JP5472163B2 - Speed regulation value notification device and speed regulation value notification system - Google Patents

Description

  The present invention relates to a speed regulation value notification device and a speed regulation value notification system.

  2. Description of the Related Art Conventionally, a technique for estimating a speed regulation value of a road on which a vehicle is traveling and notifying the estimated speed regulation value to a driver of the vehicle is known. For example, the speed regulation value of the road on which the vehicle is traveling is estimated based on the current position of the vehicle detected using GPS (Global Positioning System) and the map data including the speed regulation value as road data. The method is known.

  However, with this method, depending on the detection error of the current position of the vehicle, it is determined that the vehicle is traveling on a road other than the road that is actually running, and the speed regulation value other than the road that is actually running is erroneously estimated. There was a point. In addition, if there is an error in the road data in the map data, the speed limit value of the road being traveled may be estimated incorrectly, or if the road data in the map data is insufficient, There is also a problem that the speed regulation value cannot be estimated.

  Therefore, as a means for solving this problem, there is a technique for estimating the speed regulation value of the road while the vehicle is traveling by detecting the speed limit road sign or the road sign from the image captured by the in-vehicle camera by image recognition. Are known.

  For example, in Patent Document 1, a road surface image including an own lane to an adjacent lane is picked up by a road surface camera, and a road marking of a speed limit provided on the road surface is recognized from the picked-up image to recognize a multiple lane road. A technique for estimating the speed regulation value of the inside lane is disclosed. Moreover, displaying the estimated speed limit value of the own lane is disclosed. Furthermore, in Patent Document 1, when the estimation results of the speed regulation value of the own lane and the speed regulation value of the adjacent lane are different from each other, there is also a technique for displaying a caution display to that effect and the speed regulation value of the adjacent lane. It is disclosed.

JP 2009-187166 A

  However, it is limited when road markings of speed limit exist on the road surface. Therefore, in the technique disclosed in Patent Document 1, when there is no road marking of the speed limit on the road surface, the speed regulation value of the road on which the vehicle is traveling cannot be estimated and notified.

  On the other hand, the speed limit value of the road on which the host vehicle is running is estimated and notified by recognizing and detecting the speed limit road sign set up beside the road from the image ahead of the vehicle. However, in this case, there is a problem in that the occupant misrecognizes the speed regulation value of the traveling road. Specifically, when recognizing the above road sign, the road sign of the branch destination road (see the area surrounded by the broken lines in FIGS. 1A and 1B), the road sign of the parallel road, and the preceding road sign By recognizing an image of a road sign or a road sign analog that is not a target for the host vehicle such as a sticker of a road sign mark of the vehicle, a speed regulation value of a running road is erroneously estimated. And by notifying the speed regulation value estimated incorrectly, a passenger | crew will be made to misrecognize the speed regulation value. As a sticker for a road sign mark of a preceding vehicle, for example, a sticker attached to the back of a truck is known.

  The present invention has been made in view of the above-described conventional problems, and the purpose thereof is to notify an incorrect speed regulation value when estimating and notifying the speed regulation value of a road on which the host vehicle is traveling. An object of the present invention is to provide a speed regulation value notification device and a speed regulation value notification system that make it possible to further suppress erroneous recognition of a passenger's speed regulation value.

According to the speed regulation value notification device of claims 1 to 4 , there is a branch road or parallel road around the position where the speed limit road sign is detected, and the road speed limit road sign of the branch road or parallel road is erroneously detected. In the case of road laying situations where it is easy to erroneously estimate the road sign of the speed regulation value, such as when the road speed regulation value of the road being run is erroneously estimated, the speed regulation value estimation means The notification of the speed regulation value that has been made can be suspended or the contents of the notification can be changed. For example, in the case of suspension, since the speed regulation value that is estimated incorrectly is not notified, it is not necessary for the passenger to misrecognize the speed regulation value. In addition, when changing the notification content, changing the notification content makes it possible for the occupant to recognize that the speed regulation value is estimated incorrectly, so that the occupant misrecognizes the speed regulation value. You do n’t have to. Accordingly, when the speed regulation value of the road on which the host vehicle is traveling is estimated and notified, erroneous recognition of the passenger's speed regulation value due to an erroneous notification of the speed regulation value can be further suppressed.

In the structure of Claims 1-3 , the speed regulation value estimated by the speed regulation value estimation means based on the presence of a branch point within a predetermined distance from the position where the road sign indicating the speed limit is detected is the vehicle running It will be judged that it is not the speed regulation value of the inside road. Therefore, there is a branch road around the position where the speed limit road sign is detected, and the road speed limit value of the road is erroneously estimated by erroneously detecting the speed limit road sign of the branch road. When there is a possibility that the speed restriction value is estimated by the speed restriction value estimation means, erroneous recognition of the speed restriction value of the occupant can be suppressed by suspending the notification of the speed restriction value or changing the notification content.

In the configuration of claims 1 and 5 , the difference between the speed regulation value of the branch road acquired by the map data acquisition means and the speed regulation value estimated by the speed regulation value estimation means is within a predetermined value. Therefore, it is determined that the speed regulation value estimated by the speed regulation value estimation means is not the speed regulation value of the road on which the vehicle is traveling. The smaller the difference between the speed restriction value of the branch road acquired by the map data acquisition means and the speed restriction value estimated by the speed restriction value estimation means, the higher the possibility that the estimated speed restriction value is the speed restriction value of the branch road. . Therefore, according to the above configuration, when there is a high possibility that the estimated speed regulation value is the branch road speed regulation value, it is determined that the estimated speed regulation value is the speed regulation value of the road on which the vehicle is traveling. Without making it possible to further prevent erroneous estimation of the speed regulation value.

After passing through the branch point, the speed regulation value of the road on which the vehicle is traveling can be more appropriately determined according to the route after the passage. Therefore, when it is determined that the vehicle has proceeded on a straight road as in the sixth aspect , the latest speed regulation value determined by the target speed regulation value judgment means as the speed regulation value of the road on which the vehicle is traveling is obtained. On the other hand, if it is determined that the vehicle has proceeded to the branch road, the speed regulation value estimated by the speed regulation value estimation means if the target speed regulation value judgment means judges that the road speed is not the speed regulation value. Is notified as the speed of the branch road, and when the target speed regulation value judging means judges that it is the speed regulation value of the running road, by notifying the branch road speed value obtained by the map data obtaining means, It becomes possible to more appropriately notify the speed regulation value of the road that is running.

In addition, since there is an error or deficiency in the map data, it is not possible to determine and notify an appropriate speed regulation value for the road on which the vehicle is running simply by using the speed regulation value included in the map data. However, in the configuration of claim 6 , the difference between the speed restriction value of the branch road acquired by the map data acquisition means and the speed restriction value estimated by the speed restriction value estimation means is within a predetermined value. Since the processing is performed after determining that the estimated speed regulation value is not the speed regulation value of the road on which the vehicle is traveling, it is possible to notify the speed regulation value with higher reliability.

  Specifically, based on the fact that the difference between the speed restriction value of the branch road acquired by the map data acquisition means and the speed restriction value estimated by the speed restriction value estimation means is within a predetermined value, the estimated speed restriction value is Since it is determined that it is not the speed regulation value of the road on which the vehicle is traveling (that is, the speed regulation value of the branch road), it is obtained from the map data about the above-mentioned branch road because the value is close to the estimated speed regulation value. It is also confirmed that the reliability of the speed regulation value to be obtained is high. Therefore, when it is determined that the vehicle has proceeded to the branch road, the speed restriction value with higher reliability can be notified even if the speed restriction value of the branch road acquired by the map data acquisition unit is notified.

