JPWO2015029564A1 - Driving support system, method and program - Google Patents

Driving support system, method and program Download PDF

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JPWO2015029564A1
JPWO2015029564A1 JP2014066671A JP2015534051A JPWO2015029564A1 JP WO2015029564 A1 JPWO2015029564 A1 JP WO2015029564A1 JP 2014066671 A JP2014066671 A JP 2014066671A JP 2015534051 A JP2015534051 A JP 2015534051A JP WO2015029564 A1 JPWO2015029564 A1 JP WO2015029564A1
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guidance
event
information
point
non
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JP6269677B2 (en
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広彦 後藤
広彦 後藤
昌俊 ▲高▼原
昌俊 ▲高▼原
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アイシン・エィ・ダブリュ株式会社
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    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/01Detecting movement of traffic to be counted or controlled
    • G08G1/0104Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0125Traffic data processing
    • G08G1/0129Traffic data processing for creating historical data or processing based on historical data
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00Navigation; Navigational instruments not provided for in preceding groups G01C1/00-G01C19/00
    • G01C21/26Navigation; Navigational instruments not provided for in preceding groups G01C1/00-G01C19/00 specially adapted for navigation in a road network
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00Navigation; Navigational instruments not provided for in preceding groups G01C1/00-G01C19/00
    • G01C21/26Navigation; Navigational instruments not provided for in preceding groups G01C1/00-G01C19/00 specially adapted for navigation in a road network
    • G01C21/34Route searching; Route guidance
    • G01C21/36Input/output arrangements for on-board computers
    • G01C21/3626Details of the output of route guidance instructions
    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/01Detecting movement of traffic to be counted or controlled
    • G08G1/0104Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0108Measuring and analyzing of parameters relative to traffic conditions based on the source of data
    • G08G1/0112Measuring and analyzing of parameters relative to traffic conditions based on the source of data from the vehicle, e.g. floating car data [FCD]

Abstract

Provided is a technique capable of quickly determining that a point to be guided is no longer a point to be guided. A guidance point for performing guidance related to a guidance event to be guided is obtained with reference to a recording medium, and the guidance event is detected from a non-detected vehicle in which the guidance event is not detected at the guidance point. If non-detection information indicating that there is no information is acquired, it is determined whether or not to stop the guidance related to the guidance event at the guidance point based on the non-detection information, and the guidance related to the guidance event is stopped The information recorded in the recording medium is corrected so as to stop the guidance related to the guidance event at the determined guidance point, and the guidance point related to the guidance event is not stopped from the recording medium. And the information which shows the said guidance event is acquired and transmitted with respect to a vehicle.

Description

  The present invention relates to a technique for setting a guidance target based on a travel history of a vehicle.

  2. Description of the Related Art Conventionally, a technique is known that identifies points to be noted when traveling by acquiring traveling histories of a plurality of vehicles and performing statistical analysis. For example, in Patent Document 1, for road attribute information that affects road travel on a risk occurrence point, frequency distribution statistics are identified for each corresponding to the same risk type information, and the risk type is determined based on the frequency distribution statistics. A technique for identifying a representative feature of a road environment for each piece of information and extracting a potential danger point that matches the representative feature is disclosed.

JP 2009-104531 A

  In the prior art, every time the occurrence of a dangerous situation is detected in a vehicle, a configuration is adopted in which danger occurrence information including information on the dangerous situation is created and recorded as a near-miss map DB. As described above, if an event that can be a guidance target is detected, it is possible to specify a point to be guided by performing statistical analysis. However, the event may not be a point to be guided by road construction or renovation of surrounding features (such as removal of walls and trees). In such a case, if the detection of an event that can be a guidance target is continued, it is possible to specify that it is no longer a point to be guided when the number of detections is reduced.

However, to statistically conclude that it is no longer a point to guide based on the driving history indicating that an event that can be a guidance target has been detected, the number of detections and detection rates of events that can be a guidance target are clearly Since it is necessary to conclude that it fell, it is necessary to acquire a very large number of driving histories. Therefore, it takes a lot of time from the point when the point to be guided is not actually the point to be guided to the point when it is concluded that the point is not the point to be guided. In this case, in the period from the point when it is no longer a point to be guided to the point when it is concluded that it is not a point to be guided, it is a point to be guided even though it is not actually a point to be guided. If there is, it will be guided.
The present invention has been made in view of the above-described problems, and an object of the present invention is to provide a technique that can quickly conclude that a point to be guided is no longer a point to be guided.

  In order to achieve the above object, the driving support system includes a guide point acquisition unit that acquires a guide point for performing guidance related to a guide target with reference to a recording medium, and non-detection in which a guide event is not detected at the guide point. An event information acquisition unit that acquires non-detection information indicating that a guidance event has not been detected from the vehicle, and determines whether or not to stop guidance related to the guidance event at the guidance point based on the non-detection information. Recording information management means for correcting information recorded on the recording medium so as to stop the guidance related to the guidance event at the guidance point determined to stop the guidance related to the event, and guidance related to the guidance event from the recording medium Guidance information transmitting means for acquiring information indicating a guidance point and a guidance event that are not stopped and transmitting the information to the vehicle.

  In order to achieve the above object, the driving support method includes a guidance point acquisition step of obtaining a guidance point for performing guidance related to a guidance event to be guided with reference to a recording medium, and a guidance event at the guidance point. An event information acquisition step of acquiring non-detection information indicating that a guidance event has not been detected from a non-detected vehicle that has not been detected, and whether to stop guidance related to the guidance event at the guidance point based on the non-detection information A recording information management step for correcting the information recorded on the recording medium so as to stop the guidance related to the guidance event at the guidance point determined to stop the guidance related to the guidance event; A guidance point where guidance related to the guidance event is not stopped, and a guidance information transmission step of acquiring information indicating the guidance event and transmitting the information to the vehicle. That.

  Further, in order to achieve the above object, the driving support program refers to a recording medium, a guide point acquisition function for acquiring a guide point for performing guidance related to a guide event to be guided, and a guide event at the guide point. An event information acquisition function for acquiring non-detection information indicating that a guide event has not been detected from a non-detected vehicle that has not been detected, and whether or not to stop guidance related to the guide event at the guide point based on the non-detection information A recording information management function for correcting the information recorded on the recording medium so as to stop the guidance related to the guidance event at the guidance point determined to stop the guidance related to the guidance event; A guidance information transmitting function for acquiring information indicating the guidance point where the guidance related to the guidance event is not stopped and the guidance event and transmitting the information to the vehicle; To realize the data.

  As described above, the driving support system, method, and program do not detect the guidance event at the guidance point when the guidance event to be guided and the guidance point for performing guidance related to the guidance event have already been specified. Whether or not to stop the guidance related to the guidance event at the guidance point is determined based on the non-detection information indicating this. That is, in the driving support system, the method, and the program, it is not determined whether to stop guidance related to the guidance event at the guidance point by referring only to the detection information indicating that the guidance event has been detected, A configuration is adopted in which it is determined whether or not to stop guidance related to the guidance event at the guidance point based on non-detection information indicating that the guidance event has not been detected.

  In order to determine whether or not to stop the guidance related to the guidance event at the guidance point from only the detection information indicating that the guidance event has been detected, the detection information is obtained as a result of eliminating the cause of the guidance event at the guidance point. It is necessary to conclude that has decreased. However, in the configuration for acquiring only the detection information, when the detection information acquired per unit period is reduced, whether the detection information is reduced as a result of eliminating the cause of the guidance event at the guide point, It is difficult to distinguish whether the detection information is reduced as a result of a decrease in the number of vehicles that generate detection information simply due to fluctuations in traffic volume.

  Therefore, in order to obtain only detection information and conclude that the number of detections and detection rates of guidance events has decreased, it is necessary to ensure statistical reliability by ensuring a long period for acquiring detection information. There is. For this reason, after a guidance point is actually no longer a guidance point, a large time lag occurs before it is concluded that the guidance point is not a guidance point. Therefore, guidance is provided at a point that was a guide point in the past but is not a guide point at present.

  However, if non-detection information indicating that a guide event has not been detected is acquired, a guide event at the guide point is directly performed by statistical analysis of the acquired non-detection information (for example, analysis such as the number of detections or detection rate). It can be concluded that the detection information has decreased as a result of the elimination of the cause of the occurrence. Accordingly, the point to be guided is not the point to be guided as compared with the configuration in which it is determined whether or not to stop the guidance related to the guidance event at the guidance point only from the detection information indicating that the guidance event has been detected. It is possible to conclude early on.

It is a block diagram of a driving assistance system. (2A)-(2C) is a figure which shows the state of statistical information. It is a flowchart of a statistical process. (4A) is a flowchart of the acquisition condition transmission process, and (4B) is a flowchart of the guidance information transmission process. It is a flowchart of a guidance process.

