WO2020059118A1 - Driving assistance device, and driving assistance method - Google Patents

Abstract

The purpose of the present invention is to provide a driving assistance device and a driving assistance method capable of appropriately reporting to a driver that travel regulation information has changed for a road that the driver is accustomed to driving. This driving assistance device is provided with: a map information acquisition unit that acquires map information including existing travel regulation information; a current travel regulation information acquisition unit that acquires current travel regulation information for a road on which a vehicle is currently travelling; a vehicle travel history acquisition unit that acquires vehicle travel history indicating the history of roads travelled by the vehicle; and a control unit configured so that, when a determination is made, on the basis of the vehicle travel history acquired by the vehicle travel history acquisition unit, that a road satisfies a predetermined condition, and there is a difference, for the road satisfying the predetermined condition, between the existing travel regulation information acquired by the map information acquisition unit and the current travel regulation information acquired by the current travel regulation information acquisition unit, the control unit performs control for reporting the difference.

Description

Driving support device and driving support method

The present invention relates to a driving support apparatus and a driving support method that support driving of a driver by notifying that at least one of road sign information and road sign information has been changed.

Conventionally, when the vehicle recognizes travel regulation information on a road on which the vehicle is traveling, and the vehicle is likely to deviate from the travel regulation information, or when the vehicle deviates from the travel regulation information, it is likely to deviate or deviate. Is disclosed to the driver (for example, see Patent Documents 1 and 2).

技術 Further, a technique for performing appropriate route guidance when travel regulation information on a travel mode of a vehicle is changed is disclosed (for example, see Patent Document 3). Here, the driving mode refers to a regulation on a moving route of the vehicle such as a road on which the vehicle has traveled in the past, a traveling direction at an intersection, a lane on which the vehicle has traveled, a lane-changed position, and timing.

JP 2008-97514 A JP 2015-28796 A JP 2011-158427 A

Generally, road sign information and road sign information do not change frequently. Therefore, the driver always stores the road sign information and the road sign information on the road when he / she is accustomed to driving and driving on the road, so that at least one of the road sign information and the road sign information is stored. When the driving regulation information including is changed, inappropriate driving may be performed, for example, the driver may not drive in compliance with the changed driving regulation information without noticing the change.

For example, if a road that could be driven at a legal speed of 60 km / h was changed to a new speed limit of 50 km / h, the driver would drive at 60 km / h without noticing the change, and a new speed would be required. The driving may deviate from the driving regulation information. Further, even if a speed violation is reported from the system mounted on the vehicle, the driver may not correct the violation because he / she thinks that the notification of the system is wrong. Furthermore, when the speed limit of 50 km / h is released and the vehicle can run at the legal speed of 60 km / h, the driver may drive at 50 km / h without noticing this, which may cause traffic congestion. There is.

Patent Documents 1 and 2 do not take into account changes in travel regulation information, and therefore cannot address the above problem.

Patent Document 3 solves the inconvenience relating to route search or route guidance, but cannot address the above problem. Further, Patent Literature 3 does not disclose a criterion for determining a road on which a driver is accustomed to driving and other roads. Therefore, in Patent Literature 3, when the vehicle travels on a road on which the travel restriction information has been changed, the driver is required to take the travel restriction information into consideration in consideration of whether the road is a road to which the driver is accustomed. Changes cannot be properly notified.

The present invention has been made in order to solve such a problem, and a driving assistance system capable of appropriately notifying a driver that driving restriction information has changed on a road on which the driver is accustomed to drive is provided. It is an object to provide a device and a driving support method.

In order to solve the above-described problems, a driving support device according to the present invention includes a map information acquisition unit that acquires map information including existing driving regulation information including at least one of road sign information and road sign information; A current driving regulation information acquiring unit for acquiring current driving regulation information including at least one of road sign information and road marking information on a currently traveling road, and a vehicle traveling history indicating a history of a road on which the vehicle has traveled; A vehicle travel history acquisition unit, and determines that the road corresponds to a predetermined condition based on the vehicle travel history acquired by the vehicle travel history acquisition unit, and acquires map information on a road that meets the predetermined condition. When there is a difference between the existing driving regulation information acquired by the section and the current traveling regulation information acquired by the current traveling regulation information acquiring section, the control for notifying the difference is performed. And a cormorant control unit.

Further, the driving support method according to the present invention acquires map information including existing driving regulation information including at least one of road sign information and road sign information, and obtains road sign information and road sign information on a road on which the vehicle is currently traveling. Obtain current driving regulation information including at least one of the information, obtain a vehicle running history indicating the history of the road on which the vehicle has traveled, and obtain a vehicle running history corresponding to a predetermined condition based on the obtained vehicle running history. If it is determined that there is a difference, and if there is a difference between the existing driving regulation information acquired on the road corresponding to the predetermined condition and the acquired current driving regulation information, control is performed to notify the difference.

According to the present invention, the driving support device includes: a map information acquisition unit that acquires map information that includes existing driving regulation information that includes at least one of road sign information and road sign information; and a road on a road on which the vehicle is currently traveling. A current travel regulation information acquisition unit that acquires current travel regulation information including at least one of the sign information and the road sign information, and a vehicle travel history acquisition unit that acquires a vehicle travel history indicating the history of the road on which the vehicle has traveled, Based on the vehicle travel history acquired by the vehicle travel history acquisition unit, the existing travel regulation determined by the map information acquisition unit to be determined to be a road corresponding to the predetermined condition and for a road corresponding to the predetermined condition. When there is a difference between the information and the current driving regulation information acquired by the current driving regulation information acquiring unit, the control unit performs control to notify the difference. Driver becomes possible to properly notify the driver that the driving restriction information is changed in the road are familiar driving.

Further, the driving support method obtains map information including existing driving regulation information including at least one of the road sign information and the road sign information, and obtains the road sign information and the road sign information on the road on which the vehicle is currently traveling. The current driving regulation information including at least one of the following is acquired, the vehicle traveling history indicating the history of the road on which the vehicle has traveled is acquired, and it is determined that the road satisfies a predetermined condition based on the acquired vehicle traveling history. In addition, when there is a difference between the existing driving regulation information acquired on the road corresponding to the predetermined condition and the acquired current driving regulation information, in order to perform control for notifying the difference, the driver becomes accustomed to driving. It is possible to appropriately notify the driver that the travel regulation information has changed on the road that is running.