In the configuration of claim 7 , it is determined whether the speed limit road sign detected by the image recognition means is detected on the side where the branch road exists or on the side where the branch road does not exist, and is detected by the image recognition means. When it is determined that the road sign of the speed limit is detected on the side where the branch road does not exist, it is determined that the speed control value estimated by the speed control value estimation means is the speed control value of the road on which the vehicle is traveling Become. When the speed limit road sign detected by the image recognition means is detected on the side where the branch road does not exist, there is a high possibility that the speed limit road sign of the running road has been detected. Therefore, according to the above configuration, it is possible to more accurately determine that the speed regulation value estimated by the speed regulation value estimation unit is the speed regulation value of the road on which the vehicle is traveling.

In the configuration of claim 4 , the speed regulation value estimated by the speed regulation value estimating means based on the fact that there is a parallel road within a predetermined distance from the position where the road sign for the speed limit is detected is It will be judged that it is not a road speed regulation value. Therefore, there is a parallel road around the position where the speed limit road sign is detected, and the speed limit value of the road being traveled is erroneously estimated by erroneously detecting the speed limit road sign of the parallel road. When there is a possibility that the speed restriction value is estimated by the speed restriction value estimation means, erroneous recognition of the speed restriction value of the occupant can be suppressed by suspending the notification of the speed restriction value or changing the notification content.
According to the fourth aspect of the present invention, when the difference between the speed restriction value of the parallel road acquired by the map data acquisition means and the speed restriction value estimated by the speed restriction value estimation means is within a predetermined value, It is determined that the speed regulation value estimated by the regulation value estimation means is not the speed regulation value of the road on which the vehicle is traveling. The smaller the difference between the speed restriction value of the parallel road acquired by the map data acquisition means and the speed restriction value estimated by the speed restriction value estimation means, the higher the possibility that the estimated speed restriction value is the speed restriction value of the parallel road. . Therefore, according to the above configuration, when there is a high possibility that the estimated speed restriction value is the speed restriction value of the parallel road, it is determined that the estimated speed restriction value is the speed restriction value of the road on which the vehicle is traveling. Without making it possible to further prevent erroneous estimation of the speed regulation value.

In the structure of Claim 8 , it was determined whether the road sign of the speed limit detected by the image recognition means was detected on the side where the parallel road exists or was detected on the side where the parallel road does not exist, and detected by the image recognition means When it is determined that the speed limit road sign is detected on the side where no parallel road exists, it is determined that the speed limit value estimated by the speed limit value estimation means is the speed limit value of the road on which the vehicle is traveling. Become. When the speed limit road sign detected by the image recognition means is detected on the side where the parallel road does not exist, it is highly likely that the speed limit road sign of the running road has been detected. Therefore, according to the above configuration, it is possible to more accurately determine that the speed regulation value estimated by the speed regulation value estimation unit is the speed regulation value of the road on which the vehicle is traveling.

In the configurations of the second and ninth aspects, the speed regulation value estimation means is used for the latest past speed regulation value determined by the target speed regulation value judgment means as the speed regulation value of the road on which the vehicle is traveling. Based on the fact that the speed difference between the newly estimated speed regulation values is greater than or equal to the predetermined amount, it is determined that the speed regulation value newly estimated by the speed regulation value estimation means is not the speed regulation value of the road on which the vehicle is traveling Will do. In general, the speed regulation value does not change suddenly while traveling on the main line. Therefore, if the speed regulation value newly estimated by the speed regulation value estimation means has changed abruptly from the speed regulation value that has been determined to be the speed regulation value of the road that is running, There is a high possibility that the estimated speed regulation value is not that of the running road.

According to the configurations of claims 2 and 9 , the speed regulation value is based on the fact that the speed difference between the newly estimated speed regulation values is greater than or equal to a predetermined amount with respect to the most recent past speed regulation value. Since it is determined whether or not the speed regulation value estimated by the estimation means is the speed regulation value of the road on which the vehicle is traveling, it is possible to make the determination according to whether or not the speed regulation value described above is suddenly changed. become. Accordingly, it is possible to further prevent erroneous determination that the speed regulation value estimated by the speed regulation value estimation means is the speed regulation value of the road on which the vehicle is traveling.

In the configurations of claims 3 and 10 , the speed regulation value estimated by the speed regulation value estimation means and the other vehicle speed detected by the other vehicle speed detection means (the traveling speed of at least one of the front and rear vehicles) Based on the above, it is determined whether or not the speed regulation value estimated by the speed regulation value estimation means is the speed regulation value of the road on which the vehicle is traveling. Since the vehicle ahead or behind the host vehicle is likely to travel according to the speed regulation value of the road on which the host vehicle is traveling, the speed of the other vehicle may be close to the speed regulation value of the road on which the host vehicle is traveling. High nature. Therefore, when the deviation between the speed of the other vehicle and the speed regulation value estimated by the speed regulation value estimation means is small, the estimated speed regulation value is likely to be that of the running road, while the deviation is large. There is a high possibility that the estimated speed regulation value is not that of the running road.

According to the configurations of claims 3 and 10 , the speed regulation value estimated by the speed regulation value estimation means based on the speed regulation value estimated by the speed regulation value estimation means and the other vehicle speed is a road on which the vehicle is traveling. Therefore, it is possible to make the determination according to the above-described deviation. Accordingly, it is possible to further prevent erroneous determination that the speed regulation value estimated by the speed regulation value estimation means is the speed regulation value of the road on which the vehicle is traveling.

If you want to claim 3 and 10, as claim 1 1, target speed limits than speed limit value other vehicle speed detected is newly estimated at a rate regulation value estimation means in other vehicle speed detecting means When the value judgment means is close to the latest past speed regulation value determined to be the speed regulation value of the road on which the vehicle is running, the speed regulation value newly estimated by the speed regulation value estimation means is The speed regulation value is determined based on the fact that the speed of the other vehicle is closer to the speed regulation value newly estimated by the speed regulation value estimation means than the latest past speed regulation value. It is preferable to determine that the speed regulation value newly estimated by the value estimation means is the speed regulation value of the road on which the vehicle is traveling.

As described above, a vehicle in front of or behind the host vehicle is likely to travel according to the speed limit value of the road on which the host vehicle is traveling, so the other vehicle speed is the speed of the road on which the host vehicle is traveling. There is a high possibility that it is close to the regulation value. Therefore, when the other vehicle speed is closer to the latest past speed regulation value than the above-mentioned newly estimated speed regulation value, the newly estimated speed regulation value is the speed regulation of the road on which the vehicle is traveling. It is likely not a value. In addition, when the other vehicle speed is closer to the newly estimated speed restriction value than the latest past speed restriction value, the newly estimated speed restriction value is the speed restriction of the road on which the vehicle is traveling. It is likely that the value. Therefore, according to the first aspect 1, it is possible to speed limit values estimated by the speed limit value estimation unit to more precisely determine whether the speed limit value of the traveling road of the vehicle .