Here, embodiments of the present invention will be described in the following order.
(1) Configuration of the driving support system:
(1-1) Configuration of navigation terminal:
(1-2) Configuration of the driving support system:
(2) Status of statistical information:
(3) Driving support processing:
(3-1) Statistical processing:
(3-2) Acquisition condition transmission process:
(3-3) Guide information transmission processing:
(4) Guidance processing:
(5) Other embodiments:

(1) Configuration of the driving support system:
FIG. 1 is a block diagram showing the configuration of the driving support system according to the present embodiment, and the driving support system 10 according to the present embodiment cooperates with a navigation terminal 100 provided in the vehicle C.

(1-1) Configuration of navigation terminal:
The navigation terminal 100 is mounted on a plurality of vehicles C traveling on a road, and the navigation terminal 100 includes a control unit 200 including a CPU, a RAM, a ROM, and the like, and a recording medium 300, which is stored in the recording medium 300 and the ROM. The programmed program can be executed by the control unit 200. In the present embodiment, the control unit 200 can execute the navigation program 210 as one of the programs.

  Further, the vehicle C includes a communication unit 220, a GPS reception unit 410, a vehicle speed sensor 420, a gyro sensor 430, a brake sensor 440, and a user I / F unit 450. The communication unit 220 includes a circuit for performing wireless communication, and the control unit 200 can communicate with the driving support system 10 by controlling the communication unit 220. The GPS receiver 410 receives radio waves from GPS satellites and outputs a signal indicating a signal for calculating the current location of the vehicle C via an interface (not shown). The control unit 200 acquires this signal and acquires the current location of the vehicle C. The vehicle speed sensor 420 outputs a signal corresponding to the rotational speed of the wheels provided in the vehicle C. The control unit 200 acquires this signal via an interface (not shown) and acquires the vehicle speed. The gyro sensor 430 detects angular acceleration about turning of the vehicle C in the horizontal plane, and outputs a signal corresponding to the direction of the vehicle C. The control unit 200 acquires this signal and acquires the traveling direction of the vehicle C. The vehicle speed sensor 420, the gyro sensor 430, and the like are used to specify the traveling locus of the vehicle C. In the present embodiment, the current location is identified based on the departure location and the traveling locus of the vehicle C. The current location of the vehicle C specified based on the travel locus is corrected based on the output signal of the GPS receiver 410.

  In the recording medium 300, map information 300a is recorded. The map information 300a includes node data indicating the position of a node set on the road on which the vehicle C travels, shape interpolation data indicating the position of a shape interpolation point for specifying the shape of the road between the nodes, node Link data indicating connection between the facilities, facility data indicating facilities that can be the destination of the planned travel route, and the like are included. In the present embodiment, the link data is associated with information indicating the traveling direction of the vehicle C on the road section corresponding to the link. The control unit 200 can specify the road section corresponding to the link based on the node data and the link data indicated by the map information 300a, and can specify the current location of the vehicle C on each road section. Moreover, the control part 200 can identify the advancing direction on a road based on the link data which the map information 300a shows.

  The brake sensor 440 is a sensor that detects the amount of operation of the brake pedal in the vehicle C, and the control unit 200 acquires information indicating the detected amount, specifies the operation amount of the brake pedal per unit time, It can be determined whether or not the brake operation corresponds to sudden braking.

  The user I / F unit 450 is an interface unit for inputting a driver's instruction and providing various information to the driver, such as a display unit or a speaker that also serves as an input unit including a touch panel display (not shown). An output sound output unit is provided. The control unit 200 can cause the user I / F unit 450 to display the current location of the vehicle C and a map around the current location by the function of the navigation program 210. That is, the control unit 200 acquires the current location of the vehicle C, generates an image indicating a map around the current location based on the map information 300a, and outputs the image to the user I / F unit 450. As a result, the display unit of the user I / F unit 450 displays a map including the current location.

  Further, the navigation program 210 according to the present embodiment has a function of acquiring a traveling history of the vehicle C in the traveling process of the vehicle C, and a function of guiding a guidance event specified based on the traveling history at a guidance point. 200 can be realized. In other words, the control unit 200 has processed the navigation program 210 so that a predetermined guidance event has occurred based on an operation performed on the vehicle C in the traveling process, a change in the current location, or the like, and no guidance event has occurred. The travel history indicating the detection result can be recorded on the recording medium 300 as the travel history information 300b. The guidance event is a target for prompting the driver of the vehicle C so that the guidance event does not recur when the vehicle C travels. Here, an example in which the predetermined guidance event is sudden braking and reverse running of the road. Is assumed.

  That is, the control unit 200 specifies that sudden braking has occurred based on the amount of operation of the brake pedal detected by the brake sensor 440 during the traveling process of the vehicle C, and the current location of the vehicle C when the sudden braking occurs. It is possible to identify the point where sudden braking occurred. The control unit 200 records the detection information indicating the occurrence state of the sudden braking together with the point where the sudden braking is generated in the travel history information 300b in the recording medium 300. In addition, the control unit 200 identifies a guide point or guide point candidate (hereinafter referred to as a guide point candidate) that uses sudden braking as a guide event, and a candidate that stops guidance event guidance (hereinafter referred to as a stop candidate). After the guidance information is transmitted to the vehicle C, it is possible to specify that the sudden braking did not occur at the guidance point, the guidance point candidate, or the stop candidate. In addition, non-detection information indicating that sudden braking has not occurred in the guide point candidate and the stop candidate is recorded on the recording medium 300 in a state in which it is included in the travel history information 300b.

  Further, the control unit 200 can detect whether or not the vehicle C runs backward on the road section from the traveling direction on the road section indicated by the map information 300a and the transition of the current location of the vehicle C. Then, when reverse running occurs, the control unit 200 records, on the recording medium 300, detection information indicating that reverse running has occurred and a point where reverse running has occurred in the travel history information 300b. In addition, the control unit 200 specifies that no reverse running has occurred at the guidance point, the guidance point candidate, or the stop candidate after the guidance point, guidance point candidate, or stop candidate that has used reverse running as a guidance event is specified. When the reverse run does not occur, the non-detection information indicating that no reverse run has occurred in the guide point, the guide point candidate, or the stop candidate is included in the travel history information 300b in the recording medium 300. Record.

  In the present embodiment, the control unit 200 can transmit the travel history information 300b to the driving support system 10 via the communication unit 220. In the driving support system 10, the guide event and the guide point (or the guide point candidate or the stop candidate) are identified based on the travel history information 300b transmitted from the plurality of vehicles C, and the guide event and the guide point (or the guide point) are identified. Information indicating a candidate or a stop candidate) is transmitted to the vehicle C. The control unit 200 acquires information indicating the guidance event and the guidance point (or guidance point candidate or stop candidate), and records the information as guidance information 300c in the recording medium 300. Then, the control unit 200 determines whether or not the vehicle C has approached the guidance point or stop candidate indicated by the guidance information 300c by the processing of the navigation program 210, and indicates the guidance event with an image and sound when approaching. Are output to the user I / F unit 450. As a result, a guidance event is guided from the user I / F unit 450.

(1-2) Configuration of the driving support system:
The driving support system 10 includes a control unit 20 including a CPU, RAM, ROM, and the like, and a recording medium 30, and the control unit 20 can execute a program recorded in the recording medium 30 and the ROM. Further, the driving support system 10 includes a communication unit 22. The communication unit 22 includes a circuit for performing wireless communication, and the control unit 20 can communicate with the vehicle C by controlling the communication unit 22.

  In the present embodiment, the control unit 20 can execute the driving support program 21 recorded in the recording medium 30, and the control unit 20 performs the guidance event and the guidance based on the travel history information by the processing of the driving support program 21. The point is specified, and the guide information indicating the guide event and the guide point (or the guide point candidate or the stop candidate) is transmitted to the vehicle C. For this purpose, the driving support program 21 includes an event information acquisition unit 21a, a guidance point acquisition unit 21b, a recording information management unit 21c, and a guidance information transmission unit 21d.

  The event information acquisition unit 21a is a program module that causes the control unit 20 to realize the function of acquiring the travel history information 300b from the vehicle C and recording it in the recording medium 30 as the travel history information 30b. In the present embodiment, the control unit 20 acquires the travel history information 300b by the process of the event information acquisition unit 21a, so that the vehicle C from which no guidance event is detected at the guidance point (referred to as a non-detected vehicle C). A function for acquiring non-detection information indicating that a guidance event has not been detected, and detection information indicating that a guidance event has been detected from a vehicle C (referred to as a detected vehicle C) in which a guidance event has been detected at a guidance point. The function to obtain can be realized in the control unit 20. In the present embodiment, the acquisition condition transmitted from the vehicle C is defined according to the state of statistical information to be described later. Details will be described later.

