WO2007088859A1

WO2007088859A1 - Road surface condition determination device, route search device, position setting method, road surface condition determination method, route search method, position setting method, program, and recording medium

Info

Publication number: WO2007088859A1
Application number: PCT/JP2007/051516
Authority: WO
Inventors: Toshiharu Baba
Original assignee: Pioneer Corporation
Priority date: 2006-02-01
Filing date: 2007-01-30
Publication date: 2007-08-09
Also published as: JPWO2007088859A1; JP4734349B2

Abstract

Information on outdoor air temperature in the periphery of a mobile body is acquired by a temperature information acquisition section (101), and at the same time, a GPS signal is received by a receiving section (102) and a first speed is calculated by a first speed calculation section (103). Then, information on the speed of the mobile body is acquired by the speed information acquisition section (104) from a sensor mounted on the mobile body, and a second speed is calculated by a second speed calculation section (105). A determination section (106) determines conditions of a road surface on which the mobile body is traveling and provides the result to a user, where the determination is based on the information on the outdoor air temperature, the first speed, and the second speed.

Description

Specification

Road surface condition determination device, route search device, position setting device, road surface condition determination method, route search method, position setting method, program, and recording medium

Technical field

[0001] The present invention automatically determines a road surface condition on which a moving object is traveling, and uses the determination result of the road surface condition to determine a route and position of the moving object. The present invention relates to a device, a position setting device, a road surface condition determination method, a route search method, a position setting method, a program, and a recording medium.

Background art

[0002] Conventionally, as a technology for judging the road surface condition while a moving body such as a vehicle is running, a visible image (camera) type, an on-road / under-road antenna type, a radio wave radiation type, a radiant energy reception type on the road surface or in the sky Various methods are disclosed. In addition, a navigation device is also disclosed that determines the road surface condition by detecting the operation of a device whose usage status changes according to weather conditions, such as a wiper or fog lamp, without adding a new detection device (for example, See Patent Document 1 below.)

[0003] Patent Document 1: Japanese Patent Application Laid-Open No. 2003-161628

Disclosure of the invention

Problems to be solved by the invention

[0004] However, in the case of the various road surface condition determination methods described above, a new detection device must be mounted on the moving body, which requires cost and installation space for the detection device. An example is the problem of burdens on users.

[0005] In addition, in the case of the navigation device described in Patent Document 1, the operation of the wiper, the fog lamp, etc. depends on the control of the user, so that the user can accurately grasp the weather condition outside the moving body. One example is the problem that the road surface situation cannot be judged correctly if appropriate settings are not made.

Means for solving the problem

[0006] In order to solve the above-described problems and achieve the object, the road surface condition according to the invention of claim 1 The determination device includes temperature information acquisition means for acquiring information related to the outside temperature around the moving body,

Using the receiving means for receiving the GPS signal and the information of the GPS signal,

A first speed calculating means for calculating a speed of 1, a speed information acquiring means for acquiring information on the speed of the moving body from a sensor mounted on the moving body, and the information on the speed. A second speed calculating means for calculating a second speed of the moving body; and a road surface on which the moving body travels based on the information on the outside air temperature, the first speed, and the second speed. And a judging means for judging the situation.

[0007] Further, in the route search device according to the invention of claim 7, the road surface condition determination device according to any one of claims 1 to 6 and the mobile body by the road surface condition determination device travel. And a search means for searching for a route to the destination based on the determination result of the road surface condition and the regional characteristics to which the destination belongs.

[0008] Further, a position setting device according to the invention of claim 8 is based on the road surface condition determination device according to any one of claims 1 to 6 and the GPS signal. A first positioning means for positioning the position, a second positioning means for positioning the position of the moving body using the second speed, a positioning result of the first positioning means, and a positioning result of the second positioning means. And setting means for setting the position of the moving body using the above-mentioned setting means, based on the determination result of the condition of the road surface on which the moving object is traveling by the road surface condition determining device. The ratio of using the positioning result of the first positioning means and the positioning result of the second positioning means is determined.

[0009] Further, the road surface condition determination method according to the invention of claim 9 includes an air temperature information acquisition step of acquiring information on the outside air temperature around the moving body, a reception step of receiving a GPS signal, and the GP S signal. A first speed calculating step of calculating a first speed of the moving body using the information of the sensor, a sensor force mounted on the moving body, a speed information acquiring step of acquiring information on the speed of the moving body, A second speed calculating step for calculating a second speed of the moving body using the information on the speed, and the information on the outside air temperature, the first speed, and the second speed. And a determination step of determining the state of the road surface on which the mobile body travels!

[0010] Further, the route search method which is effective for the invention of claim 10 relates to the outside air temperature around the moving body. A temperature information acquisition step of acquiring information; a reception step of receiving a GPS signal; a first speed calculation step of calculating a first speed of the mobile body using the information of the GPS signal; and the mobile body The sensor force mounted on the speed information acquisition step of acquiring information on the speed of the moving body, the second speed calculation step of calculating the second speed of the moving body using the information on the speed, Based on the information on the outside air temperature, the first speed, and the second speed, a judgment process for judging the road surface where the mobile body travels! And a search step of searching for a route to the destination based on the result and the regional characteristics to which the destination belongs.

[0011] Further, the position setting method according to the invention of claim 11 uses an air temperature information acquisition step of acquiring information on the outside air temperature around the moving body, a reception step of receiving a GPS signal, and information on the GPS signal. A first speed calculating step for calculating a first speed of the moving body, a sensor force mounted on the moving body, a speed information acquiring step for acquiring information on the speed of the moving body, and the speed A second speed calculating step of calculating a second speed of the moving body using information; and the moving body based on the information on the outside air temperature, the first speed, and the second speed. Using the second speed, the first step of determining the position of the moving body based on the GPS signal, and the second speed. Second positioning process for positioning the position of the moving object and determination of the determination process A determination step for determining a ratio of the positioning result of the first positioning step and the positioning result of the second positioning step used for setting the position of the moving body based on the results, and the first positioning according to the ratio And a setting step of setting the position of the moving body using the result of the step and the result of the second positioning step.

[0012] Further, a program according to claim 12 is characterized by causing a computer to execute the method according to any one of claims 9 to L1.

[0013] Further, the recording medium according to claim 13 records the program according to claim 12.

Brief Description of Drawings

FIG. 1 is a block diagram showing a functional configuration of a road surface condition judging device according to an embodiment of the present invention. [FIG. 2] FIG. 2 is a flowchart showing the contents of processing of the road surface condition judging device.

FIG. 3 is a block diagram showing a functional configuration of the route search apparatus according to the present embodiment of the present invention.

FIG. 4 is a flowchart showing the contents of processing of the route search device.

FIG. 5 is a block diagram showing a functional configuration of the position setting device according to the present embodiment of the present invention.

FIG. 6 is a flowchart showing the contents of processing of the position setting device.

[FIG. 7] FIG. 7 is a block diagram showing a hardware configuration of a navigation apparatus that is effective in the present embodiment.

[FIG. 8] FIG. 8 is a flowchart (part 1) showing the processing contents of the navigation device.

[FIG. 9] FIG. 9 is a flowchart (part 2) showing the contents of the processing of the navigation device.

FIG. 10 is a flowchart (part 3) showing the contents of the processing of the navigation device.

FIG. 11 is a flowchart (part 4) showing the contents of the processing of the navigation device.

FIG. 12 is an explanatory diagram showing a configuration of a ring buffer that stores a vehicle speed pulse speed VPn [m / 100 ms].

FIG. 13 is an explanatory diagram showing a configuration of a ring buffer that stores a change amount (vehicle speed pulse acceleration) AVPn [mZs ² ] of the vehicle speed pulse speed VPn [mZs].

[14] FIG 14 is an explanatory view showing a configuration of a Ringuba Ffa storing the acceleration sensor acceleration ^{Δ VAn [m / s 2 /} 100ms].

FIG. 15 is an explanatory diagram showing a configuration of a ring buffer that stores a road surface inclination angle Θ Pn [rad.].

[FIG. 16] FIG. 16 is an explanatory diagram showing the correspondence between the vertical component sin Θ Pn and the road surface inclination angle Θ Pn [rad.].

[Figure 17] Figure 17 shows the amount of change in road slope angle Θ Pn [rad.] (Road slope angular velocity) Δ Θ Pn [ra d. It is explanatory drawing which shows the structure of the ring buffer which stores Zs].

FIG. 18 is an explanatory diagram showing a configuration of a ring buffer that stores a horizontal (X) direction component of a GPS speed VGGn [kmZh].

FIG. 19 is an explanatory diagram showing a configuration of a ring buffer that stores a vertical (y) direction component of a GPS speed VGGn [km / h].

FIG. 20 is an explanatory diagram showing the configuration of a ring buffer that stores GPS speed VGn [mZs].

[FIG. 21] FIG. 21 is an explanatory diagram (part 1) showing a method of calculating the road surface inclination angle Θ Gn [rad.].

[FIG. 22] FIG. 22 is an explanatory diagram (part 2) showing a method of calculating the road surface inclination angle Θ Gn [rad.].

圆 23] FIG. 23 is an explanatory diagram showing an example of a drive type selection screen.

FIG. 24 is an explanatory diagram showing an example of a wheel type selection screen.

FIG. 25 is an explanatory diagram showing an example of a selection screen for whether or not a tire chain is mounted. Explanation of symbols

100 Road surface condition judgment device

101 Temperature information acquisition unit

102 Receiver

103 First speed calculator

104 Speed information acquisition unit

105 Second speed calculator

106 Judgment part

300 route search device

301 Search unit

500 Position setting device

501 1st positioning unit

502 Second positioning unit

503 Setting section 700 navigation equipment

701 Running / stop judgment unit

702 Outside air temperature judgment part

703 Outside temperature acquisition department

704 GPS speed acquisition unit

705 First road slope angle calculator

706 Road surface slope comparison judgment section

707 Vehicle speed pulse speed calculator

708 Acceleration calculator

709 Second road slope angle calculation unit

710 Road slope angle judgment part

711 Vehicle speed comparison / determination unit

712 Vehicle acceleration comparison / determination unit

713 First standard deviation calculator

714 1st standard deviation judgment part

715 Second standard deviation calculator

716 Second standard deviation judgment part

717 Condition counter judgment unit

718 Warning notification presence / absence flag determination unit

719 Driver notification determination unit

720 Route guidance priority determination unit

721 Hybrid navigation weighting judgment unit

BEST MODE FOR CARRYING OUT THE INVENTION

[0016] Hereinafter, with reference to the accompanying drawings, preferred embodiments of a road surface condition determination device, a route search device, a position setting device, a road surface condition determination method, a route search method, a position setting method, a program, and a recording medium according to the present invention The embodiment will be described in detail.

[0017] (Functional configuration of road surface condition judging device)

FIG. 1 is a block diagram showing a functional configuration of the road surface condition judging device according to the present embodiment of the present invention. FIG. As shown in FIG. 1, the road surface condition determination device 100 includes an air temperature information acquisition unit 101, a reception unit 102, a first speed calculation unit 103, a speed information acquisition unit 104, and a second speed calculation unit 105. Part 106.

[0018] The temperature information acquisition unit 101 acquires information about the outside temperature around the moving body. The information on the outside air temperature is the outside air temperature around the moving body. In addition, when the moving body has a closed space such as a vehicle, the temperature difference between the inside and the outside of the moving body may be used. This information on the outside air temperature is a criterion for determining whether or not the road surface on which the moving body is traveling is frozen or snowy. The temperature information acquisition unit 101 outputs information about the acquired outside temperature to the determination unit 106.

[0019] The receiving unit 102 receives a GPS signal. GPS signals are radio waves transmitted from four GPS satellites arranged in six circular tracks at an altitude of about 20,000 km. By receiving multiple GPS signals and detecting errors between GPS signals, information such as latitude, longitude, and altitude can be determined with an accuracy of several tens of meters. The receiving unit 102 outputs the received GPS signal to the first speed calculating unit 103.

The first speed calculation unit 103 calculates the speed of the moving body using the information of the GPS signal input from the reception unit 102. As described above, the latitude, longitude and altitude of the moving object are obtained by using the GPS signal. The first speed calculation unit 103 records changes of the latitude, longitude, and altitude information according to time, and calculates the speed of the moving object. Hereinafter, the speed calculated using the GPS signal is the first speed. The first speed calculation unit 103 outputs the calculated first speed to the determination unit 106.

[0021] The speed information acquisition unit 104 acquires information about the speed of the sensor force mobile body mounted on the mobile body. The sensor is a detecting means having a function of detecting the operation (rotation) of the wheel of the moving body. For example, a sensor that detects vehicle speed pulses may be used. A vehicle speed pulse is a signal obtained by detecting the rotation of a wheel of a moving object by a sensor. The speed information acquisition unit 104 outputs information about the acquired speed of the moving body to the second speed calculation unit 105.

The second speed calculation unit 105 calculates the speed of the moving object using the information on the speed of the moving object acquired by the speed information acquisition unit 104. When the vehicle speed pulse is acquired as information on the speed of the moving object, the speed of the moving object is changed according to the change in the frequency of the vehicle speed pulse. Is calculated. In the following, unlike the first speed, the speed calculated by detecting the movement of the wheels of the moving object is called the second speed. Second speed calculation unit 105 outputs the calculated second speed to determination unit 106.

[0023] The determination unit 106 includes information on the outside air temperature input from the air temperature information acquisition unit 101, the first speed input from the first speed calculation unit 103, and the first speed input from the second speed calculation unit 105. Based on the speed of 2, determine the road surface where the moving body is traveling.

[0024] The judgment unit 106 judges whether or not it is in a frozen state or a snowy state, whether the road surface is level, whether it is an uphill force, a downhill, In some cases, the road surface is like how much the slope is. The determination unit 106 classifies each input parameter and determines the optimum road surface condition.

[0025] (Processing contents of road surface condition judging device)

Below, the content of the process of the road surface condition judgment apparatus concerning this invention is demonstrated. FIG. 2 is a flowchart showing the contents of the processing of the road surface condition judging device. In the flowchart of FIG. 2, first, the temperature information acquisition unit 101 acquires information about the outside temperature (step S201).

[0026] Simultaneously with the process of step S201, the GPS signal is acquired by the receiving unit 102 (step S202), and the first speed calculation unit 103 calculates the first speed (step S203). At the same time as the processing of step S202 and step S203, information on the speed is acquired from the sensor mounted on the moving body (step S204), and the second speed calculation unit 105 calculates the second speed ( Step S205).

[0027] When the processing of step S201, step S203, and step S205 is completed, the determination unit 106 next performs information on the outside air temperature acquired in step S201 and the first and second values calculated in steps S203 and S305. The road surface condition is judged based on the speed of the road (step S206).

[0028] Subsequently, it is determined whether or not the power to end the processing of the road surface condition determination device 100 is determined (step S2 07). When the road surface condition determination is continued (step S207: No), the process returns to step S201, and the processes from step S201 to step S206 are repeated. When the road surface condition determination is to be ended (step S207: Yes), the series of processes is ended as it is. [0029] As described above, the road surface condition judging device 100 according to the embodiment of the present invention assists the driver of the moving body in the situation judgment operation by judging the road surface condition with high accuracy. Therefore, the burden on the driver can be reduced.

[0030] As another embodiment, in order to make the determination of the road surface condition by the determination unit 106 of the road surface condition determination device 100 as described above more accurate, the acceleration of the first speed or the second speed is used as a parameter. May be used. When using acceleration, the first speed calculation unit 103 and the second speed calculation unit 105 should have a function for calculating acceleration. In order to calculate the acceleration, a recording means for recording the speed every minute time and a recording means for recording the change in speed every minute time are required. As a recording means, for example, a ring buffer or the like is preferably used for recording by a FIFO (First-In First-Out) method.

[0031] Further, a means for calculating the road surface inclination angle using the horizontal speed and the vertical speed of the first speed calculated by the first speed calculation unit 103, and the second speed calculation unit 105 Means for calculating the slope angle of the road surface using the measured second speed, and the road surface slope angle calculated by the first speed force and the road speed slope angle calculated by the second speed force It can be used as a parameter to judge.

[0032] Furthermore, the road surface condition determination apparatus 100 may be provided with a functional unit that acquires drive method information. The drive system information is added to the information on whether the drive system power of the moving body is SFF, FR, MR, RR, or 4WD, and the information such as how much the tire type is and the chain is installed. Including. When such driving method information is added to one of the parameters used as criteria for judging the road surface condition in the judgment unit 106, the road surface condition can be judged with higher accuracy.

[0033] (Functional configuration of route search apparatus)

FIG. 3 is a block diagram showing a functional configuration of the route search apparatus according to this embodiment of the present invention. As illustrated in FIG. 3, the route search device 300 includes a road surface condition determination device 100 and a search unit 301.

[0034] The search unit 301 searches for a route to the destination based on the determination result of the road surface on which the moving body is traveling by the road surface state determination device 100 and the regional characteristics to which the destination belongs! The The regional characteristics to which the destination belongs are regional climatic feature information such as snow areas and ice areas. The regional information is preferably information set for each season, and the current regional information may be acquired by referring to date information provided by a clock function provided in the mobile unit. In addition to using the area information stored in advance in the route search device 300, the area information may be received from the wireless communication network and sequentially updated to the latest area information.

(Processing contents of route search device)

Next, the contents of processing of the route search apparatus 300 will be described. FIG. 4 is a flowchart showing the contents of the processing of the route search device. The route search apparatus 300 starts route search triggered by the setting of the destination by the user. In the flowchart of FIG. 4, first, the road surface condition determination apparatus 100 performs processing from step S201 to step S206 (see FIG. 2) (step S401). By the above steps, the road surface condition that the moving body is currently running is determined.

Subsequently, the regional characteristics of the destination are acquired (step S402). The search unit 301 searches for a route to the destination based on the road surface condition determination result acquired in step S401 and the regional characteristics acquired in step S402 (step S403).

Subsequently, it is determined whether or not to end the process of the route search device 300 (step S404).

If the route search is to be continued (step S404: No), the process returns to step S401, and the processes from step S401 to step S403 are repeated. When the route search is to be ended (step S404: Yes), the series of processing is ended as it is.

[0038] As described above, the route search device 300 according to the embodiment of the present invention uses the determination result by the road surface condition determination device 100, and when the road surface is frozen or snowy, Corresponding to the information, it is possible to search for a safer route and provide it to the user.