In speed limit value notification apparatus according to claim 1 2, to the most recent past speed limit value it is determined that the speed limits for the road during running of the vehicle at a target speed limit value determining means, speed limit value Based on the fact that the speed difference of the speed regulation value newly estimated by the estimation means is greater than or equal to a predetermined amount, the speed regulation value newly estimated by the speed regulation value estimation means is the speed regulation value of the road on which the vehicle is traveling. Judge that it is not. Therefore, similarly to the ninth aspect , it is possible to further prevent erroneous determination that the speed regulation value estimated by the speed regulation value estimation means is the speed regulation value of the road on which the vehicle is traveling.

  In addition, it is possible to further prevent erroneous determination that the speed regulation value estimated by the speed regulation value estimation means is the speed regulation value of the road on which the vehicle is traveling. When the speed regulation value is estimated and notified, it is possible to further suppress erroneous recognition of the passenger's speed regulation value due to an erroneous notification of the speed regulation value.

In speed limit value notification apparatus according to claim 1 3, the running of the front and rear of at least one of the vehicle of the other vehicle speed (the vehicle detected by the speed limit value and the other vehicle speed detecting means is estimated by the speed regulation value estimation means Based on (speed), it is determined whether or not the speed restriction value estimated by the speed restriction value estimation means is the speed restriction value of the road on which the vehicle is traveling. Therefore, similarly, the speed regulation values estimated by the speed limit value estimation unit becomes possible to prevent more from being misjudged to be the speed limit value of the traveling road of the vehicle as claimed in claim 1 0.

  In addition, it is possible to further prevent erroneous determination that the speed regulation value estimated by the speed regulation value estimation means is the speed regulation value of the road on which the vehicle is traveling. When the speed regulation value is estimated and notified, it is possible to further suppress erroneous recognition of the passenger's speed regulation value due to an erroneous notification of the speed regulation value.

According to the first aspect 4, as claimed in claim 1 1, speed limit value more accurately determined speed limit values estimated by the estimating means whether the speed limit value of the traveling road of the vehicle It becomes possible to do.

According to the speed regulation value notification system of claim 15 , since it includes an imaging device that is mounted on a vehicle and images the front of the vehicle, and any one of the speed regulation value notification devices, the vehicle is traveling. When estimating and notifying the speed regulation value of the road, it becomes possible to further suppress the erroneous recognition of the passenger's speed regulation value due to the erroneous notification of the speed regulation value.

(A) And (b) is a figure which shows an example of the speed regulation mark of the branch road seen from the main line side. 1 is a block diagram showing a schematic configuration of a speed regulation value notification system 100. FIG. (A) is the schematic diagram which looked at the own vehicle from the left direction, (b) is the schematic diagram which looked at the own vehicle from the top. 4 is a flowchart illustrating an example of an operation flow of a speed regulation value notification device 1. It is a flowchart which shows an example of the flow of a target speed regulation value judgment process. (A) is a schematic diagram which shows an example of the own vehicle which is drive | working on the road where a branch road exists, Comprising: (b) is the own speed lane obtained from the estimated speed control value and map data in each timing of T1-T3b It is a table | surface which shows an example of the speed regulation value of a branch road, and the speed regulation value notified to a passenger | crew. It is a schematic diagram which shows an example in case the present position of the own vehicle cannot be detected accurately due to a GPS error. (A) is a table | surface which shows the example of the notification of the speed regulation value according to whether the speed difference of the estimated speed regulation value with respect to the past speed regulation value was more than predetermined amount, (b) is the other vehicle's notification. It is a table | surface which shows the example of the notification of the speed regulation value performed according to whether a vehicle speed is closer to an estimated speed regulation value or a past speed regulation value. 2 is a block diagram illustrating a schematic configuration of a speed regulation value notification system 200. FIG. It is a flowchart which shows an example of the operation | movement flow of the speed regulation value notification apparatus 1a. It is a flowchart which shows an example of the flow of the target speed regulation value judgment process in the speed regulation value notification apparatus 1a. It is a schematic diagram which shows an example of the own vehicle which is drive | working on the road where a parallel road exists. It is a schematic diagram which shows the example of arrangement | positioning of the speed control sign in case a parallel road exists. 3 is a block diagram showing a schematic configuration of a speed regulation value notification system 300. FIG. It is a flowchart which shows an example of the operation | movement flow of the speed regulation value notification apparatus 1b. It is a flowchart which shows an example of the flow of the target speed regulation value judgment process in the speed regulation value notification apparatus 1b. It is a schematic diagram which shows an example in case the sticker of the road sign mark of a preceding vehicle exists. 2 is a block diagram showing a schematic configuration of a speed regulation value notification system 400. FIG. It is a flowchart which shows an example of the operation | movement flow of the speed regulation value notification apparatus 1c. It is a flowchart which shows an example of the flow of the target speed regulation value judgment process in the speed regulation value notification apparatus 1c.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 2 is a block diagram showing a schematic configuration of a speed regulation value notification system 100 to which the present invention is applied. A speed regulation value notification system 100 shown in FIG. 2 is mounted on a vehicle, and includes a speed regulation value notification device 1, an in-vehicle camera 2, a position detector 3, a map data storage unit 4, a display 5, a speaker 6, and an indicator. 7, an engine ECU 8 and a brake ECU 9 are included. Hereinafter, a vehicle equipped with the speed regulation value notification system 100 is referred to as a host vehicle.

  The speed regulation value notification device 1 is mainly composed of a microcomputer composed of a CPU, ROM, RAM, EEPROM, and the like, and based on information input from the in-vehicle camera 2, the position detector 3, and the map data storage unit 4, By executing various control programs stored in the ROM, processing for estimating and notifying the speed regulation value of the road on which the host vehicle is running is executed. As shown in FIG. 1, the speed regulation value notification device 1 includes an image processing unit 11, a speed regulation value estimation unit 12, a position information acquisition unit 13, a map data acquisition unit 14, and another vehicle speed information acquisition unit 15 as functional blocks. The target speed regulation value determination unit 16, the course determination unit 17, and the notification unit 18 are provided.

  As shown in FIGS. 3A and 3B, the in-vehicle camera 2 is attached in the vicinity of a rearview mirror, for example, in the host vehicle, and sequentially captures a predetermined range in front of the host vehicle. FIG. 3A is a schematic view of the host vehicle viewed from the left direction, and FIG. 3B is a schematic view of the host vehicle viewed from above. In addition, the in-vehicle camera 2 may be provided on the front of the vehicle. For example, the on-vehicle camera 2 may be configured to use a CCD camera. The in-vehicle camera 2 corresponds to the imaging device in the claims.

  The position detector 3 detects the current position of the vehicle based on a gyroscope that detects an angular velocity around the vertical direction of the host vehicle, an acceleration sensor that detects acceleration of the host vehicle, a wheel speed sensor, and radio waves from an artificial satellite. Based on information obtained from each sensor such as a GPS receiver for GPS (Global Positioning System), the current position and traveling direction of the host vehicle are periodically detected. Each of these sensors has an error of a different nature, and is configured to be used while being complemented by a plurality of sensors. Note that the position detector 3 may be constituted by a part of the above-described components, and a geomagnetic sensor or a steering rotation sensor (not shown) may be used.

  The map data storage unit 4 includes, for example, a CD-ROM, DVD-ROM, HDD, flash memory, and the like, and stores map data. The map data includes link data indicating roads and node data. The link data includes a unique number (link ID) that identifies the link, a link length that indicates the length of the link, a link direction, a link orientation, link start and end node coordinates (latitude / longitude), road name, road type, It consists of data such as traffic attributes, road width, number of lanes, presence / absence of right / left turn lanes, the number of lanes, and speed regulation values.