  The guide point acquisition unit 21 b is a program module that causes the control unit 20 to realize a function of acquiring a guide point that guides a guide event to be guided with reference to the recording medium 30. That is, the control unit 20 generates the statistical information 30a based on the detection information and non-detection information included in the travel history information 30b by the processing of the recording information management unit 21c described later, and when the guide point is specified. Based on the statistical information 30a, a guide point and a guide event can be specified. Therefore, the control unit 20 refers to the statistical information 30a by the processing of the guidance point acquisition unit 21b, and acquires the guidance point.

  The recorded information management unit 21c is a program module that causes the control unit 20 to realize a function of specifying a guide point candidate, a function of specifying a guide point, and a function of stopping guidance of a guide event at the guide point. Note that the function of specifying the guide point candidate and the function of specifying the guide point will be described in detail together with a flowchart described later.

  The function of stopping the guidance of the guidance event at the guidance point is realized by the determination based on the non-detection information. In other words, the control unit 20 determines whether or not to stop the guidance of the guidance event at the guidance point based on the non-detection information acquired as the travel history information 30b by the processing of the recording information management unit 21c. Specifically, in the present embodiment, the control unit 20 stops the acquisition rate of non-detection information, that is, the number of non-detection information acquisitions / (number of non-detection information acquisitions + number of detection information acquisitions) determined in advance. It is determined whether or not the ratio is equal to or less than the ratio, and it is determined that the guidance of the guidance event is stopped when the acquisition rate of the non-detection information is equal to or less than the stop ratio.

  And the control part 20 is comprised so that the said deleted point may not be transmitted to the vehicle C as a guidance point by deleting from the statistical information 30a the guidance point determined to stop guidance of a guidance event. That is, the control unit 20 corrects the information recorded on the recording medium 30 so as to stop the guidance of the guidance event at the guidance point.

  The guidance information transmission unit 21d is a program module that causes the control unit 20 to realize a function of acquiring information indicating the guidance point and guidance event where guidance of the guidance event is not stopped from the recording medium 30 and transmitting the information to the vehicle C. is there. That is, the control unit 20 acquires the guidance information indicating the guidance point and the guidance event so that the guidance event at the guidance point is guided when the vehicle C travels the guidance point. Transmit to vehicle C. And in this embodiment, since the guidance point where guidance of the guidance event was stopped is deleted from the statistical information 30a, the control part 20 is the information which shows the guidance point and guidance event where guidance of the guidance event is not stopped. Is acquired and transmitted to the vehicle C.

  As described above, in the state where the guidance event and the guidance point for guiding the guidance event have already been specified, the control unit 20 determines whether to stop guidance of the guidance event at the guidance point based on the non-detection information. Determine whether. That is, the control unit 20 does not determine whether or not to stop the guidance of the guidance event at the guidance point by referring only to the detection information indicating that the guidance event is detected, and the guidance event is not detected. Based on the non-detection information indicating that, it is determined whether or not to stop the guidance of the guidance event at the guidance point.

  Assuming a configuration in which only detection information indicating that a guidance event has been detected is assumed to be analyzed, in this case, in order to determine whether or not to stop guidance event guidance at the guidance point from the detection information. It is necessary to conclude that the detection information has decreased as a result of eliminating the cause of the guidance event at the guidance point. However, in the configuration for acquiring only the detection information, when the detection information acquired per unit period is reduced, whether the detection information is reduced as a result of eliminating the cause of the guidance event at the guide point, It is difficult to distinguish whether or not the detection information is reduced as a result of a decrease in the number of vehicles C that generate detection information simply due to a change in traffic volume.

  Therefore, in order to obtain only detection information and conclude that the number of detections and detection rates of guidance events has decreased, it is necessary to ensure statistical reliability by ensuring a long period for acquiring detection information. There is. For this reason, after a guidance point is actually no longer a guidance point, a large time lag occurs before it is concluded that the guidance point is not a guidance point. Therefore, guidance is provided at a point that was a guide point in the past but is not a guide point at present.

  However, as in this embodiment, if non-detection information indicating that a guide event has not been detected is acquired and the acquisition rate of the acquired non-detection information is analyzed, the occurrence of a guide event directly at the guide point It can be concluded that the detection information has decreased as a result of eliminating the cause. Therefore, the point to be guided is no longer the point to be guided as compared to the configuration in which it is determined whether or not the guidance of the guidance event is stopped only from the detection information indicating that the guidance event has been detected. Can be concluded early.

(2) Status of statistical information:
Next, the state of the statistical information 30a will be described in detail with reference to FIGS. 2A to 2C. In the present embodiment, the statistical information 30a is a database in which detection information and non-detection information are accumulated, and three states (first state to third state) are defined for each combination of a spot and a guidance event. At least one of the detected information and the non-detected information is accumulated. For example, when a certain guidance event E is detected for a certain point P, information is stored in the first state, the second state, and the third state in the combination of the point P and the guidance event E. When the non-detection information is acquired in the first state, the non-detection information is associated with the first state, and is recorded on the recording medium as the statistical information 30a. A point is defined as a guide point, a guide point candidate, or a stop candidate, and information indicating whether the point is a guide point, a guide point candidate, or a stop candidate is associated with the statistical information 30a. . For example, when it is specified that a certain point is a guide point, the statistical information 30a is associated with information indicating that the point is a guide point.

Whether the current state corresponds to the first state to the third state is determined by whether or not a guide point, a guide point candidate, and a stop candidate are specified, and non-detection information and detection information are acquired in each state. The acquisition conditions are different. Figure 2A~ Figure 2C shows a condition that the thick road R 1 and narrow road R 2 is acquired travel history to generate statistical information 30a with respect to the intersection I crossing. 2A shows the first state, FIG. 2B shows the second state, and FIG. 2C shows the third state. In the present embodiment, the acquisition rate can be adjusted for each guidance event as will be described later. However, for the sake of simplicity, a change in the acquisition rate for each guidance event will be omitted here.

  The first state shown in FIG. 2A is a state where the intersection I is specified as the guide point, and FIG. 2A shows that the intersection I is the guide point Pi. In the first state, the intersection I has already been specified as the guide point, and this state is a state in which the guide point is specified by statistically specifying that a guide event occurs for some reason. In this state, if the cause is resolved, the guidance event will not occur. In the state where the guidance event does not occur, guidance of the guidance event should be stopped at the guidance point. Therefore, in the first state, in order to determine whether or not the guidance point is a candidate for stopping guidance for guidance events, the ratio of obtaining non-detection information from the non-detection vehicle C is the detection information from the detection vehicle C. It is comprised so that it may become more than the ratio acquired.

  Then, in the state where the non-detection information and the detection information are acquired in the first state, a guidance point that is a candidate for stopping guidance of the guidance event is specified based on the statistics of the non-detection information. That is, when it is estimated that there is a possibility that the guidance event is eliminated from the statistics of the non-detection information acquired in the first state, the stop candidate is specified. Further, it is determined whether or not to stop the guidance of the guidance event for the stop candidate. On the other hand, it is not determined whether or not to stop guidance for guidance events for guidance points that are not candidates for suspension. That is, it is not determined whether or not the guidance of the guidance event is to be stopped for all the points that have been identified as the guidance points. Therefore, according to the above configuration, it is possible to prevent a guidance event from being resolved, and it is possible to prevent the determination process from being performed too many times.

  In the first state, it is sufficient that the ratio of acquiring non-detection information from the non-detection vehicle C is higher than the ratio of acquiring detection information from the detection vehicle C. In this embodiment, detection is performed as shown in FIG. 2A. The information acquisition ratio is 0, and the non-detection information acquisition ratio is 1/1. As a result, the amount of communication between the detected vehicle C and the driving support system is suppressed. 2A, when the acquisition ratio of the non-detection information is 1/1, for the non-detection information, the state multiplier C for determining the acquisition ratio is a denominator value of the acquisition ratio. Set to

  The second state shown in FIG. 2B is a state in which the intersection I is specified as a guidance event guide stop candidate or guide point candidate, and the fact that the intersection I is a stop candidate or a guide point candidate is indicated by a symbol Pc. Is shown in In the second state, it is not detected from the non-detected vehicle C in order to determine whether or not the guidance of the guidance event is stopped in the stop candidate or in order to determine whether or not the guidance point candidate is the guidance point. The ratio for acquiring the information and the ratio for acquiring the detection information from the detected vehicle C are configured to be equal.

  That is, in the second state, since the ratio of acquiring non-detection information from the non-detection vehicle C is equal to the ratio of acquiring detection information from the detection vehicle C, the sum of the non-detection information and the detection information The analysis process can be performed assuming that the parameter is a parameter of information transmitted from the vehicle C to be detected. Therefore, if the non-detection information acquired in the second state is statistically analyzed, an analysis equivalent to the analysis comparing the parameter and the non-detection information can be performed. For example, the ratio that the guidance event was not detected at the guidance point can be specified based on the number of acquired / non-detected information. Therefore, it is possible to determine with high reliability whether or not the cause of the guidance event has been resolved based on the statistics, and to determine with high reliability whether or not the guidance of the guidance event at the guidance point should be stopped. it can.