The objects, features, aspects, and advantages of the present invention will become more apparent from the following detailed description and the accompanying drawings.

1 is a block diagram illustrating an example of a configuration of a driving support device according to a first embodiment of the present invention. 1 is a block diagram illustrating an example of a configuration of a driving support device according to a first embodiment of the present invention. FIG. 2 is a block diagram illustrating an example of a hardware configuration of the driving support device according to the first embodiment of the present invention. 5 is a flowchart illustrating an example of an operation of the driving support device according to the first embodiment of the present invention. FIG. 4 is a diagram showing an example of notification according to Embodiment 1 of the present invention. FIG. 4 is a diagram showing an example of notification according to Embodiment 1 of the present invention. FIG. 4 is a diagram showing an example of notification according to Embodiment 1 of the present invention. 5 is a flowchart illustrating an example of an operation of the driving support device according to the first embodiment of the present invention. 5 is a flowchart illustrating an example of an operation of the driving support device according to the first embodiment of the present invention. 5 is a flowchart illustrating an example of an operation of the driving support device according to the first embodiment of the present invention. FIG. 7 is a block diagram illustrating an example of a configuration of a driving support device according to a second embodiment of the present invention. 9 is a flowchart illustrating an example of an operation of the driving support device according to the third embodiment of the present invention. 9 is a flowchart illustrating an example of an operation of the driving support device according to the third embodiment of the present invention. FIG. 13 is a block diagram illustrating an example of a configuration of a driving support device according to a fourth embodiment of the present invention. It is a block diagram showing an example of composition of a driving support system by an embodiment of the invention.

Embodiments of the present invention will be described below with reference to the drawings.

<First Embodiment>
<Structure>
FIG. 1 is a block diagram showing an example of a configuration of a driving support device 1 according to Embodiment 1 of the present invention. FIG. 1 shows the minimum required configuration of the driving support device according to the first embodiment.

As shown in FIG. 1, the driving support device 1 includes a map information acquisition unit 2, a current traveling regulation information acquisition unit 3, a vehicle traveling history acquisition unit 4, and a control unit 5. The map information acquisition unit 2 acquires map information including existing driving regulation information including at least one of road sign information and road sign information. The current traveling regulation information acquisition unit 3 acquires current traveling regulation information including at least one of road sign information and road marking information on a road on which the vehicle is currently traveling.

Here, the road sign information and the road sign information include information such as guidance, caution, regulation, and instructions. The travel regulation information includes regulation of the road sign information and the road sign information, that is, information on travel regulation. Further, the existing travel regulation information refers to travel regulation information included in the map information in the current version of the map information. The current travel regulation information refers to current travel regulation information.

The vehicle traveling history acquisition unit 4 acquires a vehicle traveling history indicating the history of the road on which the vehicle has traveled. The control unit 5 determines based on the vehicle travel history acquired by the vehicle travel history acquisition unit 4 that the road meets a predetermined condition, and determines a map information acquisition unit on a road that meets the predetermined condition. When there is a difference between the existing travel regulation information acquired by the second travel regulation information and the current travel regulation information acquired by the current travel regulation information acquisition unit 3, control is performed to notify the difference.

Next, another configuration of the driving support device including the driving support device 1 illustrated in FIG. 1 will be described.

FIG. 2 is a block diagram showing an example of the configuration of the driving support device 6 according to another configuration.

As shown in FIG. 2, the driving support device 6 includes a map information acquisition unit 2, a current traveling regulation information acquisition unit 3, a vehicle travel history acquisition unit 4, a control unit 5, a map information storage unit 7, a vehicle The vehicle includes a traveling information acquisition unit 8, a vehicle traveling history storage unit 9, and a current traveling regulation information storage unit 10. The vehicle running information acquisition unit 8 is connected to a GNSS (Global Navigation Satellite System) 11 and an in-vehicle LAN (Local Area Network) 12. The current driving regulation information acquiring unit 3 is connected to the surrounding situation detecting device 13. The control unit 5 is connected to the operation device 14 and the display device 15.

Note that the driving support device 6, the GNSS 11, the in-vehicle LAN 12, the surrounding situation detection device 13, the operation device 14, and the display device 15 are assumed to be mounted on the own vehicle.

The map information acquisition unit 2 acquires map information including existing driving regulation information including at least one of road sign information and road sign information. The road sign information and the road sign information are attributes of the road information. The map information acquisition unit 2 may acquire the map information from the outside, or may acquire the map information from a storage medium (not shown) mounted on the driving support device 6.

The map information storage unit 7 includes a storage device such as a hard disk or a semiconductor memory, and stores the map information acquired by the map information acquisition unit 2. Note that the map information storage unit 7 may be provided outside the driving support device 6.

The vehicle travel information acquisition unit 8 acquires vehicle travel information including the current position and speed of the own vehicle from the GNSS 11 and the in-vehicle LAN 12. Specifically, the vehicle travel information acquisition unit 8 stores the current position of the vehicle acquired from the satellite by the GNSS 11, information on traveling of the own vehicle including the speed acquired via the in-vehicle LAN 12, and the map information storage unit 7. The current position of the vehicle on the map is acquired based on the map information that has been entered.

The GNSS 11 is a satellite positioning device that acquires the current position of the vehicle from a satellite. The in-vehicle LAN 12 is a network provided in the own vehicle, and transmits information obtained from various sensors provided in the own vehicle, a control signal for controlling devices mounted in the own vehicle, and the like. Used.

The vehicle travel history acquisition unit 4 acquires the vehicle travel history including the road on which the vehicle has traveled and the time at which the vehicle traveled based on the vehicle travel information acquired by the vehicle travel information acquisition unit 8. The road on which the vehicle has traveled may include a lane on which the vehicle traveled. The time when the vehicle traveled on the road includes the date and time.

The vehicle travel history storage unit 9 is configured by a storage device such as a hard disk or a semiconductor memory, and stores the vehicle travel history acquired by the vehicle travel history acquisition unit 4. Note that the vehicle travel history storage unit 9 may be provided outside the driving support device 6.