  On the other hand, the node data includes a node ID, a node coordinate, a node name, and a link ID of a link connected to the node, each node having a unique number for each node where roads on the map intersect, merge and branch. It consists of each data such as ID and intersection type.

  The display 5 is a small vehicle-mounted display, acquires image data output from the speed regulation value notification device 1, and displays an image indicated by the image data. Regarding the display of an image, for example, a configuration using a display used in an in-vehicle navigation device may be used, or an in-vehicle head-up display may be used.

  The speaker 6 is a small vehicle-mounted speaker, acquires the audio signal output from the speed regulation value notification device 1, and outputs the audio indicated by the audio signal. With regard to audio output, for example, a configuration using a speaker used in an in-vehicle navigation device may be used, or an in-vehicle audio speaker may be used. The indicator 7 is, for example, an LED, and lights up when a signal output from the speed regulation value notification device 1 is acquired. In addition, it is good also as a structure which blinks LED instead of lighting of LED.

  The engine ECU 8 is mainly composed of a microcomputer including a CPU, ROM, RAM, EEPROM, and the like, and relates to control of engine output by executing various control programs stored in the ROM based on input information. Perform various processes. The brake ECU 9 is mainly composed of a microcomputer composed of a CPU, ROM, RAM, EEPROM, etc., and executes various control programs stored in the ROM based on input information, thereby relating to braking of the host vehicle. Perform various processes.

  Next, the operation flow of the speed regulation value notification device 1 will be described with reference to FIG. FIG. 4 is a flowchart illustrating an example of an operation flow of the speed regulation value notification device 1. For example, this flow is started when a captured image is input from the in-vehicle camera 2, and this flow is sequentially repeated every time a captured image is input.

  First, in step S1, the image processing unit 11 acquires a captured image input from the in-vehicle camera 2, performs image recognition processing, and proceeds to step S2. In the image recognition processing, known image processing such as edge detection is performed on the captured image, and a road sign of a speed limit (hereinafter referred to as a speed regulation sign) is detected by image recognition from the captured image after the image processing. Therefore, the image processing unit 11 corresponds to the image recognition unit in the claims. In the image recognition processing, it is assumed that information on the size of the speed regulation sign in the captured image is also obtained when the speed regulation sign is detected. The size information in the captured image of the speed regulation sign includes, for example, the number of vertical and horizontal pixels in the captured image of the speed regulation sign.

  Image recognition may be performed using a known method such as pattern matching or Hough transform. For example, the configuration may be such that the outer shape of the restriction sign is detected by Hough transform, and the speed restriction value of the speed restriction sign is detected by detecting a number by pattern matching. In addition to edge detection, the image processing may be configured to perform, for example, mirror image conversion for conversion into a mirror image, distortion correction for correcting distortion generated in the peripheral portion of the image due to lens characteristics, and the like.

  In step S2, the speed regulation value estimation unit 12 estimates that the speed regulation value of the speed regulation sign detected in the image recognition process is the speed regulation value of the road on which the host vehicle is traveling, and the process proceeds to step S3. Therefore, the speed regulation value estimation unit 12 corresponds to the speed regulation value estimation means in the claims. In step S3, the position information acquisition unit 13 acquires the current position and traveling direction information (position direction information) of the host vehicle when the speed regulation sign is detected from the position detector 3, and the map data acquisition unit 14 displays the map. Map data is acquired from the data storage part 4, and it moves to step S4. Therefore, the position information acquisition unit 13 corresponds to the detected position information acquisition means in the claims, and the information on the current position of the host vehicle when the speed regulation sign is detected corresponds to the detected position information in the claims. Moreover, the map data acquisition part 14 is equivalent to the map data acquisition means of a claim.

  The current position of the own vehicle when the speed restriction sign is detected is not limited to the current position of the own vehicle detected by the position detector 3 at the time of detection of the speed restriction sign, but before and after the detection time of the speed restriction sign. It is assumed that up to the current position of the host vehicle detected by the position detector 3 at the time point to be included. In addition, the map data acquisition unit 14 is based on the current position information of the host vehicle acquired by the position information acquisition unit 13, and the map data stored in the map data storage unit 4 is around the current position of the host vehicle. The configuration may be such that only the map is acquired.

  In step S4, the target speed restriction value determination unit 16 performs the target speed restriction value determination process, and the speed restriction value of the speed restriction sign detected in the image recognition process is the speed restriction value of the road on which the host vehicle is traveling. Or not, and the process proceeds to step S5. The target speed regulation value determination unit 16 corresponds to a target speed regulation value determination unit in the claims. Here, the outline of the target speed regulation value determination process in the speed regulation value notification device 1 will be described using the flowchart of FIG. FIG. 5 is a flowchart illustrating an example of a target speed restriction value determination process in the speed restriction value notification device 1.

  First, in step S41, the speed regulation value (hereinafter, estimated speed regulation value) estimated by the speed regulation value estimation unit 12 in step S2 is acquired, and the process proceeds to step S42. In step S42, the position / direction information acquired by the position information acquisition unit 13 in step S3 and the map data acquired by the map data acquisition unit 14 are acquired. Based on the position / direction information and the node data in the map data, In addition, it is determined whether the distance between the current position of the host vehicle and the nearest branch point before the host vehicle is equal to or less than a predetermined value.

  If it is determined that the distance between the current position and the branch point is equal to or less than the predetermined value (YES in step S42), the process proceeds to step S43. If it is not determined that the distance between the current position and the branch point is equal to or less than the predetermined value (NO in step S42), the process proceeds to step S53. The predetermined value here is a value that corresponds to the distance at which the speed restriction mark on the branch road is provided away from the front of the branch point, and can be arbitrarily set.

  In step S43, the speed restriction value of the branch road (hereinafter referred to as the target branch road) from the branch point in the map data is compared with the estimated speed restriction value acquired in step S41, and whether or not they match. judge. For example, what is necessary is just to set it as the structure which determines that both correspond, when the absolute value of the difference of both is below a predetermined value. The predetermined value here may be 0 km / h, for example, or may be a relatively small value such as 10 km / h. In this embodiment, it is assumed to be 0 km / h, for example.

  And when it determines with both being in agreement (it is YES at step S43), it moves to step S44. If it is not determined that they match (NO in step S43), the process proceeds to step S53.

  In step S44, it is determined whether the speed regulation sign detected by the above-described image recognition process exists on the left or right side of the own lane, and the process proceeds to step S45. For example, it is determined whether the speed regulation sign is present on the left or right side of the own lane depending on whether the speed regulation sign detected by the image recognition process is detected on the left or right side with respect to the center of the captured image.

  In step S45, it is determined on the left or right side of the own lane based on the map data, and the process proceeds to step S46. For example, it is determined from the link direction and link direction of the road on which the host vehicle is traveling and the link direction and link direction of the target branch road that the target branch road is on the left or right side of the own lane.

  In step S46, based on the determination result in step S44 and the determination result in step S45, the speed regulation sign (sign) detected by the image recognition process and the target branch road (branch road) are viewed from the own lane. To determine whether they are on the same side. If it is determined that the sign and the branching path are on the same side (YES in step S46), the process proceeds to step S47. If it is not determined that the sign and the branch path are on the same side (NO in step S46), the process proceeds to step S53.