  In this embodiment, as shown in FIG. 2B, the acquisition ratio of detection information is ½, and the acquisition ratio of non-detection information is ½. In this case, the state multipliers C for determining the acquisition ratio for the non-detection information and the detection information are equal, and are set to 2, which is the value of the denominator of the acquisition ratio. In the present embodiment, when there are a plurality of detected vehicles C in which the guidance event is detected at the guidance point, detection information is not acquired from all the detected vehicles C, but 1/2 of the detected vehicles C. Detection information is obtained from Further, in the present embodiment, when there are a plurality of non-detected vehicles C in which no guidance event is detected at the guidance point, non-detection information is not acquired from all the non-detected vehicles C, but 1/2. Non-detection information is acquired from the non-detection vehicle C. Therefore, it is possible to suppress the communication amount as compared with the case of acquiring information from all the vehicles C.

  The third state shown in FIG. 2C is a state in which no guide point candidate is specified. In the third state, even when a guide point candidate is specified, the third state is set so as to reduce the traffic, and based on the statistics of the detection information acquired in the third state, Candidates are identified. In the present embodiment, as shown in FIG. 2C, the acquisition ratio of detection information is 1/1, and the acquisition ratio of non-detection information is 0. In this case, the state multiplier C for determining the acquisition ratio for the detection information is set to 1, which is the value of the denominator of the acquisition ratio.

  In addition, since a guidance point, a stop candidate, and a guidance point candidate are specific points, in the first state and the second state, an acquisition condition for acquiring detection information and non-detection information about the specific point is defined. It will be. On the other hand, since the third state is a state before the point is specified, the acquisition condition for acquiring the detection information without specifying the point (with any point as an acquisition target) is specified. In FIGS. 2A and 2B, the detection information and the non-detection information are acquired depending on the point, and the acquisition point is shown as the intersection I. In FIG. 2C, the detection information is not dependent on the point. It is shown that the acquisition points are all points.

(3) Driving support processing:
Next, the driving support process executed by the driving support program 21 will be described in detail. FIG. 3 shows a statistical process for specifying a guide point to be transmitted to the vehicle C, FIG. 4A shows an acquisition condition transmission process for transmitting the travel history acquisition condition to the vehicle C, and FIG. 4B shows the specified guidance. The guidance information transmission process which transmits a point to the vehicle C is shown. These processes are driving support processes executed by the control unit 20 by the driving support program 21.

(3-1) Statistical processing:
The statistical processing shown in FIG. 3 is executed when travel history information is transmitted from the vehicle C. In the statistical process, the control unit 20 acquires the travel history information by the process of the event information acquisition unit 21a (step S100), and records it as the travel history information 30b on the recording medium 30. Moreover, the control part 20 searches statistical information by the process of the guidance point acquisition part 21b (step S105). Then, the control unit 20 determines whether or not the point included in the travel history information 30b acquired in step S100 matches an existing guide point or stop candidate by the processing of the guide point acquisition unit 21b. Determination is made (step S110).

  That is, the traveling history information 30b includes detection information or non-detection information, and the detection information or non-detection information is associated with a point where a guidance event is detected or a point where it is not detected (details are given below). Later). The statistical information 30a is defined for each combination of a point (guidance point, guidance point candidate, stop candidate) and a guidance event. Therefore, the control unit 20 determines whether or not the point included in the travel history information 30b matches the guide point or stop candidate included in the statistical information 30a.

  In step S110, when it is determined that the point included in the travel history information 30b matches the guidance point or the stop candidate included in the statistical information 30a, the control unit 20 performs non-detection information through the processing of the recording information management unit 21c. Alternatively, the detection information is added to the statistical information for each state (step S115). That is, when it is determined in step S110 that the point included in the travel history information 30b matches the guide point included in the statistical information 30a, the state of the statistical information 30a is the first state illustrated in FIG. The travel history information 30b includes non-detection information. Therefore, the control unit 20 adds non-detection information included in the travel history information 30b to the statistical information 30a that is determined to match the point indicated by the travel history information 30b and the guide point.

  On the other hand, if it is determined in step S110 that the point included in the travel history information 30b matches the stop candidate included in the statistical information 30a, the state of the statistical information 30a is the second state illustrated in FIG. The travel history information 30b includes non-detection information or detection information. Therefore, the control unit 20 adds the non-detection information or the detection information included in the travel history information 30b to the statistical information 30a determined to match the point indicated by the travel history information 30b and the stop candidate.

  Next, the control unit 20 determines whether or not the point included in the travel history information 30b is a stop candidate by the processing of the recording information management unit 21c (step S120). When it is determined in step S120 that the point included in the travel history information 30b is a stop candidate, the control unit 20 stops the acquisition rate of non-detection information in the second state by the processing of the recording information management unit 21c. It is determined whether or not the ratio is greater than or equal to the ratio (step S125). That is, the control unit 20 refers to the statistical information 30a of the stop candidate that is in the second state, and determines the non-detection information according to (number of non-detection information acquisition) / (number of non-detection information acquisition + number of detection information acquisition). Get the acquisition rate and compare it with the outage ratio.

  When it is determined in step S125 that the acquisition rate of the non-detection information in the second state is equal to or greater than the stop ratio, the control unit 20 guides the guidance event at the guidance point by the processing of the recording information management unit 21c. Is stopped (step S130). In step S125, when it is not determined that the non-detection information acquisition rate in the second state is equal to or greater than the stop ratio, the control unit 20 skips step S130 by the processing of the recording information management unit 21c. That is, in this embodiment, the condition for stopping the guidance of the guidance event is defined by the acquisition rate of the non-detection information in the second state. The stop ratio only needs to be determined in advance as the acquisition rate at which guidance for guidance events should be stopped, so that if the acquisition rate is equal to or greater than the stop ratio, it can be considered that the guidance cause of the guidance event has been eliminated. The stop ratio is defined in advance.

  On the other hand, if it is not determined in step S120 that the point included in the travel history information 30b is a stop candidate, the control unit 20 determines the number of non-detection information acquired in the first state by the processing of the recording information management unit 21c. It is determined whether or not the stop threshold value is exceeded (step S135). That is, when it is not determined that the spot included in the travel history information 30b is a stop candidate, the spot included in the travel history information 30b acquired in step S100 is a guide point, and the current state of the statistical information 30a is first. State. Therefore, the control unit 20 refers to the statistical information 30a of the guide point in the first state, identifies the number of non-detection information obtained, and compares it with the stop threshold.

  When it is determined in step S135 that the number of non-detected information acquired in the first state is equal to or greater than the stop threshold, the control unit 20 sets the guide point as a stop candidate by the processing of the recording information management unit 21c. (Step S140). That is, the control unit 20 associates information indicating that it is a stop candidate with the statistical information 30a of the guidance point. In step S135, when it is not determined that the number of non-detection information acquired in the first state is equal to or greater than the stop threshold, the control unit 20 skips step S140 by the processing of the recording information management unit 21c. In other words, in the present embodiment, the condition that the guidance point should be a stop candidate is defined by the number of non-detection information acquired in the first state. The stop threshold only needs to be determined in advance as the number of acquisitions where the guidance point should be a stop candidate, and when the number of acquisitions is equal to or greater than the stop threshold, it is estimated that the guidance cause of the guidance event has been resolved with a predetermined accuracy. The stop threshold is defined in advance so that In the present embodiment, since the detection information is not acquired in the first state, it is determined whether or not the guide point should be set as a stop candidate based on the number of acquisitions instead of the acquisition rate.

  In step S110, when it is not determined that the point included in the travel history information 30b matches the guidance point or the stop candidate included in the statistical information 30a, the control unit 20 performs the travel history information 30b by the processing of the recording information management unit 21c. It is determined whether or not the point included in is coincident with the guide point candidate included in the statistical information 30a (step S145).

  When it is determined in step S145 that the point included in the travel history information 30b matches the guide point candidate included in the statistical information 30a, the control unit 20 performs non-detection information or detection by the process of the recording information management unit 21c. Information is added to the statistical information of the second state (step S150). That is, when it is determined in step S145 that the point included in the travel history information 30b matches the guide point candidate included in the statistical information 30a, the state of the statistical information 30a is the second state illustrated in FIG. 2B. The travel history information 30b includes non-detection information or detection information. Therefore, the control unit 20 adds the non-detection information or the detection information included in the travel history information 30b to the statistical information 30a that is determined that the point indicated by the travel history information 30b matches the guide point candidate.

  Next, the control unit 20 determines whether or not the detection information acquisition rate in the second state is equal to or higher than the registration ratio by the processing of the recording information management unit 21c (step S155). That is, the control unit 20 refers to the statistical information 30a of the guidance point candidate in the second state, and acquires detection information by (number of detection information acquisitions) / (number of non-detection information acquisitions + number of detection information acquisitions). Get rate and compare with registration rate.

