JP4816175B2 - Vehicle support system - Google Patents

Description

  The present invention relates to a vehicle support system that supports driving of a vehicle, for example.

2. Description of the Related Art Conventionally, a driving support system that supports driving of an automobile and performs automatic driving based on road information and GPS information including a virtual digital traveling track (coordinate grid) is known (for example, see Patent Document 1).
JP 2003-337993 A

  However, in the conventional driving support system, road parameters and road information are acquired from a road geometry server via a computer network, and the detailed road shape is based on the acquired road parameters and road information. A virtual digital travel path is calculated. Therefore, the calculation process becomes complicated and the processing speed decreases, so that there is a possibility that the vehicle cannot be supported quickly.

  The present invention has been made to solve the above-described problems, and has as its main object to quickly assist a vehicle.

In order to achieve the above object, one embodiment of the present invention provides:
Position detecting means for detecting the current position of the vehicle;
Map information storage means for storing map information composed of a plurality of predetermined areas divided into meshes;
A vehicle support system comprising vehicle support means for supporting the vehicle based on the current position of the vehicle detected by the position detection means and the map information stored by the map information storage means. There,
The map information storage means stores vehicle support information performed on the vehicle traveling in a predetermined area of the map information in association with the predetermined area,
The vehicle support means, based on the information of the vehicle support corresponding to a predetermined area of the map information including the current position of the vehicle detected by the position detecting means, have provided support for the vehicle,
The size of each predetermined area | region of the said map information is set according to the assumed vehicle speed of the vehicle which drive | works the said predetermined area | region, It is a vehicle assistance system characterized by the above-mentioned.

  In this aspect, the vehicle support means supports the vehicle based on vehicle support information corresponding to a predetermined area of the map information including the current position of the vehicle detected by the position detection means. Thereby, since complicated processing is not required, the vehicle can be supported quickly.

In this aspect, the image processing apparatus further includes an update unit that updates the map information stored by the map information storage unit to the latest information,
The updating unit may update the map information based on the latest map information acquired from the information center. Thereby, the vehicle can be accurately supported by the latest map information.

In this aspect, the size of each predetermined area of the map information in response to assumed vehicle speed of the vehicles traveling within the respective predetermined regions, Ru is set. Thereby, the optimal size of each predetermined region can be set according to the assumed vehicle speed . Therefore, vehicle support can be performed at an appropriate timing.

  In this aspect, the vehicle support information may be vehicle operation information for assisting the operation of the vehicle when the vehicle travels on a road in a predetermined area of the map information. Thereby, operation of a vehicle can be supported appropriately.

In this aspect, the vehicle operation information is an assumed vehicle speed when the vehicle travels within a predetermined area of the map information.
The vehicle support means may control the speed of the vehicle so as to be the assumed vehicle speed. As a result, the vehicle can be driven at an assumed vehicle speed without requiring complicated processing.

In this one aspect, the vehicle support information is warning information that calls for attention when the vehicle travels within a predetermined area of the map information.
The vehicle support means may warn a user based on the alert information. Thereby, appropriate alerting can be performed to the user.

  In this aspect, the alerting information may include at least one of train crossing information, merge point information where other vehicles join the traveling road, and accident-prone area information.

  In this aspect, the vehicle support information may be useful user useful information for a user of the vehicle within a predetermined area of the map information. Thereby, useful information can be supplied to a user at an appropriate timing.

  According to the present invention, it is possible to quickly support a vehicle.

  Hereinafter, the best mode for carrying out the present invention will be described with reference to the accompanying drawings.

  FIG. 1 is a block diagram showing a configuration of a vehicle support system according to an embodiment of the present invention. The vehicle support system 100 according to the present embodiment is mounted on each vehicle and provides various information such as map information to the vehicle support device 10 that supports the vehicle and the vehicle support device 10, and functions as a server. And an information center 20 having.

  The vehicle support device 10 is configured around a vehicle support ECU (Electronic Control Unit) 1 that performs various arithmetic processes, control processes, and the like and supports the vehicle.