  In step S47, the latest past speed regulation value (hereinafter referred to as past speed regulation value) determined to be the speed regulation value of the road on which the host vehicle is traveling in the past target speed regulation value judgment processing is acquired. The process moves to S48. In step S48, based on the estimated speed restriction value acquired in step S41 and the past speed restriction value obtained in step S47, the difference between the estimated speed restriction value and the past speed restriction value (specifically, the absolute value of the difference) is calculated. It is determined whether or not a predetermined value or more. The predetermined value mentioned here is a value that is larger than a general difference between the speed regulation values when the speed regulation value is switched while traveling on the main line, and is a value that can be arbitrarily set. In this embodiment, it is set to 50 km / h, for example.

  If it is determined that the difference between the estimated speed restriction value and the past speed restriction value is equal to or greater than the predetermined value (YES in step S48), the process proceeds to step S49. If the difference between the estimated speed restriction value and the past speed restriction value is not determined to be greater than or equal to the predetermined value (NO in step S48), the process proceeds to step S53.

  In step S49, information on the vehicle speed (that is, traveling speed) of the other vehicle acquired by the other vehicle speed information acquisition unit 15 is acquired, and the process proceeds to step S50. Therefore, the other vehicle speed information acquisition part 15 is equivalent to the other vehicle speed information acquisition means of a claim. The other vehicle mentioned here indicates a vehicle that is traveling in front of or behind the road on which the host vehicle is traveling. Other vehicle speed information acquisition part 15 is good also as composition which acquires the information on the vehicle speed of other vehicles by publicly known inter-vehicle communication with other vehicles by the communication terminal which is not illustrated, and is publicly known with the roadside machine by the communication terminal which is not illustrated It is good also as a structure which acquires the information of the vehicle speed of another vehicle by road-to-vehicle communication. Moreover, it is good also as a structure which acquires the information of the vehicle speed of the other vehicle calculated | required from the time-dependent change of the distance of the other vehicle detected with obstacle sensors, such as a millimeter wave radar and ultrasonic sonar which are not shown in figure.

  In step S50, based on the estimated speed restriction value acquired in step S41 and the vehicle speed of the other vehicle acquired in step S49, the difference (specifically, the absolute value of the difference) between the estimated speed restriction value and the vehicle speed of the other vehicle is calculated. It is determined whether or not a predetermined value or more. The predetermined value here is set in consideration of the difference between the vehicle speed of a general vehicle and the speed regulation value of the road when traveling on a road where the speed limit is set, It is a value that can be set arbitrarily.

  If it is determined that the difference between the estimated speed restriction value and the vehicle speed of the other vehicle is equal to or greater than a predetermined value (YES in step S50), the process proceeds to step S51. If the difference between the estimated speed restriction value and the vehicle speed of the other vehicle is not determined to be equal to or greater than the predetermined value (NO in step S50), the process proceeds to step S52. Note that the estimated speed regulation value acquired in step S41 corresponds to the newly estimated speed regulation value in the claims.

  In step S51, it is determined that the estimated speed restriction value acquired in step S41 is not the speed restriction value of the road on which the host vehicle is traveling (that is, the estimated speed restriction value for the branch road), and the process proceeds to step S52.

  In step S52, information for performing notification for the non-own lane is output to the notification unit 18, and the process proceeds to step S5. For example, the image data for displaying the above-mentioned past speed regulation value and the image data not displaying both the past speed regulation value and the above-mentioned estimated speed regulation value are included in the information for performing the notification for the non-own lane here. There is information for holding the display of the estimated speed regulation value. In addition, as information for performing notification for non-own lanes, a configuration for outputting information for changing display contents such as image data for displaying both the past speed restriction value and the estimated speed restriction value It is good. When both the past speed regulation value and the estimated speed regulation value are displayed, a configuration is also provided in which highlighting such as changing the display color, size, or darkness is performed for one of the past speed regulation value and the estimated speed regulation value. It is good.

  In step S53, it is determined that the estimated speed restriction value acquired in step S41 is the speed restriction value of the road on which the host vehicle is traveling (that is, the estimated speed restriction value for a straight road), and the process proceeds to step S54. In addition, the estimated speed restriction value determined to be the speed restriction value of the road on which the host vehicle is traveling is stored in a volatile memory such as a RAM. The estimated speed regulation value (corresponding to the past speed regulation value) stored in the volatile memory may be deleted when the ACC power supply is turned off, for example.

  In step S54, the information for performing notification for own lane is output to the notification part 18, and it moves to step S5. The information for performing the notification for own lane here is image data for displaying the estimated speed regulation value acquired in step S41, for example.

  Returning to FIG. 3, in step S <b> 5, the notification unit 18 notifies in accordance with the information output as a result of the target speed regulation value determination process, and the process proceeds to step S <b> 6. The notification unit 18 corresponds to a notification unit in the claims. There are the following patterns as a configuration for performing notification for non-own lanes. For example, when image data for displaying the past speed regulation value is output, the past speed regulation value is displayed on the display 5 as the speed regulation value of the road on which the host vehicle is traveling (hereinafter, the running road speed regulation value). Let When image data that does not display both the past speed restriction value and the estimated speed restriction value is output, the traveling road speed restriction value is not displayed on the display 5. Furthermore, when image data for displaying both the past speed restriction value and the estimated speed restriction value is output, both the past speed restriction value and the estimated speed restriction value are used as the road speed restriction value during traveling. It is displayed on the display 5.

  In addition, as a configuration for performing the notification for the own lane, the estimated speed restriction value is displayed on the display 5 as the traveling road speed restriction value according to the image data for displaying the estimated speed restriction value output from the target speed restriction value determination unit 16. I will let you.

  Note that the notification for the non-own lane and the notification for the own lane may be performed by causing the display 5 to display an icon image or text indicating the speed regulation value of the speed regulation sign. It is good also as a structure which carries out using a method together. For example, voice guidance indicating the speed restriction value of the speed restriction sign may be output from the speaker 6, or the indicator 7 corresponding to the speed restriction value of the speed restriction sign may be turned on or blinked.

  In step S6, when the notification for non-own lane is performed in step S5 (YES in step S6), the process proceeds to step S7. Moreover, when the notification for own lane is performed by step S5 (it is NO at step S6), a flow is complete | finished.

  In step S7, whether or not the host vehicle has exceeded the branch point targeted in step S42, the position direction information acquired via the position information acquisition unit 13, and the node data acquired via the map data acquisition unit 14 Based on the above, the course determination unit 17 determines. Specifically, the configuration may be such that when the current position of the host vehicle exceeds the node coordinates of the branch point, it is determined that the host vehicle has passed the branch point. If it is determined that the vehicle has exceeded the branch point (YES in step S7), the process proceeds to step S8. If it is not determined that the vehicle has exceeded the branch point (NO in step S7), the flow of step S7 is repeated.

  In step S8, based on the position / direction information acquired via the position information acquisition unit 13 and the road data acquired via the map data acquisition unit 14, a route determination unit determines whether or not the host vehicle has traveled straight. 17 judges. Therefore, the course judging unit 17 corresponds to the course judging means in the claims. Specifically, among the links corresponding to the connection link ID of the branch point, when the current position of the host vehicle is in the link corresponding to the straight path, it is determined that the host vehicle has traveled on the straight path and corresponds to the branch path. When the current position of the host vehicle is on the link, it is determined that the host vehicle has not traveled on a straight path (that is, traveled on a branch path). If it is determined that the host vehicle has traveled on a straight road (YES in step S8), the process proceeds to step S9. If it is not determined that the host vehicle has traveled on the straight road (NO in step S8), the process proceeds to step S10.