[0039] (Functional configuration of position setting device)

FIG. 5 is a block diagram showing a functional configuration of the position setting apparatus according to this embodiment of the present invention. As shown in FIG. 5, the position setting device includes a road surface condition determination device 100, a first positioning unit 501, a second positioning unit 502, and a setting unit 503. [0040] The first positioning unit 501 measures the position of the moving body based on the GPS signal received by the receiving unit 102 of the road surface condition judging device 100. The first positioning unit 501 outputs the positioning result to the setting unit 503.

[0041] The second positioning unit 502 measures the position of the moving body using the second speed calculated by the second speed calculating unit 105 of the road surface condition judging device 100. As described above, the second speed is a speed calculated based on the operation of the wheels of the moving body. Second positioning section 502 outputs the positioning result to setting section 503.

[0042] Setting section 503 sets the position of the moving body using the positioning result of first positioning section 501 and the positioning result of second positioning section 502. In order to set the position, the setting unit 503 determines the positioning result of the first positioning unit 501 and the second positioning unit based on the determination result of the road surface condition where the moving body is traveling by the road surface condition determination device 100. Determine the ratio for reflecting 502 positioning results.

[0043] (Contents of processing of position setting device)

Next, the processing contents of the position setting device 500 will be described. FIG. 6 is a flowchart showing the contents of the processing of the position setting device. In the flowchart of FIG. 6, first, processing from step S 201 to step S 206 (see FIG. 2) is performed by the road surface condition determination device 100 (step S 601). By the above steps, the road surface condition that the moving body is currently driving is determined.

[0044] Subsequently, the first positioning unit 501 performs the first positioning based on the GPS signal acquired by the receiving unit 102 of the road surface condition determination device 100 (step S602), and at the same time, the second speed calculating unit 105 Second positioning is performed using the second speed calculated in (Step S603).

[0045] When step S602 and step S603 are completed, the use ratio between the first positioning in step S602 and the second positioning in step S603 is determined based on the road surface condition determination result in step S601 (step S603). S604). Subsequently, the setting unit 503 also sets the position of the moving body for the positioning result force according to the utilization ratio determined in step S604 (step S605).

Thereafter, it is determined whether or not to end the processing of the position setting device 500 (step S606).

When continuing the position setting (step S606: No), return to the process of step S601 and Steps S601 to S605 are repeated. When the position setting is to be ended (step S606: Yes), the series of processing is ended as it is.

[0047] As described above, the position setting device 500 according to the embodiment of the present invention uses the positioning result of the first positioning and the positioning result of the second positioning means in order to set the position accurately. Depending on the current road conditions, the ratio to be reflected is changed. Therefore, it is possible to provide the user with the most accurate position information obtained under the current road surface condition.

Example

[0048] Examples of the present invention will be described below. In this embodiment, for example, it is realized as a navigation device mounted on a vehicle.

[0049] (Hardware configuration of navigation device)

First, a hardware configuration of a navigation apparatus that is useful in the present embodiment will be described. FIG. 7 is a block diagram showing a hardware configuration of a navigation device that is useful in the present embodiment. As shown in FIG. 7, the navigation device 700 includes a travel / stop determination unit 701, an outside air temperature determination unit 702, an outside air temperature acquisition unit 703, a GPS speed acquisition unit 704, and a first road surface inclination angle calculation. Unit 705, road surface slope comparison determination unit 706, vehicle speed pulse speed calculation unit 707, acceleration calculation unit 708, second road surface inclination angle calculation unit 709, road surface inclination angle determination unit 710, and vehicle speed comparison determination unit 711, vehicle acceleration comparison determination unit 712, first standard deviation calculation unit 713, first standard deviation determination unit 714, second standard deviation calculation unit 715, second standard deviation determination unit 716, condition counter The determination unit 717 includes a warning notification presence / absence flag determination unit 718, a driver notification determination unit 719, a route guidance priority determination unit 720, and a hybrid navigation weighting determination unit 721.

The traveling / stop determination unit 701 determines whether the moving body on which the navigation device 700 is mounted is traveling or stopped. The travel 'stop determination unit 701 detects a vehicle speed pulse from the moving body in order to determine the travel' stop. A vehicle speed pulse is a signal obtained by detecting the rotation of a wheel of a moving object by a sensor. Therefore, the frequency of the vehicle speed pulse increases according to the moving speed VPPn [km Zh] of the moving body, and is not detected if it stops. The outside air temperature determination unit 702 determines the outside temperature of the mobile body, that is, the state of the outdoor temperature, which is information about the outside air temperature of the mobile body acquired by the outside air temperature acquisition unit 703. The outside temperature acquisition unit 703 Obtain information about the outside temperature of the moving object. The information related to the outside air temperature includes the outdoor temperature and the temperature difference between the inside and outside of the moving body. In the present embodiment, the outside air temperature acquisition unit 703 acquires the temperature Toutn [° C.] outside the moving body.

[0051] (Processing content of the navigation device)

Next, the contents of processing of the navigation device 700 having the above-described configuration capability will be described. 8 to 11 are flowcharts showing the contents of the processing of the navigation device. In the flowchart of FIG. 8, first, the travel / stop determination unit 701 and the vehicle speed pulse speed calculation unit 707 determine whether or not the vehicle speed pulse speed VPPn ≠ 0 [kmZh] (step S801).

[0052] Specifically, first, the vehicle speed pulse speed VPn [], in which the current vehicle speed pulse number force is also calculated at every sampling period T (eg, 100 ms) from the vehicle speed sensor of the vehicle connected to the navigation device 700. mZl00ms] is stored as the latest data in the ring buffer 1202 (see Fig. 12) with 20 samples. In the following description, the sampling period T is assumed to be 100 ms.

Here, the configuration of the ring buffer that stores the vehicle speed pulse speed VPn [mZl00ms] will be described. FIG. 12 is an explanatory diagram showing the configuration of the ring buffer that stores the vehicle speed pulse speed VPn [mZ 100 ms]. A chart 1200 in FIG. 12 represents the ring buffer 1202 and the data stored in the ring buffer 1202. In the ring buffer 1202, the latest data (latest vehicle speed pulse speed VPn [mZl00ms]) 1201 is stored as the latest data in the ring buffer 1202 with 20 samples, and the data string in the ring buffer 1202 is shifted by one data at a time. The 20th data (20th vehicle speed pulse speed VPn—19 [mZl00ms]) becomes the 21st data (21st vehicle speed pulse speed VPn—20 [m / 100ms]) 1203, and the ring-offer 1202 I'm out of force. Therefore, a ring buffer with 20 samples is realized.

[0054] The first data (the first vehicle speed pulse speed VPn [mZ 100ms]) to the tenth data (the tenth vehicle speed pulse speed VPn—9 [mZ 10 Oms] of the ring buffer 1202 ) Sampling number 10 Vehicle speed pulse speed VP [m / 100ms] Add data. By this addition process, the vehicle speed pulse speed VPn [m at the current sampling time nT Zs] is calculated. Furthermore, the vehicle speed pulse speed VPPn [kmZh] is calculated by multiplying the vehicle speed pulse speed VPn [mZs] by (3600Z1000) and performing unit conversion. This vehicle speed pulse speed VPPn [km / h] is used to determine whether the vehicle is “running Z stopped”.

[0055] Returning to the flowchart of FIG. 8, if the vehicle speed pulse speed VPPn ≠ 0 [kmZh] is determined in step S801 (step S801: Yes), the vehicle is traveling, and the process of step S802 is performed as it is. Migrate to On the other hand, when the vehicle speed pulse speed VPPn = 0 [kmZh] (step S801: No), it is determined that the vehicle is stopped, and the processing is ended as it is.

[0056] Subsequently, the outside air temperature sensor force of the vehicle connected to the navigation device 700 by the outside air temperature acquisition unit 703 and the outside air temperature determination unit 702. The current outside air temperature Toutn acquired at every sampling interval T. It is determined whether or not [° C] is “outside temperature Toutn ≦ 10 ° C” (step S802). This judgment is used to judge whether the road surface is frozen or snowy. In recent years, outside temperature sensors are standard equipment on almost all vehicles because they are used for vehicle upgrades. If “outside temperature Toutn ≦ 10 ° C” (step S802: Yes), the process proceeds to step S803. On the other hand, if the “outside temperature Tout n ≦ 10 ° C” is not satisfied (step S802: No), the process proceeds to step S841.

[0057] Next, a change amount (vehicle speed pulse acceleration) Δ VPn of the vehicle speed pulse speed VPn [mZs] at every sampling period T by the vehicle speed pulse speed calculation unit 707, the acceleration calculation unit 708, and the first standard deviation calculation unit 713. The standard deviation α Ρη of [mZs ² ] is calculated (step S803). Specifically, first, the first data (the first vehicle speed pulse speed VPn [mZl00ms]) to the tenth data (the tenth vehicle speed pulse speed VPn) of the ring buffer 1202 shown in FIG. — Sampling number of 9 [mZ 100ms]) 10 vehicle speed pulse speeds VP [m ZlOOms] When the data is added, the vehicle speed pulse speed VP n [m / s] at the current sampling time nT and the 11th data ( 11th vehicle speed pulse speed VPn—10 [m / 100 ms]) to 20th data (20th vehicle speed pulse speed VPn—19 [mZl00ms]) Sampling number 10 vehicle speed pulse speed VP [mZlOOms ] Count the data and find the difference between the current force and the vehicle speed pulse speed VPn-10 [m / s] at the sampling time (n-10) T 1 second before. By this process, the difference between the vehicle speed pulse speed VPn—10 [m Zs] one second before and the current vehicle speed pulse speed VPn [mZs] is obtained, and the sampling time is nT. A change amount (vehicle speed pulse acceleration) AVPn [mZs] of the vehicle speed pulse speed VPn [mZs] is calculated. The calculated change amount of the vehicle speed pulse speed VPn [m / s] (vehicle speed pulse acceleration) AVPn [m / s ² ] is stored in the ring buffer 1302 (see FIG. 13).

Here, the configuration of the ring buffer that stores the amount of change in vehicle speed pulse speed VPn [mZs] (vehicle speed pulse acceleration) AVPn [mZs ² ] will be described. FIG. 13 is an explanatory diagram showing a configuration of a ring buffer that stores a change amount (vehicle speed pulse acceleration) ΔVPn [m / s ² ] of the vehicle speed pulse speed VPn [m / s]. A chart 1300 in FIG. 13 represents data stored in the ring buffer 1302 and the ring buffer 1302. In the ring buffer 1302, the latest calculated data (change in the latest vehicle speed pulse speed VPn [mZs] (vehicle speed pulse acceleration) ΔVPn [mZs ² ]) 1301 is the latest data in the ring buffer 1302 with 50 samplings. Is stored in the data string of the ring buffer 1302, and the 50th data (the 50th vehicle speed pulse speed VPn—49 [m / s] change (vehicle speed pulse acceleration) Δ VPn — 49 [m / s ² ]) is the 51st data (51st vehicle speed pulse speed VPn—50 [mZs] change (vehicle speed pulse acceleration) Δ VPn— 50 [mZs ² ]) 130 3 Is out of the data string of the ring buffer 1302. Therefore, a ring buffer with 50 samplings is realized. Using the data stored in the ring buffer 1302 with 50 samplings, the standard deviation ex Pn of the amount of change in the vehicle speed pulse speed VPn [mZs] (vehicle speed pulse acceleration) ΔVPn [m / s ² ] is calculated. .

[0059] Here, a method of calculating the standard deviation α Ρη will be described. First, using the following equation (1), the average value of the amount of change (vehicle speed pulse acceleration) ΔVPn [m / s ² ] of the 50 vehicle speed pulse speeds VPn [mZs] stored in the ring buffer 1302 Δ VP [m / s ² ] is obtained.

[0060] [Equation 1] i = 50

Average value Δν _Ρ = (1/50) ∑ (A Vp i)

i = 1

■■■ (1)

[0061] Subsequently, the standard deviation α Pn at the current sampling time nT is obtained by the following equation (2).

[0062] [Equation 2] (1/50) ∑ (Δν _Ρ average value Δν _Ρ )

■■■ (2)

Therefore, the standard deviation a Pn at the current sampling time ηΤ can be obtained by the following equation (3) obtained by substituting equation (1) into equation (2).

[0064] [Equation 3]

[0065] Returning to the flowchart of FIG. 8, the vehicle speed pulse speed calculation unit 707, the acceleration calculation unit 70 8 and the second road surface inclination angle calculation unit 709 perform acceleration sensor acceleration A VAn [mZs 2] and vehicle speed pulse speed VPn [ mZs] change amount (vehicle speed pulse acceleration) ΔVPn [m / s ² ] is used to calculate the road surface inclination angle Θ Pn [rad.] (step S804). Specifically, first, the acceleration sensor acceleration A VAn [m Zs ² , calculated at each sampling period T from the output of a single-axis acceleration sensor in the vehicle direction (vehicle longitudinal direction) connected to the navigation device 700. ZlOOms] is stored in the ring buffer 1402 (see Figure 14).

Here, the configuration of the ring buffer for storing the acceleration sensor acceleration ΔVAn [mZs ² ZlOOms] will be described. FIG. 14 is an explanatory diagram showing the configuration of a ring buffer that stores acceleration sensor acceleration A VAn [mZs ² ZlOOms]. A chart 1400 in FIG. 14 represents the ring buffer 1402 and the data stored in the ring buffer 1402. In the ring buffer 1402, the latest data (latest acceleration sensor acceleration Δ VAn [m / sV 1 OOms]) calculated every sampling cycle T interval 1401 is stored as the latest data in the ring buffer 1402 with 10 samplings. In the data string of the ring buffer 1402, the 10th data (10th acceleration sensor acceleration Δ VAn-9 [m / sVlOOms]) is shifted by 1 data at a time and the 11th data (11th acceleration) Sensor acceleration A VAn— 10 [mZs ² Zl00ms]) 1403, which is out of the data string of the ring buffer 1402. Therefore, a ring buffer with 10 samplings is realized. Then, the first data of the ring buffer 1402 (the first acceleration sensor acceleration Δ VAn [mZs ² Acceleration sensor acceleration AVAn [mZs ² ] is obtained by adding the acceleration sensor acceleration Δ VA [m / s ² / 100ms] of 10 samples from Z 100 ms]).

[0067] by a ring buffer 1402 described above, the calculated acceleration sensor acceleration AVAn the [m Zs ^2] in step S803, the change amount of the calculated vehicle speed pulse rate VPn [MZS] (speed pulse acceleration) AVPn [mZs ^2] Is used to further calculate the road slope angle Θ Pn [rad.]. The method for calculating the road surface inclination angle Θ Pn [rad.] Will be described later. The calculated road inclination angle Θ Pn [rad.] Is stored in the ring buffer 1502 (see Fig. 15).

[0068] Here, the configuration of the ring buffer for storing the road surface inclination angle Θ Pn [rad.] Will be described. FIG. 15 is an explanatory diagram showing the configuration of a ring buffer that stores the road surface inclination angle Θ Pn [rad.]. A chart 1500 in FIG. 15 represents the data stored in the ring buffer 1502 and the ring buffer 1502. When the latest data (the road surface inclination angle Θ Pn [ra d.] By the latest ΔVAn [m / s ² ] and ΔVPn [m / s ² ]) 1501 is stored in the ring buffer 1502 with 20 samples, In the data string of the ring buffer 1502, the data is shifted by 1 and the 20th data (the 20th Δ VAn-19 [m / s ² ] and ΔVPn-19 [m / s 2] road surface inclination angle Θ Pn-19 [rad.]) Is the 21st data (21st ΔVA n—20 [m / s ² ] and Δ VPn—20 [m / s ² ]). rad.]) 150 3, which is out of the data string of the ring buffer 1502. Therefore, a ring buffer with 20 samplings is realized.

[0069] Next, a method of calculating the road surface inclination angle Θ Pn [rad.] Will be described. Road slope angle

The calculation method of Θ Pn [rad.] Is calculated from the change amount of the vehicle speed pulse speed VPn [m / s] stored in the ring buffer 1302 at every sampling period T according to a known technique (vehicle speed pulse acceleration). ) AVPn and [MZS ^2], and aVAn [mZs ^2] acceleration sensor acceleration calculated by the ring buffer 1402, the gravitational acceleration calculated by the road surface slope angle theta Pn stored in the ring buffer 1502 [ra d.] g [mZs ² ] component (horizontal component on the road surface) Using gsin 0 P n [mZs ² ] and the following equation (4), the vertical direction component of the road surface inclination angle Θ Pn [rad.] Find sin Θ Pn.

[0070] [Equation 4] sin Θ p _n = (AV _{A n} — AV _P J / g

= (AV _A „-Δν _{Ρ n} ) /9.8

■■■ (4) However, gravitational acceleration: g 9. 8 [π /],

However, (one π / 2) ≤ Θ _Ρ J! Rad.] ^ (Π / 2)

[0071] Therefore, the vertical component sin Θ Pn of the road surface inclination angle Θ Pn [rad.] Obtained by the above equation (4) is converted into the road surface inclination angle Θ Pn [rad.] By the following equation (5). can do.

[0072] [Equation 5]

Θ P n [rad.] = Sin- {(Δν _{Α η} -AV _{P η} ) /9.8.8}

= arcsin {(AV _{A η} -AV _P J / 9. 8}

= asin {(AV _{A η} -Δν _{Ρ n} ) /9.8.}

■■■ (5) However, (-π / 2) ≤ θρ _η [Γ3ά.] ≤ (π / 2)

I. (— π / 2) ≤ 0p ,, [rad.] <O: Downhill road surface

II. For 0≤ θ ρ _η [ηκ3.] ≤ (π / 2): Climbing slope

FIG. 16 is an explanatory diagram showing a correspondence relationship between the vertical direction component sin Θ Pn and the road surface inclination angle Θ Pn [rad.]. Incidentally, there is no inverse function for trigonometric functions. For example, when y = sinx, if one y value is determined, the corresponding X values are determined, so it is not a one-to-one mapping like a normal linear function. Therefore, as described supplementarily in the above equation (5), by specifying the range of X with respect to the region that monotonically increases or decreases monotonously within 2 π of one period (X range), It becomes a mapping and an inverse function exists. Therefore, conversion according to the above equation (5) becomes possible.

