51 described above. The efficiency speed V _O is specified. Next, in step S62, the control unit 110 determines whether or not the speed V _{F of the} preceding vehicle is equal to or higher than the maximum efficiency speed V _O. If the result of this determination is affirmative (step S62: Y), the process proceeds to step S63.

In step S63, the control unit 110, a future recommended speed of the vehicle CR, and the maximum efficiency speed V _O. Then, the control unit 110 derives the first forward consideration information, which is the same information as the driving operation information derived in step S53 described above, as a recommended driving operation information candidate.

If the result of the determination in step S62 described above is negative (step S62: N), the process proceeds to step S64. In this step S64, the distance between the vehicles ahead can be secured a safe distance determined in accordance with the future speed of the vehicle CR, and a speed as close as possible to the maximum efficiency speed is set as the recommended future speed V _{2 of the} vehicle CR. And Then, the control unit 110, while specifying the speed changing direction from the current speed of the vehicle CR, a second forward account information for traveling in the recommended speed V _2, derives as a recommended driving operation information candidate. For example, the control unit 110 derives, as a recommended driving operation information candidate, driving operation information indicating that “the vehicle should be slowly decelerated from the current speed to the speed V ₂ in order to secure the inter-vehicle distance with the preceding vehicle”. Then, the process proceeds to step S65.

  In steps S65 to S67, the control unit 110 performs the same processing as in steps S55 to S57 described above, and derives final recommended operation information. Thereafter, the process of step S46 ends.

<< Derivation Process in Step S47 >>
Next, the driving operation information derivation process in consideration of the front and rear vehicles in step S47 described above will be described.

In the derivation process in step S47, as shown in FIG. 10, first, in step S71, the control unit 110 performs the maximum corresponding to the attribute of the road on which the vehicle CR will travel in the same manner as in step S51 described above. The efficiency speed V _O is specified. Next, in step S72, the control unit 110 determines whether or not the speed V _{F of the} front vehicle is equal to or higher than the maximum efficiency speed V _O and the speed V _{R of the} rear vehicle is equal to or lower than the maximum efficiency speed V _O. To do.

If the result of the determination in step S72 is affirmative (step S72: Y), the process proceeds to step S74. In step S74, the control unit 110 sets the future recommended speed of the vehicle CR as the maximum efficiency speed V _O. Then, the control unit 110 derives the first front / rear consideration information, which is the same information as the driving operation information derived in step S53 described above, as a recommended driving operation information candidate. And a process progresses to step S77 mentioned later.

If the result of the determination in step S72 is negative (step S72: N), the process proceeds to step S73. In this step S73, it is determined whether or not the speed V _{F of the} front vehicle is equal to or higher than the speed V _{R of the} rear vehicle.

  If the result of the determination in step S73 is affirmative (step S73: Y), the process proceeds to step S75. In step S75, the control unit 110 derives the second front / rear consideration information as a recommended driving operation information candidate.

Here, when the speed V _F of the preceding vehicle is equal to or higher than the maximum efficiency speed V _O , the control unit 110 considers the same information as the driving operation information derived in step S54 described above in consideration of the second front and rear. Derived as information. When the speed V _{R of the} rear vehicle is equal to or lower than the maximum efficiency speed V _O , the control unit 110 uses the same information as the driving operation information derived in step S64 described above as the second front rear consideration information. Derived as When the second front / rear consideration information is thus derived, the process proceeds to step S77 described later.

  If the result of the determination in step S73 described above is negative (step S73: N), the process proceeds to step S76. In step S76, the control unit 110 derives the third front / rear consideration information as a recommended driving operation information candidate.

Here, the control unit 110 ensures that the inter-vehicle distance to the preceding vehicle is equal to or greater than the first safety distance determined in accordance with the future speed of the vehicle CR, and the inter-vehicle distance to the rear vehicle is set to the future speed of the vehicle CR. The speed that is as close as possible to the maximum efficiency speed is set as the recommended speed V ₃ of the vehicle CR. Then, the control unit 110 derives driving operation information for running at the recommended speed as a recommended driving operation information candidate while specifying the speed change direction from the current speed of the vehicle CR. For example, the control unit 110 recommends that the driver should accelerate to the speed V ₃ while paying attention to the inter-vehicle distance from the vehicle behind and securing the inter-vehicle distance from the front vehicle to Y [m] or more. Derived as a candidate. Then, the process proceeds to step S77.