The current driving regulation information acquiring unit 3 acquires, from the surrounding situation detecting device 13, current driving regulation information including at least one of road sign information and road marking information on a road on which the vehicle is currently traveling. The surrounding situation detection device 13 is, for example, a camera that captures the surroundings of the own vehicle, and recognizes a road sign or a road sign by performing image processing on the captured image.

The current travel regulation information storage unit 10 is configured by a storage device such as a hard disk or a semiconductor memory, and stores the current travel regulation information acquired by the current travel regulation information acquisition unit 3. The current driving regulation information storage unit 10 may be provided outside the driving support device 6.

The control unit 5 determines that the road corresponds to a predetermined condition based on the vehicle running history stored in the vehicle running history storage unit 9, and determines map information on a road corresponding to the predetermined condition. When there is a difference between the existing travel regulation information stored in the storage unit 7 and the current travel regulation information stored in the current travel regulation information storage unit 10, the display device 15 is controlled to notify the difference. .

(4) The display device 15 displays information for a passenger of the own vehicle. Examples of the display device 15 include a monitor for displaying various information, a HUD (Head Up Display), and the like. The display device 15 may have a sound output function.

The operation device 14 receives various operations by the occupants of the own vehicle. Examples of the operation device 14 include a touch panel, a mechanical switch, and a microphone. When the operation device 14 is a touch panel, the operation device 14 and the display device 15 may be integrally configured.

FIG. 3 is a block diagram illustrating an example of a hardware configuration of the driving support device 6.

The functions of the map information acquisition unit 2, the current travel regulation information acquisition unit 3, the vehicle travel information acquisition unit 8, the vehicle travel history acquisition unit 4, and the control unit 5 in the driving support device 6 are realized by a processing circuit. That is, the driving support device 6 acquires map information including existing traveling regulation information, acquires current traveling regulation information, acquires vehicle traveling information, acquires a vehicle traveling history, and stores it in the vehicle traveling history storage unit 9. It is determined that the road corresponds to a predetermined condition based on the vehicle running history, and the existing driving regulation information stored in the map information storage unit 7 on the road corresponding to the predetermined condition and When there is a difference from the current driving regulation information stored in the current driving restriction information storage unit 10, a processing circuit for performing control for notifying the difference is provided. The processing circuit is a processor 16 (also referred to as a central processing unit, a processing unit, an arithmetic unit, a microprocessor, a microcomputer, or a DSP (Digital Signal Processor)) that executes a program stored in the memory 17.

The functions of the map information acquisition unit 2, the current traveling regulation information acquisition unit 3, the vehicle traveling information acquisition unit 8, the vehicle traveling history acquisition unit 4, and the control unit 5 in the driving support device 6 are software, firmware, or software and firmware. This is realized by a combination with Software or firmware is described as a program and stored in the memory 17. The processing circuit realizes the function of each unit by reading and executing the program stored in the memory 17. That is, the driving support device 6 acquires the map information including the existing traveling regulation information, the step of acquiring the current traveling regulation information, the step of acquiring the vehicle traveling information, the step of acquiring the vehicle traveling history, and the storing of the vehicle traveling history. Based on the vehicle running history stored in the section 9, it is determined that the road corresponds to the predetermined condition, and the existing road stored in the map information storage section 7 for the road corresponding to the predetermined condition When there is a difference between the driving restriction information and the current driving restriction information stored in the current driving restriction information storage unit 10, a program for executing a step of performing control for reporting the difference is stored. And a memory 17 for performing the operation. These programs cause a computer to execute the procedures or methods of the map information acquisition unit 2, the current traveling regulation information acquisition unit 3, the vehicle traveling information acquisition unit 8, the vehicle traveling history acquisition unit 4, and the control unit 5. It can be said that there is. Here, the memory is, for example, a non-volatile or volatile memory such as a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable Read Only Memory), and an EEPROM (Electrically Erasable Programmable Read Only Memory). Semiconductor memory, a magnetic disk, a flexible disk, an optical disk, a compact disk, a DVD, or the like, or any storage medium used in the future.

<Operation>
FIG. 4 is a flowchart illustrating an example of the operation of the driving support device 6.

In step S101, the control unit 5 reads the vehicle travel history from the vehicle travel history storage unit 9.

In step S102, the vehicle travel information acquisition unit 8 acquires vehicle travel information including the current position and speed of the own vehicle from the GNSS 11 and the in-vehicle LAN 12.

In step S103, the vehicle travel history acquisition unit 4 acquires the vehicle travel history including the road on which the vehicle has traveled and the time at which the vehicle traveled based on the vehicle travel information acquired by the vehicle travel information acquisition unit 8. Then, it is stored in the vehicle running history storage unit 9. Thereby, the vehicle running history is updated in the vehicle running history storage unit 9. Note that the timing of updating the vehicle running history is not limited to the processing in step S103, and may be any timing.

In step S104, the control unit 5 reads, from the map information storage unit 7, the existing travel regulation information on the road on which the vehicle is currently traveling. The road on which the host vehicle is currently traveling can be specified based on the current position of the vehicle acquired by the vehicle traveling information acquisition unit 8 and the map information stored in the map information storage unit 7.

In step S <b> 105, the current traveling regulation information acquiring unit 3 acquires the current traveling regulation information on the road on which the host vehicle is currently traveling from the surrounding situation detection device 13 and stores it in the current traveling regulation information storage unit 10.

In step S106, the control unit 5 determines whether or not the vehicle is traveling on a high-altitude actual road. Here, the high-altitude actual driving road refers to a road to which the driver has been accustomed to drive, and corresponds to a road that meets the above-described predetermined condition. If the host vehicle is traveling on a high-altitude actual driving road, the process proceeds to step S107. On the other hand, if the own vehicle is not traveling on the high-performance traveling road, the process proceeds to step S109.

Specifically, the control unit 5 calculates the actual driving value for each road on which the host vehicle has traveled based on the vehicle driving history stored in the vehicle driving history storage unit 9, and the driving actual value is set in advance. It is determined that a road that is equal to or higher than the driving history reference value, which is the reference value, is an actual highway driving road.