[0074] Returning to the flowchart, the second road surface inclination angle calculation unit 709 and the second standard deviation calculation unit 715 then change the road surface inclination angle Θ Pn [rad.] (Road surface inclination angular velocity) Δ Θ Pn [rad Zs] standard deviation j8 Θ Pn is calculated (step S805). Specifically, first, the first data (the first road surface inclination angle Θ Pn [rad.]) To the tenth data (the tenth road surface inclination angle) of the ring buffer 1502 shown in FIG. 0 Pn—9 [rad.]) The number of samplings of 10 road surface inclination angles Θ P [rad.] Data is added and averaged. Then, the road slope angle Θ Pn [rad.] At the current sampling time nT and the 11th data (11th road slope angle θ Pn-10 [rad.]) To 20th data ( Number of samplings of 20th road slope angle Θ Pn-19 [rad.]) When 10 road slope angles Θ P [rad.] Data are added and averaged, the sampling time (n— 10) The road surface inclination angle at T 0 The difference from 0 Pn-lO [rad.] Is obtained. By this process, the difference between the road slope angle Θ Pn-10 [rad.] 1 second before and the current road slope angle Θ Pn [rad.] Is obtained, and the road slope angle at the sampling time nT 0 Pn The amount of change in [rad.] (road slope angular velocity) ΔΘ Pn [rad. Zs] is calculated. The calculated change amount of the road surface inclination angle Θ Pn [rad.] (Road surface inclination angular velocity) Δ Θ Pn [rad. Zs] is stored in the ring buffer 17 02 (see FIG. 17).

Here, a method of calculating the standard deviation | 8 Θ Pn will be described. First, using the following formula (6), the change amount of 50 road surface inclination angles Θ Pn [rad.] Stored in the ring buffer 1702 (road surface inclination angle velocity) ΔΘ Pn [rad. Zs] average value Find Δ Θ P [rad. Zs].

[0076] [Equation 6] Average Δ Θ (1/50) ∑ (Δ Θ _{Ρ Ι} )

■■■ (6)

Subsequently, the standard deviation ΒΘ Pn at the current sampling time nT is obtained by the following equation (7).

[0078] [Equation 7]

■ (7)

Accordingly, the standard deviation | 8 θ Pn at the current sampling time nT can be obtained by the following equation (8) obtained by substituting equation (6) into equation (7) above.

[0080] [Equation 8] 1 / (1/50) ∑ {Δ 9 _{P i-} (l / 50) ∑ (Δ θ _P :)} ²

■■■ (8)

Here, the configuration of the ring buffer that stores the amount of change in the road surface inclination angle Θ Pn [rad.] (Road surface inclination angular velocity) ΔΘ Pn [rad./s] will be described. FIG. 17 is an explanatory diagram showing the configuration of a ring buffer that stores the amount of change in road surface inclination angle Θ Pn [rad.] (Road surface inclination angular velocity) ΔΘ Pn [rad. Zs]. A chart 1700 in FIG. 17 represents data stored in the ring buffer 1702 and the ring buffer 1702. In the ring buffer 1702, the latest calculated data (change in the latest road slope angle Θ Pn [rad.] (Road slope angular velocity) Δ Θ Pn [rad. Zs]) 1701 is stored in the ring buffer 1702 with 50 samples. When stored as the latest data, the data sequence in the ring buffer 1702 is shifted by one data, and the 50th data (the 50th road surface inclination angle Θ Pn-49 [rad.] Change amount (the road surface inclination) Angular velocity) Δ Θ Pn-49 [rad. Zs]) is the 51st data (51st road slope angle Θ Pn-50 [rad.] Change amount (road slope angular velocity) Δ Θ Pn— 50 [ rad. Zs]) 1703, which is out of the data string of the ring buffer 1702. Therefore, a ring buffer with 50 samplings is realized. Using the data stored in the ring buffer 1702 with 50 samples, the amount of change in road inclination angle Θ Pn [rad.] (Road inclination angular velocity) Δ Θ Pn [rad. Zs] standard deviation j8 Θ Pn Is calculated.

[0082] Returning to the flowchart of FIG. 8, the GPS speed acquisition unit 704 and the first road surface inclination angle calculation unit 705 perform the horizontal (X) direction component and the vertical (y) direction component of the GPS speed VGGn [kmZh]. The road surface inclination angle Θ Gn [rad.] Is calculated by (Step S806). The GPS reception function unit provided in the navigation device 700 can perform GPS reception processing (radio wave reception processing, satellite capture processing, positioning data generation processing, etc.) and self-contained navigation processing simultaneously with a single CPU. . Specifically, first, the horizontal (X) direction velocity VGGxn [kmZh] at the current sampling time nT calculated for each sampling period T is calculated by the ring buffer 1802 (see Fig. 18) at the current sampling time nT. The vertical (y) speed VGGyn [km / h] is stored in the ring buffer 1902 (see Fig. 19).

[0083] Here, horizontal (X) direction component and vertical (y) direction component of GPS velocity VGGn [kmZh] are stored. The structure of the ring buffer to be performed will be described. FIG. 18 is an explanatory diagram showing the configuration of the ring buffer that stores the horizontal (X) direction component of the GPS speed VGGn [kmZh]. The chart 1800 in FIG. 18 represents the data stored in the ring buffer 1802 and the ring buffer 1802. FIG. 19 is an explanatory diagram showing the configuration of the ring buffer that stores the vertical (y) direction component of the GPS speed VGGn [kmZh]. A chart 1900 in FIG. 19 represents the ring buffer 1902 and the data stored in the ring buffer 1902.

[0084] For the ring buffer 1802 in Figure 1800, when the latest data (latest GPS velocity VGG n [kmZh] horizontal (X) direction velocity VGGxn [kmZh]) 1801 is stored, the data in ring buffer 1802 is stored. The 10th data (the 10th GPS speed VGGn—9 [km / h] horizontal (x) speed VGGxn—9 [km / h]) is shifted by 1 data from the column and the 11th data. (11th GPS speed VGGn—horizontal (x) direction speed V GGxn—10 [kmZh] at 10 [km / h]), and deviates from the data string in the ring buffer 1802. Therefore, a ring buffer with 10 samples is realized.

[0085] Similarly, in the case of the ring buffer 1902 in Chart 1900, when the latest data (vertical (y) speed VGGyn [kmZh] of the latest GPS speed VGGn [kmZh]) 1901 is stored, the ring is stored. The 10th data (the 10th GPS speed VGGn—9 [km / h] vertical (y) speed VGGyn—9 [km / h]) is shifted one by one from the data sequence in buffer 1902. The eleventh data (the eleventh GPS speed VGGn—10 [km / h] vertical (y) direction speed VGGyn—10 [kmZh]), which is out of the ring buffer 1902 data string. Therefore, a ring buffer with 10 samples is realized.

[0086] Then, in the ring buffer 1802, the first data (the first GPS speed VGGn [km / h] horizontal (X) direction speed VGGxn [kmZh]) to the tenth data (10th data) GPS¾itVGGn- 9 [km / h] horizontal (x) direction velocity VGGxn—9 [km / h]) Number of sampling 10 GPS speed VGG [km / h] horizontal (x) direction velocity VGGx [km / h] Data is added and averaged to calculate the horizontal (X) speed VGGxn [kmZh] at the current sampling time nT.

[0087] Also, in the ring buffer 1902, the first data (vertical (y) direction speed VGGyn [kmZh] of the first GPS speed VGGn [km / h]) to the tenth data (the tenth data) of GPS velocity VGGn— Vertical (y) velocity of 9 [km / h] VGGyn— Number of samplings of 9 [km / h]) 10 GPS velocity VGG [km / h] Vertical (y) velocity of VGGy [ km / h] data is added and averaged to calculate the vertical (y) speed VGGyn [km / h] at the current sampling time nT. The road surface inclination angle Θ Gn [rad.] Is calculated using the horizontal (x) direction velocity VGGx n [kmZh] and the vertical (y) direction velocity VGGyn [kmZh] calculated as described above. Note that GPS positioning data is generated (updated) at 1-second intervals, and is also performed when no positioning is performed.

[0088] Returning to the flowchart of FIG. 8, the GPS speed acquisition unit 704 and the acceleration calculation unit 708 calculate the change amount (GPS acceleration) ΔVGn [mZs ² ] of the GPS speed VGn [mZs] (steps). S807). Specifically, the GPS speed VVGn [mZs] obtained by multiplying the GPS speed VGGn [kmZh] obtained at every sampling period T interval at the current sampling time nT by (1000Z3600) and converting the unit, Store in buffer 2002 (see Figure 20).

Here, the configuration of the ring buffer for storing the GPS speed VGn [mZs] will be described. FIG. 20 is an explanatory diagram showing the configuration of the ring buffer that stores the GPS speed VGn [mZs]. The chart 2000 in FIG. 20 represents the ring nota 2002 and the data stored in the ring nota 2002. In the ring buffer 2002, when the latest data (latest GPS speed VGn [mZs]) 2001 calculated every sampling period T interval is stored as the latest data in the ring buffer 2002 with 20 samplings, the data of the ring buffer 2002 is deleted. The 20th data (20th GPS speed VG n—19 [mZs]) is 21st data (21st GPS speed VGn—20 [mZs]). 2 003, which is out of the data string of the ring buffer 2002. Therefore, a ring knoffer with 20 samplings can be realized.

[0090] Furthermore, in order to calculate the amount of change in GPS speed VGn [mZs] (GPS acceleration) Δ VGn [mZs ² ], the first data of ring buffer 2002 (first GPS speed VGn [mZs s]) to 10th data (10th GPS speed VGn—9 [mZs]) Sampling number 10 GPS speeds VG [mZs] Data is added and averaged to obtain the current sampling time nT GPS speed VGn [mZs] and the 11th data (11th GPS speed) Degree VGn—10 [mZs]) to 20th data (20th GPS speed VGn—19 [mZ s]) Sampling number 10 GPS speeds VG [m / s] data are added and averaged When processed, the difference from the GPS speed VGn-10 [m / s] at the sampling time (n-10) T one second before the current time is obtained. By this process, the difference between the GPS speed VGn—10 [mZs] 1 second before and the current GPS speed VGn [mZs] is obtained, and the change in the GPS speed VGn [mZs] at the sampling time nT (GPS Acceleration) ΔVGn [mZs ² ] is calculated. Basically, the GPS speed VGGn [kmZh] is calculated by speed synthesis of the horizontal (x) direction speed VGGxn [kmZh] and the vertical (y) direction speed VGGyn [kmZh] obtained and calculated in step S806. ing.

[0091] Next, a method of calculating the road surface inclination angle Θ Gn [rad.] Will be described. FIG. 21 and FIG. 22 are explanatory diagrams showing a method of calculating the road surface inclination angle Θ Gn [rad.]. Here, the road slope angle Θ Gn [rad.] Is calculated using a known technique. Specifically, the GPS velocity VGGn [kmZh] as shown in Fig. 21 and Fig. 22 and the horizontal (X) of the GPS velocity VGGn [kmZh] obtained and calculated at every sampling interval T in step S806. There is a calculation method using the relationship diagram 21 between the directional velocity VG Gxn [km / h] and the vertical (y) directional velocity VGGyn [km / h]. Further, as shown in FIG. 21, the road surface inclination angle Θ Gn [rad.] At the sampling time nT becomes a relational expression such as the following expression (9).

[0092] [Equation 9] tan Θ G n = VGG _N / VGG X n, ■■ (.) Where (1 π Ζ2) <0 _{G n} [rad.] (Π / 2)

[0093] Here, as is clear from FIG. 22, there is no inverse function in the trigonometric function as in the description in FIG. For example, if y = tanx and one y value is determined, the corresponding X values are determined, so it is not a one-to-one mapping like a normal linear function. Therefore, as described in the following formula (10), by specifying the range of X for the region that monotonically increases or decreases monotonically within 2 π of one period (X range), It becomes a map of 1 and there is an inverse function. Therefore, conversion according to the following equation (10) is possible. [0094] [Equation 10] eGn [rad.] = Tan ^_1 (VGG n / VGG¾rn)

= arctan (VGG y _n / VGG X

However, (one π / 2) <t (G _n [rad.] <(7r / 2)

I. (— Π / 2) <ep _n [rad.] <0: Downhill road surface

Π.0≤ 9p _n [rad.] <(7r / 2): Climbing slope

Returning to the flowchart of FIG. 8, the road surface inclination angle determination unit 710 determines whether or not 0 [rad.] ≤ road surface inclination angle θ Pn (step S808). By this step S808, when 0 [rad.] ≤ road surface inclination angle Θ Pn is not satisfied (step S808: No), the process proceeds to step S856 of the downhill road surface condition.

[0096] If the road surface inclination angle Θ Pn [rad.] Calculated in step S804 is 0 [rad.] ≤ road surface inclination angle Θ Pn (step S808: Yes), then the vehicle speed comparison / determination unit Based on 711, it is determined whether or not 4.0 [kmZh] ≤ (VPPn—VGGn) (step S809). In step S809, the vehicle speed pulse speed VPPn [km / h] acquired and calculated in step S801 is compared with the GPS speed VGGn [kmZh] acquired and calculated in step S807, and the magnitude of the speed difference is determined. If the uphill road surface on which the vehicle is running is frozen or snowy, the GPS speed VGGn [kmZh] provides more accurate vehicle speed data than the vehicle speed pulse speed VPPn [kmZh]. Obtainable. This is because when the vehicle speed pulse speed is VPPn [kmZh], the vehicle's drive wheels run while idling. Furthermore, when the accelerator system is operated (stepping on the accelerator), the speed of the drive wheels increases while the idle rotation of the drive wheels increases. Therefore, the number of vehicle speed pulses that also generate vehicle speed sensor force per unit time (for example, sampling period T (100 ms) X 10 = 1 second) is larger than that when driving on a normal road (dry or wet). The vehicle speed pulse speed VPPn [km / h] is larger than the GPS speed VGGn [kmZh].

[0097] That is, when the speed difference between the vehicle speed pulse speed VPPn [km / h] and the GPS speed VGGn [km / h] is 4.0 [kmZh] ≤ (VPPn—VGGn) (step S809: Yes) Will satisfy the first freezing snow condition on the uphill road surface, and the process proceeds to step S810. one On the other hand, if it is not “4.0 [km / h] ≤ (VPPn—VGGn)” (step S809: No), the process proceeds to step S825.

[0098] If it is determined in step S809 that "4.0 [km / h] ≤ (VPPn—VGGn)" is not satisfied (step S809: No), the vehicle speed comparison determination unit 711 then executes 2. It is determined whether or not 0 [km Zh] ≤ (VPPn-VGGn) (step S825). In step S825, the vehicle speed pulse speed VPPn [kmZh] obtained and calculated in step S801 is compared with the GPS speed VGGn [kmZh] obtained and calculated in step S807 to determine the magnitude of the speed difference. . Specifically, for example, the speed difference parameter in step S809 is halved. This is because the slope angle Θ Pn [rad.] Of the climbing road surface during traveling is gentler than that of step S809 or is almost flat! In order to determine whether the climbing road surface is frozen or snowy. For example, if the speed difference is “2.0 [kmZh] ≤ (VPPn—VGGn)” (Step S825: Yes), the condition of the first freezing on the flat road and the first snow cover condition is met. Transition to processing. On the other hand, "2.0 [kmZh] ≤

Otherwise (step S825: No), the process proceeds to step S842.

[0099] Next, a description will be given of processing when it is determined in step S808 that 0 [rad.] ≤ road surface inclination angle θ Pn is not satisfied (step S808: No), that is, when traveling on a downhill road surface. . First, the vehicle speed comparison / determination unit 711 determines whether or not 3.0 [km / h] ≤ (VGGn-VP Pn) (step S856). In step S856, the vehicle speed pulse speed VPPn [kmZh] obtained and calculated in step S801 is compared with the GPS speed VGGn [kmZh] obtained and calculated in step S807 to determine the magnitude of the speed difference.

[0100] In step S856, if the downhill road surface on which the vehicle is traveling is frozen or snowy, the GPS speed VGGn [kmZh] is more accurate than the vehicle speed pulse speed VPPn [kmZh]. Data can be obtained. This is because when the vehicle speed pulse speed is VPPn [kmZh], the drive wheels of the vehicle slide down. Furthermore, when the brake system is operated (braking), the drive wheels slide down with little rotation. In addition, even if the vehicle is equipped with an ABS device, the ABS will move down (the drive wheel speed is low) and the vehicle will slide down.

[0101] Therefore, the vehicle speed sensor force per unit time (for example, sampling cycle T (100ms) x 10 = 1 second) is higher than that when driving on a normal (dry or wet) road surface. Therefore, the calculated vehicle speed pulse speed VPPn [kmZh] is smaller than the GPS speed VGGn [kmZh]. For example, if the speed difference is "3.0 [km / h] ≤ (VGGn-VPPn)" (step S856: Yes), the first freezing snow condition on the downhill road surface is satisfied, and step S857 Transition to processing. On the other hand, if it is not “3.0 [kmZh] ≤ (VGGn—VPPn)” (step S856: No), the process proceeds to step S872.

[0102] If it is determined in step S856 that "3.0 [kmZh] ≤ (VGGn—VPPn)" is not satisfied (step S856: No), the vehicle speed comparison determination unit 711 then selects 1.5 [ It is determined whether km Zh] ≤ (VGGn—VPPn) (step S872). In step S 872, the vehicle speed pulse speed VPPn [kmZh] obtained and calculated in step S801 is compared with the GPS speed VGGn [kmZh] obtained and calculated in step S807 to determine the magnitude of the speed difference. .

[0103] In step S872, the parameter of the speed difference in step S856 is set to 1/2, for example. This is because the slope angle Θ Pn [rad.] Of the downhill road during traveling is a gentle downhill road surface that is gentler than step S856 or is almost flat! This is to determine whether the downhill road surface is frozen or snowy. is there . For example, if the speed difference is “1.5 [kmZh] ≤ (VGGn—VPPn)” (step S 872: Yes), the first freezing on the downhill / flat road surface / snow condition is met, and step S873 Move on to processing. On the other hand, when “1.5 [kmZh] ≦ (VGGn—VPPn)” is not satisfied (step S872: No), the process proceeds to step S890.