  Note that the “straight path” here refers to a “road” road that does not change from the road on which the host vehicle has traveled.

  In step S9, a straight route notification process is performed, and the flow ends. In the straight route notification process, the route determination unit 17 outputs the image data for displaying the past speed restriction value to the notification unit 18. Then, the notification unit 18 causes the display 5 to display the past speed regulation value as the traveling road speed regulation value.

  In step S10, a branch path notification process is performed, and the flow ends. In the branch road notification process, the target branch road acquired by the map data acquisition unit 14 when it is determined in the target speed restriction value determination process of step S4 that the speed restriction value of the road on which the host vehicle is traveling is determined. The course determination unit 17 outputs image data for displaying the speed restriction value to the notification unit 18. Then, the notification unit 18 causes the display 5 to display the speed regulation value of the target branch road acquired by the map data acquisition unit 14 as the road speed regulation value during traveling.

  On the other hand, if it is determined in step S4 that the target speed regulation value judgment process is not the speed regulation value of the road on which the host vehicle is traveling (that is, the estimated speed regulation value for the branch road), the estimated speed regulation value The course determination unit 17 outputs the image data for displaying to the notification unit 18. Then, the notification unit 18 causes the display 5 to display the estimated speed regulation value as the traveling road speed regulation value.

  The straight road notification process and the branch road notification process may be performed by causing the display 5 to display an icon image or text indicating the speed regulation value of the speed regulation sign. It is also possible to adopt a configuration in which the above method is used in combination. For example, voice guidance indicating the speed restriction value of the speed restriction sign may be output from the speaker 6, or the indicator 7 corresponding to the speed restriction value of the speed restriction sign may be turned on or blinked.

  In addition, when notifying the own lane, a speed sensor (not shown) is used when notifying a fixed speed regulation value, such as when reporting a speed regulation value in the straight road notification process or the branch road notification process. When the vehicle speed of the host vehicle exceeds a predetermined value with respect to the determined speed regulation value based on the sensor signal from the engine ECU 8, the driving force is reduced in the engine ECU 8, or the braking force is increased in the brake ECU 9. And it is good also as a structure which decelerates the own vehicle.

  According to the above configuration, there is a branch road around the position where the speed restriction sign is detected by the image recognition processing, and the speed restriction value of the road being traveled is detected by erroneously detecting the speed restriction sign of the branch road. When there is a possibility of estimation by mistake, erroneous recognition of the occupant's speed regulation value can be suppressed by holding the notification of the estimated speed regulation value or changing the notification content.

  If the speed limit value of the branch road obtained from the map data is close to the estimated speed limit value, the estimated speed limit value is likely to be the speed limit value of the branch path. . In the above configuration, the estimated speed regulation value is calculated while the vehicle is traveling based on the fact that the absolute value of the difference between the speed regulation value of the branch road obtained from the map data and the estimated speed regulation value is within a predetermined value. Judge that it is not the speed regulation value of the road. Therefore, when there is a high possibility that the estimated speed regulation value is a branch road speed regulation value, the estimated speed regulation value is not determined to be the speed regulation value of the road on which the host vehicle is traveling, and the speed regulation value is incorrect. Can be prevented.

  In addition, after passing through the branch point, it becomes possible to more appropriately determine the speed regulation value of the road on which the host vehicle is traveling in accordance with the route after the passage. According to the above configuration, when it is determined that the vehicle has traveled straight, the past speed restriction value determined as the speed restriction value of the road on which the host vehicle is traveling is determined by the past target speed restriction value determination process. On the other hand, when it is determined that the vehicle has proceeded to the branch road, if the target speed restriction value determination process determines that it is not the speed restriction value of the road on which the host vehicle is traveling, the estimated speed restriction value is If it is determined that it is the speed regulation value of the road on which the host vehicle is traveling, the speed regulation value of the road that is running is notified by notifying the speed regulation value of the branch road obtained from the map data. Can be notified more appropriately.

  Here, the above example will be specifically described with reference to FIGS. 6 (a) and 6 (b). FIG. 6A is a schematic diagram showing an example of the host vehicle traveling on a road where a branch road exists. T1, T2, T3a, and T3b in FIG. 6A indicate the own vehicle at each timing of T1 to T3b. At the timing of T1, the own vehicle is further away from the predetermined value than the predetermined value from the branch point, and at the timing of T2, the own vehicle is assumed to be at a distance equal to or smaller than the predetermined value from the branch point. In addition, at the timing of T2, notification for non-own lane is performed. Furthermore, at the timing of T3a, it is assumed that the host vehicle has traveled on the straight path after passing through the branch point, and at the timing of T3b, the host vehicle has traveled on the branch path after passing through the branch point.

  FIG. 6B is a table showing an example of the estimated speed restriction value at each timing of T1 to T3b, the speed restriction value of the own lane or branch road obtained from the map data, and the speed restriction value notified to the occupant. In this example, the speed regulation value of the own lane is 100 km / h, the speed regulation value of the branch road is 40 km / h, and the speed regulation value of the map data is the same.

  First, at the timing of T1, the speed restriction sign of the own lane is detected by the image recognition process, and 100 km / h becomes the estimated speed restriction value. At the timing of T1, since the distance from the branch point is greater than the predetermined value described above, it is determined as the speed regulation value of the road on which the host vehicle is traveling and the passenger is notified of the speed regulation value of 100 km / h. become.

  Subsequently, at the timing of T2, the speed restriction sign of the branch road is detected by the image recognition process, and 40 km / h becomes the estimated speed restriction value. And the notification for non-own lanes is performed at the timing of T2. As an example of the notification for the non-own lane, as shown in FIG. 6B, a speed limit value 100 km / h determined as the speed limit value of the road on which the host vehicle is traveling at the timing T1 is used as the past speed limit value. Or the passenger is notified of both the estimated speed restriction value 40 km / h and the past speed restriction value 100 km / h.

  At the timing of T3a, since the host vehicle has traveled straight after passing the branch point, the past speed regulation value of 100 km / h is notified to the occupant. On the other hand, at the timing of T3b, since the vehicle has advanced to the branch road after passing through the branch point, the speed limit value 40 km / h of the branch road obtained from the map data is notified to the occupant.

  However, when the detection error of the position detector 3 is large, such as a GPS error of several tens of meters, as shown in the schematic diagram of FIG. 7, the current position of the host vehicle when the speed restriction sign is detected is accurate. It cannot be detected. In such a case, the estimated speed regulation value of the road on which the host vehicle is traveling is determined only by the determination result of whether or not the distance between the current position of the host vehicle and the nearest branch point in front of the host vehicle is a predetermined value or less. It becomes impossible to accurately determine whether or not the speed regulation value.

  In order to solve this problem, in the present embodiment, by further determining whether or not the speed regulation sign and the target branch road are on the same side when viewed from the own lane, the estimated speed regulation value is determined as the traveling speed of the host vehicle. It is possible to judge with high accuracy whether or not it is the speed regulation value of the inside road.