  The vehicle support ECU 1, an engine ECU 2, a brake ECU 3, a steering ECU 4, and a computer main body 21 of the information center 20 described below perform various processes in accordance with control and calculation programs, and control CPU (Central Processing) for each part of the apparatus. Unit), ROM (Read Only Memory) for storing CPU execution programs, RAM (Random Access Memory) for storing calculation results, timers, counters, input / output interfaces (I / O), etc. ing.

  A navigation device 5 for guiding the vehicle to a set destination is connected to the vehicle support ECU 1. The navigation device 5 includes a GPS (Global Positioning System) receiver 5a that detects the current position P of the vehicle with high accuracy, and a storage unit 5b such as a hard disk (HDD) that stores map information and the like. . For example, the GPS receiver 5a transmits the detected current position P of the vehicle to the vehicle support ECU 1 in a predetermined minute cycle.

  The GPS receiver 5a periodically calculates the current position P of the vehicle, for example, with a measurement accuracy of ± α (cm) (vehicle stationary state) at a period of β (ms), and the current position P of the vehicle. Update. The GPS receiver 5a performs calculations based on positioning radio waves from a plurality of GPS satellites 30, and detects the current position P of the vehicle with high accuracy.

  Further, since a method for detecting the current position P of the vehicle based on positioning radio waves from a plurality of GPS satellites 30 is a well-known technique, detailed description thereof is omitted. The current position P of the vehicle may be detected by a GPS receiver built in the user's mobile phone, and any detection method can be applied as long as the current position P of the vehicle can be detected with high accuracy.

  For example, the navigation device 5 searches for a travel route to the set destination based on the map information stored in the storage unit 5b and the current position P of the vehicle detected by the GPS receiver 5a. The vehicle is guided based on the searched travel route.

  For example, when the navigation device 5 is activated, the update information transmitted from the information center 20 indicates whether or not the map information stored in the storage unit 5b is the latest (for example, the latest version). Judgment based on.

  Specifically, the navigation device 5 matches the version of the map information transmitted from the information center 20 with the version of the map information stored in the storage unit 5b when the device 5 is activated. It is determined whether or not the map information of is the latest version. The navigation device 5 determines the version when the device 5 is activated. However, the navigation device 5 may determine the version based on a user's instruction operation. You may go.

  When the navigation device 5 determines that the version of the map information stored in the storage unit 5b is not the latest, the navigation device 5 transmits a request signal (version upgrade request signal) to the information center 20.

  When the information center 20 receives the upgrade request signal from the navigation device 5, the information center 20 transmits the latest map information stored in the database 22 (map information including a plurality of small areas described later) to the navigation device 5. The navigation device 5 updates the map information stored in the storage unit 5b based on the latest map information received from the information center 20.

  The navigation device 5 transmits a request signal (map request signal) to the information center 20 when determining that the map information is insufficient for the travel route to the set destination. When receiving the map request signal from the navigation device 5, the information center 20 transmits the map information corresponding to the shortage stored in the database 22 to the navigation device 5.

  The storage unit 5b of the navigation device 5 stores map information including, for example, roads, signals, temporary stops, facilities, and the like. Further, the map information is composed of a plurality of predetermined areas S divided into meshes (FIG. 2A).

  For example, each predetermined region S is formed in a substantially square shape with one side of approximately γ (m), but the shape and size of each predetermined region S may be arbitrary. Further, the size of each predetermined region (data amount or area) S may be the same or different depending on each predetermined region S (FIG. 2B).

  For example, the size of the predetermined area S including a highway where the vehicle travels at a high speed, a main road provided with a signal and a temporary stop, a road where the speed limit is set relatively high, and the like is set to be relatively large. May be.

On the other hand, the size of the predetermined area S including a road in an urban area where the vehicle runs at a low speed, a road with a signal or a temporary stop, a road with a speed limit set to a low speed, etc. is set to be relatively small. Also good. That is, the size of the predetermined area S may be set according to the assumed vehicle speed corresponding to the speed limit in the predetermined area S when the vehicle travels in the predetermined area S. Thereby, the size of the predetermined region S is set to an appropriate size according to the assumed vehicle speed .