For example, the number of times the host vehicle has traveled on the same road within the past two years is a traveling actual value, and five times are a traveling history reference value. In this case, the control unit 5 determines that the own vehicle is traveling on the high altitude actual driving road when the actual driving value is equal to or higher than the driving history reference value. On the other hand, when the traveling actual value is smaller than the traveling history reference value, the control unit 5 determines that the own vehicle is not traveling on the advanced traveling actual road. As described above, the control unit 5 calculates, as a traveling actual value, the frequency at which the host vehicle travels on the advanced traveling actual road within a certain period from the present to the past. Note that the actual driving value and the driving history reference value described above are merely examples, and can be set arbitrarily.

In step S107, the control unit 5 reads the current travel regulation information from the current travel regulation information storage unit 10 and determines whether the existing travel regulation information is the same as the current travel regulation information. That is, the control unit 5 determines whether or not the travel regulation information on the target altitude actual travel road has been changed. If the existing driving regulation information and the current driving regulation information are the same, that is, if the driving regulation information on the target altitude actual driving road has not been changed, the process proceeds to step S109. On the other hand, if the existing driving restriction information is not the same as the current driving restriction information, that is, if the driving restriction information on the target altitude actual driving road has been changed, the process proceeds to step S108.

In step S108, the control unit 5 notifies that the travel restriction information has been changed. FIG. 5 shows a display example of the display device 15 when the travel restriction information has not been changed. The black triangles in FIG. 5 indicate the current position of the host vehicle. FIG. 6 shows a display example of the display device 15 when the speed regulation as the traveling regulation is changed. As shown in FIG. 6, on the display device 15, display objects 18, 19, and 20 indicating that the speed regulation has been changed are displayed. The display object 18 indicates a section in which the speed regulation has been changed. The color of the display object 18 may be changed so as to be distinguishable from other roads, or may be blinked. The display object 19 indicates that the speed limit has been changed from 40 km / h to 50 km / h. The display object 20 indicates in characters that the speed limit has been changed to 40 km / h.

FIG. 7 shows a display example when the display device 15 is a HUD. As shown in FIG. 7, the display object 22 may be displayed in a superimposed manner so as to surround the road sign 21 seen through the windshield.

The displays as shown in FIGS. 5 to 7 may be repeatedly displayed at predetermined time intervals, or may be repeatedly displayed at predetermined travel distances.

In step S109, the control unit 5 determines whether or not the own vehicle has finished traveling. For example, the control unit 5 determines that the host vehicle has finished traveling when the ignition switch of the host vehicle or the power supply for driving the host vehicle is turned off, or when the host vehicle stops for a predetermined time. Is also good. When the own vehicle has finished traveling, the operation in FIG. 4 ends. On the other hand, if the host vehicle has not finished traveling, the process proceeds to step S102.

<Modification 1>
In the case where the driving regulation information on the advanced driving performance road where the own vehicle is traveling is changed, and in the case where the driving regulation information of the road is changed when the own vehicle is traveling on a road other than the advanced driving performance road, The mode of notification may be made different.

For example, the control unit 5 notifies the change of the driving restriction information by voice and display when the driving restriction information on the advanced driving actual road is changed, and when the driving restriction information on the road other than the advanced driving actual road is changed. May notify the change of the driving regulation information only by the display.

In addition, when the travel regulation information on the actual highway travel road is changed, the control unit 5 notifies that "the speed regulation has been changed from 50 km / h to 40 km / h in the future", and travels on a road other than the high altitude actual record road. When the regulation information is changed, it may be simply notified that "speed regulation has been changed".

<Modification 2>
The control unit 5 may perform weighting such that the closer the vehicle running history is to the present, that is, the newer the vehicle running history, the higher the running result value.

For example, assuming that the number of times of travel on the target road, which is the road on which the host vehicle is currently traveling, is N times and the travel time of the target road that has traveled nth from the present is tn years before the present, the travel actual value is expressed by the following equation. It is calculated in (1).
Actual running value = Σ (n (tn)) (n = 1, 2,..., N) (1)

ＮHere, n (tn) = 1 | 0 <tn <1 indicates the actual driving value when the vehicle travels on the target road in less than one year. In addition, n (tn) = 1 / tn | tn ≧ 1 indicates the actual driving value when the vehicle traveled on the target road one year or more ago.

For example, assuming that the traveling time of the target road is two months ago, four months ago, eight months ago, 1.5 years ago, and two years ago, the actual traveling value = Σ (n (tn)) = 1 + 1 + 1 + 1 / (1.5) + 1/2 ≒ 4.17.

Note that the vehicle running history of a certain or more time may be ignored. For example, a vehicle running history of five years or more may be ignored. In this case, the vehicle travel history stored in the vehicle travel history storage unit 9 can be deleted from the vehicle travel history storage unit 9 by a certain amount or more, so that the storage capacity of the vehicle travel history storage unit 9 can be reduced.

<Modification 3>
The control unit 5 may calculate the actual driving value in consideration of the distance element. Specifically, the control unit 5 may weight the road closer to the home so that the actual driving value becomes higher. For example, the control unit 5 multiplies the actual driving value calculated in step S106 of FIG. 4 by a coefficient 1 for a road within 10 km from home and a coefficient of 0.5 for a road 10 to 50 km from home. May be multiplied by a factor of 0.25 if the road is more than 50 km from home. The coefficients are not limited to these. For example, the coefficient may be a continuous function that is not discontinuous with respect to the distance from the home but monotonically decreases as the distance from the home increases.

In addition, in step S106 in FIG. 4, the control unit 5 may calculate the actual driving value for each predetermined area. For example, the control unit 5 may multiply the actual driving value calculated in step S106 of FIG. 4 by a coefficient corresponding to the number of times the vehicle has passed through the area. In this case, the value of the coefficient may be increased as the number of times increases. Further, the control unit 5 may multiply the actual driving value calculated in step S106 of FIG. 4 by a larger coefficient in an area closer to the home. In the case where the actual driving value is calculated for each area, the storage capacity for storing the calculated actual driving value can be reduced. Note that the third embodiment may be combined with the second embodiment.

<Modification 4>
The control unit 5, when the travel regulation information of the advanced travel actual road is changed, notifies the mode of notification that the travel regulation information has been changed in accordance with the attribute of the current travel regulation information that is the changed travel regulation information. It may be different.

For example, the control unit 5 performs control not to notify when the travel regulation information related to the travel route of the vehicle is changed, and to notify when the travel regulation information not related to the travel route of the vehicle is changed. Is also good. Here, as the travel regulation information related to the travel route of the vehicle, for example, route regulation information at an intersection, lane change regulation information, entry prohibition information, or one-way information is given. The travel regulation information that is not related to the movement route of the vehicle includes speed regulation information or temporary stop information.