  In step S155, when it is determined that the detection information acquisition rate in the second state is equal to or higher than the registration ratio, the control unit 20 sets a guide point candidate as a guide point by the processing of the recording information management unit 21c. (Step S160). That is, information indicating that it is a guide point is associated with the statistical information 30a associated with the guide point candidate. In step S155, when it is not determined that the acquisition rate of the detection information in the second state is equal to or higher than the registration ratio, the control unit 20 skips step S160 by the processing of the recording information management unit 21c. That is, in the present embodiment, the condition for setting the guide point candidate as the guide point is defined by the detection information acquisition rate in the second state. The registration ratio may be determined in advance as an acquisition rate at which a guide point candidate should be a guide point. If the acquisition rate is equal to or higher than the registration ratio, it can be considered that the cause of the guidance event has occurred. The registration ratio is defined in advance.

  In step S145, when it is not determined that the point included in the travel history information 30b matches the guide point candidate included in the statistical information 30a, that is, the point included in the travel history information 30b is a guide point, a stop candidate, or a guide point. If it is not any of the candidates, the control unit 20 adds the detection information to the statistical information of the third state by the processing of the recording information management unit 21c (step S165). That is, when the point included in the travel history information 30b is neither a guide point, a stop candidate, nor a guide point candidate, the travel history information 30b includes detection information detected at an arbitrary point, and the state of the statistical information 30a is It is the 3rd state shown in Drawing 2C. Therefore, the control unit 20 adds the detection information included in the travel history information 30b to the statistical information of the third state.

  Next, the control unit 20 determines whether or not the number of detection information acquired in the third state is greater than or equal to the registration threshold by the processing of the recording information management unit 21c (step S170). That is, the control unit 20 refers to the statistical information 30a of the guidance point candidate in the third state, identifies the number of detection information acquisitions, and compares the acquired number with the registration threshold. If it is determined in step S170 that the number of detection information acquisitions in the third state is equal to or greater than the registration threshold, the control unit 20 uses the processing of the recording information management unit 21c to change the detection information of the travel history information 30b. The associated guidance event detection point is set as a guidance point candidate (step S175). That is, the statistical information 30a in which information indicating the detected point as a guide point candidate is associated is generated. In step S170, when it is not determined that the number of detection information acquired in the third state is equal to or greater than the registration threshold, the control unit 20 skips step S175 by the processing of the recording information management unit 21c. In other words, in the present embodiment, the condition that the guidance event detection point should be a guidance point candidate is defined by the number of detection information acquisitions in the third state. The registration threshold only needs to be determined in advance as the number of acquisitions where the detection point should be a guide point candidate. When the number of acquisitions is equal to or greater than the registration threshold, it is estimated that a guide cause of a guidance event has occurred. The registration threshold is defined in advance so as to be established with accuracy. In the present embodiment, since non-detection information is not acquired in the third state, it is determined whether or not the detection point should be set as a guide point candidate based on the number of acquisitions instead of the acquisition rate.

(3-2) Acquisition condition transmission process:
Next, the acquisition condition transmission process will be described in detail. The acquisition condition transmission process shown in FIG. 4A is executed when the vehicle C makes an acquisition condition acquisition request to the driving support system 10. In the acquisition condition transmission process, the control unit 20 receives an acquisition request for acquisition conditions via the communication unit 22 (step S200). That is, when transmitting the acquisition request for the acquisition condition, the vehicle C adds the information indicating the current location of the vehicle C and transmits the acquisition request. Therefore, the control unit 20 receives the acquisition request and specifies the current location of the vehicle C.

  Next, the control unit 20 searches for a guide point, a guide point candidate or a stop candidate around the current location of the vehicle C by the process of the event information acquisition unit 21a (step S205). That is, the control unit 20 searches the statistical information 30a by using the current location of the vehicle C specified together with the acquisition request in step S200 as a key, and exists within a predetermined distance from the current location of the vehicle C with respect to the statistical information 30a. A process for specifying a guide point or a guide point candidate or a stop candidate is performed.

  Next, the control unit 20 determines whether there is a guidance point, a guidance point candidate, or a stop candidate around the current location of the vehicle C by the process of the event information acquisition unit 21a (step S210). In step S210, when it is determined that there is a guide point or a guide point candidate or a stop candidate in the vicinity of the current location of the vehicle C, a process of determining an acquisition condition using one of the points as a processing target for acquisition condition determination This is executed after step S212.

  In step S212, the control unit 20 determines whether or not the point to be processed is a guide point candidate or a stop candidate by the process of the event information acquisition unit 21a (step S212). In step S212, the point to be processed is determined. Is determined to be a guide point candidate or a stop candidate, step S215 and the subsequent steps are executed. On the other hand, if it is not determined in step S212 that the point to be processed is a guide point candidate or a stop candidate, the point to be processed is a guide point, steps S215 to S225 are skipped, and step S230 and subsequent steps are executed.

  In step S215, the control unit 20 acquires the state multiplier A of the second state as the state multiplier of the detection information by the process of the event information acquisition unit 21a. That is, when the point to be processed is a guide point candidate or a stop candidate, since the statistical information 30a is in the second state, the control unit 20 acquires 2 as the state multiplier A of the detection information (see FIG. 2B).

  Next, the control part 20 acquires the event multiplier B according to a guidance event by the process of the event information acquisition part 21a (step S220). The event multiplier is a value determined in advance for each guidance event, and is a numerical value greater than 1 that is set to be smaller as the priority order determined in advance for each guidance event is higher. In the present embodiment, 1 and 5 are associated with reverse running and sudden braking as guide events, respectively, and reverse running has a higher priority than sudden braking.

  Next, the control unit 20 sets the acquisition ratio of the detection information of the point to be processed as 1 / (AB) by the process of the event information acquisition unit 21a (step S225). That is, the control unit 20 associates information indicating an acquisition rate with information indicating a processing target point, and generates information indicating an acquisition condition for the processing target point for each guidance event. In this embodiment, the event multiplier B for reverse running is 1, the event multiplier B for sudden braking is 5, and the state multiplier A is 2, so the acquisition rate for reverse running is 1/2, The acquisition ratio is 1/10.

  In steps S230 to S240, substantially the same processing as the processing in steps S215 to S225 is executed for non-detection information. However, since the process of steps S230 to S240 is executed both when the point to be processed is a guide point and when it is a guide point candidate or a stop candidate, in step S230, the statistical information 30a is updated. The state multiplier A of the non-detection information is acquired according to the state. That is, when the point to be processed is a guide point, the statistical information 30a is in the first state, and thus the control unit 20 acquires 1 shown in FIG. On the other hand, when the point to be processed is a guide point candidate or a stop candidate, the statistical information 30a is in the second state, so the control unit 20 acquires 2 shown in FIG.

  As described above, in this embodiment, the acquisition ratio is determined by the product of the inverse of the state multiplier A and the inverse of the event multiplier B. Accordingly, the acquisition ratio depends on the state of the statistical information 30a (the first state to the third state), and the detection information is acquired from the detected vehicle C at a higher ratio as the priority order determined in advance for each guidance event is higher. Set to That is, when there are a plurality of guidance events, the importance to be guided may differ between guidance events. Therefore, in this embodiment, the priority according to the importance is determined in advance, and the detection information is acquired from the detected vehicle C at a higher rate as the priority is higher. Moreover, non-detection information is acquired from the non-detection vehicle C at a higher rate as the priority order determined in advance for each guidance event is higher.

  If step S240 is performed, the point which was the point of a process target until then will be excluded from object, and the process after step S210 will be performed. That is, when step S210 is executed again, if there is a guide point, a guide point candidate or a stop candidate around the current location of the vehicle C, and there is a point that is not set as a processing target point, in step S210, the vehicle It is determined that there is a guide point, a guide point candidate, or a stop candidate around the current location of C.

  In step S210, when it is not determined that there is a guide point or a guide point candidate or a stop candidate in the vicinity of the current location of the vehicle C, the control unit 20 calculates the event multiplier B corresponding to the guide event by the processing of the event information acquisition unit 21a. Obtain (step S245). Step S245 is the same as steps S220 and S235. Next, the control unit 20 sets the acquisition ratio of detection information targeting an arbitrary point as 1 / B by the event information acquisition unit 21a (step S250). That is, the control unit 20 sets the ratio of acquiring detection information from the vehicle C when the guidance event is detected at any point other than the guidance point, the guidance point candidate, and the stop candidate, as 1 / B, and indicates the arbitrary point. The information indicating the acquisition ratio is associated with the information, and the information indicating the acquisition condition for the arbitrary point is generated for each guidance event. In this embodiment, the event multiplier B for reverse running is 1 and the event multiplier B for sudden braking is 5, so the acquisition rate for reverse running is 1/1 and the acquisition rate for sudden braking is 1/5. It becomes.