  The storage unit 5b of the navigation device 5 stores map information composed of a plurality of predetermined areas S divided into meshes as described above, and the vehicle travels on a road in the predetermined area S (stop of the vehicle). (Including the state), information on vehicle support performed for the vehicle is stored in association with each predetermined region S.

  The storage unit 5b uses, for example, a table, a map, and the like for each predetermined area S and information on vehicle assistance performed on the vehicle when the vehicle travels on a road in each predetermined area S. Are stored in association with each other. The vehicle support information associated with each predetermined area S is configured so that the user can change the setting via the navigation device 5.

  The vehicle support information includes, for example, vehicle operation information that supports the operation of the vehicle when the vehicle travels on a road in the predetermined area S of the map information. The vehicle operation information includes an assumed vehicle speed V when the vehicle travels on a road such as a curved road in the predetermined area S. Further, the assumed vehicle speed V includes an approach speed at which the vehicle can safely travel on a curved road, a speed at which the vehicle travels along the curve after entering the curved road, and an escape speed at which the vehicle exits the curved road. It may be. Further, the vehicle support information includes an assumed vehicle speed V for stopping the vehicle at a stop position such as a temporary stop line or a signal provided on the road in the predetermined area S.

  The vehicle operation information includes vehicle acceleration information, deceleration information, steering angle information, vehicle height information, light on / off information, air conditioning information (set temperature, on / off information), audio information, etc. Any information to be included.

  For example, when the vehicle travels on a road in the predetermined area S of the map information, the vehicle may be automatically controlled to acceleration or deceleration (vehicle operation information) associated with each predetermined area S. Further, when the vehicle travels on the road in the predetermined area S in the map information, the height of the vehicle may be automatically controlled to the vehicle height associated with each predetermined area S. Further, when the vehicle travels on a road in the predetermined area S in the map information, the vehicle headlight may be turned on or off as specifically associated with each predetermined area S (specifically, If there is a tunnel in the predetermined area S, the headlight may be turned on automatically).

  Further, the vehicle support information includes alert information that requires attention when the vehicle travels on a road in the predetermined area S of the map information. The alert information includes, for example, train crossing information within a predetermined area S, merge point information where another vehicle joins the road on which the vehicle travels, road width information where the road width is narrow, and vehicle accidents. Any information that requires user attention, such as accident-prone area information.

  For example, when a railroad crossing exists within the predetermined area S of the map information, the alert information is associated with the predetermined area S in advance. When the vehicle support ECU 1 determines that the vehicle has entered the predetermined area S, the vehicle support ECU 1 alerts the user based on the alert information associated with the predetermined area S.

  Further, the vehicle support information includes useful user useful information for the user of the vehicle traveling in the predetermined area S of the map information. The user useful information includes, for example, a user of a vehicle such as a movie theater in a predetermined area S (or nearby), an amusement facility such as an amusement park (discount information, etc.), a parking lot (empty vehicle information), etc. Any information useful to the user).

  Note that the size (for example, the length of one side) of each predetermined area S of the map information is set according to the estimated vehicle speed V, which is vehicle support information corresponding to each predetermined area S, as described above. May be.

  Specifically, the length (mesh width) of one side of each predetermined region S may be calculated by the following equation (1).

Length of one side of the predetermined area S =
(Vehicle assumed speed V × update cycle β + measurement accuracy α) × 2 (1)
When the measurement accuracy α is sufficiently small, for example, when (assumed vehicle speed V × update cycle β)> (measurement accuracy α × 20), the length of one side of the predetermined region S is expressed by the following equation (2). It may be calculated.

Length of one side of the predetermined region S = (assumed vehicle speed V × update cycle β) × 2 (2)
The vehicle support ECU 1 includes an engine ECU 2 that controls the engine 2a of the vehicle, a brake ECU 3 that controls the braking force of the brake device 3a of the vehicle, and a steering device 4a of the vehicle via a vehicle LAN (Local Area Network) 6. A steering ECU 4 that controls steering is connected. The vehicle support ECU 1, the engine ECU 2, the brake ECU 3, and the steering ECU 4 perform bidirectional data communication via the vehicle LAN 6.