  Details are as follows. When the speed restriction sign detected in the image recognition process is detected on the side where the branch road does not exist, there is a high possibility that the restriction restriction sign on the road on which the host vehicle is traveling has been detected. According to the configuration of the present embodiment, when it is determined that the speed restriction sign detected in the image recognition process is detected on the side where the branch road does not exist, the estimated speed restriction value is the speed restriction value of the road on which the host vehicle is traveling. Therefore, it is possible to more accurately determine that the estimated speed regulation value is the speed regulation value of the road on which the host vehicle is traveling.

  However, even when it is further determined whether or not the speed regulation sign and the target branch road are on the same side as viewed from the own lane, the speed regulation sign detected in the image recognition process is on the same side as the target branch road. If the speed regulation sign for the own lane exists, it cannot be accurately determined whether or not the estimated speed regulation value is the speed regulation value of the road on which the host vehicle is traveling.

  In view of this, in the present embodiment, in order to solve this problem, it is further determined whether or not the difference between the estimated speed restriction value and the past speed restriction value is equal to or greater than a predetermined value, so that the estimated speed restriction value is determined as the traveling speed of the host vehicle. It is possible to judge with high accuracy whether or not it is the speed regulation value of the inside road.

  Details are as follows. In general, the speed regulation value does not change suddenly while traveling on the main line. Therefore, when the estimated speed regulation value has changed abruptly from the past speed regulation value, there is a high possibility that the estimated speed regulation value is not that of the running road. According to the configuration of the present embodiment, based on the fact that the speed difference between the estimated speed restriction value and the past speed restriction value is a predetermined amount or more, the estimated speed restriction value is the speed of the road on which the host vehicle is traveling. Since it is determined whether or not it is a regulation value, it is possible to make the judgment according to whether or not the speed regulation value described above is suddenly switched. Accordingly, it is possible to further prevent the estimated speed regulation value from being erroneously determined as the speed regulation value of the road on which the host vehicle is traveling.

  Here, the above example will be specifically described with reference to FIG. FIG. 8A is a table showing an example of notification of the speed regulation value according to whether or not the speed difference between the estimated speed regulation value and the past speed regulation value is greater than or equal to a predetermined amount. In this example, it is assumed that the past speed regulation value is 100 km / h.

  For example, when the estimated speed restriction value is 90 km / h, the speed difference between the past speed restriction value and the estimated speed restriction value is 10 km / h. In the example of this embodiment, since the predetermined amount is 50 km / h, it is determined that the estimated speed regulation value is the speed regulation value of the road on which the host vehicle is traveling. Then, the estimated speed regulation value of 90 km / h is notified when traveling on a straight road, and the speed regulation value of a branch road obtained from, for example, map data is notified when traveling on a branch road.

  On the other hand, when the estimated speed restriction value is 40 km / h, the speed difference between the past speed restriction value and the estimated speed restriction value is 60 km / h. In the example of this embodiment, since the predetermined amount is 50 km / h, it is determined that the estimated speed restriction value is not the speed restriction value of the road on which the host vehicle is traveling (that is, the speed restriction value of the branch road). Then, when the vehicle travels on a straight road, the past speed regulation value of 100 km / h is notified, and when the vehicle travels on a branch road, for example, an estimated speed regulation value of 40 kn / h determined as the speed regulation value of the branch road is notified.

  However, even when it is further determined whether or not the difference between the constant speed regulation value and the past speed regulation value is greater than or equal to a predetermined value, the speed difference between the branch road speed regulation value and the past speed regulation value is small, or construction If a temporary speed restriction sign is provided on the own lane or the like, it is impossible to accurately determine whether or not the estimated speed restriction value is the speed restriction value of the road on which the own vehicle is traveling.

  Therefore, in this embodiment, in order to solve this problem, it is further determined whether or not the difference between the estimated speed restriction value and the vehicle speed of the other vehicle is greater than or equal to a predetermined value, so that the estimated speed restriction value is equal to the traveling speed of the host vehicle. It is possible to judge with high accuracy whether or not it is the speed regulation value of the inside road.

  Details are as follows. Since the vehicle ahead or behind the host vehicle is likely to travel according to the speed regulation value of the road on which the host vehicle is traveling, the vehicle speed of the other vehicle is close to the speed regulation value of the road on which the host vehicle is traveling. Probability is high. Therefore, when the deviation between the vehicle speed of the other vehicle and the estimated speed restriction value is small, the estimated speed restriction value is likely to be that of the road on which the vehicle is traveling, whereas when the deviation is large, the estimated speed restriction value is There is a high possibility that the road is not on the road. According to the configuration of the present embodiment, based on the estimated speed restriction value and the vehicle speed of the other vehicle, it is determined whether the estimated speed restriction value is the speed restriction value of the road on which the host vehicle is traveling. This determination can be made according to the above-described deviation. Accordingly, it is possible to further prevent the estimated speed regulation value from being erroneously determined as the speed regulation value of the road on which the host vehicle is traveling.

  In the present embodiment, it is determined whether the difference between the estimated speed restriction value and the vehicle speed of the other vehicle is a predetermined value or more, so that the estimated speed restriction value is the speed restriction value of the road on which the host vehicle is traveling. Although the configuration for determining whether or not more accurately is shown, it is not necessarily limited thereto. For example, by determining whether the vehicle speed of the other vehicle is closer to the estimated speed restriction value or the past speed restriction value, whether or not the estimated speed restriction value is the speed restriction value of the road on which the host vehicle is traveling is determined. It is good also as a structure which judges with sufficient precision.

  For example, when the vehicle speed of the other vehicle is closer to the past speed restriction value than the estimated speed restriction value in step S50, the process proceeds to step S51, and the estimated speed restriction value is not the speed restriction value of the road on which the host vehicle is traveling. The configuration may be determined as follows. On the other hand, if the vehicle speed of the other vehicle is closer to the estimated speed restriction value than the past speed restriction value in step S50, the process proceeds to step S53, where the estimated speed restriction value is the speed restriction value of the road on which the host vehicle is traveling. What is necessary is just to be the structure judged to exist. Further, when the vehicle speed of the other vehicle is intermediate between the past speed restriction value and the estimated speed restriction value, it may be configured to be closer to a lower value.

  As described above, a vehicle in front of or behind the host vehicle is likely to travel according to the speed regulation value of the road on which the host vehicle is traveling. There is a high possibility that it is close to the speed regulation value. Therefore, when the vehicle speed of the other vehicle is closer to the past speed restriction value than the estimated speed restriction value, there is a high possibility that the estimated speed restriction value is not the speed restriction value of the road on which the host vehicle is traveling. Further, when the vehicle speed of the other vehicle is closer to the estimated speed restriction value than the past speed restriction value, there is a high possibility that the estimated speed restriction value is the speed restriction value of the road on which the host vehicle is traveling. Therefore, even with the above configuration, it is possible to more accurately determine whether or not the estimated speed regulation value is the speed regulation value of the road on which the host vehicle is traveling.

  Here, the above example will be specifically described with reference to FIG. FIG. 8B is a table showing an example of notification of a speed regulation value performed according to whether the vehicle speed of the other vehicle is closer to the estimated speed regulation value or the past speed regulation value. In this example, it is assumed that the past speed regulation value is 100 km / h. Further, when the vehicle speed of the other vehicle is intermediate between the past speed restriction value and the estimated speed restriction value, it is assumed that the vehicle is closer to a lower value.