[0104] Subsequently, in step S809, it is determined that the speed difference between the vehicle speed pulse speed VPPn [kmZh] and the GPS speed V GGn [kmZh] is 4.0 [kmZh] ≤ (VPPn—VGGn). If it is determined (step S809: Yes), the vehicle acceleration comparison / determination unit 712 subsequently determines whether or not 0.4 [m / s ² ] ≤ (AVPn-ΔVGn) (step S810). . In this step S810, the change amount (vehicle speed pulse acceleration) AVPn [mZs ² ] of the vehicle speed pulse speed VPn [mZs] obtained and calculated in step S803 and the GPS speed VGn [mZs] obtained and calculated in step S807 are calculated. Change (GPS acceleration) Δ VGn [mZs ² ] is compared to determine the magnitude of the speed change (acceleration) difference.

[0105] In step S810, when the climbing road surface is frozen or snowy, the change in vehicle speed pulse speed VPn [mZs] (vehicle speed pulse acceleration) is more effective than GPS AVPn [mZs ² ]. Change in speed VGn [m / s] (GPS acceleration) Δ VGn [m / s ² ] is more accurate for the actual movement of the vehicle. it can. This is because the amount of change in vehicle speed pulse speed VPn [mZs] (vehicle speed pulse acceleration) AVPn [mZs ² ] travels while the drive wheels of the vehicle run irregularly. In addition, operating the accelerator system (stepping on the accelerator) increases the speed while increasing irregular idling of the drive wheels.

[0106] Therefore, the vehicle speed sensor force per unit time (for example, sampling period T (100ms) X 10 = 1 second) is generated more irregularly than when driving on a normal (dry or wet) road surface. Since it increases at time intervals, the calculated change in vehicle speed pulse speed VPn [mZs] (vehicle speed pulse acceleration) ΔVPn [m / s ² ] is the change in GPS speed VGn [m / s] (GPS acceleration) It becomes irregularly larger than Δ VGn [m / s ² ].

[0107] For example, if the difference (acceleration) is “0.4 [m / s ² ] ≤ (AVPn-AVGn)" (step S810: Yes), the second freezing of the uphill road surface 'Snow condition is satisfied and the process proceeds to step S811. On the other hand, if “0.4 [m / s ² ] ≤ (AVPn−AVGn)” is not satisfied (step S810: No), the process proceeds to step S826.

[0108] Next, when it is determined in step S810 that “0.4 [m / s ² ] ≤ (AVPn-ΔVGn)" is not satisfied (step S810: No), or in step S825, “2.0 [km / h] ≤ (VPPn—VGGn) ”(step S825: Yes), the vehicle acceleration comparison / determination unit 712 then selects 0.2 [m / s ² ] ≤ (AVPn-Δ It is determined whether or not (VGn) (step S826).

[0109] In this step S826, the change amount (vehicle speed pulse acceleration) ΔVPn [m / s ² ] of the vehicle speed pulse velocity VPn [m / s] obtained and calculated in step S803 and obtained and calculated in step S807. GPS speed VGn [mZs] change (GPS acceleration) Δ VGn [m / s ² ] is compared to determine the speed change (acceleration) difference. Specifically, the parameter of the speed change amount (acceleration) difference in step S810 is set to, for example, half. This is to determine whether the climbing road surface slope angle Θ Pn [rad.] Is lower than that of step S810 or whether the climbing road surface is almost flat or frozen.

[0110] For example, if the speed change (acceleration) difference is "0.2 [m / s ² ] ≤ (AVPn-AVGn)" (step S826: Yes), the first step on the slightly uphill flat surface 2 Meet freezing snow conditions Then, the process proceeds to step S827. On the other hand, if “0.2 [m / s ² ] ≤ (AVPn−AVGn)” is not satisfied (step S826: No), the process proceeds to step S842.

[0111] Subsequently, when it is determined in step S856 that "3.0 [kmZh] ≤ (VGGn—VPPn)" (step S856: Yes), the vehicle acceleration comparison determination unit 712 then sets It is determined whether or not 3 [m / s ² ] ≤ (AVGn-ΔVPn) (step S857). In this step S857, the change in the vehicle speed pulse speed VPn [mZs] obtained and calculated in step S803 (vehicle speed pulse acceleration) AVPn [mZv] and the change in the GPS speed VGn [mZs] obtained and calculated in step S807 Compare the amount (GPS acceleration) ΔVGn [mZs ² ] to determine the magnitude of the speed change (acceleration) difference.

In step S857, processing is performed when the determination result in step S856 is “3.0 [km / h] ≦ (VGGn−VP Pn)” (step S856: Yes). Here, when the running downhill road surface is frozen or snowy, the GPS speed VGn [m / s] is greater than the amount of change in the vehicle speed pulse speed VPn [mZs] (vehicle speed pulse acceleration) ΔVPn [mZs ² ]. ] (GPS acceleration) Δ VGn [mZs ² ] can obtain an accurate speed change (acceleration) that matches the actual driving behavior of the vehicle. This is because the amount of change in vehicle speed pulse speed VPn [mZs] (vehicle speed pulse acceleration) AVPn [mZs ² ] causes the vehicle's drive wheels to slide down irregularly. In addition, when the brake system is operated (braking), the drive wheels slide down with irregular and almost no rotation. In addition, even in the vehicle equipped with the ABS device, the ABS slides while operating (the number of irregular rotations of the drive wheels is small), so the vehicle speed sensor force per unit time (for example, sampling cycle T (100ms) X 10 = 1 second) The number of vehicle speed pulses generated is smaller at irregular time intervals than when driving on a normal (dry / wet) road surface.

[0113] Therefore, the calculated change in vehicle speed pulse speed VPn [mZs] (vehicle speed pulse acceleration) AVPn [mZs ² ] is less than the change in GPS speed VGn [mZs] (GPS acceleration) AVGn [mZs ² ]. Become smaller in the rules. For example, if the speed change (acceleration) difference is 0.3 (m / s ² ) ≤ (AVGn-AVPn) (step S857: Yes), the second freezing-snow condition on the downhill road surface And the process proceeds to step S858. On the other hand, if “0.3 [m / s ² ] ≤ (AV Gn− AVPn)” is not satisfied (step S857: No), the process proceeds to step S873. [0114] Subsequently, if it is determined in step S857 that “0.3 [m / s ² ] ≤ (AVGn—AVPn)” is not satisfied (step S857: No), or in step S872, “1.5 [km / h] ≤ (VGGn—VPPn) ”(step S872: Yes), the vehicle acceleration comparison / determination unit 712 determines that 0.15 [m / s ² ] ≤ (AVGn-ΔVPn) It is determined whether or not there is a certain force (step S873).

[0115] In this step S873, the change amount (vehicle speed pulse acceleration) AVPn [mZs ² ] of the vehicle speed pulse speed VPn [mZs] obtained and calculated in step S803, and the GPS speed VGn obtained and calculated in step S807. Compare the change in [mZs] (GPS acceleration) Δ VGn [mZs ² ] to determine the magnitude of the speed change (acceleration) difference.

[0116] Specifically, in step S873, the parameter of the speed change (acceleration) difference in step S857 is reduced to, for example, one half. This is to determine whether the downhill road surface inclination angle Θ Pn [rad.] Force step S857 during driving is freezing or snowy on a downhill road surface that is gentler or more powerful than the step S857. For example, if the speed change (acceleration) difference is “0.15 [m / s ² ] ≤ (AVGn-AVPn)” (step S873: Yes), it will be slightly downhill 'second freezing of flat road surface' The snow condition is satisfied, and the process proceeds to step S874. On the other hand, if “0.15 [m / s ² ] ≦ (AVGn−AVPn)” is not satisfied (step S873: No), the process proceeds to step S890.

[0117] Next, if it is determined in step S810 that "0.4 [m / s ² ] ≤ (AVPn-AVGn)" (step S810: Yes), then the first standard deviation determination unit From 714, it is determined whether or not 1.8≤standard deviation αΡη (step S811). In this step S811, the amount of change in the vehicle speed pulse speed VPn [mZs] (vehicle speed pulse acceleration) ΔVPn [m / s ² ] calculated by the ring buffer 1302 with 50 samples in step S803 a Pn Determine the size of.

[0118] In step S811, if the running uphill road surface is frozen or snowy, the amount of change in vehicle speed pulse speed VPn [mZs] described in step S810 (vehicle speed pulse acceleration) AVPn [mZs ^In the case of ² ], the vehicle travels while the drive wheels of the vehicle run irregularly. In addition, operating the accelerator system (stepping on the accelerator) increases the speed while increasing irregular idling of the drive wheels. [0119] Therefore, the vehicle speed sensor force per unit time (for example, sampling period T (100ms) X 10 = 1 second) is generated more irregularly than when driving on a normal (dry or wet) road surface. Increase at time intervals. In other words, the calculated change in vehicle speed pulse speed VPn [mZs] (vehicle speed pulse acceleration) ΔVPn [m / s ² ] is the change in GPS speed VGn [m / s] (G PS acceleration) Δ VGn [mZs ² ] Irregularly larger than].

[0120] For example, the standard deviation α Ρη of the variation (vehicle speed pulse acceleration) A VPn [mZs ² ] of the vehicle speed pulse speed VPn [mZs] obtained and calculated in step S803 is “1.8≤standard deviation << If “Ρη” (step S811: Yes), the third freezing snow condition on the uphill road surface is satisfied, and the process proceeds to step S812. On the other hand, if “1.8 ≤ standard deviation α Ρη” is not satisfied (step S811: Νο), the process proceeds to step S827.

[0121] If it is determined in step S811 that “1.8 ≤ standard deviation _α Ρη” is not satisfied (step S811: No), or in step S826, “0.2 [m / s ² ] ≤ (ΔVPn -ΔVGn) ”(step S826: Yes), the first standard deviation determination unit 714 then determines whether or not 1.35 ≦ standard deviation α Ρη ( Step S827). In this step S827, the amount of change in the vehicle speed pulse speed VPn [mZs] (vehicle speed pulse acceleration) A VPn [m / s ² ] calculated by the ring buffer 1302 with 50 samples in step S803 a Pn Determine the size of.

[0122] In step S827, the parameter of the standard deviation α Pn of the change amount (vehicle speed pulse acceleration) ΔVPn [mZs ² ] of the vehicle speed pulse speed VPn [mZs] in step S811 is set to, for example, 3/4. This is because the slope angle Θ Pn [rad.] Of the climbing road surface during traveling is gentler than the step S811 or closer to the flat surface! In order to determine whether the climbing road surface is frozen or snowy. For example, if the standard deviation oc Pn of the amount of change in the vehicle speed pulse speed VPn [mZs] (vehicle speed pulse acceleration) ΔVPn [m / s ² ] is 1.35≤standard deviation oc Pnj (Step S 827: Yes ) Satisfies the third freezing / snow accumulation condition on the slightly uphill / flat road surface, and proceeds to the processing of step S828, while if it is not “1. 35≤ standard deviation _α Ρη” (step S827: No), then step S842 Move on to processing.

[0123] in step S857, ^{"0 3 [mZs 2] ≤ (} Δ VGn- Δ VPn). " If it is determined that (step S857: Yes), in turn, the first standard deviation determination unit 714 , 1.6 ≤ standard It is determined whether or not the quasi deviation α Ρη is satisfied (step S858). In this step S858, the amount of change in the vehicle speed pulse speed VPn [mZs] (vehicle speed pulse acceleration) ΔVPn [mZs ² ] calculated by the ring buffer 1302 with 50 samples in step S803 is the magnitude of the standard deviation a Pn Judging.

[0124] In step S858, if the downhill road surface is frozen or snowy, the change in vehicle speed pulse speed VPn [mZs] described in step S857 (vehicle speed pulse acceleration) A VPn In the case of [mZs ² ], the drive wheel of the vehicle slides down irregularly. In addition, when the brake system is operated (braking), the drive wheels are irregular and slide down with little rotation. In addition, even if the vehicle is equipped with an ABS device, the ABS will run down (the drive wheel has an irregular number of rotations) and will slide down. In other words, the number of vehicle speed pulses that also generate vehicle speed sensor force per unit time (for example, sampling cycle T (100ms) X 10 = 1 second) is more irregular than the normal (dry / wet) road surface. Less.

[0125] Therefore, the calculated change in vehicle speed pulse speed VPn [mZs] (vehicle speed pulse acceleration) A VPn [mZs ² ] is calculated from the change in GPS speed VGn [mZs] (GPS acceleration) A VGn [mZs ² ] Becomes irregularly small. For example, the amount of change in the vehicle speed pulse speed VPn [mZs] obtained and calculated in step S803 (vehicle speed pulse acceleration) ΔVPn [mZs ² ] standard deviation a Pn force S "l. 6 ≤ standard deviation α Ρη" If it is (step S858: Yes), the third icy snowfall condition on the downhill road surface is satisfied, and the process proceeds to step S859. On the other hand, if it is not “1.6 ≦ standard deviation α Ρη” (step S858: No), the process proceeds to step S874.

[0126] If it is determined by step S858 that “1.6 ≤ standard deviation α Pn” is not satisfied (step S858: No), or by step S873, “0.15 [m / s ² ] ≤ (Δ VGn — ΔVP n) ”(step S873: Yes), the first standard deviation determination unit 714 subsequently determines whether 1.2 ≦ standard deviation α Ρη ( Step S874). In this step S874, the change amount (vehicle speed pulse acceleration) A VPn [m / s ² ] of the vehicle speed pulse speed VPn [mZs] calculated by the ring buffer 1302 with 50 samples in step S803 a Pn Determine the size of.

[0127] In step S874, the parameter of the standard deviation α Pn of the change amount (vehicle speed pulse acceleration) ΔVPn [mZs ² ] of the vehicle speed pulse speed VPn [mZs] in step S858 is set to 3/4, for example. The This is to determine whether the downhill road slope angle Θ Pn [rad.] During traveling is a gentle downhill road surface that is gentler than step S858 or near flat! is there. For example, when the standard deviation oc Pn of the change amount of the vehicle speed pulse speed VPn [mZs] (vehicle speed pulse acceleration) Δν Pn [m / s ² ] is “1.2 ≤ standard deviation oc Pnj (Step S874: Yes) Slightly downhill • The third freezing condition on a flat road surface • Snow conditions are met, and the process proceeds to step S875, while if it is not “1.2 ≤ standard deviation _α Ρη” (step S874: No), step Move on to S890 processing.

[0128] If it is determined in step S811 that the standard deviation α Ρη is “1.8 ≤ standard deviation α Ρη” (step S811: Yes), the road surface slope comparison and determination unit 706 subsequently performs π / It is determined whether or not 3 6 [rad.] ≤ (θ Pn− Θ Gn) (step S812). In this step S812, the road surface inclination angle Θ Pn [calculated by the amount of change in the acceleration sensor acceleration Δ VAn [mZs ² ] and the vehicle speed pulse speed VPn [mZs] (vehicle speed pulse acceleration) ΔVPn [mZs ² ] in step S804. ], and the road inclination angle Θ Gn [rad.] calculated by the horizontal (X) direction velocity VGGxn [kmZh] and vertical (y) direction velocity VGGyn [kmZh] of the GPS velocity VGGn [kmZh] in step S806 To determine the magnitude of the road surface inclination angle difference.

[0129] In step S812, when the running uphill road surface is frozen or snowy, the road slope angle Θ Gn [rad.] Is more accurate than the road slope angle Θ Pn [rad. The road surface inclination angle can be obtained. This is because the amount of change in vehicle speed pulse speed VPn [mZs] (vehicle speed pulse acceleration) A VPn [mZs ² ] as described in steps S810 and S811 when calculating the road surface inclination angle Θ Pn [rad. It is for receiving. For example, when the road surface inclination angle difference between the road surface inclination angle 0 Pn [rad.] And the road surface inclination angle Θ Gn [rad.] Is “π Z36 [ra d.] ≤ (Θ Ρη- θ Gn)” ( Step S812: Yes) satisfies the fourth freezing snow condition on the uphill road surface, and proceeds to the process of Step S813. On the other hand, if “π / 36 [rad.] ≤ (θ Pn- Θ Gn)” is not satisfied (step S812: No), the process proceeds to step S828.

[0130] Next, when it is determined in step S812 that “Z36 [rad.] ≤ (θ Pn— Θ Gn)” is not satisfied (step S812: No), or in step S827, “1. If it is determined that the difference is a Pnj (step S827: Yes), then whether or not π / 72 [rad.] ≤ (θ Ρη- θ Gn) is determined by the road surface slope comparison determination unit 706 (Step S828). In this step S828, the road surface inclination angle Θ calculated by the acceleration sensor acceleration ΔVA n [mZs ² ] and the change amount of the vehicle speed pulse speed VPn [mZs] (vehicle speed pulse acceleration) AVPn [m Zs ² ] in step S804. Pn [rad.] And the road slope angle calculated in step S806 from the GPS velocity V GGn [km / h] horizontal (x) direction velocity VGGxn [kmZh] and vertical (y) direction velocity VGGyn [kmZh] Compare with Θ Gn [rad.] To determine the magnitude of the road slope angle difference.

[0131] In step S828, the parameter of the road surface inclination angle difference in step S812 is set to 1/2, for example. This is because the slope angle Θ Pn [rad.] Of the climbing road surface during traveling is gentler than the step S812 or near flat, and it is judged whether the climbing road surface is frozen or snowy. For example, if the road surface inclination angle difference between the road surface inclination angle Θ Pn [rad.] And the road surface inclination angle Θ Gn [rad.] Is Z72 [rad.] ≤ (θ Ρη— Θ Gn) ”(step S8 28: If Yes), the conditions are met slightly uphill / fourth freezing / snow coverage on flat road surface, and the process proceeds to step S829. On the other hand, if “π / 72 [rad.] ≤ (θ (η—θGn)” is not satisfied (step S828: No), the process proceeds to step S842.

[0132] If it is determined in step S858 that "1.6 ≤ standard deviation α Pn" (step S858: Yes), the road surface slope comparison determination unit 706 subsequently performs w Z45 [rad.] It is determined whether or not ≤ (θ Gn-θ Ρη) (step S859). In step S859, the mosquito卩速degree sensor acceleration Δ VAn [mZs ^2] with stearyl-up S804, variation in the vehicle speed pulse rate VPn [MZS] road surface inclination calculated by the (vehicle speed pulse acceleration) AVPn [mZs ^2] The angle θ P n [rad.], And the GPS velocity VGGn [kmZh] horizontal (x) direction velocity VGGx n [km / h] and vertical (y) direction velocity VGGyn [kmZh] calculated in step S806. The road surface inclination angle Θ Gn [rad.] Is compared to determine the magnitude of the road surface inclination angle difference.