The control unit 5 may change the amount of information to be notified according to the attribute of the travel restriction information. In addition, when the control unit 5 is newly changed to no entry or newly changed to one-way, there is a possibility that the own vehicle may come into contact with another vehicle. May be performed. At this time, the control unit 5 may notify the user to emphasize it more than usual.

<Modification 5>
Modification 5 is characterized in that a notification release condition, which is a condition for releasing notification, is set for the operation shown in FIG.

FIG. 8 is a flowchart illustrating an example of the operation of the driving support device 6 according to the fifth modification. Steps S201 to S207 in FIG. 8 correspond to steps S101 to S107 in FIG. Steps S209 and S210 in FIG. 8 correspond to steps S108 and S109 in FIG. Hereinafter, step S208 will be described.

In step S208, the control unit 5 determines whether or not the notification release condition is satisfied. If the notification release condition is satisfied, the process proceeds to step S210. On the other hand, when the notification release condition is not satisfied, the process proceeds to step S209.

The notification release condition is set based on the history of notification of the change in the driving regulation information. For example, if the control unit 5 reports the change in the travel regulation information five times, the control unit 5 will not report the change even after traveling on the same road. That is, the control unit 5 reports that the vehicle has changed every time the vehicle travels on the same high-altitude actual driving road until the report release condition is satisfied, and does not perform the report thereafter when the report release condition is satisfied.

<Modification 6>
In the fifth modification, the case where the number of times of notification of the change in the travel restriction information is used as the notification release condition has been described, but the present invention is not limited to this. For example, each time the vehicle travels on the same altitude traveling actual road, the number of times the current traveling regulation information is observed may be used as the notification release condition.

For example, the control unit 5 may determine that the notification release condition is satisfied when the number of times that the current vehicle has complied with the current traveling regulation information when traveling on the same altitude traveling actual road is two times.

変 形 Note that Modification 6 may be combined with Modification 5. For example, when the control unit 5 has twice notified that the travel regulation information has been changed, the control unit 5 may comply with the current travel regulation information once.

<Variation 7>
In the present modification 7, when the driving regulation information updating rule is satisfied, the existing driving regulation information is updated by replacing the existing driving regulation information with the current driving regulation information which is the changed driving regulation information. And When the existing travel regulation information is updated, the existing travel regulation information becomes the same as the current travel regulation information, and hence it is not necessary to notify that the travel regulation information has been changed thereafter.

FIG. 9 is a flowchart showing an example of the operation of the driving support device 6 according to the seventh modification. Steps S301 to S308 in FIG. 9 correspond to steps S101 to S108 in FIG. Step S311 in FIG. 9 corresponds to step S109 in FIG. Hereinafter, steps S309 and S310 will be described.

制 御 In step S309, control unit 5 determines whether or not the driving regulation information updating rule is satisfied. When the driving regulation information updating rule is satisfied, the process proceeds to step S310. On the other hand, when the driving regulation information updating rule is not satisfied, the process proceeds to step S311.

The driving regulation information update rule is applied when the current driving regulation information is changed from the existing driving regulation information, when it is detected that the current driving regulation information is changed from the existing driving regulation information, and when the current driving regulation information is changed to the existing driving regulation information. The history that the vehicle has traveled on the road that has been changed with respect to the regulation information, the history that the current travel regulation information has changed with respect to the existing travel regulation information, and the current travel regulation information has changed with respect to the existing travel regulation information This is defined based on at least one of the time intervals at which the fact is notified. Here, the point in time when the current driving regulation information is changed from the existing driving restriction information is, for example, a point in time when the current driving restriction information is acquired from the outside. Further, when it is detected that the current driving regulation information has changed from the existing driving restriction information, for example, the surrounding situation detection device 13 recognizes a road sign or a road sign, and outputs the information to the current driving regulation information acquisition unit. No. 3 is obtained at the time of acquisition as the current driving regulation information.

For example, when driving on the same altitude actual driving road where the driving regulation information has changed more than a certain number of times, such as five times, when a change has been notified more than a certain number of times, such as five times, or when a certain period of time such as six months has elapsed The driving regulation information update rule is defined on the condition of the above.

In step S310, the control unit 5 replaces the existing driving regulation information with the current driving regulation information and updates the current driving regulation information. Specifically, the control unit 5 replaces the existing travel regulation information stored in the map information storage unit 7 with the current travel regulation information stored in the current travel regulation information storage unit 10 to store the map information. The existing travel regulation information stored in the unit 7 is updated.

<Modification 8>
Modification 8 is characterized by combining Modification 5 and Modification 7.

FIG. 10 is a flowchart showing an example of the operation of the driving support device 6 according to the eighth modification. The operation illustrated in FIG. 10 is a combination of the operation illustrated in FIG. 8 described in the fifth modification and the operation illustrated in FIG. 9 described in the seventh modification. That is, in the modification 8, when the notification release condition is satisfied, the subsequent notification is not performed, and when the driving restriction information update rule is satisfied, the existing driving restriction information is replaced with the current driving restriction information and updated.

<Modification 9>
The present modified example 9 is characterized in that the current driving regulation information acquiring unit 3 does not acquire the road sign information that fluctuates according to the environment as the current traveling regulation information. The control unit 5 may not be used as a condition for determining whether or not to notify the road sign information that fluctuates according to the environment.

道路 The road sign information that fluctuates according to the environment is, for example, road sign information displayed on a light-signed display device provided on a highway or the like, and includes information on a temporary speed limit due to bad weather.

As described above, according to the first embodiment, when the vehicle travels on the actual high performance road, the driving assistance device 6 performs the change when the driving regulation information on the high actual performance road is changed. The driver is notified that the operation has been performed. Therefore, it is possible to appropriately notify the driver that the driving regulation information has changed on the road on which the driver is accustomed to drive.

<Embodiment 2>
FIG. 11 is a block diagram illustrating an example of a configuration of the driving support device 23 according to the second embodiment of the present invention.