  Next, the control part 20 transmits acquisition conditions with respect to the vehicle C by the process of the event information acquisition part 21a (step S255). That is, the control unit 20 associates information indicating the acquisition ratio set in Steps S225 and S240 with information indicating the position of the guide point, the guide point candidate, or the stop candidate. Moreover, the control part 20 matches the information which shows the acquisition rate set in step S250 with the information which shows an arbitrary point. And the control part 20 transmits the acquired information to the vehicle C as acquisition conditions. In the vehicle C, traveling history information 300b including detection information and non-detection information is transmitted to the driving support system 10 according to the acquisition conditions (details will be described later).

(3-3) Guide information transmission processing:
Next, the guidance information transmission process will be described in detail. The guidance information transmission process shown in FIG. 4B is executed when the vehicle C makes a guidance point acquisition request to the driving support system 10. The guide information transmitting process is executed by the control unit 20 by the guide information transmitting unit 21d. In the guidance information transmission process, the control unit 20 receives a guide point acquisition request via the communication unit 22 (step S200). That is, when transmitting an acquisition request for a guide point, the vehicle C adds information indicating the current location of the vehicle C and transmits the acquisition request. Therefore, the control unit 20 receives the acquisition request and specifies the current location of the vehicle C.

  Next, the control unit 20 searches for a guide point, a guide point candidate or a stop candidate around the current location of the vehicle C (step S305). That is, the control unit 20 searches the statistical information 30a using the current location of the vehicle C specified together with the acquisition request in step S300 as a key, and exists within a predetermined distance from the current location of the vehicle C with respect to the statistical information 30a. A process for specifying a guide point or a guide point candidate or a stop candidate is performed.

  Next, the control unit 20 determines whether there is a guide point, a guide point candidate, or a stop candidate around the current location of the vehicle C (step S310). In step S310, when it is not determined that there is a guide point or a guide point candidate or a stop candidate around the current location of the vehicle C, the control unit 20 ends the guide information transmission process. On the other hand, when it is determined in step S310 that there is a guidance point or a stop candidate around the current location of the vehicle C, the control unit 20 generates information indicating the point and the event (step S315). That is, the control unit 20 extracts, from the statistical information 30a, information indicating a guide point, a guide point candidate, or a stop candidate existing within a predetermined distance from the current location of the vehicle C, and information indicating the position of the point The information which matched the information which shows a guidance event with is produced | generated. When the point is a guide point or a stop candidate, the generated information is guide information indicating the guide point and the guide event.

  And the control part 20 transmits the information produced | generated in step S315 with respect to the vehicle C via the communication part 22 (step S320). When the vehicle C receives the information, a guidance event is guided in the vehicle C when the guidance point indicated by the information exists ahead. As a result, the possibility that the driver of the vehicle C causes the guidance event to recur can be suppressed.

(4) Guidance processing:
Next, the guidance process will be described in detail. FIG. 5 is a flowchart showing the guidance process. The guidance process is executed by the control unit 200 of the vehicle C every predetermined period (for example, 100 ms) by the process of the navigation program 210.

  In the guidance process, the control unit 200 first acquires the current location (step S400). That is, the control unit 200 acquires the current location of the vehicle C based on the output signals of the GPS receiving unit 410, the vehicle speed sensor 420, and the gyro sensor 430. Next, the control unit 200 transmits a guide point acquisition request (step S405). That is, the control unit 200 transmits a guide point acquisition request together with information indicating the current location of the vehicle C via the communication unit 220.

  When the guide point acquisition request is transmitted, the control unit 20 of the driving support system 10 transmits information indicating the point and the event by the guide information transmission process illustrated in FIG. 4B. The control unit 200 of the vehicle C receives information indicating the point and the event via the communication unit 220 and records the information as the guidance information 300c in the recording medium 300. Based on the guidance information 300c, the control unit 200 determines whether there is a guidance point or a stop candidate within a predetermined distance ahead of the vehicle C (step S410). That is, the control unit 200 refers to the map information 300a and guides the guide point indicated by the guide information 300c within a predetermined distance ahead of the vehicle C on the road existing in front of the current location acquired in step S400. Alternatively, it is determined whether there is a stop candidate.

  If it is determined in step S410 that there is a guidance point or a stop candidate within a predetermined distance in front of the vehicle C, the control unit 200 guides a guidance event (step S415). That is, a control signal for guiding the guidance point or the guidance event of the stop candidate indicated in the guidance information 300 c is output to the user I / F unit 450. As a result, a guidance event is guided from the user I / F unit 450. On the other hand, when it is not determined in step S410 that there is a guidance point or a stop candidate within a predetermined distance in front of the vehicle C, the control unit 200 skips step S415.

  Next, the control unit 200 transmits an acquisition request for acquisition conditions (step S420). That is, the control unit 200 transmits an acquisition condition acquisition request together with information indicating the current location of the vehicle C via the communication unit 220. When the acquisition request for the acquisition condition is transmitted, the control unit 20 of the driving support system 10 transmits the acquisition condition by the acquisition condition transmission process illustrated in FIG. 4A. The control unit 200 of the vehicle C receives the acquisition condition via the communication unit 220, and specifies a guide point, a guide point candidate, and a stop candidate that are associated with the acquisition condition.

  Next, the control unit 200 determines whether or not these guide points, guide point candidates, or stop candidates exist within a predetermined distance in front of the vehicle C (step S425). In step S425, when it is determined that there is a guide point or a guide point candidate or a stop candidate within a predetermined distance in front of the vehicle C, the control unit 200 selects the guide point or the guide point candidate or the stop candidate. Wait until it is determined that it has passed (step S430).

  When it is determined in step S425 that the vehicle C has passed through these guide points or guide point candidates or stop candidates, the control unit 200 has detected a guide event at these guide points or guide point candidates or stop candidates. It is determined whether or not (step S435). That is, the control unit 200 determines whether or not sudden braking has been performed from the output history of the brake sensor 440 in a state where the vehicle C exists within a predetermined distance from the guidance point or the guidance point candidate or stop candidate, When sudden braking is being performed, it is considered that sudden braking as a guidance event has been detected. In addition, the control unit 200 determines from the history of the current location of the vehicle C and the traveling direction on the road section indicated by the map information 300a when the vehicle C exists within a predetermined distance from the guidance point or the guidance point candidate or the stop candidate. Then, it is determined whether or not the vehicle C runs backward on the road section. When it is determined that the vehicle has run backward, the control unit 200 considers that the vehicle has run backward as a guidance event.

  If it is determined in step S435 that a guidance event has been detected at the guidance point, the guidance point candidate, or the stop candidate, the vehicle C becomes the detected vehicle C. In this case, the control unit 200 determines whether or not the detection information acquisition condition is satisfied (step S440). That is, the control unit 200 specifies the acquisition conditions for the guidance point or the guidance point candidate or the stop candidate determined to have passed in step S430 from the acquisition conditions acquired in step S420, and detects the detection information from the vehicle C. It is determined whether or not a condition for transmitting is established. Here, it is only necessary to be able to determine whether or not the condition for transmitting the detection information is satisfied so that the detection information is transmitted at the rate indicated in the acquisition condition. For example, the detection time of the guidance event is set as the condition. It is possible to assume a configuration for determining whether or not they match. More specifically, when the number of seconds at the detection time is the number of seconds that appears at the acquisition rate that is the acquisition condition (for example, when the acquisition rate is 1/10, the number of seconds that appears once every 10 seconds) It is possible to adopt a configuration for determining that the acquisition condition is satisfied. Of course, it is good also as a structure which determines whether acquisition conditions are satisfied by other information, for example, ID of the navigation terminal 100 of the vehicle C, etc.

  When it is determined in step S440 that the detection information acquisition condition is satisfied, the control unit 200 transmits a travel history including the detection information (step S445). That is, the control unit 200 defines information indicating the guidance event determined to be detected in step S435 and information indicating the point where the guidance event is detected as detection information, and includes the detection information via the communication unit 220. The travel history is transmitted to the driving support system 10. If it is not determined in step S440 that the detection information acquisition condition is satisfied, the control unit 200 skips step S445.

  On the other hand, if it is not determined in step S435 that a guidance event has been detected at the guidance point, the guidance point candidate, or the stop candidate, the vehicle C becomes the non-detected vehicle C. In this case, the control unit 200 determines whether or not an acquisition condition for non-detection information is satisfied (step S450). That is, the control unit 200 specifies the acquisition conditions for the guidance point or the guidance point candidate or the stop candidate determined to have passed in Step S430 from the acquisition conditions acquired in Step S420, and does not detect from the vehicle C. It is determined whether a condition for transmitting information is satisfied.