  In steps S77 to S79, the control unit 110 performs the same processing as in steps S55 to 57 described above, and derives final recommended driving operation information. Thereafter, the process of step S47 ends.

  As described above, in this embodiment, based on the images of the front and rear of the vehicle CR taken by the photographing units 130F and 130R, the control unit 110 determines whether there is a front vehicle ahead of the vehicle CR. A front determination and a rear determination as to whether or not a rear vehicle exists behind the vehicle CR are performed. Then, when the result of the front determination and / or the result of the rear determination is affirmative, the control unit 110 calculates the distance to the front vehicle and / or the distance to the rear vehicle. Further, based on the speed of the vehicle CR acquired by the travel information acquisition unit 180 and the time variation of the calculated distance to the front vehicle and / or the distance to the rear vehicle, the control unit 110 determines the speed of the front vehicle and / or Alternatively, the speed of the rear vehicle is calculated.

In addition, the control unit 110 refers to the map information in the storage unit 120 based on the current position of the vehicle CR obtained by map matching, and includes a road including a slope of a road on which the vehicle CR will travel in the future, a curve mode, and the like. Identify attributes. Subsequently, the control unit 110 refers to the maximum charging efficiency information in the storage unit 120 based on the identified road attribute, and obtains the maximum efficiency speed V _O corresponding to the attribute of the road on which the vehicle CR will travel in the future. Subsequently, the control unit 110 determines the calculated maximum efficiency speed, the front determination and the rear determination, the calculated distance to the front vehicle and / or the distance to the rear vehicle, the calculated front vehicle speed and / or the rear Based on the vehicle speed and the detection result by the storage battery information acquisition unit 170, the recommended driving operation information is derived from the viewpoint of improving the charging efficiency using regenerative energy and harmonizing the traffic safety. The recommended driving operation information derived in this way is presented to the user by the sound output unit 140.

  Therefore, according to the present embodiment, it is possible to provide quantitative driving support information that optimizes the energy recovery by the regenerative mechanism while considering the traffic situation of the road that is running.

[Modification of Example]
The present invention is not limited to the above-described embodiments, and various modifications can be made.

  For example, in the above embodiment, the inter-vehicle distance from another vehicle is calculated by analyzing the captured image. On the other hand, a range finder may be further provided, and the inter-vehicle distance from other vehicles may be acquired by the range finder.

  In the above embodiment, the photographing units (130F, 130R) including the camera device are provided. However, instead of these photographing units, a radar unit including the radar device may be provided.

  In the above embodiment, the driving operation information is presented to the user by voice using the sound output unit 140. However, the driving operation information is further presented by the image using the display unit 150. Can be done.

  In the above embodiment, both the front and rear of the vehicle CR are photographed. However, either the front or the rear of the vehicle CR is photographed, and driving in consideration of other vehicles in the photographing direction. Operation information may be derived.

  Further, in the above-described embodiment, the storage amount of the storage battery 920 is detected, and the detection result is used for deriving driving operation information. On the other hand, if the storage battery 920 does not cause deterioration or characteristic change due to overcharging, it is possible to prevent detection of the storage amount of the storage battery 920. In this case, the storage battery information acquisition unit 170 can be omitted, and the process related to the overcharge determination in the control unit 110 can be omitted.

  Further, in the above embodiment, the overcharge of the storage battery 920 is avoided as much as possible. However, the charge control using the regenerative energy in consideration of the discharge memory characteristic and / or the charge memory characteristic of the storage battery 920 is further performed. Also good.

  In the above embodiment, the speed of the vehicle CR is acquired and the speed of the front vehicle and / or the rear vehicle is calculated to derive quantitative driving operation information. On the other hand, as in the first embodiment described above, the driving operation information may be derived without specifying the speed of each vehicle.

  In the above embodiment, the recommended driving operation information that does not use POI (Point Of Interests) information is exemplified. However, the recommended driving operation information that clearly indicates the target POI using the POI information in the future travel route is used. It may be derived.