As shown in FIG. 11, the second embodiment is characterized in that the current driving regulation information acquiring unit 3 acquires current driving regulation information from the regulation information distribution center 26 outside the driving support device 23. Other configurations and operations of the driving support device 23 are the same as those of the driving support device 6 described in the first embodiment and illustrated in FIG. 2, and thus detailed description is omitted here.

The current driving regulation information acquiring unit 3 acquires current driving regulation information from the regulation information distribution center 26 via the communication device 24 and the communication network 25. The regulation information distribution center 26 holds the latest travel regulation information on each road, and distributes the information as needed.

Note that FIG. 11 illustrates a case where the regulation information distribution center 26 distributes the current traveling regulation information, but the present invention is not limited to this. Instead of the regulation information distribution center 26, for example, a road infrastructure such as VICS (Vehicle Information and Communication System) (registered trademark) or DSRC (Dedicated Short Range Communication) (registered trademark) may distribute the current driving regulation information.

From the above, according to the second embodiment, the current driving regulation information acquiring unit 3 acquires the current driving regulation information from the external regulation information distribution center 26. With such a configuration, the same effect as in the first embodiment can be obtained. That is, it is possible to appropriately inform the driver that the driving regulation information has changed on the road on which the driver is accustomed to drive.

<Embodiment 3>
In the first embodiment, when the travel regulation information on the actual highway travel road on which the host vehicle is traveling is changed, the fact that the change has been notified is described. In the third embodiment of the present invention, when the travel regulation information on the high-altitude actual driving road where the subject vehicle is traveling is changed, the own vehicle complies with the existing travel regulation information and also complies with the current travel regulation information. The feature is to notify when there is not.

運 転 The driving support device according to the third embodiment is the same as the driving support device 6 described in the first embodiment and shown in FIG. Hereinafter, the driving support device according to the third embodiment will be described as being the driving support device 6 illustrated in FIG.

<Operation>
FIG. 12 is a flowchart illustrating an example of an operation of the driving support device 6 according to the third embodiment. Steps S501 to S505 in FIG. 12 correspond to steps S101 to S105 in FIG. Steps S507, S508, and S511 in FIG. 12 correspond to steps S106, S107, and S109 in FIG. Hereinafter, steps S506, S509, and S510 will be described.

In step S506, the control unit 5 determines whether or not the host vehicle complies with the current travel regulation information on the road on which the vehicle is currently traveling. Specifically, the control unit 5 determines whether the host vehicle is currently traveling based on the vehicle travel information acquired by the vehicle travel information acquisition unit 8 and the current travel regulation information stored in the current travel regulation information storage unit 10. It is determined whether the current driving regulation information is complied with on the middle road. If the current driving regulation information is complied with, the process proceeds to step S511. On the other hand, when the current driving regulation information is not complied with, the process proceeds to step S507.

In step S509, the control unit 5 determines whether or not the own vehicle complies with the existing travel regulation information on the altitude travel record road that is the current travel road. Specifically, the control unit 5 determines, based on the vehicle traveling information acquired by the vehicle traveling information acquiring unit 8 and the existing traveling regulation information stored in the map information storage unit 7, that the current vehicle is traveling. It is determined whether or not the existing travel regulation information is complied with on the advanced travel performance road. If the existing driving regulation information is complied with, the process proceeds to step S510. On the other hand, when the existing driving regulation information is not complied with, the process proceeds to step S511.

In step S510, when the existing driving regulation information is complied with but the current driving regulation information is not complied with, the control unit 5 does not comply with the current driving regulation information without noticing the change of the driving regulation information. The display device 15 is controlled so as to notify.

In FIG. 12, a case has been described in which the self-vehicle notifies while the own vehicle is traveling on an altitude actual driving road, but the present invention is not limited to this. For example, the control unit 5 may perform the above-mentioned notification control after the own vehicle has traveled on the altitude traveling actual road.

<Modification 1>
When the control unit 5 predicts that the own vehicle complies with the existing travel regulation information but does not comply with the current travel regulation information, the control unit 5 may perform the above-described control in advance. For example, when the vehicle is traveling at a speed of 50 km / h toward a section in which the speed limit has been changed from 50 km / h to 40 km / h, the control unit 5 may drive the vehicle at a speed of 40 km / h or less in the section. If it is determined that it is impossible, the own vehicle predicts that the vehicle complies with the existing travel regulation information but does not comply with the current travel regulation information. Then, the control unit 5 controls the display device 15 to notify in advance that the current driving regulation information is not being observed without noticing the change of the driving regulation information.

<Modification 2>
The control unit 5 compares the existing travel regulation compliance degree indicating the degree of compliance with the existing travel regulation information of the own vehicle with the current travel regulation compliance degree of the own vehicle with respect to the current travel regulation information for the same altitude travel actual road. When it is determined that the current driving regulation compliance has become worse than the existing driving regulation compliance, the display device 15 is controlled to notify that the current driving regulation compliance has deteriorated.

For example, when the existing driving regulation information is 50 km / h and the current driving regulation information is traveling at a speed of 55 km / h on a road whose speed has been changed to 40 km / h, the speed exceeds the existing driving regulation information by 5 km / h. However, since the current traveling regulation information has exceeded the speed of 15 km / h and the current traveling regulation compliance has deteriorated, this fact is notified.

The timing of notifying that the current driving regulation compliance level is degraded may be either during or after the vehicle is traveling on a high-altitude actual driving road.

<Modification 3>
In the third modified example, while the own vehicle is traveling on a high-altitude actual driving road, the mode of notification is different between when the current traveling restriction information is complied with and the current traveling restriction information is not complied with, and at other times. It is characterized by

FIG. 13 is a flowchart showing an example of the operation of the driving support device 6 according to the third modification. Steps S601 to S610 and S612 in FIG. 13 correspond to steps S501 to S510 and S511 in FIG. Hereinafter, step S611 will be described.

に お い て In step S611, the control unit 5 controls the display device 15 to notify that the driving regulation is not complied with. That is, the control unit 5 controls the display device 15 so as to notify that the driving regulation is not complied with in cases other than the case where the existing driving regulation information is complied with but the current driving regulation information is not complied with. I do.

For example, if the existing driving regulation information is 50 km / h and the vehicle is traveling at 50 km / h on a road on which the current driving regulation information has been changed to 40 km / h, in step S610, “speed over! The speed regulation is changed to 40 km / h. Yes. " In addition, when the existing driving regulation information is 50 km / h and the vehicle is traveling at 60 km / h on the road where the current driving regulation information is changed to 40 km / h, the fact that “speed is over!” Is notified in step S611.