  The vehicle support ECU 1 transmits a control signal to the engine ECU 2 via the vehicle LAN 6. The engine ECU 2 controls the driving force of the engine 2a based on a control signal from the vehicle support ECU 1.

  The vehicle support ECU 1 transmits a control signal to the brake ECU 3 via the vehicle LAN 6. The brake ECU 3 controls the braking force of the brake device 3a disposed on each wheel of the vehicle based on the control signal from the vehicle support ECU 1.

  The vehicle support ECU 1 transmits a control signal to the steering ECU 4 via the vehicle LAN 6. The steering ECU 4 controls the steering device 4a for steering the steered wheels of the vehicle based on the control signal from the vehicle support ECU 1.

  The vehicle support ECU 1 is connected with a warning device 7 such as a speaker and a warning light for warning the user and calling attention. The vehicle support ECU 1 transmits a warning signal to the warning device 7. The warning device 7 outputs a warning sound from a speaker or turns on or blinks a warning light based on a warning signal from the vehicle support ECU 1. This alerts the user.

  A communication device 8 that transmits and receives data is connected to the vehicle support ECU 1 via the communication network 40 with the communication device 23 of the information center 20. Note that the communication network 40 includes, for example, a general telephone network, a mobile telephone network, the Internet, and the mobile telephone network includes a communication base station and the like.

  For example, the vehicle support ECU 1 transmits various types of vehicle information to the information center 20 via the communication device 8 and the communication network 40. On the other hand, the vehicle support ECU 1 receives information such as map information transmitted from the information center 20 via the communication device 8 and the communication network 40.

  The information center 20 includes a computer main body 21 that performs various types of information processing, a database 22 that stores the map information and the like, a communication device 23 that transmits and receives information to and from the communication device 8 of the vehicle support device 10, And has a function as a server.

  Similar to the storage unit 5b of the navigation device 5, the database 22 stores map information including a plurality of predetermined areas S divided into meshes, and when the vehicle travels on a road in the predetermined area S. Information on vehicle support performed for the vehicle is stored in association with each predetermined region S. Note that the map information and vehicle support information stored in the database 22 are periodically updated and maintained in the latest state (latest version).

  When updating the map information of the navigation device 5 described above, the computer main body 21 of the information center 20 stores the latest map information divided into the mesh-shaped predetermined area S stored in the database 22 and the predetermined area S. Is transmitted to the communication device 8 of the vehicle support device 10 via the communication device 23 and the communication network 40. The communication device 8 of the vehicle support device 10 transmits the received map information and vehicle support information to the vehicle support ECU 1.

  The vehicle support ECU 1 is based on the current position P of the vehicle detected by the GPS receiver 5a of the navigation device 5 and the map information including the mesh-shaped predetermined region S stored in the storage unit 5b of the navigation device 5. In which predetermined area S of the map information the current position P of the vehicle is included is determined at a predetermined minute cycle. Further, the vehicle support ECU 1 supports the vehicle based on the vehicle support information corresponding to the predetermined area S of the map information including the current position P of the vehicle.

  For example, as described above, the assumed vehicle speed V when traveling on a curved road in the predetermined area S is set in the vehicle support information corresponding to the predetermined area S of the map information including the current position P of the vehicle. Yes. In this case, the vehicle support ECU 1 transmits a control signal to the brake ECU 3 and the engine ECU 2 to control the brake device 3a and the engine 2a of the vehicle so that the vehicle speed becomes the assumed vehicle speed V. As described above, the vehicle support ECU 1 automatically controls the vehicle speed based on the vehicle support information (assumed vehicle speed) corresponding to the predetermined area S of the map information including the current position P of the vehicle, and supports the vehicle. can do.

  In addition, in the vehicle support information corresponding to the predetermined area S of the map information including the current position P of the vehicle, for example, there is a train crossing on the road on which the vehicle travels. Arousal information is set. In this case, the vehicle support ECU 1 transmits a warning signal to the warning device 7. When the warning device 7 receives the warning signal, it gives a warning to the user in order to call attention.