  In the above embodiment, the functions of a part of the positioning unit 720, the determination unit 740, the inter-vehicle distance acquisition unit 750, the derivation unit 760B, and the vehicle speed calculation unit 785 are realized by executing the program by the computer. All or a part of these units may be configured by hardware using a dedicated LSI (Large Scale Integrated circuit) or the like.

From the first viewpoint, the present invention is a driving operation support device mounted on a vehicle using a battery unit capable of charging surplus energy during traveling as a power energy source, and road attribute information indicating a road mode is provided. A stored storage unit; a positioning unit that detects the current position of the vehicle; a vehicle detection unit that detects the presence of another vehicle at least in front of the vehicle; and the presence of the other vehicle is detected by the vehicle detection unit An inter-vehicle distance acquisition unit that acquires an inter-vehicle distance from the other vehicle; a vehicle speed acquisition unit that acquires speed information of the vehicle; and the inter-vehicle distance when the presence of the other vehicle is detected by the vehicle detection unit. based on the detected current position; temporal change in inter-vehicle distance with the other vehicle acquired by the acquiring unit, based on said acquired speed information, the vehicle speed calculating unit and for calculating a vehicle speed of the other vehicle Road attribute information of the traveling road obtained by referring to the storage portion, the vehicle detection unit detection result of the acquired inter-vehicle distance, based on the speed of the acquired speed information and the calculated other vehicles A derivation unit for deriving recommended driving operation information; and a presentation unit for presenting the derived recommended driving operation information . When the vehicle detection unit does not detect the presence of another vehicle, Driving information for driving at a maximum efficiency speed at which the charging efficiency of the vehicle is maximized is derived as the recommended driving operation information, and the vehicle detection unit detects the other vehicle in front of the vehicle. When the presence is detected, when the other vehicle ahead is traveling at a speed equal to or higher than the maximum efficiency speed, driving operation information for traveling at the maximum efficiency speed is displayed as the recommended driving operation. Derived as information, when the other vehicle ahead is traveling at a speed slower than the maximum efficiency speed, the inter-vehicle distance with the other vehicle ahead can be maintained at a first predetermined distance or more, and The driving operation support apparatus is characterized in that driving operation information for traveling at a speed close to a maximum efficiency speed is derived as the recommended driving operation information .

From a second viewpoint, the present invention includes a storage unit that stores road attribute information indicating a road mode; a positioning unit that detects a current position of the vehicle; and a presentation unit that presents information. A driving operation support method used in a driving operation support apparatus mounted on the vehicle using a battery unit capable of charging surplus energy during traveling as a motive energy source, the presence of another vehicle at least in front of the vehicle A detection step of detecting; an acquisition step of acquiring an inter-vehicle distance from the other vehicle when the presence of the other vehicle is detected in the detection step; a vehicle speed acquisition step of acquiring speed information of the vehicle; When the presence of another vehicle is detected in the process, the time difference of the inter-vehicle distance with the other vehicle acquired in the acquisition process and the acquired speed information Vehicle speed calculation step and calculating the speed; road attribute information of the traveling road obtained by referring to the storage portion based on the detected current position, the detection result of the detection step, the obtained inter-vehicle distance, the A deriving step of deriving recommended driving operation information based on the acquired speed information and the calculated speed of the other vehicle ; and presenting the derived recommended driving operation information to the user using the presenting unit And in the derivation step, if the presence of another vehicle is not detected in the detection step, driving for running at the maximum efficiency speed at which the charging efficiency in the vehicle is maximized When the operation information is derived as the recommended driving operation information, and the presence of another vehicle in front of the vehicle is detected in the detection step, the other vehicle in front has the maximum efficiency. Driving information for running at the maximum efficiency speed when the vehicle is traveling at a speed equal to or higher than the predetermined speed is derived as the recommended driving operation information, and the other vehicle ahead is more than the maximum efficiency speed. When traveling at a slow speed, driving operation information for traveling at a speed close to the maximum efficiency speed and capable of maintaining an inter-vehicle distance with the other vehicle in front of the first predetermined distance or more, The driving operation support method is derived as the recommended driving operation information .