  And when it determines with satisfy | filling the acquisition conditions of non-detection information in step S450, the control part 200 transmits the driving | running | working log | history containing non-detection information (step S455). That is, the control unit 200 defines information indicating a guidance event that is a target to be determined in step S435 and information indicating a guidance point, a guidance point candidate, or a stop candidate as non-detection information, and the communication unit A travel history including the non-detection information is transmitted to the driving support system 10 via 220. If it is not determined in step S450 that the non-detection information acquisition condition is satisfied, the control unit 200 skips step S455.

  In step S425, when it is not determined that there is a guide point or a guide point candidate or a stop candidate within a predetermined distance in front of the vehicle C, the information to be detected in the vehicle C is detection information about an arbitrary point. Therefore, the control unit 200 determines whether or not a guidance event has been detected within a range in which the vehicle has traveled within a predetermined period in which the guidance process shown in FIG. 5 is repeatedly executed (step S460). That is, the control unit 200 determines whether or not sudden braking or reverse running has been detected from the output history of the brake sensor 440 and the history of the current location of the vehicle C when the vehicle C exists within the range traveled within the predetermined period. judge.

  If it is determined in step S460 that a guidance event has been detected in the range that has traveled within the predetermined period, the vehicle C becomes the detected vehicle C. In this case, the control unit 200 determines whether or not the detection information acquisition condition is satisfied (step S465). That is, the control unit 200 identifies the detection information acquisition condition at an arbitrary point from the acquisition conditions acquired in step S420, and determines whether or not the condition for transmitting the detection information from the vehicle C is satisfied. To do.

  If it is determined in step S465 that the detection information acquisition condition is satisfied, control unit 200 transmits a travel history including the detection information (step S470). That is, the control unit 200 defines information indicating the guidance event determined to be detected in step S460 and information indicating the point where the guidance event is detected as detection information, and includes the detection information via the communication unit 220. The travel history is transmitted to the driving support system 10. If it is not determined in step S465 that the detection information acquisition condition is satisfied, the control unit 200 skips step S470.

(5) Other embodiments:
The above embodiment is an example for carrying out the present invention, and various other embodiments can be adopted. The guidance point acquisition unit only needs to be able to acquire a guidance point for performing guidance related to the guidance event to be guided with reference to the recording medium. That is, information for specifying the guidance target is recorded on the recording medium in a state where the guidance point for performing guidance related to the guidance event that is the guidance target in the vehicle has already been specified. Accordingly, it is only necessary that the guide point acquisition unit can acquire the guide point based on the information. The guidance event to be guided is a target for encouraging the driver of the vehicle so that the guidance event does not recur when the vehicle travels, and various events can be assumed. For example, various events are envisaged, such as a driver's driving operation mistake, a driving operation for avoiding danger, and instability of the behavior of the vehicle induced by a driving environment such as wind and road surface.

  The occurrence of these events may be specified by detecting the event with the vehicle, and the point where the event is detected may be statistically specified as the guide point. Therefore, the travel history including detection information indicating that the event has been detected and non-detection information indicating that the event has not been detected at the guide point is acquired and recorded on the recording medium to identify the guide event and the guide point. It should be done. In addition, the guidance performed in a guidance point should just be the guidance relevant to a guidance event, and various structures can be employ | adopted besides the structure in which the guidance event itself is guided like the above-mentioned embodiment. For example, when the guidance event is an event to be noted, a configuration in which it is guided that the guidance point is a caution point may be employed.

  The event information acquisition unit only needs to be able to acquire non-detection information indicating that no guidance event has been detected from a non-detected vehicle in which no guidance event has been detected at the guidance point. Non-detection information is acquired from a non-detected vehicle in which a guidance event has not been detected at the guidance point. That is, after the guidance point and the guidance event are specified, at least when the guidance event is not detected in the vehicle that has traveled the guidance point, non-detection information indicating that is defined, and the driving support system Is ready to be recorded on a recording medium.

  The recorded information management means determines whether or not to stop the guidance related to the guidance event at the guidance point based on the non-detection information, and relates to the guidance event at the guidance point determined to stop the guidance related to the guidance event. It is only necessary that the information recorded on the recording medium can be corrected so as to stop the guidance to be performed. For example, based on non-detection information, if it is statistically concluded that the number of occurrences or the probability of occurrence of guidance events has decreased as a result of eliminating the cause of the guidance event at the guidance point, It is possible to adopt a configuration in which it is determined that related guidance is to be stopped. In this determination, the guidance at the guidance point is earlier compared to the configuration in which it is determined whether or not the guidance related to the guidance event at the guidance point is stopped only from the detection information by referring to the non-detection information. What is necessary is just to be able to specify that the guidance related to the event should be stopped. Therefore, the analysis may be performed in consideration of other information, for example, detection information and the like in addition to the non-detection information.

  Various configurations can be adopted for correcting the information recorded on the recording medium so as to stop the guidance related to the guidance event at the guidance point, and the information indicating the guidance point is deleted from the recording medium. May be. In addition, a flag for controlling execution and stop of guidance at the guidance point is recorded in a recording medium in association with each guidance point, and by setting the flag so as to stop guidance at the guidance point, You may comprise so that the information recorded on the recording medium may be corrected so that the guidance relevant to the guidance event in a guidance point may be stopped.

  The guidance information transmitting means only needs to be able to acquire information indicating the guidance point where the guidance related to the guidance event is not stopped and the guidance event from the recording medium and transmit the information to the vehicle. That is, when a vehicle travels a guide point (or a range of a predetermined distance from the guide point), information indicating the guide point and the guide event is acquired in the vehicle so that guidance related to the guide event at the guide point is performed. And transmit to the vehicle. In a vehicle, when traveling on a guide point (or a range of a predetermined distance from the guide point) based on information indicating the guide point and the guide event, a process for performing guidance related to the guide event at the guide point is executed. To do. The process may be performed using various systems such as a navigation system and an instrument panel.

  Further, the event information acquisition means acquires the non-detection information and the detection information indicating that the guidance event is detected from the detected vehicle in which the guidance event is detected at the guidance point, and the non-detection information from the non-detection vehicle. The information is acquired in the first state where the ratio of acquiring the detected information from the detected vehicle is greater than the ratio of acquiring the detected information, and the recorded information management means determines the guidance event based on the statistics of the non-detected information acquired in the first state. It is good also as a structure which specifies the guidance point used as the candidate which stops related guidance.

  That is, when it is estimated from the statistics of the non-detection information acquired in the first state that there is a possibility that the guidance event has been eliminated, a guidance point that is a candidate for stopping guidance related to the guidance event is selected. Identify. Then, the recorded information management means determines whether or not to stop the guidance related to the guidance event for the candidate guidance point. On the other hand, it is not determined whether or not to stop guidance related to the guidance event for guidance points that are not candidates. That is, it is not determined whether or not to stop the guidance related to the guidance event for all the points that have been identified as the guidance points. Therefore, according to the above configuration, it is possible to prevent a guidance event from being resolved, and it is possible to prevent the determination process from being performed too many times.

  In the first state, it is only necessary that the ratio of acquiring the non-detection information from the non-detected vehicle is higher than the ratio of acquiring the detection information from the detected vehicle. That is, whether or not to stop the guidance related to the guidance event is determined based on the non-detection information. Therefore, the ratio of acquiring the non-detection information from the non-detection vehicle is higher than the ratio of acquiring the detection information from the detection vehicle. To be more. Specifically, when there are a plurality of detected vehicles in which a guidance event is detected at a guidance point, the event information acquisition means does not acquire detection information from all detected vehicles, but the driving support system The acquisition ratio is controlled so that the detection information is acquired at a predetermined ratio (0 <predetermined ratio <1) smaller than that of the non-detected vehicle. As a result, the amount of communication between the detected vehicle and the driving support system can be suppressed. Note that the ratio of acquiring non-detection information from the non-detected vehicle may be 1 or less, but if the ratio is smaller than 1, the communication amount between the non-detected vehicle and the detected vehicle and the driving support system is suppressed. be able to. Further, in the above configuration in which the information is acquired in a state where the ratio of acquiring the non-detection information from the non-detection vehicle and the ratio of acquiring the detection information from the detection vehicle is specified, Statistical analysis can be performed in a state where the total number of undetected vehicles and detected vehicles can be estimated.

  Furthermore, after a guidance point that is a candidate for stopping guidance related to a guidance event is identified, a rate at which event information acquisition means acquires non-detection information from a non-detected vehicle and a rate at which detection information is acquired from a detected vehicle The information is acquired in the second state equal to and the recorded information management means determines that the guide event is a guide event at a candidate guide point where the guidance related to the guide event is stopped based on the statistics of the non-detection information acquired in the second state. It is good also as a structure which determines whether the related guidance is stopped. That is, in the second state, the ratio of acquiring non-detection information from a non-detected vehicle is equal to the ratio of acquiring detection information from a detected vehicle, so the sum of non-detection information and detection information detects a guidance event. Analysis processing can be performed by regarding the parameter as the parameter of information transmitted from the vehicle. Therefore, if the non-detection information acquired in the second state is statistically analyzed, an analysis equivalent to the analysis comparing the parameter and the non-detection information can be performed. For example, by the acquisition number / parameter of the non-detection information It is possible to specify a ratio at which no guidance event is detected at the guidance point. Therefore, it is possible to determine with high reliability whether or not the cause of the guidance event has been resolved based on the statistics, and to determine with high reliability whether or not the guidance related to the guidance event at the guidance point should be stopped. be able to.