変 形 Note that Modification 3 may be applied to Modification 2. In this case, in step S610, for example, it is notified that "speed is over! The speed regulation has been changed to 40 km / h, and the degree of compliance with the traveling regulation has deteriorated."

<Modification 4>
In the above, a description has been given of a speed violation that can be detected only with the speed information of the host vehicle. On the other hand, the temporary stop information and the course restriction information, which are the travel regulation information other than the speed information, can be detected based on the accurate position of the own vehicle and the detailed map information. In this case, the stop information and the course regulation information are included in the map information.

<Modification 5>
The temporary stop information, the course restriction information, and the like, which are travel regulation information, can be obtained by performing image processing on an image captured by the surrounding situation detection device 13. By combining the driving regulation information detected by the surrounding situation detecting device 13 and the current position of the own vehicle acquired by the vehicle traveling information acquiring section 8, the accuracy of the position at which the surrounding situation detecting device 13 has detected the traveling regulation information is improved. I do.

Note that Modification 5 may be combined with Modification 4. In this case, more accurate travel regulation information can be obtained.

From the above, according to the third embodiment, when the host vehicle complies with the existing driving regulation information and does not comply with the current driving regulation information, it is notified that the current vehicle does not comply with the current driving regulation information. . This allows the driver to recognize that the current driving regulation information is not being observed without noticing that the driving regulation information has been changed. That is, it is possible to appropriately inform the driver that the driving regulation information has changed on the road on which the driver is accustomed to drive.

In the third embodiment, a case has been described in which the driver is notified when the driving regulation becomes strict, for example, the speed limit is changed from 50 km / h to 40 km / h, but the present invention is not limited to this. For example, when the driving regulation is relaxed, such as when the speed limit is changed from 40 km / h to 50 km / h, the driver may be notified that there is a margin in the speed of the own vehicle with respect to the driving regulation. For example, when a vehicle running at almost the same speed as the speed limit travels at a speed of 40 km / h in a section where the speed limit has been changed from 40 km / h to 50 km / h, a message “The speed limit is changed from 40 km / h to 50 km / h. Yes. "

<Embodiment 4>
FIG. 14 is a block diagram showing an example of the configuration of the driving support device 27 according to Embodiment 4 of the present invention.

As shown in FIG. 14, the fourth embodiment of the present invention is characterized in that the control unit 5 controls the driving control device 28 so that the own vehicle automatically drives in compliance with the current driving regulation information. Other configurations and operations are the same as those of the driving support device 6 described in the first embodiment, and thus detailed description is omitted here.

When the control unit 5 determines that the own vehicle complies with the existing travel regulation information and does not comply with the current travel regulation information, the driving control device controls the self-vehicle to automatically drive while complying with the current travel regulation information. 28 is controlled. The driving control device 28 controls the automatic driving of the own vehicle according to the instruction of the control unit 5.

(4) The control unit 5 controls the display device 15 so as to notify that the vehicle shifts to the automatic driving. At this time, the fact that the driving regulation information has been changed may also be notified.

From the above, according to the fourth embodiment, when the control unit 5 determines that the host vehicle complies with the existing driving regulation information and does not comply with the current driving regulation information, the control unit 5 sets the current vehicle to the current driving regulation information. The operation control device 28 is controlled so as to automatically operate in compliance with the regulation information. Therefore, it is possible to appropriately notify the driver that the driving regulation information has changed on the road on which the driver is accustomed to drive, and to support the operation related to driving.

The driving support device described above is not only a vehicle-mounted navigation device, that is, a car navigation device, but also a PND (Portable Navigation Device) that can be mounted on a vehicle, a server provided outside the vehicle, and the like, and appropriately combined as a system. The present invention can be applied to a navigation device to be constructed or a device other than the navigation device. In this case, each function or each component of the driving support device is distributed and arranged for each function constituting the system.

Specifically, as an example, the function of the driving support device can be arranged in the server. For example, as shown in FIG. 15, the user side includes a GNSS 11, an in-vehicle LAN 12, a surrounding situation detection device 13, an operation device 14, and a display device 15. Further, the server 29 includes a map information acquisition unit 2, a current travel regulation information acquisition unit 3, a vehicle travel history acquisition unit 4, a control unit 5, a map information storage unit 7, a vehicle travel information acquisition unit 8, and a vehicle travel history storage unit 9. , And the current driving regulation information storage unit 10. With such a configuration, a driving support system can be constructed. The same applies to the driving support device 23 shown in FIG. 11 and the driving support device 27 shown in FIG. Although not shown, each device provided on the user side communicates with the server 29 using an appropriate communication device.

As described above, the same effects as those of the above-described embodiment can be obtained even with a configuration in which each function of the driving support device is dispersedly arranged in each function that configures the system.

The software for executing the operations in the above embodiments may be incorporated in, for example, a server. A driving support method realized by executing this software by a server acquires map information including existing driving regulation information including at least one of road sign information and road marking information, and obtains road information on which the vehicle is currently traveling. Obtain current driving regulation information including at least one of the road sign information and the road signing information, obtain a vehicle running history indicating a history of the road on which the vehicle has run, and determine in advance based on the obtained vehicle running history. Control that determines that the road is a road that satisfies the conditions that have been met and, when there is a difference between the existing driving regulation information acquired on the road that satisfies the predetermined conditions and the acquired current driving regulation information, notifies the difference. It is to do.

In this way, the same effect as in the above embodiment can be obtained by incorporating the software for executing the operation in the above embodiment into the server and operating it.

In the present invention, each embodiment can be freely combined, or each embodiment can be appropriately modified or omitted within the scope of the invention.

Although the present invention has been described in detail, the above description is illustrative in all aspects, and the present invention is not limited thereto. It is understood that innumerable modifications that are not illustrated can be assumed without departing from the scope of the present invention.