[0133] In step S859, when the downhill road surface is frozen or snowy, the road surface inclination angle Θ Gn [rad.] Is more accurate than the road surface inclination angle Θ Pn [rad. It is possible to obtain the inside road slope angle. This is because the amount of change in vehicle speed pulse speed VPn [mZs] as described in steps S857 and S858 (vehicle speed This is because it is affected by (Luth acceleration) ΔVPn [mZs ² ]. For example, when the road surface inclination angle difference between the road surface inclination angle 0 Gn [rad.] And the road surface inclination angle Θ Pn [rad.] Is “π Z45 [ra d.] ≤ (θ Gn- θ Ρη)” ( In step S859: Yes), the fourth freezing / snow accumulation condition on the downhill road surface is satisfied, and the process proceeds to step S860. On the other hand, if it is not “π / 45 [rad.] ≤ (θ Gn- θ Pn)” (step S859: No), the process proceeds to step S875.

[0134] If it is determined by step S859 that it is not "Z45 [rad.] ≤ (θ Gn— θ Ρη)" (step S859: No), or by step S874, "1.2 ≤ standard deviation α Ρη" (Step S874: Yes), the road surface slope comparison / determination unit 700 determines whether or not π / 90 [rad.] ≤ (θ Gn— θ Pn). (Step S8 75). In this step S875, it is calculated in step S804 based on the amount of change in the vehicle speed sensor acceleration AVAn [m / s ² ] and the vehicle speed pulse speed VPn [m / s] (vehicle speed pulse acceleration) ΔVPn [m / s ² ]. Calculated in step S806 using the horizontal (X) direction velocity VGGxn [kmZh] and the vertical (y) direction velocity VGGyn [k mZh] in step S806. The road surface inclination angle Θ Gn [rad.] Is compared to determine the magnitude of the road surface inclination angle difference.

[0135] In step S875, the parameter of the road surface inclination angle difference in step S859 is set to 1/2, for example. This is to determine whether the downhill road surface inclination angle Θ Pn [rad.] During traveling is a gentle downhill road surface that is gentler than step S859 or a downhill road surface that is almost flat or snowy. For example, when the road surface inclination angle difference between the road surface inclination angle Θ Gn [rad.] And the road surface inclination angle Θ Pn [rad.] Is Z90 [rad.] ≤ (θ Gn- θ Pn) ”(step S8 75: If Yes), slightly downhill 'Fourth freezing on flat road' snow condition is satisfied, and the process proceeds to step S876. On the other hand, if “π / 90 [rad.] ≤ (θ Gn—Θ Pn)” is not satisfied (step S 875: No), the process proceeds to step S 890.

[0136] If it is determined in step S812 that "Z36 [rad.] ≤ (θ Pn— Θ Gn)" (step S812: Yes), the second standard deviation determination unit 716 then 1. It is determined whether or not 8≤standard deviation j8 Θ Pn (step S813). In this step S813, the road slope calculated by the ring buffer 1702 with 50 samples in step S805 is obtained. Change in angle Θ Pn [rad.] (Road slope angular velocity) Δ Θ Determine the magnitude of Pn [rad. Zs] standard deviation Θ Ρη.

[0137] In step S813, if the running uphill road surface is frozen or snowy, a specific calculation is omitted, but the amount of change in road slope angle Θ Gn [rad.] (Road slope angular velocity) Δ Θ G The amount of change in road inclination angle Θ Pn [rad.] (road inclination angular velocity) Δ θ Pn [rad. Zs] is irregularly larger than n [rad. Zs]. This is because the amount of change in road inclination angle Θ Pn [rad.] (Road inclination angle velocity) ΔΘ Pn [rad. Zs] When calculating vehicle speed pulse speed VPn [m / s] as described in steps S810 and S811 ] (Vehicle speed pulse acceleration) Δ VPn [m / s ² ]. For example, the amount of change in the road slope angle Θ Pn [rad.] Calculated in step S805 (road slope angular velocity) Δ Θ Pn [rad. Zs] standard deviation Θ Ρη is “1.8 ≤ standard deviation | 8 0 If “Pn” (step S813: Yes), the fifth freezing snow condition on the uphill road surface is satisfied, and the process proceeds to step S814. On the other hand, if “1.8 ≦ standard deviation β θ Ρη” is not satisfied (step S813: No), the process proceeds to step S829.

[0138] If it is determined by step S813 that “1. 8 ≤ standard deviation | 8 0 Pn” is not satisfied (step S813: No), or step S828, “7u / 72 [rad.] ≤ (θ Ρη— Θ Gn) ”(step S828: Yes), the second standard deviation judgment unit 716 then determines whether or not 1.35≤standard deviation j8 Θ Ρη. Is determined (step S829). This step S829 reaches ί, and in step S805 the number of samplings is 50 even. The amount of change in the road slope angle Θ Pn [rad.] (The road slope angular velocity) ΔΘ Pn [rad./s The standard deviation of θ Ρη is determined.

[0139] In step S829, specifically, the amount of change in road slope angle Θ Pn [rad.] In step S813 (road slope angular velocity) ΔΘ Pn [rad. Zs] standard deviation j8 θ Pn parameter For example, 3/4. This is to determine whether the climbing road slope angle Θ Pn [rad.] During traveling is gentler than the step S813, or whether the climbing road surface is almost flat or frozen. For example, the amount of change in the road surface inclination angle Θ Pn [rad.] (Road surface inclination angle velocity) ΔΘ Pn [rad. Zs] standard deviation j8 0? 11 is "1.35≤standard deviation Θ Ρη" (Step S829: Yes) slightly satisfies the climbing slope 'fifth freezing of flat road surface' snow cover condition, and proceeds to the processing of step S830. On the other hand, if the value is not 1.35≤standard deviation | 8 Θ Ρη If YES (step S829: No), the process proceeds to step S842.

[0140] If it is determined in step S859 that "Z45 [rad.] ≤ (θ Gn— θ Ρη)" (step S859: Yes), the second standard deviation determination unit 716 then 1. It is determined whether or not 6≤standard deviation j8 θ Pn (step S860). In this step S860, the amount of change in the road slope angle Θ Pn [rad.] Calculated by the ring buffer 1702 with 50 samples in step S805 (road slope angular velocity) Δ Θ Pn [rad. Zs] standard deviation Θ Determine the size of Pn.

[0141] In step S860, if the downhill road surface is frozen or snowy, a specific calculation is omitted, but the amount of change in road surface inclination angle Θ Gn [rad.] (Road surface inclination angular velocity) Δ Θ Change amount of road surface inclination angle Θ Pn [rad.] (Road surface inclination angle velocity) Δ θ Pn [rad. Zs] becomes irregularly smaller than G n [rad. Zs]. This is because the amount of change in road inclination angle Θ Pn [rad.] (Road inclination angle velocity) ΔΘ Pn [rad. Zs] when calculating vehicle speed pulse speed VPn [m / s] as described in steps S857 and S858 ] (Vehicle speed pulse acceleration) ΔVPn [m / s ² ]. For example, the amount of change in the road slope angle Θ Pn [rad.] Calculated in step S805 (road slope angular velocity) Δ Θ Pn [rad. Zs] standard deviation 0 Pr ^ “l. 6≤standard deviation | 8 If “0 Pn” (step S860: Yes), the fifth freezing snow condition on the downhill road surface is satisfied, and the process proceeds to step S861. On the other hand, if it is not “1.6 ≤ standard deviation j8 θ Pn” (step S860: No), the process proceeds to step S876.

[0142] If it is determined by step S860 that it is not “1.6 ≤ standard deviation | 8 0 Pn” (step S860: No), it will be changed to 7u / 90 [rad. ≤ (Θ Gn— θ Pn) '' (step S875: Yes), the second standard deviation judgment unit 716 subsequently determines whether 1.2 ≤ standard deviation | 8 Θ Ρη. (Step S876). In this step S876, the amount of change in the road surface inclination angle Θ Pn [rad.] Calculated by the ring buffer 1702 with 50 samples in step S805 (road surface inclination angular velocity) ΔΘ Pn [rad. Zs] standard deviation Θ Determine the size of Pn.

[0143] In step S876, specifically, the amount of change in road slope angle Θ Pn [rad.] In step S860 (road slope angular velocity) ΔΘ Pn [rad. Zs] standard deviation j8 Θ Pn parameter For example, 3/4. This is to determine whether the downhill road surface slope angle Θ Pn [rad.] Is lower than that of step S860 or whether the downhill road surface is almost flat or frozen. For example, the amount of change in the road surface inclination angle Θ Pn [rad.] (Road surface inclination angle velocity) ΔΘ Pn [rad. Zs] standard deviation j8 0 to 11 is “1.2 ≤ standard deviation Θ Ρη” If this is the case (step S876: Yes), it slightly satisfies the downhill “fifth freezing” snow condition on a flat road, and the process proceeds to step S877. On the other hand, if “1.2 ≦ standard deviation | 8 0 Pn” is not satisfied (step S876: No), the process proceeds to step S890.

[0144] If it is determined in step S813 that "1.8 ≤ standard deviation | 8 0 Pn" (step S813: Yes), the condition counter determination unit 717 then sets the condition 1 establishment counter = It is determined whether or not it is 5 seconds (50 times) (step S814). In this step S814, the first to fifth frozen / snow conditions 1 (speed difference, acceleration difference, standard deviation 1 (= variance 1), road slope angle difference and standard deviation 2 (= variance 2)) are sampled. This is a counter that monitors the power of λ 例えば for example for 5 seconds (for example, sampling period T: 100 ms, sampling count: 50 times).

[0145] In step S814, it is monitored whether the 1st to 5th freezing / snow condition 1 is satisfied for 5 seconds (50 times) while traveling on an uphill road surface with a road surface inclination angle Θ Pn [rad. ing. For example, when the counter is “Condition 1 Satisfaction Counter = 5 seconds (50 times)” (step S814: Yes), the process proceeds to step S815. On the other hand, if “condition 1 establishment counter = 5 seconds (50 times)” is not satisfied (step S814: No), the process proceeds to step S824.

[0146] If it is determined in step S829 that "1.35≤standard deviation 0 Ρη" (step S829: Yes), then the condition counter determination unit 717 next sets the condition 2 establishment counter = 5 It is determined whether it is a second (50 times) (step S830). In this step S830, the first to fifth frozen / snow conditions 2 (speed difference, acceleration difference, standard deviation 1 (= variance 1), road surface inclination angle difference and standard deviation 2 (= variance 2)) For example, it is a counter that monitors whether it has been established for 5 seconds (eg, sampling period T: 100 ms, sampling count: 50 times).

[0147] In Step S830, the first to fifth freezing / snow coverage conditions 2 are 5 while traveling on an uphill road surface where the road surface inclination angle Θ Pn [rad. It is monitored whether it is established for 50 seconds. For example, if the counter is “Condition 2 Satisfaction Counter = 5 seconds (50 times)” (step S830: Yes), the process proceeds to step S831. On the other hand, if “Condition 2 satisfaction counter = 5 seconds (50 times)” is not satisfied (step S830: No), the process proceeds to step S840.

[0148] If it is determined in step S860 that "1.6 ≤ standard deviation | 8 0 Pn" (step S860: Yes), then condition counter determination unit 717 sets condition 3 establishment counter = It is determined whether or not it is 5 seconds (50 times) (step S861). In this step S861, the first to fifth frozen / snow conditions 3 (speed difference, acceleration difference, standard deviation 1 (= variance 1), road slope angle difference and standard deviation 2 (= variance 2)) are sampled. This is a counter that monitors the power of λ 例えば for example for 5 seconds (for example, sampling period T: 100 ms, sampling count: 50 times).

[0149] In step S861, monitoring whether the 1st to 5th freezing and snow conditions 3 are satisfied for 5 seconds (50 times) while traveling on a downhill road surface with a road surface inclination angle Θ Pn [rad.] is doing. For example, if the counter is “Condition 3 Satisfaction Counter = 5 seconds (50 times)” (step S861: Yes), the process proceeds to step S862. On the other hand, if it is not “Condition 3 satisfaction counter = 5 seconds (50 times)” (step S861: No), the process proceeds to step S871.

[0150] Finally, if it is determined in step S876 that “1.2 ≤ standard deviation | 8 θ Pn” (step S876: Yes), then the condition counter determination unit 717 executes condition 4 It is determined whether or not the establishment counter = 5 seconds (50 times) (step S877). In this step S8 77, the first to fifth frozen / snow conditions 4 (speed difference, acceleration difference, standard deviation 1 (= variance 1), road surface inclination angle difference and standard deviation 2 (= variance 2)) are sampled. For example, λ カウンタ is a counter that monitors whether it is V for 5 seconds (for example, sampling period T: 100 ms, sampling count: 50 times).

[0151] In step S877, the road surface inclination angle Θ Pn [rad.] Is lower than that in step S861, or the first to fifth freezing / snow conditions 4 are It is monitored for 5 seconds (50 times). For example, if the counter is “Condition 4 Satisfaction Counter = 5 seconds (50 times)” (step S877: Yes), the process proceeds to step S878. On the other hand, if “Condition 4 Satisfaction Counter = 5 seconds (50 times)” (Step S8 77: No) shifts to the processing of step S887.

[0152] If it is determined in step S802 that “outside temperature Toutn ≤ 10 ° C” is not satisfied (step S802: No), it is determined in step S825 that it is not “2.0 [kmZh] ≤ (VPPn—VGGn)”. (Step S825: No), if it is determined by Step S826 that “0.2 [m / s ² ] ≤ (AV Pn- AVGn)” is not satisfied (Step S826: No), then step S827 If it is determined that it is not “1.35≤standard deviation PPn” (step S827: No), if it is determined by step S828 that it is not “Z72 [rad.] ≤ (θ Ρη—ΘGn)” (step S828: No), or if it is determined in step S829 that `` 1.35≤standard deviation j8 0 Pn '' is not! / (Step S829: No), then the outside air temperature determination unit 702 and warning notification The non-flag determining unit 718 determines whether or not the warning 1 notification presence / absence flag is 1 (step S842).

In this step S842, it is checked whether or not the “Warning 1 notification presence / absence flag” is set to “1”. As a result, if the “Warning 1 Notification Flag” is set to “1” (Step S842: Yes), the 1st to 5th frozen 'snow conditions 1 or slightly uphill' running on the uphill road surface will be flat. The process proceeds to step S844 for monitoring whether one of the first to fifth freezing / snow accumulation conditions 2 running on the road surface is released for 5 seconds (50 times). On the other hand, if the “warning 1 notification presence / absence flag” is set to “1” (step S842: No), the process proceeds to step S843.

[0154] If it is determined in step S842 that the "warning 1 notification presence / absence flag" is not set to "1" (step S842: No), next, the outside air temperature determination unit 702 and the warning notification presence / absence flag are displayed. Judgment unit 718 judges whether or not the power is warning 2 notification presence flag = 1 (step S843). In this step S843, it is checked whether or not the “Warning 2 notification presence / absence flag” is set to “1”. As a result, if the “Warning 2 Notification Flag” is set to “1” (Step S843: Yes), the 1st to 5th freezing snow conditions 1 or slightly uphill on the uphill road surface The process proceeds to the process of step S844 for monitoring whether one of the first to fifth freezing / snow conditions 2 running on a flat road surface is released for 5 seconds (50 times). On the other hand, if the “warning 2 notification presence / absence flag” is not set to “1” (step S843: No), the process proceeds to step S888. [0155] If it is determined in step S802 that “outside temperature Toutn ≤ 10 ° C” is not satisfied (step S802: No), it is determined in step S872 that it is not “1.5 [kmZh] ≤ (VGGn— VPPn)”. (Step S872: No), step S873 determines that it is not `` 0.15 [m / s ² ] ≤ (ΔVGn-AVPn) '' (Step S873: No). 1. If it is determined that it is not 2≤standard deviation α ステップ η (step S874: No), it is determined that it is not `` Z90 [rad.] ≤ (θ Gn— θ Ρη) '' in step S875 (step S874: No) S875: No), or if it is determined by step S876 that `` 1.2 ≤ standard deviation j8 0 Pn '' is not satisfied (step S876: No), then the outside air temperature determination unit 702 and warning notification flag flag determination Part 718 determines whether or not the power of warning 3 notification presence flag = 1 is set (step S890).

In this step S890, it is checked whether or not the “Warning 3 notification presence / absence flag” is set to “1”. As a result, if the “Warning 3 Notification Flag” is set to “1” (Step S890: Yes), the 1st to 5th freezing / snow conditions 3 or slightly downhill on the downhill road surface · First to fifth freezing on a flat road surface · Snow condition 4 Shifts to the process of step S892 to monitor whether the force is released for 5 seconds (50 times). On the other hand, if the “Warning 3 notification presence / absence flag” is not set to “1” (step S890: No), the process proceeds to step S891.

[0157] If it is determined in step S890 that the "Warning 3 notification presence / absence flag" is not set to "1" (No in step S890), the outside air temperature determination unit 702 and the warning notification presence / absence flag are then used. Judgment unit 718 judges whether or not the power is warning 4 notification presence flag = 1 (step S891). In this step S891, it is checked whether or not the “Warning 4 notification presence / absence flag” is set to “1”. As a result, if the “Warning 4 Notification Flag” is set to “1” (Step S891: Yes), the 1st to 5th freezing snow conditions 3 or slightly falling on the downhill road surface. The process proceeds to step S892 for monitoring whether one of the first to fifth freezing snow conditions 4 running on the hill 'flat road surface' is released for 5 seconds (50 times). On the other hand, when the “warning 4 notification presence / absence flag” is not set to “1” (step S891: No), the process proceeds to step S904.

[0158] In step S802, if it is determined that “outside temperature Toutn ≤ 10 ° C”, In step S802: No), the outside air temperature determination unit 702 and the condition counter determination unit 717 set the condition 1 establishment counter = 0 and the condition 2 establishment counter = 0 (step S841). Here, all six “condition counters” are cleared to zero. First, in step S841, “Condition 1 establishment force counter” and “Condition 2 establishment counter” are cleared to zero. This is because the first to fifth freezing snow conditions 1 or slightly uphill on the uphill road before step S802 becomes “outside temperature Toutn ≤ 10 ° C” (step S802: No). This is because the first to fifth freeze / snow conditions 2 running on a flat road may be counted (+1 increment). Then, when the process ends, the process proceeds to step S842.