  Further, the event information acquisition means acquires information in a third state in which the ratio of acquiring non-detection information from the non-detected vehicle is less than the ratio of acquiring detection information from the detected vehicle, and the recorded information management means is in the third state Guidance point candidates are identified based on the detection information statistics acquired in Step 2, and it is determined whether the guidance point candidates are guidance points based on the detection information statistics acquired in the second state. When the point candidate is the guide point, the guide point candidate may be recorded on the recording medium as the guide point. That is, even when the guide point candidate is specified, the guide point candidate is specified based on the statistics of the detection information acquired in the third state where the traffic is small. In addition, if a candidate is specified, whether or not it is a guide point based on statistics of detection information acquired in the second state that can perform an analysis equivalent to an analysis that compares the parameter and the detection information The configuration is specified.

  Further, the recorded information management means may acquire non-detection information for each guidance event, and may acquire non-detection information from a non-detection vehicle at a higher rate as the priority order predetermined for each guidance event is higher. . That is, if the ratio of acquiring non-detection information is specified in advance, the number of non-detection information acquired in all non-detection vehicles can be estimated, but the greater the ratio of acquiring non-detection information, the greater the statistical accuracy. Will improve. When it is assumed that there are a plurality of guidance events, the importance to be guided may differ between guidance events. Therefore, if priority is determined in accordance with the importance, and the higher the priority, the higher the non-detection information is acquired from the non-detected vehicle, the higher the priority, the higher the statistical accuracy. It is. Of course, the detection information may be acquired for each guidance event, and the detection information may be acquired from the detected vehicle at a higher rate as the priority order predetermined for each guidance event is higher.

  Various guidance events can be assumed in addition to the above-described sudden braking and reverse running. For example, vehicle C meandering due to U-turns or crosswinds at intersections where U-turns are prohibited, etc., slipping of vehicle C, blocking of specific lanes, delays in driver operation, delays in driver recognition, prospects in curve sections The occurrence of a bad state, the occurrence of a step on the road, etc. can be assumed as guide events. In this example, it is possible to adopt a configuration in which the priority is higher as the guidance event is described earlier.

  Furthermore, the method of determining whether or not to stop guidance related to a guidance event at a guidance point based on non-detection information as in the present invention can be applied as a program or method. In addition, the system, program, and method as described above may be realized as a single device, or may be realized using components shared with each part of the vehicle, and include various aspects. It is a waste. For example, it is possible to provide a navigation system, a travel history information management system and method, and a program that include the above-described devices. Further, some changes may be made as appropriate, such as a part of software and a part of hardware. Furthermore, the invention is also established as a recording medium for a program for controlling the apparatus. Of course, the software recording medium may be a magnetic recording medium, a magneto-optical recording medium, or any recording medium to be developed in the future.

  DESCRIPTION OF SYMBOLS 10 ... Driving assistance system, 20 ... Control part, 21 ... Driving assistance program, 21a ... Event information acquisition part, 21b ... Guidance point acquisition part, 21c ... Record information management part, 21d ... Guidance information transmission part, 22 ... Communication part, DESCRIPTION OF SYMBOLS 30 ... Recording medium, 30a ... Statistical information, 30b ... Travel history information, 100 ... Navigation terminal, 200 ... Control part, 210 ... Navigation program, 220 ... Communication part, 300 ... Recording medium, 300a ... Map information, 300b ... Travel history Information, 300c ... Guide information, 410 ... GPS receiver, 420 ... Vehicle speed sensor, 430 ... Gyro sensor, 440 ... Brake sensor, 450 ... User I / F part

The function of stopping the guidance of the guidance event at the guidance point is realized by the determination based on the non-detection information. In other words, the control unit 20 determines whether or not to stop the guidance of the guidance event at the guidance point based on the non-detection information acquired as the travel history information 30b by the processing of the recording information management unit 21c. Specifically, in the present embodiment, the control unit 20 stops the acquisition rate of non-detection information, that is, the number of non-detection information acquisitions / (number of non-detection information acquisitions + number of detection information acquisitions) determined in advance. It determines that determines whether a ratio above, when acquisition of the non-detection information is stopped ratios above, stops the guidance on the guidance events.


Claims (8)

  1. Guidance point acquisition means for acquiring a guidance point for performing guidance related to a guidance event to be guided with reference to a recording medium;
    Event information acquisition means for acquiring non-detection information indicating that the guidance event was not detected from a non-detected vehicle in which the guidance event was not detected at the guidance point;
    It is determined whether to stop guidance related to the guidance event at the guidance point based on the non-detection information, and is related to the guidance event at the guidance point determined to stop guidance related to the guidance event. Recording information management means for correcting information recorded on the recording medium so as to stop guidance to be performed;
    Guidance information transmitting means for acquiring information indicating the guidance point and the guidance event from which the guidance related to the guidance event is not stopped from the recording medium and transmitting the information to the vehicle;
    A driving support system comprising:
  2. The event information acquisition means includes
    Obtaining the non-detection information and detection information indicating that the guidance event is detected from a detected vehicle in which the guidance event is detected at the guidance point;
    Acquiring information in a first state in which the ratio of acquiring the non-detection information from the non-detection vehicle is greater than the ratio of acquiring the detection information from the detection vehicle;
    The recorded information management means includes
    Identifying the guide points that are candidates for stopping guidance related to the guidance event based on statistics of the non-detection information acquired in the first state;
    The driving support system according to claim 1.
  3. The event information acquisition means includes
    Acquiring information in a second state in which the ratio of acquiring the non-detection information from the non-detected vehicle and the ratio of acquiring the detection information from the detected vehicle are equal;
    The recorded information management means includes
    Determining whether or not to stop the guidance related to the guidance event at the guidance point of the candidate to stop the guidance related to the guidance event based on the statistics of the non-detection information acquired in the second state;
    The driving support system according to claim 2.
  4. The event information acquisition means includes
    Acquiring information in a third state in which the ratio of acquiring the non-detection information from the non-detection vehicle is less than the ratio of acquiring the detection information from the detection vehicle;
    The recorded information management means includes
    The guide point candidate is specified based on the detection information statistics acquired in the third state, and the guide point candidate is determined based on the detection information statistics acquired in the second state. If the guide point candidate is the guide point, the guide point candidate is recorded on the recording medium as the guide point.
    The driving support system according to claim 3.
  5. The recorded information management means includes
    The non-detection information is acquired for each guidance event, and the non-detection information is acquired from the non-detection vehicle at a higher rate as the priority order predetermined for each guidance event is higher.
    The driving assistance system in any one of Claims 1-4.
  6. The event information acquisition means acquires a travel history from a plurality of vehicles and records the travel history on the recording medium, and acquires the non-detection information based on the travel history.
    The driving support system according to any one of claims 1 to 5.
  7. A guidance point acquisition step of acquiring a guidance point for performing guidance related to a guidance event to be guided with reference to a recording medium;
    An event information acquisition step of acquiring non-detection information indicating that the guidance event was not detected from a non-detected vehicle in which the guidance event was not detected at the guidance point;
    It is determined whether to stop guidance related to the guidance event at the guidance point based on the non-detection information, and is related to the guidance event at the guidance point determined to stop guidance related to the guidance event. A record information management step of correcting information recorded on the recording medium so as to stop the guidance to be performed;
    A guide information transmitting step of acquiring information indicating the guide point and the guide event that have not been stopped from the recording medium, and transmitting the information to the vehicle; and
    Driving support method including.
  8. A guidance point acquisition function for acquiring a guidance point for performing guidance related to a guidance event to be guided with reference to a recording medium;
    An event information acquisition function for acquiring non-detection information indicating that the guidance event was not detected from a non-detected vehicle in which the guidance event was not detected at the guidance point;
    It is determined whether to stop guidance related to the guidance event at the guidance point based on the non-detection information, and is related to the guidance event at the guidance point determined to stop guidance related to the guidance event. A recorded information management function for correcting information recorded on the recording medium so as to stop the guidance to be performed;
    Guidance information transmission function for acquiring information indicating the guidance point and the guidance event from which the guidance related to the guidance event is not stopped from the recording medium and transmitting the information to the vehicle;
    Driving support program that realizes the computer.
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JP2003042776A (en) * 2001-08-01 2003-02-13 Nippon Telegr & Teleph Corp <Ntt> Arrival time prediction system and method
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