  Further, the information on the vehicle support corresponding to the predetermined area S of the map information including the current position P of the vehicle includes, for example, a discount for an amusement facility useful for a user of a vehicle traveling in the predetermined area S of the map information. Information is set. In this case, the vehicle support ECU 1 notifies the user of the discount information at the same time as entering the predetermined area S or immediately before entering the predicted area S.

  FIG. 3 is a diagram illustrating an example of vehicle support information associated with each predetermined region S of the map information.

  For example, an assumed vehicle speed V = 50 km / h is set in the predetermined area S1 as vehicle support information. In the predetermined area S2, an assumed vehicle speed V = 20 km / h and alert information are set as vehicle support information. In the predetermined area S3, assumed vehicle speed V = 10 km / h and alert information are set as vehicle support information. In the predetermined region S4, an assumed vehicle speed V = 20 km / h is set as vehicle support information. For example, the vehicle support ECU 1 performs the following vehicle control so that the average speed of the vehicle becomes the assumed vehicle speed in each of the predetermined areas S1, S2, S3, and S4.

  When vehicle support information is set as described above in association with each of the predetermined areas S1, S2, S3, and S4, the vehicle support ECU 1 detects the vehicle current detected from the GPS receiver 5a of the navigation device 5. When it is determined that the position P is within the predetermined region S1, the engine 2a and the brake device 3a are controlled via the engine ECU 2 and the brake ECU 3 to control the average vehicle speed to an assumed vehicle speed V = 50 km / h. .

  When the vehicle support ECU 1 determines that the current position P of the vehicle detected from the GPS receiver 5a of the navigation device 5 is within the predetermined region S2, the engine 2a and the brake device 3a are passed through the engine ECU 2 and the brake ECU 3. To control the average vehicle speed to an assumed vehicle speed V = 20 km / h. At this time, the vehicle support ECU 1 issues a warning (for example, a warning that an intersection is near) by the warning device 7 and alerts the user.

  Further, when the vehicle support ECU 1 determines that the current position P of the vehicle detected from the GPS receiver 5a of the navigation device 5 is within the predetermined area S3, the engine 2a and the brake device 3a are passed through the engine ECU 2 and the brake ECU 3. To control the average vehicle speed to an assumed vehicle speed V = 10 km / h. At this time, the vehicle support ECU 1 gives a warning (for example, a warning that another vehicle is approaching the intersection) by the warning device 7, and alerts the user.

  When the vehicle support ECU 1 determines that the current position P of the vehicle detected from the GPS receiver 5a of the navigation device 5 is within the predetermined region S4, the vehicle support ECU 1 controls the engine 2a and the brake device 3a via the engine ECU 2 and the brake ECU 3. Then, the average speed of the vehicle is controlled to the assumed vehicle speed V = 20 km / h. As described above, the speed of the vehicle is easily controlled without requiring complicated processing by setting the assumed vehicle speed V associated with each of the predetermined areas S1, S2, S3, and S4 and the alert information. be able to.

  Next, the control processing flow of the vehicle support system 100 will be described. FIG. 4 is a flowchart illustrating an example of a processing flow of the vehicle support system 100. Note that the processing flow shown in (S3) to (S6) shown in FIG. 4 is repeatedly executed every predetermined time.

  For example, when the navigation device 5 is activated, the vehicle support ECU 1 establishes communication connection with the information center 20, and determines whether or not the map information stored in the storage unit 5b of the navigation device 5 is the latest (S1). ).

  When the vehicle support ECU 1 determines that the map information stored in the storage unit 5b of the navigation device 5 is the latest (Yes in S1), the vehicle support ECU 1 proceeds to a process (S3) described later. On the other hand, when the vehicle support ECU 1 determines that the map information stored in the storage unit 5b of the navigation device 5 is not the latest (No in S1), the vehicle support ECU 1 downloads the latest map information from the information center 20 and stores it in the storage unit 5b. The updated map information is updated (S2).