[0159] If it is determined in step S842 that "Warning 1 notification presence flag = 1" is not satisfied (step S84: No), and if it is determined in step S843 that "Warning 2 notification presence flag is not equal to 1" ( Next, in step S843: No), the outside air temperature determination unit 702 and the condition counter determination unit 717 set the condition 1 & 2 release counter = 0 (step S888). Here, all six “condition counters” are cleared to zero. Next, clear “Condition 1 & 2 Cancel Counter” to zero. This is because, if “outside air temperature Toutn ≤ 10 ° C” is not satisfied in step S802, the first to fifth freezing snow conditions 1 or slightly while driving on the uphill road surface before becoming the case (step S802: No). This is because the release of the 1st to 5th freezing snow conditions 2 while traveling on the uphill 'Taira road surface is being counted (+1 increment). Then, when the process ends, the process shifts to the process of step S889.

[0160] When the process of step S888 ends, the outside air temperature determination unit 702 and the condition counter determination unit 717 set the condition 3 satisfaction counter = 0 and the condition 4 satisfaction counter = 0 (step S889). Here, all six “condition counters” are cleared to zero. Next, “Condition 3 Satisfaction Counter” and “Condition 4 Satisfaction Counter” are cleared to zero. This is because the first to fifth freezing snow conditions 3 or slightly downhill on the downhill road before becoming “outside temperature Toutn ≤ 10 ° C” in step S802 (step S802: No). This is because there may be cases where the first to fifth freezing snow conditions 4 running on a flat road are being counted (+1 increment). Then, when the process ends, the process proceeds to step S890.

[0161] If it is determined in step S890 that "Warning 3 notification presence flag = 1" is not satisfied (step S8 90: No), and if it is determined in step S891 that "Warning 4 notification presence flag is not 1" Next, the condition 3 & 4 release counter is set to 0 by the outside air temperature determination unit 702 and the condition counter determination unit 717 (step S904). Here, all six “condition counters” are cleared to zero. Finally, clear “Condition 3 & 4 Cancel Counter” to zero. This is because, if “outside air temperature Toutn ≤ 10 ° C” is not satisfied in step S802, the first to fifth freezing snow conditions 3 or on the downhill road before becoming the case (step S802: No). This is because the release of the first to fifth freezing snow conditions 4 running on a slightly downhill flat road surface is being counted (+1 increment) in some cases. When the process ends, the series of processes ends.

[0162] First, if it is determined in step S842 that the "Warning 1 notification presence / absence flag" is set to "1" (step S842: Yes), or in step S843, the "Warning 2 notification presence / absence flag" is set. If it is determined that it is set to “1” (step S843: Yes), then the condition counter determination unit 717 determines whether the force is condition 1 & 2 release counter = 5 seconds (50 times). (Step S844). In this step S844, the first to fifth frozen snow conditions 1 or 2 (speed difference, acceleration difference, standard deviation 1 (= variance 1), road slope angle difference and standard deviation 2 (= variance 2)) Is a counter that monitors whether it has been released for 5 seconds (eg, sampling period T: 100 ms, sampling count: 50 times) during the sampling period λΤ.

[0163] In this step S844, the uphill road surface force of the road surface inclination angle Θ Pn [rad.] In step S814 The uphill road surface where the road surface inclination angle Θ Pn [rad.] Is gentler than that of step S814 or close to flat Or the slope angle Θ Pn [rad.] Is a gentle uphill road surface than step S830, or the first to fifth freezing and snow accumulation conditions 1 or 2 while running on an uphill road surface that is nearly flat for 5 seconds. (50 times), monitoring whether it is released. For example, if the counter is “Condition 1 & 2 cancellation counter = 5 seconds (50 times)” (step S844: Yes), the process proceeds to step S845. On the other hand, if it is not “Condition 1 & 2 cancellation counter = 5 seconds (50 times)” (step S844: No), the process proceeds to step S855.

[0164] Next, when it is determined in step S890 that the "Warning 3 Notification Presence / Absence Flag" is set to "1" (Step S890: Yes), or in Step S891, the "Warning 4 Notification Presence / Absence Flag" is set. "" Is set to "1" (step S891: Yes), Then, the condition counter determination unit 717 determines whether or not the condition 3 & 4 release counter = 5 seconds (50 times) (step S892). In this step S892, the first to fifth frozen snow conditions 3 or 4 (speed difference, acceleration difference, standard deviation 1 (= variance 1), road surface inclination angle difference and standard deviation 2 (= variance 2)) Is a counter that monitors whether or not the sampling period λΤ has been released, for example, for 5 seconds (for example, sampling period T: 100 ms, sampling count: 50 times).

[0165] In step S892, the downhill road force of road slope angle Θ Pn [rad.] In step S861 The road slope angle Θ Pn [rad.] Is a gentle downhill road surface or closer to flat than in step S861. The first to fifth frozen snow conditions 3 or while running on a downhill road surface or a downhill road surface whose slope angle Θ Pn [rad. Whether condition 4 is released for 5 seconds (50 times) is monitored. For example, if the counter is “condition 3 & 4 cancellation counter = 5 seconds (50 times)” (step S892: Yes), the process proceeds to step S893. On the other hand, if “condition 3 & 4 release counter = 5 seconds (50 times)”! /, (Step S892: No), the process proceeds to step S903.

[0166] First, in step S814, the first to fifth freeze / snow conditions 1 are satisfied while traveling on the uphill road surface at the road surface inclination angle Θ Pn [rad.] ("Condition 1 establishment counter = 5 seconds (50 times ) ”) (Step S814: Yes), then the condition counter determination unit 717 sets the condition 1 establishment counter = 0, and newly starts the road surface condition determination from the beginning. Yes (Step S815).

[0167] In this step S815, the 1st to 5th freeze / snow condition 1 is set to "Condition 1 Satisfaction Counter = 5 seconds (50 times) while traveling on the uphill road surface at the road surface inclination angle Θ Pn [rad. ) ”Is determined to be satisfied (Step S814: Yes),“ Condition 1 Satisfaction Counter ”is cleared to zero. This is because the first to fifth freezing snow conditions 1, condition 2, condition 3, or condition 4 will be the same during the uphill or downhill road surface with the road surface inclination angle Θ P [rad.] From the next time. When it is determined that the vehicle has been established for 5 seconds (50 times) (Step S814, Step S830, Step S861 or Step S877: Yes), the road surface condition is changing every moment. This is to make it possible to newly start the road surface condition determination from the beginning by setting “Condition 1 Satisfaction Counter = 0 seconds (0 times)”. And step S Move to 816 processing.

[0168] Next, in Step S830, the 1st to 5th freezing snow conditions when the road surface inclination angle Θ Pn [rad.] Is traveling on a gentle uphill road surface that is gentler or flatter than in Step S814. 2 is satisfied ("Condition 2 Satisfaction Counter = 5 seconds (50 times)") (Step S830: Yes), then Condition Counter Determination Unit 717 causes Condition 2 Satisfaction Counter = A new road surface condition determination is started from the beginning (step S831).

[0169] In this step S831, the first to fifth frozen snowfalls are carried out while traveling on an uphill road surface in which the road surface inclination angle Θ Pn [rad.] Is gentler or flatter than in step S814 in step S830. If it is determined that Condition 2 is satisfied with “Condition 2 Satisfaction Counter = 5 seconds (50 times)” (step S830: Yes), “Condition 2 Satisfaction Counter” is cleared to zero. This is because any one of the 1st to 5th freezing snow conditions 1, condition 2, condition 3 or condition 4 while running on an uphill or downhill road surface with a road surface inclination angle Θ P [rad. If it is determined that it has been established for 5 seconds (50 times) (Step S814, Step S830, Step S861 or Step S877: Yes), the road surface condition changes every moment. By setting “Condition 2 Satisfaction Counter = 0 seconds (0 times)” each time, it is possible to newly start the road surface condition determination from the beginning. Then, the process proceeds to step S832.

[0170] Subsequently, in step S861, the first to fifth frozen / snow conditions 3 are satisfied while traveling on the downhill road surface at the road surface inclination angle Θ Pn [rad.] ("Condition 3 satisfaction counter = 5 seconds ( 50)))) (step S861: Yes), the condition counter determination unit 717 then sets the condition 3 establishment counter to = 0 and newly determines the road surface condition from the beginning. Start (step S862).

[0171] In this step S862, the 1st to 5th freezing / snow coverage conditions 3 are expressed as “Condition 3 establishment counter = 5 seconds (50 seconds) while traveling on the downhill road surface with the road surface inclination angle Θ Pn [rad.] In step S861. If it is determined that the condition is satisfied (step S861: Yes), “Condition 3 satisfaction counter” is cleared to zero. This is because the first to fifth freezing snow conditions 1, condition 2, condition 3, or condition 4 will be the same during the uphill or downhill road surface with the road surface inclination angle Θ P [rad.] From the next time. Is determined to have been established for 5 seconds (50 times) (Step S814, Step S83) 0, one of step S861 or step S877: Yes) Since the road surface condition is changing every moment, every time “Condition 3 satisfaction counter = 0 seconds (0 times)”, a new first This is also because the force can start the situation determination of the traveling road surface. Then, the process proceeds to step S863.

[0172] Finally, in step S877, the first to fifth freezing products are accumulated while the road surface inclination angle Θ Pn [rad.] Is traveling on a gentle downhill road surface that is gentler or flatter than in step S861. If it is determined that the snow condition 4 is satisfied ("Condition 4 satisfaction counter = 5 seconds (50 times)") (step S877: Yes), then the condition counter determination unit 717 causes the condition 4 satisfaction counter to count. The road surface condition determination is newly started from the beginning (step S878).

[0173] In this step S878, the road surface inclination angle Θ Pn [rad.] Is lower than that of step S8 61 in step S877, or the first to fifth during traveling on the downhill road surface that is nearly flat. If it is determined that the condition 4 Freezing / Snow Coverage Condition 4 is satisfied with “Condition 4 Satisfaction Counter = 5 seconds (50 times)” (Step S877: Yes), clear “Condition 4 Satisfaction Counter” to zero. This is because any one of the 1st to 5th freezing snow conditions 1, condition 2, condition 3 or condition 4 while running on an uphill or downhill road surface with a road surface inclination angle Θ P [rad. If it is determined that it has been established for 5 seconds (50 times) (Step S814, Step S830, Step S861 or Step S877: Yes), the road surface condition changes every moment. By setting “Condition 4 Satisfaction Counter = 0 second (0 times)” every time, it is possible to newly start the road surface condition determination from the beginning. Then, the process proceeds to step S879.

[0174] First, in step S844, the slope of the road slope Θ Pn [rad.] In step S814 is smooth, or the slope slope Θ Pn [rad.] Is a gentle slope or flatter than that of step S814. The first to fifth frozen snow conditions 1 or 2 while driving on an uphill road surface where the slope angle Θ Pn [rad.] Is closer than that of step S830 or near the flat road surface. Is released ("Condition 1 & 2 Cancel Counter = 5 seconds (50 times)") (Step S844: Yes), then Condition Counter Checking Unit 717 sets Condition 1 & 2 Cancel Counter = 0 Then, a new road condition judgment is also started for the initial force (Step S845). [0175] In step S845, in step S844, the climbing road surface of the road surface inclination angle Θ Pn [ra d.] In step S814, or the climbing road surface in which the road surface inclination angle Θ Pn [rad. Climbing road surface close to flat, or road inclination angle Θ Pn [rad.] Is gentler than that of step S830 or close to flat, and the first to fifth freezing / snow conditions 1 or 5 If it is determined that condition 2 is released with “condition 1 & 2 release counter = 5 seconds (50 times)” (step S844: Yes), “condition 1 & 2 release counter” is cleared to zero. This is because one of the first to fifth freezing snow conditions 1, condition 2, condition 3, or condition 4 while traveling on an uphill or downhill road surface with a road surface inclination angle Θ P [rad.] If it is determined that the vehicle has been established for 5 seconds (50 times) (Step S814, Step S830, Step S861 or Step S877: Yes), the road surface condition changes every moment. By setting “Condition 1 & 2 Cancel Counter = 0 second (0 times)” every time, the initial force can be newly started to determine the road surface condition. Then, the process proceeds to step S846.

[0176] Next, according to step S892, the road slope angle Θ Pn [rad.] Of step S861 or the slope slope Θ Pn [rad.] Is gentler than that of step S861, or 1st to 5th freezing while driving on a downhill road surface that is close to flat or on a downhill road surface where the road inclination angle Θ Pn [rad.] Is slower or stronger than step S877 If it is determined that the snow condition 3 or 4 has been canceled ("Condition 3 & 4 Cancel Counter = 5 seconds (50 times)") (step S892: Yes), then the condition counter determination unit 717 The condition 3 & 4 release counter is set to 0, and the road surface condition determination is newly started from the beginning (step S893).

[0177] In this step S893, in step S892, the downhill road surface of the road surface inclination angle Θ Pn [ra d.] Of step S861 or the downhill road surface in which the road surface inclination angle Θ Pn [rad.] Is gentler than in step S861 1st to 5th freezing while driving on a downhill road surface where the slope angle Θ Pn [rad.] Is less flat than step S877 or on a downhill road surface which is close to flat. If it is determined that snow condition 3 or condition 4 has been canceled with "condition 3 & 4 cancellation counter = 5 seconds (50 times)" (step S892: Yes), set "condition 3 & 4 cancellation counter" to zero. clear. This is because the road slope angle Θ P [rad. If it is judged that one of the 1st to 5th freezing snow conditions 1, condition 2, condition 3 or condition 4 is met for 5 seconds (50 times) while driving on a slope (step) Any one of S814, Step S830, Step S861 or Step S877: Yes) Since the road surface condition is changing every moment, “Condition 3 & 4 release counter = 0 seconds (0 times)” every time. This is to make it possible for the initial force to be newly determined for the road surface condition. Then, the process proceeds to step S894.

[0178] First, when the processing of step S815 is completed, the condition counter determination unit 717 and the warning notification presence / absence flag determination unit 718 then execute a condition 2 establishment counter = 0 and a warning 2 notification presence / absence flag = 0 (step S816), Condition 3 satisfaction counter = 0 and warning 3 notification presence flag = 0 (step S817), condition 4 satisfaction counter = 0 and warning 4 notification presence flag = 0 (step S818), condition 1 & 2 release counter = 0 and condition Set 3 & 4 release counter = 0 (step S819).

[0179] In the above step range, if it is determined in step S814 that the first to fifth frozen / snow condition 1 is satisfied ("Condition 1 satisfied counter = 5 seconds (50 times)") ( Processing is performed in step S814: Ye s). In this step range, if it is determined in step S814 that the 1st to 5th freezing / snow condition 1 is satisfied with "Condition 1 establishment counter = 5 seconds (50 times)" (step S814: Yes) The other counters, “Condition 2 Satisfaction Counter”, “Condition 3 Satisfaction Force Counter”, “Condition 4 Satisfaction Counter”, “Condition 1 & 2 Cancel Counter” and “Condition 3 & 4 Cancel Force Counter” are cleared to zero. . The reason is that before the “Condition 1 Satisfaction Counter = 5 seconds (50 times)”, the other counters are either 1st to 5th Freezing / Snow Covering Condition 2, Condition 3 or Condition 4. This is because there are cases where establishment or release is counted (+1 increment) and in the middle.

[0180] Also, "Warning 2 Notification Presence Flag", "Warning 3 Notification Presence Flag", and "Warning 4 Notification Presence Flag" are cleared to zero. This is because before transition to this step range, any one of Steps S8 30, S861 and S877 will be performed for 5 seconds (50 times). ), If it is determined that it has been established (step S830, one of step S861 or step S877: Yes), for route search, route guidance and hybrid navigation of the driver and upper layer (upper layer), Warning and communication If you know (described later in detail), one of these “warning notification flag”

This is because it is set to "1". Then, the process proceeds to step S820.

[0181] Next, when the processing of step S831 is completed, the condition counter determination unit 717 and the warning notification presence / absence flag determination unit 718 then execute a condition 1 establishment counter = 0 and a warning 1 notification presence / absence flag = 0 ( Step S832), Condition 3 satisfaction counter = 0 and Warning 3 notification presence flag = 0 (Step S833), Condition 4 satisfaction counter = 0 and Warning 4 notification presence flag = 0 (Step S834), Condition 1 & 2 release counter = Set 0 and condition 3 & 4 release counter = 0 (step S835).

[0182] In the above step range, if it is determined in step S830 that the first to fifth freezing / snow coverage conditions 2 are satisfied ("Condition 2 satisfaction counter = 5 seconds (50 times)") ( Processing is performed in step S830: Ye s). In this step range, if it is determined in step S830 that the 1st to 5th freezing / snow conditions 2 are satisfied as "Condition 2 Satisfaction Counter = 5 seconds (50 times)" (Step S830: Yes) The other counters, “Condition 1 Satisfaction Counter”, “Condition 3 Satisfaction Force Counter”, “Condition 4 Satisfaction Counter”, “Condition 1 & 2 Cancel Counter” and “Condition 3 & 4 Release Force Counter” are cleared to zero. . The reason is that before the “Condition 2 Satisfaction Counter = 5 seconds (50 times)”, the other counters are either one of the first to fifth frozen / snow conditions 1, Condition 3 or Condition 4. This is because there are cases where establishment or release is counted (+1 increment) and in the middle.

[0183] Also, "Warning 1 Notification Presence Flag", "Warning 3 Notification Presence Flag" and "Warning 4 Notification Presence Flag" are cleared to zero. This is because before any transition to this step range, any one of Steps S8 14, S861 and S877 is performed for 5 seconds (50 times). ), If it is determined that it has been established (Step S814, Step S861 or Step S877: Yes), for route search, route guidance and hybrid navigation of drivers and higher layers (upper layers), This is because one of these “warning notification presence / absence flags” is set to “1” when a warning and notification are made (described in detail later). Thereafter, the process proceeds to step S836.

[0184] Subsequently, when the processing of step S862 is completed, the condition counter determination unit 717 and the warning notification presence / absence flag determination unit 718 then execute a condition 1 establishment counter = 0 and a warning 1 message. Knowledge presence flag = 0 (Step S863), Condition 2 establishment counter = 0 and Warning 2 notification presence flag = 0 (Step S864), Condition 4 establishment counter = 0 and Warning 4 notification presence flag = 0 (Step S865), Condition Set 1 & 2 release counter = 0 and condition 3 & 4 release counter = 0 (step S866).