1 driving assistance device, 2 map information acquisition unit, 3 current driving regulation information acquisition unit, 4 vehicle traveling history acquisition unit, 5 control unit, 6 driving assistance device, 7 map information storage unit, 8 vehicle traveling information acquisition unit, 9 vehicle Running history storage unit, 10 current running regulation information storage unit, 11 GNSS, 12 in-vehicle LAN, 13 surrounding situation detection device, 14 operation device, 15 display device, 16 processor, 17 memory, 18-20 display object, 21 road sign, 22 display object, 23 drive support device, 24 communication device, 25 communication network, 26 regulation information distribution center, 27 drive support device, 28 drive control device, 29 server.

Claims (21)

1. A map information acquisition unit for acquiring map information including existing driving regulation information including at least one of road sign information and road sign information,
   A current traveling regulation information acquisition unit that acquires current traveling regulation information including at least one of road sign information and road marking information on a road on which the vehicle is currently traveling,
   A vehicle travel history acquisition unit that acquires a vehicle travel history indicating a history of a road on which the vehicle has traveled,
   Based on the vehicle travel history acquired by the vehicle travel history acquisition unit, determines that the road corresponds to a predetermined condition, and obtains the map information acquisition unit on a road that meets the predetermined condition. When there is a difference between the existing traveling regulation information and the current traveling regulation information acquired by the current traveling regulation information acquisition unit, a control unit that performs control to notify the difference,
   A driving assistance device comprising:
2. The control unit calculates a running actual value for each road on which the vehicle has traveled based on the vehicle running history, and sets the road where the running actual value is equal to or greater than a predetermined reference value to the predetermined condition. The driving support device according to claim 1, wherein the driving support device is determined to be a corresponding road.
3. 3. The driving support device according to claim 2, wherein the control unit calculates a frequency of the vehicle traveling on the road within a predetermined period from now to the past as the traveling result value. 4.
4. 3. The driving support device according to claim 2, wherein the control unit weights the driving result value so that the newer the vehicle driving history is, the higher the driving result value becomes.
5. The driving support device according to claim 1, wherein the control unit changes the mode of the notification according to an attribute of the current driving restriction information.
6. The control unit performs the control not to notify when there is the difference in the travel restriction information related to the travel route of the vehicle, and performs the notification when the difference exists to the travel control information not related to the travel route of the vehicle. The driving support device according to claim 1, wherein control is performed.
7. The driving assistance device according to claim 1, further comprising a vehicle traveling information acquisition unit that acquires vehicle traveling information including a current position and a speed of the vehicle.
8. The control unit, based on the vehicle travel information obtained by the vehicle travel information acquisition unit, when it is determined that the vehicle complies with the existing travel regulation information, and does not comply with the current travel regulation information, The driving assistance device according to claim 7, wherein the vehicle performs control for notifying the difference during or after traveling on a road corresponding to the predetermined condition.
9. The control unit, based on the vehicle travel information obtained by the vehicle travel information acquisition unit, when the vehicle is expected to comply with the existing travel regulation information, and does not comply with the current travel regulation information, the difference The driving support device according to claim 7, wherein control for notifying in advance is performed.
10. The control unit indicates, based on the vehicle travel information acquired by the vehicle travel information acquisition unit, a degree of compliance of the vehicle with respect to the existing travel regulation information for a road corresponding to the same predetermined condition. Comparing the existing travel regulation compliance with the current travel regulation compliance indicating the degree of compliance of the vehicle with the current travel regulation information, and determining that the current travel regulation compliance has become worse than the existing travel regulation compliance. The driving support device according to claim 7, wherein when the vehicle is driven, control is performed to notify the user of the deterioration during or after the vehicle is traveling on a road corresponding to the predetermined condition.
11. The control unit, based on the vehicle travel information acquired by the vehicle travel information acquisition unit, when the vehicle is determined to comply with the existing travel regulation information, and does not comply with the current travel regulation information and 8. The driving support device according to claim 7, wherein a mode of the notification is made different from a case other than the judgment.
12. The control unit, based on the vehicle travel information obtained by the vehicle travel information acquisition unit, when it is determined that the vehicle complies with the existing travel regulation information, and does not comply with the current travel regulation information, The driving support according to claim 7, wherein the vehicle performs automatic driving control so as to comply with the current driving regulation information, and performs control to notify that the automatic driving control has been performed. apparatus.
13. The control unit performs control to notify the difference each time the vehicle travels on a road corresponding to the same predetermined condition until a predetermined notification release condition is satisfied, The driving support device according to claim 1.
14. The driving support device according to claim 13, wherein the predetermined notification release condition is based on a history of the notification.
15. The said predetermined | prescribed notification cancellation | release condition is the frequency | count which the said vehicle followed the said present driving | running | working control information every time it drive | works on the road which corresponds to the same said predetermined | prescribed condition, The characterized by the above-mentioned. A driving support device according to claim 1.
16. The current driving regulation information acquiring unit may acquire at least one of the road sign information and the road marking information detected by a peripheral situation detecting device that detects a situation around the vehicle as the current traveling regulation information. The driving support device according to claim 1, wherein the driving support device is characterized in that:
17. The driving support device according to claim 1, wherein the current driving regulation information acquiring unit acquires the current driving regulation information from outside the vehicle.
18. The controller according to claim 1, wherein when a predetermined update rule is satisfied, the control unit updates the existing driving restriction information by replacing the existing driving restriction information with the current driving restriction information. Driving assistance device.
19. The predetermined update rule is a point in time when the current driving restriction information is changed to the existing driving restriction information, a point in time when the current driving restriction information is detected to be changed to the existing driving restriction information, The current travel regulation information is defined based on at least one of a history of the vehicle traveling on a road changed from the existing travel regulation information, a history of reporting the difference, and a time interval of reporting the difference. The driving assistance device according to claim 18, wherein:
20. The driving assistance device according to claim 1, wherein the current driving regulation information acquiring unit does not acquire the road sign information that fluctuates according to an environment as the current driving regulation information.
21. Acquire map information including existing driving regulation information including at least one of road sign information and road sign information,
    Obtain current driving regulation information including at least one of road sign information and road marking information on the road on which the vehicle is currently traveling,
    Obtain a vehicle travel history indicating the history of the road on which the vehicle traveled,
    Based on the acquired vehicle traveling history, it is determined that the road corresponds to a predetermined condition, and the existing traveling regulation information acquired on a road corresponding to the predetermined condition, and the acquired current traveling A driving support method for performing control for notifying the difference when there is a difference from the regulation information.

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