Claims (11)

A driving operation support device mounted on a vehicle using a battery unit capable of charging surplus energy during traveling as a power energy source,
A storage unit storing road attribute information indicating a road mode;
A positioning unit for detecting a current position of the vehicle;
A vehicle detector for detecting the presence of another vehicle in at least one of the front and rear of the vehicle;
An inter-vehicle distance acquisition unit that acquires an inter-vehicle distance from the other vehicle when the presence of the other vehicle is detected by the vehicle detection unit;
Recommended driving operation information based on the road attribute information of the traveling road obtained by referring to the storage unit based on the detected current position, the detection result by the vehicle detection unit, and the acquired inter-vehicle distance A derivation unit for deriving
A presentation unit for presenting the derived recommended driving operation information;
A driving operation support device comprising:   The driving operation support apparatus according to claim 1, wherein the rechargeable battery unit is charged by a regenerative brake mechanism.   The derivation unit displays driving operation information for running at a maximum efficiency speed at which charging efficiency in the vehicle is maximized when the vehicle detection unit does not detect the presence of another vehicle. It derives | leads-out as information, The driving operation assistance apparatus of Claim 1 or 2 characterized by the above-mentioned. A vehicle speed acquisition unit for acquiring speed information of the vehicle;
When the presence of another vehicle is detected by the vehicle detection unit, the other vehicle based on the time change of the inter-vehicle distance with the other vehicle acquired by the inter-vehicle distance acquisition unit and the acquired speed information A vehicle speed calculation unit for calculating the vehicle speed of
The deriving unit derives the recommended driving operation information by further considering the acquired speed information and the calculated speed of the other vehicle.
The driving operation support apparatus according to claim 3. When the vehicle detection unit detects the presence of another vehicle in front of the vehicle,
The derivation unit includes:
When the other vehicle ahead is traveling at a speed equal to or higher than the maximum efficiency speed, driving operation information for traveling at the maximum efficiency speed is derived as the recommended driving operation information,
When the other vehicle in front is traveling at a speed slower than the maximum efficiency speed, the inter-vehicle distance with the other vehicle in front can be maintained at a first predetermined distance or more, and the maximum efficiency speed is achieved. Driving operation information for running at a close speed is derived as the recommended driving operation information.
The driving operation support device according to claim 4. When the vehicle detection unit further detects the presence of another vehicle behind the vehicle,
The deriving unit further considers maintaining the inter-vehicle distance to the other vehicle behind the second predetermined distance or more when the other vehicle behind is traveling at a speed faster than the maximum efficiency speed. The driving operation support apparatus according to claim 5, wherein driving operation information for running at a speed close to the maximum efficiency speed is derived as the recommended driving operation information. When the vehicle detection unit detects the presence of another vehicle only behind the vehicle,
The derivation unit includes:
When the other vehicle behind the vehicle is traveling at a speed equal to or less than the maximum efficiency speed, driving operation information for traveling at the maximum efficiency speed is derived as the recommended driving operation information,
When the other vehicle behind is traveling at a speed faster than the maximum efficiency speed, the inter-vehicle distance with the other vehicle behind can be maintained at a second predetermined distance or more and close to the maximum efficiency speed. Driving operation information for running at speed is derived as the recommended driving operation information.
The driving operation support apparatus according to any one of claims 4 to 6, wherein The battery unit further includes a storage amount detection unit that detects a storage amount.
The deriving unit derives the recommended driving operation information by further considering the detected storage amount;
The driving operation support device according to any one of claims 1 to 7, wherein A battery unit capable of charging surplus energy during traveling, comprising: a storage unit storing road attribute information indicating a road mode; a positioning unit that detects a current position of the vehicle; and a presentation unit that presents information. A driving operation support method used in a driving operation support device mounted on the vehicle using a power source as a power source,
A detection step of detecting the presence of another vehicle in at least one of the front and rear of the vehicle;
An acquisition step of acquiring an inter-vehicle distance from the other vehicle when the presence of the other vehicle is detected in the detection step;
Based on the road attribute information of the traveling road obtained by referring to the inside of the storage unit based on the detected current position, the detection result in the detection step, and the recommended driving operation information based on the acquired inter-vehicle distance. A derivation process to derive;
A presentation step of presenting the derived recommended driving operation information to a user using the presentation unit;
A driving operation support method comprising:   A driving operation support program that causes a calculation unit to execute the driving operation support method according to claim 9.   A recording medium in which the driving operation support program according to claim 10 is recorded so as to be readable by a calculation unit.

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