[0185] In the above step range, if it is determined in step S861 that the first to fifth freezing / snow coverage conditions 3 are satisfied ("Condition 3 satisfaction counter = 5 seconds (50 times)") ( Processing is performed in step S861: Ye s). In this step range, if it is determined in step S861 that the 1st to 5th freezing / snow condition 3 is satisfied with "Condition 3 satisfaction counter = 5 seconds (50 times)" (step S861: Yes) Other counters, “Condition 1 Satisfaction Counter”, “Condition 2 Satisfaction Force Counter”, “Condition 4 Satisfaction Counter”, “Condition 1 & 2 Cancel Counter” and “Condition 3 & 4 Cancel Force Counter” are cleared to zero. . This is because, before “Condition 3 Satisfaction Counter = 5 seconds (50 times)”, the other counters will be in either one of the first to fifth frozen / snow condition 1, condition 2, or condition 4. This is because there is a case where the establishment or release is counted (+1 increment) and in the middle.

[0186] Also, "Warning 1 Notification Presence Flag", "Warning 2 Notification Presence Flag", and "Warning 4 Notification Presence Flag" are cleared to zero. This is because before any transition to this step range, any one of the first to fifth freezing / snow conditions 1, condition 2 or condition 4 is performed for 5 seconds (50 ), If it is determined that it has been established (Step S814, Step S830 or Step S877: Yes), for route search, route guidance and hybrid navigation of drivers and higher layers (upper layers), This is because one of these “warning notification presence / absence flags” is set to “1” when a warning and notification are made (described in detail later). Then, the process proceeds to step S867.

[0187] Finally, when the process of step S878 ends, the condition counter determination unit 717 and the warning notification presence / absence flag determination unit 718 then execute the condition 1 establishment counter = 0 and the warning 1 notification presence / absence flag = 0 ( (Step S879), Condition 2 Satisfaction Counter = 0 and Warning 2 Notification Presence Flag = 0 (Step S880), Condition 3 Satisfaction Counter = 0 and Warning 3 Notification Presence Flag = 0 (Step S881), Condition 1 & 2 Release Counter = Set as 0 and condition 3 & 4 release counter = 0 (step S882). [0188] In the above step range, if it is determined in step S877 that the first to fifth freezing / snow coverage conditions 4 are satisfied ("Condition 4 satisfaction counter = 5 seconds (50 times)") ( Processing is performed in step S877: Ye s). In this step range, if it is determined in step S877 that the 1st to 5th frozen snow conditions 4 are satisfied in the condition 4 satisfaction counter = 5 seconds (50 times) (step S877: Yes ), “Counter 1 Satisfaction Counter”, “Condition 2 Satisfaction Counter”, “Condition 3 Satisfaction Counter”, “Condition 1 & 2 Release Counter” and “Condition 3 & 4 Release Force Counter” are cleared to zero. To do. This is because, before “Condition 4 Satisfaction Counter = 5 seconds (50 times)”, the other counters are either 1st to 5th Freezing / Snow Covering Condition 1, Condition 2 or Condition 3. This is because there are cases where establishment or release is counted (+1 increment) and in the middle.

[0189] Also, "Warning 1 Notification Presence Flag", "Warning 2 Notification Presence Flag", and "Warning 3 Notification Presence Flag" are cleared to zero. This is because before any transition to this step range, any one of the first to fifth freeze / snow conditions 1, condition 2 or condition 3 is performed for 5 seconds (50 ), If it is determined that it has been established (Step S814, Step S830 or Step S861: Yes), for driver and higher layer route search, route guidance and hybrid navigation, This is because one of these “warning notification presence / absence flags” is set to “1” when a warning and notification are made (described in detail later). Thereafter, the process proceeds to step S883.

[0190] First, when the processing of step S845 ends, the condition counter determination unit 717 and the warning notification presence / absence flag determination unit 718 then execute a condition 1 establishment counter = 0 and a warning 1 notification presence / absence flag = 0 (step S846), Condition 2 satisfaction counter = 0 and warning 2 notification presence flag = 0 (step S847), condition 3 satisfaction counter = 0 and warning 3 notification presence flag = 0 (step S848), condition 4 satisfaction counter = 0 and warning 4 notification Set as presence flag = 0 (step S8 49) and condition 3 & 4 release counter = 0 (step S850).

[0191] In the above step range, if the 1st to 5th frozen snow condition 1 or condition 2 is canceled in step S844 ("Condition 1 & 2 cancellation counter = 5 seconds (50 times)") If it is determined (step S844: Yes), the processing is performed. In this step range, in Step S844, the 1st to 5th freezing / snow condition 1 or 2 is set as “Condition 1 & 2 release counter = 5 seconds (50 times) ”(Step S844: Yes), the other counters“ Condition 1 Satisfaction Counter ”,“ Condition 2 Satisfaction Counter ”,“ Condition 3 Satisfaction Counter ”,“ Condition 4 Satisfaction Power Counter ”And“ Condition 3 & 4 Release Counter ”are cleared to zero. This is because the other counters are frozen 1st to 5th 'snow condition 1, condition 2, condition 3 or condition 4 before "condition 1 & 2 release counter = 5 seconds (50 times)". Count one release or establishment (+1 increment)! This is because there may be cases where you are on the way.

In addition, “Warning 1 Notification Presence Flag”, “Warning 2 Notification Presence Flag”, “Warning 3 Notification Presence Flag” and “Warning 4 Notification Presence Flag” are also cleared to zero. This is because before the transition to this step range, any one of Steps S814, S830, S861 and! If it is determined that it has been established for 5 seconds (50 times) (one of steps S814, S830, S861 or S877: Yes), the route search for the driver or higher layer (upper layer) This is because when a warning or notification is given to the search, route guidance and hybrid navigation (described later in detail), any one of these “warning notification presence / absence flags” is set to 1 ”. Thereafter, the process proceeds to step S851.

[0193] Next, after the processing of step S893 is completed, the condition counter determination unit 717 and the warning notification presence / absence flag determination unit 718 then execute a condition 1 establishment counter = 0 and a warning 1 notification presence / absence flag = 0 ( (Step S894), Condition 2 Satisfaction Counter = 0 and Warning 2 Notification Presence Flag = 0 (Step S895), Condition 3 Satisfaction Counter = 0 and Warning 3 Notification Presence Presence Flag = 0 (Step S896), Condition 4 Satisfaction Counter = 0 and Warning 4 Notification presence flag = 0 (Step S 897), Condition 1 & 2 release counter = 0 (Step S898)

[0194] In the above step range, the 1st to 5th frozen snow conditions 3 or 4 are canceled ("Condition 3 & 4 cancellation counter = 5 seconds (50 times)" in step S892. Is determined (step S892: Yes), processing is performed. In this step range, it was determined in step S892 that the 1st to 5th freezing / snow coverage conditions 3 or 4 were canceled by "condition 3 & 4 release counter = 5 seconds (50 times)"! If (Step S892: Yes), the other counters “Condition 1 Satisfaction Counter”, “Condition 2 Satisfaction Counter”, “Condition 3 Satisfaction Counter”, “Condition 4 Satisfaction Force Counter” and “Condition 1 & 2 Cancel Counter” Clear 'zero'. Because “Conditions 3 & 4 Before the "Release Counter = 5 seconds (50 times)", the other counter counts the release or establishment of any one of the 1st to 5th frozen snow conditions 1, Condition 2, Condition 3 or Condition 4. (+1 increment)! This is because there may be cases where you are on the way.

Also, “Warning 1 Notification Presence Flag”, “Warning 2 Notification Presence Flag”, “Warning 3 Notification Presence Flag” and “Warning 4 Notification Presence Flag” are cleared to zero. This is because before the transition to this step range, any one of Steps S814, S830, S861 and! If it is determined that it has been established for 5 seconds (50 times) (one of steps S814, S830, S861 or S877: Yes), the route search for the driver or higher layer (upper layer) This is because when a warning or notification is given to the search, route guidance and hybrid navigation (described later in detail), any one of these “warning notification presence / absence flags” is set to 1 ”. Thereafter, the process proceeds to step S899.

[0196] First, when the processing of step S819 is completed, it is then determined by the warning notification presence / absence flag determination unit 718 and the driver notification determination unit 719 that the vehicle is "running on an uphill road surface in a frozen state or a snowy state". (Step S820). Also, the warning 1 notification presence flag is set to 1, and warning 1 is notified to the driver (step S821). In this step range, if it is determined in step S814 that the 1st to 5th freeze / snow condition 1 is satisfied ("Condition 1 establishment counter = 5 seconds (50 times)") (Step S814: Yes) Processing is performed.

[0197] In the above step range, if it is determined in step S814 that the 1st to 5th freezing / snow coverage condition 1 is satisfied with "condition 1 establishment counter = 5 seconds (50 times)" (step S814: Ye s), and in step S820, it is determined that the road slope angle Θ Pn [rad.] Is “running on an uphill road in a frozen or snowy state”. Then, in step S821, the driver will be alerted in the voice plan by saying, for example, “The road surface is very slippery. Please drive carefully.” If you urge a warning such as `` change the road surface color to light blue or white '', prompt the warning by displaying the same content as the voice guidance, or prompt the warning with sound from the speaker, etc. The presence / absence flag “force” is set to “1”, and then the process proceeds to step S822.

[0198] Next, when the processing of step S835 is completed, the warning notification presence / absence flag determination unit 7 18 and the driver notification determination unit 719 determine that the vehicle is traveling on a slightly uphill / flat road surface in a frozen state or a snowy state (step S836). Further, the warning 2 notification presence flag = 1 is set, and warning 2 is notified to the driver (step S837). In this step range, if it is determined in step S830 that the first to fifth freezing / snow coverage conditions 2 are satisfied ("Condition 2 satisfaction counter = 5 seconds (50 times)") (step S830: Processing is performed at Yes).

[0199] In the above step range, if it is determined in step S830 that the 1st to 5th freezing / snow coverage condition 2 is satisfied with "condition 2 establishment counter = 5 seconds (50 times)" (step S830: Ye s), in step S836, it is determined that the road surface inclination angle Θ Pn [rad.] Is “traveling on a gentle uphill road surface or a gentle uphill road surface” than in step S820. Then, in step S837, a voice message is given to the driver, for example, a warning such as “The road surface is very slippery. Please drive with caution.” `` Change the road surface color to light blue or white '', prompt the warning by displaying the same contents as the voice guidance, or prompt the warning with sound from the speaker, etc. "Is set to" 1 ". Then, the process proceeds to step S838.

[0200] Subsequently, when the process of step S866 is completed, the warning notification presence / absence flag determination unit 718 and the driver notification determination unit 719 indicate that the vehicle is “running on a downhill road surface in a frozen state or a snowy state”. Judgment is made (step S867). Also, the warning 3 notification presence flag is set to 1, and warning 3 is notified to the driver (step S868). In this step range, if it is determined in step S86 1 that the 1st to 5th frozen snow conditions 3 are satisfied ("Condition 3 satisfaction counter = 5 seconds (50 times)") (Step S861: Yes) ) Is performed.

[0201] In the above step range, if it is determined in step S861 that the 1st to 5th freezing / snow coverage condition 3 is satisfied with "Condition 3 establishment counter = 5 seconds (50 times)" (step S861: Ye s), and in step S867, it is determined that the road slope angle Θ Pn [rad.] Is “running down a frozen or snowy downhill road surface”. Then, in step S868, the driver is alerted in the voice plan, for example, “The road surface is very slippery. Please drive carefully.” `` Change the road surface color while driving to light blue or white '', or display the same content as the voice guidance in text display to prompt the warning, When a warning is urged by sound from a speaker, etc., the “warning 3 notification presence flag” power “1” is set, and then the process proceeds to step S869.

[0202] Finally, when the process of step S882 is completed, the warning notification presence / absence flag determination unit 718 and the driver notification determination unit 719 then "run on a slightly downhill / flat road surface in a frozen state or a snowy state" (Step S883). Further, the warning 4 notification presence flag is set to 1, and the driver is notified of warning 4 (step S884). In this step range, if it is determined in step S877 that the first to fifth freezing / snow coverage conditions 4 are satisfied (“Condition 4 satisfaction counter = 5 seconds (50 times)”) (step S877: Processing is performed at Yes).

[0203] In the above step range, if it is determined in step S877 that the 1st to 5th freezing / snow coverage condition 4 is satisfied with "Condition 4 establishment counter = 5 seconds (50 times)" (step S877: Ye s), in step S883, it is determined that the road surface inclination angle Θ Pn [rad.] Is “traveling on a gentle downhill road surface or a flat downhill road surface” than in step S867. Then, in step S884, a voice message is given to the driver, for example, a warning such as “The road surface is very slippery. Please drive carefully.” Or “Now driving on the map” is displayed on the navigation screen display. `` Change the road surface color to light blue or white '', prompt the warning by displaying the same contents as the voice guidance, or prompt the warning with sound from the speaker, etc. "Is set to" 1 ". Then, the process proceeds to step S885.

[0204] First, when the processing of step S850 is completed, the driver notification determination unit 719 determines that the vehicle is not "running on an uphill road surface in a frozen state or a snowy state" (step S851). In addition, the driver is notified of the cancellation of either the first to fifth freezing / snow accumulation conditions 1 or 2 (step S852). In this step range, it is determined in step S844 that either the first to fifth freezing / snow coverage condition 1 or condition 2 is released ("Condition 1 & 2 release counter = 5 seconds (50 times)") If so (step S844: Yes), the process is performed.

[0205] Within the range of the above steps, in Step S844, one of the first to fifth freeze / snow condition 1 or condition 2 is canceled with "Condition 1 & 2 release counter = 5 seconds (50 times)". (Step S844: Yes), the road surface inclination angle Θ Pn [rad.] It is determined that the vehicle is not traveling on an uphill road surface in a frozen state or a snowy state. And step

In S852, the driver is prompted to cancel, for example, “The road surface has been frozen”, or the navigation screen display, for example, “Reset the road surface color on the map” is canceled. , Prompt the release with the same content as the voice guidance in text display, or prompt the release with a sound or the like. Then, the process proceeds to step S853.

Next, when the processing of step S898 is completed, the driver notification determination unit 719 determines that the vehicle is not “running on a downhill road surface in a frozen state or a snowy state” (step S899). In addition, the driver is notified of the release of either the first to fifth frozen snow conditions 3 or 4 (step S900). In this step range, one of the first to fifth freezing / snow coverage conditions 3 or 4 is canceled in step S892 ("Condition 3 & 4 cancellation counter = 5 seconds (50 times)") If it is determined (step S892: Yes), the processing is performed.

[0207] In the above step range, in Step S892, either 1st to 5th freezing snow conditions 3 or 4 will be canceled when "Condition 3 & 4 release counter = 5 seconds (50 times)" If it is determined (step S892: Yes), it is determined in step S899 that the road surface inclination angle Θ Pn [rad.] Is not “running down a frozen or snowy downhill road surface”. Then, in step S900, the driver is prompted to release the voice guidance, for example, “The road surface has been frozen”, or the navigation screen display, for example, “Resets the road surface color on the map. ”, Etc., the same content as the voice guidance is displayed in text, the release is urged, or the release is urged by sound from the speaker. Then, the process proceeds to step S901.

[0208] First, when the process of step S822 is completed, the hybrid navigation weighting determination unit 721 notifies the hybrid navigation of weighting 1 of GPS navigation and independent navigation (step S823). In this step S823, when it is determined in the above step S814 that the first to fifth freezing / snow condition 1 is satisfied (“condition 1 establishment counter = 5 seconds (50 times)”) (step S814). : Processing is performed at Yes).

[0209] In step S823, the road slope angle Θ Pn [rad. Because it is “running on the road surface”, the weighting 1 for GPS navigation and autonomous navigation 1 is terminated as follows.

[0210] (Weight 1)

Hybrid navigation = δ · (GPS navigation) + (1— δ) · (self-contained navigation) as a definition of noble navigation. However, the weighting factor δ is 0≤ δ≤ 1 (eg, δ = 0.95). Thereafter, the process is terminated as it is. Each weighting coefficient has a relationship such as “0 ≤ φ≤ μ≤π≤δ≤1”.

[0211] Next, when the process of step S838 is completed, the hybrid navigation weighting determination unit 721 notifies the hybrid navigation of the weighting 2 of GPS navigation and independent navigation (step S839). In this step S839, if it is determined in step S830 above that the first to fifth frozen snow conditions 2 are satisfied ("Condition 2 establishment counter = 5 seconds (50 times)") (step S839) Processing is performed at S830: Yes).

[0212] In step S839, the road surface inclination angle Θ Pn [rad.] Is "running on a gentle uphill road surface or a flat uphill road surface" than in step S823. Therefore, weighting of GPS navigation and independent navigation 2 Ends the processing as it is as follows.

[0213] (Weight 2)

Hybrid navigation = μ · (GPS navigation) + (1—) · (self-contained navigation) as a definition of noble navigation. However, the weighting factor shall be 0≤ ≤ 1 (eg μ = 0.75). Thereafter, the process is terminated as it is. Each weighting coefficient has a relationship such as “0 ≤ ≤ μ≤π≤ δ≤1”.

[0214] Subsequently, when the process of step S869 is completed, the hybrid navigation weight determination unit 721 notifies the hybrid navigation of the weight 3 of GPS navigation and independent navigation (step S870). In this step S870, if it is determined that the first to fifth freezing / snow cover condition 3 is satisfied ("Condition 3 establishment counter = 5 seconds (50 times)") in step S861 above (step S861). The process is performed in S861: Yes).

[0215] In step S870, because the road surface inclination angle Θ Pn [rad.] Is “running down a frozen or snowy downhill road surface”, weighting 3 for GPS navigation and autonomous navigation is as follows: The process is terminated as it is. [0216] (Weight 3)

The hybrid navigation is defined as hybrid navigation = π · (GPS navigation) + (1— π) · (self-contained navigation). However, the weighting factor π shall be 0≤ π≤ 1 (eg, π = 0.85). Thereafter, the process is terminated as it is. Each weighting coefficient has a relationship such as “0 ≤ ≤ μ≤π≤ δ≤1”.