  The GPS receiver 5a of the navigation device 5 detects the current position P of the vehicle (S3). The vehicle support ECU 1 determines the current position of the vehicle based on the map information including a plurality of predetermined areas S stored in the storage unit 5b of the navigation device 5 and the current position P of the vehicle detected by the GPS receiver 5a. It is detected which predetermined area S of the map information P is in (S4).

  Next, the vehicle support ECU 1 acquires vehicle support information associated with a predetermined area S including the current position P of the vehicle from the storage unit 5b (S5). The vehicle support ECU 1 supports the vehicle based on the vehicle support information acquired from the storage unit 5b (S6).

  As described above, in the vehicle support system 100 according to the present embodiment, the vehicle support ECU 1 supports the vehicle based on the vehicle support information associated with the predetermined area S of the map information including the current position P of the vehicle. . Thereby, the predetermined area S including the current position P of the vehicle can be detected, and the vehicle support associated with the predetermined area S can be easily performed. Therefore, since complicated processing is not required and it can be realized by simple processing, the vehicle can be supported quickly. In addition, since processing becomes simple, it leads to reduction in processing cost.

  As mentioned above, although the best mode for carrying out the present invention has been described using one embodiment, the present invention is not limited to such one embodiment, and within the scope not departing from the gist of the present invention, Various modifications and substitutions can be made to the above-described embodiment.

  The present invention can be used, for example, in a vehicle support system that supports a driving operation of a vehicle. The appearance, weight, size, running performance, etc. of the vehicle to be mounted are not limited.

It is a block diagram which shows the structure of the vehicle assistance system which concerns on one Example of this invention. (A) It is a figure which shows an example of the map information which consists of several predetermined area | region divided | segmented into mesh shape. (B) It is a figure which shows an example of the map information from which the magnitude | size of a predetermined area differs for every predetermined area. It is a figure which shows an example of the information of the vehicle assistance matched with each predetermined area | region of map information. It is a flowchart which shows an example of the processing flow of a vehicle assistance system.

Explanation of symbols

1 Vehicle support ECU
5 navigation device 5a GPS receiver 5b storage unit 10 vehicle support device 20 information center 100 vehicle support system

Claims (7)

Position detecting means for detecting the current position of the vehicle;
Map information storage means for storing map information composed of a plurality of predetermined areas divided into meshes;
A vehicle support system comprising vehicle support means for supporting the vehicle based on the current position of the vehicle detected by the position detection means and the map information stored by the map information storage means. There,
The map information storage means stores vehicle support information performed on the vehicle traveling in a predetermined area of the map information in association with the predetermined area,
The vehicle support means, based on the information of the vehicle support corresponding to a predetermined area of the map information including the current position of the vehicle detected by the position detecting means, have provided support for the vehicle,
The size of each predetermined area | region of the said map information is set according to the assumed vehicle speed of the vehicle which drive | works the said predetermined area | region, The vehicle assistance system characterized by the above-mentioned. The vehicle support system according to claim 1,
Update means for updating the map information stored by the map information storage means to the latest information;
The vehicle support system, wherein the updating means updates the map information based on the latest map information acquired from an information center. The vehicle support system according to any one of claims 1 to 2 ,
The vehicle support information is vehicle operation information for supporting operation of the vehicle when the vehicle travels on a road in a predetermined area of the map information. The vehicle support system according to claim 3 ,
The vehicle operation information is the assumed vehicle speed when the vehicle a predetermined area of the map information is traveling,
The vehicle support system, wherein the vehicle support means controls the speed of the vehicle so as to be the assumed vehicle speed. The vehicle support system according to any one of claims 1 to 2 ,
The vehicle support information is alert information that alerts the user that attention is required when the vehicle travels within a predetermined area of the map information.
The vehicle support system is characterized in that the vehicle support means warns a user based on the alert information. The vehicle support system according to claim 5 ,
The alerting information includes at least one of at least train crossing information, merging point information where other vehicles join the traveling road, and accident-prone area information. The vehicle support system according to any one of claims 1 to 2 ,
The vehicle support system is characterized in that the vehicle support information is useful user useful information for a user of the vehicle within a predetermined area of the map information.

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