[0217] Finally, when the processing of step S885 is completed, the hybrid navigation weighting determination unit 721 notifies the hybrid navigation of weighting 4 of GPS navigation and independent navigation (step S886). In step S886, if it is determined in step S877 that the first to fifth frozen snow conditions 4 are satisfied ("Condition 4 satisfaction counter = 5 seconds (50 times)") (step S886) Processing is performed at S877: Yes).

[0218] In step S886, the road surface inclination angle Θ Pn [rad.] Is “running on a gentle downhill road surface or a flat downhill road surface” than in step S870. For weight 4, the process is terminated as follows.

[0219] (Weight 4)

Hybrid navigation = φ · (GPS navigation) + (1 — φ) · (self-contained navigation) as a definition of noble navigation. However, the weighting factor φ shall be 0≤φ≤1 (for example, φ = 0.65). Thereafter, the process is terminated as it is. Each weighting coefficient has a relationship such as “0 ≤ φ≤ μ≤π≤δ≤1”.

[0220] In the above steps S823, S839, S870 and S886, “weighting information” between GPS navigation and autonomous navigation is used for hybrid navigation, which is representative of the vehicle position recognition technology of today's navigation devices. By sending it, the vehicle's position accuracy can be further improved and maintained.

[0221] Note that Roh and Ivritd navigation mainly uses information on self-contained navigation, and supplements information on GPS navigation. This is because information such as absolute position (latitude, longitude, and altitude) and absolute direction (two-dimensional and three-dimensional directions) cannot be obtained by self-contained navigation itself. Therefore, GPS navigation information and map information (road shape data) are used for various corrections and calibrations of self-contained navigation.

[0222] First, when the processing of step S853 is completed, the hybrid navigation weighting determination is performed. Part 721 notifies hybrid navigation of the cancellation of the weighting of GPS navigation and autonomous navigation (step S854). In this step S854, either the 1st to the 5th freezing / snow condition 1 or 2 is canceled ("Condition 1 & 2 cancellation counter = 5 seconds (50 times)"). Is determined (step S844: Yes), the process is performed. Thereafter, the series of processing is finished as it is.

[0223] In step S854, the road slope angle Θ Pn [rad.] In step S823 is “climbing road in frozen or snowy condition”, or the road slope angle Θ Pn [rad.] Is more gradual than in step S823. Because it is not running on an uphill road surface or an uphill road surface that is close to flat, or on a road slope angle Θ Pn [rad.] Force Sstep S839, that is, a gentler uphill road surface or a near-flat road surface. By returning to the hybrid navigation, which is the upper layer (upper layer), the return to normal hybrid navigation can be made.

[0224] Next, when the processing of step S901 is completed, the hybrid navigation weighting determination unit 721 notifies the hybrid navigation of the cancellation of the weighting of GPS navigation and independent navigation (step S902). In this step S902, either of the first to fifth freezing / snow coverage conditions 3 or 4 in step S892 above is canceled ("Condition 3 & 4 cancellation counter = 5 seconds (50 times)") If it is determined that it is in progress (step S892: Yes), processing is performed. Thereafter, the series of processing is finished as it is.

[0225] In step S902, whether the road slope angle Θ Pn [rad.] In step S870 is "downhill road surface frozen or snowy" or the road slope angle Θ Pn [rad. "Slope downhill or close to flat" or road slope angle Θ Pn [rad.] Force S Step S886 "Slow downhill road or nearly flat downhill" Since it is not in the middle, weighting 3 or! Of GPS navigation and self-contained navigation is weighted 4 or!, And cancellation of one of them is notified to hybrid navigation which is an upper layer (upper layer). Return to.

[0226] First, if it is determined in step S814 that the first to fifth frozen 'snow cover condition 1 is satisfied ("Condition 1 is satisfied counter = 5 seconds, interval (50 times)") Step S814: No) Next, the condition counter determination unit 717 increments the condition 1 establishment counter by +1 (step S814: No). Tape S824). Thereafter, the series of processing is finished as it is.

[0227] Next, in step S830, it was determined that 1st to 5th freezing / snow condition 2 was satisfied ("Condition 2 establishment counter = 5 seconds (50 times)")! In the case (step S830: No), the condition counter determination unit 717 increments the condition 2 satisfaction counter by +1 (step S840). Thereafter, the series of processing is finished as it is.

[0228] Subsequently, if it is determined in step S861 that the 1st to 5th frozen snow condition 3 is satisfied ("Condition 3 establishment counter = 5 seconds (50 times)") Step S861: No) Next, the condition counter determination unit 717 increments the condition 3 satisfaction counter by +1 (step S871). Thereafter, the series of processing is finished as it is.

[0229] Finally, if it is determined in step S877 that the first to fifth frozen / snow conditions 4 are satisfied ("Condition 4 establishment counter = 5 seconds (50 times)") Step S877: No) Next, the condition counter determination unit 717 increments the condition 4 satisfaction counter by +1 (step S887). Thereafter, the series of processing is finished as it is.

[0230] First, in step S844, the first to fifth frozen snow conditions 1 or 2 are canceled ("condition 1 & 2 cancellation counter = 5 seconds (50 times)"). (Step S844: No), the condition counter determination unit 717 increments the condition 1 & 2 cancellation counter by +1 (step S855). Thereafter, the series of processing is finished as it is.

[0231] Next, in Step S892, the first to fifth frozen snow conditions 3 or 4 are canceled ("Condition 3 & 4 cancellation counter = 5 seconds (50 times)"). (Step S892: No), the condition counter determination unit 717 increments the condition 3 & 4 release counter by +1 (step S903). After that, the series of processing ends.

[0232] (Other Example 1)

Another embodiment 1 different from the above-described embodiment will be described. FIG. 23 is an explanatory diagram showing an example of a drive type selection screen. As shown in the display screen 2300 in FIG. 23, a selection screen 2310 is provided. With this configuration, the user's remote control key operation, touch panel key operation or voice synthesis guidance and voice recognition can be performed from the navigation screen. By selecting one of the drive types, four-wheel drive (4WD), rear-wheel drive (FR, MR, RR) or front-wheel drive (FF) is selected and input.

[0233] FIG. 24 is an explanatory diagram showing an example of a wheel type selection screen. A selection screen 2410 is provided as shown in the display screen 2400 in FIG. On this screen, select and input one of the normal tire, radial tire, snow tire or studless tire.

Furthermore, FIG. 25 is an explanatory view showing an example of a selection screen for whether or not a tire chain is mounted.

As shown in the display screen 2500 in FIG. 25, a selection screen 2510 is provided. On this screen, select either “Yes” if the tire chain is installed, or “No” if the tire chain is not installed.

[0235] By the functions as shown in FIGS. 23 to 25, the first to fifth frozen / snow condition 1, condition 2, condition 3 or condition 4 (speed difference, acceleration difference, standard deviation 1 (= Even if the variance 1), road slope angle difference and standard deviation 2 (= variance 2)) are different, the `` parameter value '' is changed and the maximum number of `` freezing / snow conditions '' up to the fifth is also changed. Can be.

[0236] In addition, the “judgment reference temperature” of the outside air temperature Toutn [° C] can be changed, or the condition 1, condition 2, condition 3 or condition 4 establishment counter and condition 1 & 2 up to 5 seconds (50 times) Alternatively, the “count count” of the condition 3 & 4 release counter can be changed.

[0237] This is a four-wheel drive vehicle, a rear wheel drive vehicle and a front wheel drive vehicle on a frozen or snowy uphill, downhill or flat road surface, and a normal tire, radial tire, snow tire and studless. Since the effect on the amount of change in the vehicle speed pulse speed VPn [mZs] (vehicle speed pulse acceleration) ΔVPn [mZs ² ] is different between the tire and whether the tire chain is attached or not attached. This is because the degree of irregular rotation or idling of the driving wheels of the vehicle, downhill or sliding of the four wheels, etc., differs from when driving on a dry (wet or wet) road surface.

[0238] (Other Example 2)

Furthermore, as another embodiment 2, some processes may be changed in the flowcharts shown in FIGS. In this embodiment, first, the route guidance priority determination unit 720 notifies the route search and route guidance of road surface avoidance priority 1 (step S822). In this step S822, the first to fifth freezing snow conditions 1 are established in step S814 above. ("Condition 1 Satisfaction Counter = 5 seconds (50 times)"), and if it is determined (step S814: Yes), processing is performed. Here, by sending the information in step S822 to the upper layer (upper layer) “starting route search”, “during route search”, or “during route guidance”, better “route search” or “route guidance” "Can be the condition. In step S822, the information indicating that the vehicle is traveling on a “frozen or snowy uphill road surface” with a road surface inclination angle Θ Pn [rad. Layer). Then, the process proceeds to step S823.

[0239] Next, the route guidance priority determination unit 720 notifies the route search and route guidance of road surface avoidance priority 2 (step S838). In this step S838, when it is determined in the above step S830 that the first to fifth frozen / snow condition 2 is satisfied (“Condition 2 satisfied counter = 5 seconds (50 times)”) (step S830 : Processing is performed at Yes). Here, it is better to send the information of step S838 to the upper layer (upper layer) “when starting route search”, “during route search” or “during route guidance”, so that “route search” or This can be a “route guidance” condition. In step S838, information indicating that the road slope angle Θ Pn [rad.] Is traveling on a “gradually uphill road surface or a nearly uphill road surface” than in step S822 is displayed as “prevention of frozen snowy road surface 2”. To the upper layer (upper layer). Then, the process proceeds to step S839.

Subsequently, the route guidance priority determination unit 720 notifies the route search and route guidance of road surface avoidance priority 3 (step S869). In this step S869, when it is determined in the above step S861 that the first to fifth freezing / snow accumulation conditions 3 are satisfied ("condition 3 establishment counter = 5 seconds (50 times)") (step S861 : Processing is performed at Yes). Here, it is better to send the information of step S869 to the upper layer (upper layer) at the time of “route search start”, “during route search” or “during route guidance”. This can be a “route guidance” condition. In step S869, the information indicating that the vehicle is traveling on a “downhill road surface in a frozen state or a snowy state” with a road surface inclination angle Θ Pn [rad.] Is set as “frozen snow road surface priority 3”. Notify the layer (upper layer). Then, the process proceeds to step S870.

[0241] Finally, the route guidance priority determination unit 720 uses a road surface shape for route search and route guidance. Status avoidance priority 4 is notified (step S885). In this step S885, when it is determined in the above step S877 that the first to fifth freezing / snow accumulation conditions 4 are satisfied (“condition 4 establishment counter = 5 seconds (50 times)”) (step S877: Processing is performed at Yes). Here, by sending the information of step S885 to the upper layer (upper layer), “when starting route search”, “during route search” or “during route guidance”, the “route search” or It can be a “route guidance” condition. In step S885, information indicating that the road inclination angle Θ Pn [rad.] Is traveling on a “slower downhill road surface or a flat downhill road surface” than that in step S869 is “frozen snow road surface”. Notify the upper layer (upper layer) as “Avoidance priority 4”. Then, the process proceeds to step S886.

However, in the upper layer (upper layer) “route search” or “route guidance”, the above information is not always effectively used. For example, when the destination is a snow area such as a “ski resort” or “outdoor skating rink”, or the area where the navigation device having these functions is used is a snowy area or a cold area during the winter season. If so. Therefore, in order to effectively use the above information, it is left to the judgment of “route search” or “route guidance” itself, which is an upper layer (upper layer).

[0243] First, the route guidance priority determination unit 720 notifies the route search and route guidance of the cancellation of either road surface avoidance priority 1 or priority 2 (step S853). In this step S853, one of the first to fifth frozen snow conditions 1 or 2 is canceled in step S844 above ("Condition 1 & 2 release counter = 5 seconds (50 times)") If it is determined (step S844: Yes), the process is performed. In step S853, the slope angle Θ Pn [rad.] Of the road surface slope in step S822 is either “frozen or snowy climbing road surface”, or the slope angle Θ Pn [rad.] Is more gradual than in step S822. The road surface slope angle Θ Pn [rad.] Is “gradual uphill road surface or near flat !, uphill road surface” than step S838. The information indicating this is notified to the upper layer (upper layer) as “freezing • cancellation of either priority 1 or priority 2 on avoiding snowy road surface”. Then, the process proceeds to step S854.

[0244] Next, the route guidance priority determination unit 720 notifies the route search and route guidance of the cancellation of either road surface avoidance priority 3 or priority 4 (step S901). This In step S901, either of the first to fifth freezing / snow coverage conditions 3 or 4 is canceled in the above step S892 ("Condition 3 & 4 cancellation counter = 5 seconds (50 times)") If it is determined (step S892: Yes), the process is performed. In step S901, the road slope angle Θ Pn [rad.] Of step S869 is “downhill road surface in frozen or snowy condition”, or the road slope angle Θ Pn [rad. `` Slope road surface force or downhill road surface close to flat '', or road slope angle Θ Pn [rad.] Is `` slower downhill road surface or near flat !, downhill road surface '' than step S885 Notifying the upper layer (upper layer) of the information indicating that the vehicle is not traveling as “freezing • canceling either of priority 3 or 4 of avoidance of snowy road surface”. Then, the process proceeds to step S902.

As described above, according to the present embodiment, the situation determination operation of the driver of the moving body is assisted by determining the traveling road surface condition with high accuracy. Therefore, the burden on the driver can be reduced.

[0246] The road surface condition determination method, route search method, and position setting method described in the present embodiment are executed by executing a prepared program on a computer such as a personal computer or a workstation. Can be realized. This program is recorded on a recording medium that can be read by a computer such as a hard disk, flexible disk, CD-ROM, MO, or DVD, and is executed by the recording medium being read by a computer. The program may be a transmission medium that can be distributed through a network such as the Internet.

Claims

The scope of the claims

[1] Air temperature information acquisition means for acquiring information on the outside air temperature around the moving body,

A receiving means for receiving a GPS signal;

First speed calculating means for calculating a first speed of the moving body using the information of the GPS signal;

Sensor force mounted on the moving body Speed information acquiring means for acquiring information on the speed of the moving body;

Second speed calculating means for calculating a second speed of the moving body using the information on the speed;

Based on the information on the outside air temperature, the first speed, and the second speed, a determination unit that determines the condition of the road surface on which the moving body is traveling,

A road surface condition judging device comprising:

[2] The determination means uses the difference between the first speed and the second speed when the outside air temperature is determined to be equal to or less than a predetermined value from the information related to the outside air temperature. 2. The road surface condition judging device according to claim 1, wherein it is judged whether or not the road surface on which the vehicle is running is frozen or snowy.

[3] The first speed calculating means calculates the first speed, calculates a first acceleration from the first speed,

The second speed calculating means calculates the second speed, calculates a second acceleration from the second speed,

The determination means uses the difference between the first acceleration and the second acceleration when the outside air temperature is determined to be less than or equal to a predetermined value from the information related to the outside air temperature. 2. The road surface condition judging device according to claim 1, wherein it is judged whether or not the road surface is frozen or snowy.

[4] First inclination angle calculating means for calculating a first inclination angle of the road surface on which the moving body is running, using the horizontal speed and the vertical speed of the first speed;

Acceleration detecting means for detecting acceleration of the moving body;

Using the acceleration detected by the second speed and the acceleration detection means, A second inclination angle calculating means for calculating a second inclination angle of the road surface on which the moving body is traveling, and further comprising:

The determination means uses the difference between the first inclination angle and the second inclination angle when the outside air temperature is determined to be equal to or less than a predetermined value from the information related to the outside air temperature. 2. The road surface condition judging device according to claim 1, wherein the road surface condition judging device judges whether or not the road surface on which the vehicle travels is frozen or snowy.

[5] The apparatus further comprises acceleration detecting means for detecting the acceleration of the moving body,

The determination means includes

Using the second speed and the acceleration detected by the acceleration detecting means to determine whether the road surface on which the moving body is traveling is uphill or downhill;

2. The road surface condition determining apparatus according to claim 1, wherein the road surface condition determining criterion is changed according to the inclination state.

[6] Drive information acquisition means for acquiring information related to driving of the moving body is further provided, wherein the determination means determines a criterion for determining the condition of the road surface on which the moving body is traveling according to the information related to driving. The road surface condition judging device according to claim 1, wherein the road surface condition judging device is changed.

[7] The road surface condition judging device according to any one of claims 1 to 6,

A search means for searching for a route to the destination based on a determination result of a road surface on which the moving body is traveling by the road surface determination device and a regional characteristic to which the destination belongs;

A route search apparatus comprising:

[8] The road surface condition judging device according to any one of claims 1 to 6,

First positioning means for positioning the position of the moving body based on the GPS signal; second positioning means for positioning the position of the moving body using the second speed; and positioning results of the first positioning means. And setting means for setting the position of the moving body using the positioning result of the second positioning means,

With The setting means, based on the determination result of the road surface condition on which the moving body is traveling by the road surface condition determination device, shows the positioning result of the first positioning means and the positioning result of the second positioning means. A position setting device that determines a ratio to be used.

[9] An air temperature information acquisition step for acquiring information on the outside air temperature around the moving body,

A receiving process for receiving GPS signals;

A first speed calculating step of calculating a first speed of the moving body using the information of the GPS signal;

A sensor force mounted on the moving body; a speed information acquiring step for acquiring information on the speed of the moving body;

A second speed calculating step for calculating a second speed of the moving body using the information on the speed;

A determination step of determining a condition of a road surface on which the moving body is traveling based on the information on the outside air temperature, the first speed, and the second speed;

The road surface condition judging method characterized by including.

[10] An air temperature information acquisition step for acquiring information on the outside air temperature around the moving body,

A receiving process for receiving GPS signals;

Based on the determination result of the determination step and the regional characteristics to which the destination belongs, a search step for searching for a route to the destination;

A route search method comprising:

[11] An air temperature information acquisition step for acquiring information on the outside air temperature around the moving body, A receiving process for receiving GPS signals;

Based on a first positioning step of positioning the position of the moving body based on the GPS signal, a second positioning step of positioning the position of the moving body using the second speed, and based on a determination result of the determination step A determination step for determining a ratio of the positioning result of the first positioning step and the positioning result of the second positioning step used for setting the position of the mobile body;

A setting step for setting the position of the moving body using the result of the first positioning step and the result of the second positioning step according to the ratio V, and

The position setting method characterized by including.

[12] Claim 9 ~: A program characterized by causing a computer to execute the method according to any one of L1.

[13] A recording medium on which the program according to claim 12 is recorded.