  For example, when the estimated speed regulation value is 90 km / h and the vehicle speed of the other vehicle is 80 km / h, it is determined that the vehicle speed of the other vehicle is close to the estimated speed regulation value 90 km / h. It is determined that the value is the speed regulation value of the road on which the host vehicle is traveling. Then, the estimated speed regulation value 90 km / h is notified. When the estimated speed regulation value is 40 km / h and the vehicle speed of the other vehicle is 50 km / h, it is determined that the vehicle speed of the other vehicle is close to the estimated speed regulation value 40 km / h, and the estimated speed regulation It is determined that the value is the speed regulation value of the road on which the host vehicle is traveling. Then, the estimated speed regulation value 40 km / h is notified.

  On the other hand, when the estimated speed regulation value is 40 km / h and the vehicle speed of the other vehicle is 100 km / h, it is determined that the vehicle speed of the other vehicle is close to the past speed regulation value of 100 km / h. The value is not determined to be the speed regulation value of the road on which the host vehicle is traveling. Then, the past speed regulation value of 100 km / h is notified.

  As mentioned above, although embodiment of this invention was described, this invention is not limited to the above-mentioned embodiment, The following embodiment is also contained in the technical scope of this invention. Hereinafter, the next embodiment will be described with reference to the drawings. FIG. 9 is a block diagram showing a schematic configuration of a speed regulation value notification system 200 to which the present invention is applied. For convenience of explanation, members having the same functions as those shown in the drawings used in the description of the above-described embodiment are denoted by the same reference numerals, and description thereof is omitted.

  The speed regulation value notification system 200 determines whether or not the estimated speed regulation value is the speed regulation value of the road on which the host vehicle is traveling according to the laying situation of the road around the position where the speed regulation sign is detected. The point is similar to the speed regulation value notification system 100. However, whether the estimated speed limit value is the speed limit value of the road on which the host vehicle is traveling, depending on whether there is a parallel road instead of the branch road around the current position of the host vehicle when the speed limit sign is detected. This is different from the speed regulation value notification system 100 in that it is configured to determine whether or not. The speed regulation value notification system 200 has the same configuration as that of the speed regulation value notification system 100 except that the speed regulation value notification apparatus 1a is included instead of the speed regulation value notification apparatus 1.

  The speed regulation value notification device 1a is composed mainly of a microcomputer composed of CPU, ROM, RAM, EEPROM, etc., and based on information inputted from the in-vehicle camera 2, the position detector 3, and the map data storage unit 4, By executing various control programs stored in the ROM, processing for estimating and notifying the speed regulation value of the road on which the host vehicle is running is executed. As shown in FIG. 9, the speed regulation value notification device 1 a includes an image processing unit 11, a speed regulation value estimation unit 12, a position information acquisition unit 13, a map data acquisition unit 14, and another vehicle speed information acquisition unit 15 as functional blocks. The target speed regulation value determination unit 16 and the notification unit 18 are provided.

  Subsequently, an operation flow of the speed regulation value notification device 1a will be described with reference to FIG. FIG. 10 is a flowchart illustrating an example of an operation flow of the speed regulation value notification device 1a. For example, this flow is started when a captured image is input from the in-vehicle camera 2, and this flow is sequentially repeated every time a captured image is input.

  In step S101, image recognition processing is performed in the same manner as in step S1, and the process proceeds to step S102. In step S102, the speed regulation value estimation unit 12 estimates that the speed regulation value of the speed regulation sign detected in the image recognition process is the speed regulation value of the road on which the host vehicle is traveling, and the process proceeds to step S103. In step S103, position / direction information is acquired and map data is acquired in the same manner as in step S3, and the process proceeds to step S104.

  In step S104, the target speed restriction value determination unit 16 performs the target speed restriction value determination process, and the speed restriction value of the speed restriction sign detected in the image recognition process is the speed restriction value of the road on which the host vehicle is traveling. Or not, and the process proceeds to step S105. Here, the outline of the target speed regulation value determination process in the speed regulation value notification device 1a will be described using the flowchart of FIG. FIG. 11 is a flowchart illustrating an example of a target speed regulation value determination process in the speed regulation value notification device 1a.

  First, in step S141, the speed regulation value (hereinafter, estimated speed regulation value) estimated by the speed regulation value estimation unit 12 in step S102 is acquired, and the process proceeds to step S142. In step S142, the position / direction information and map data acquired in step S103 are acquired, and based on the position / direction information and the link data in the map data, the current position of the host vehicle and the host vehicle are traveling. It is determined whether or not the distance from the parallel road that is parallel to the road is a predetermined value or less. The distance between the current position of the host vehicle and the parallel road may be the distance between the link coordinates of the link closest to the coordinates of the current position of the host vehicle and the coordinates of the current position of the host vehicle.

  When it is determined that the distance between the current position and the parallel road is equal to or smaller than the predetermined value (YES in step S142), the process proceeds to step S143. If it is not determined that the distance between the current position and the parallel road is equal to or less than the predetermined value (NO in step S142), the process proceeds to step S153. The predetermined value here is a value that is set assuming that the parallel road is close enough that the speed regulation sign of the parallel road is provided in a range that can be seen from the road on which the vehicle is traveling. It is a value that can be arbitrarily set.

  In step S143, the speed restriction value of the parallel road in the map data is compared with the estimated speed restriction value acquired in step S141, and it is determined whether or not they match. For example, what is necessary is just to set it as the structure which determines that both correspond, when the absolute value of the difference of both is below a predetermined value. The predetermined value here may be 0 km / h, for example, or may be a relatively small value such as 10 km / h. In this embodiment, it is assumed to be 0 km / h, for example.

  If it is determined that both match (YES in step S143), the process proceeds to step S144. If it is not determined that they match (NO in step S143), the process proceeds to step S153.

  In step S144, similarly to step S44, it is determined whether the speed regulation sign detected by the image recognition process exists on the left or right side of the own lane, and the process proceeds to step S145. In step S145, it is determined whether the parallel road exists on the left or right side of the own lane based on the map data, and the process proceeds to step S146. For example, it is determined whether the parallel road exists on the left or right side of the own lane from the coordinates of the current position and the traveling direction of the own vehicle and the link coordinates of the parallel road.

  In step S146, based on the determination result in step S144 and the determination result in step S145, the speed regulation sign (sign) detected by the image recognition process and the parallel road are present on the same side as seen from the own lane. It is determined whether or not to do. If it is determined that the sign and the parallel road exist on the same side (YES in step S146), the process proceeds to step S147. If it is not determined that the sign and the parallel road exist on the same side (NO in step S146), the process proceeds to step S153.

  In step S147, the latest past speed regulation value (hereinafter, past speed regulation value) determined to be the speed regulation value of the road on which the host vehicle is traveling in the past target speed regulation value judgment processing is acquired. The process moves to S148. In step S148, based on the estimated speed restriction value acquired in step S141 and the past speed restriction value obtained in step S147, the difference between the estimated speed restriction value and the past speed restriction value is determined in the same manner as in step S48. It is determined whether or not the absolute value of the difference is equal to or greater than a predetermined value.

  If it is determined that the difference between the estimated speed restriction value and the past speed restriction value is equal to or greater than the predetermined value (YES in step S148), the process proceeds to step S149. If the difference between the estimated speed restriction value and the past speed restriction value is not determined to be equal to or greater than the predetermined value (NO in step S148), the process proceeds to step S153.

  In step S149, as in step S49, information on the vehicle speed (that is, travel speed) of the other vehicle acquired by the other vehicle speed information acquisition unit 15 is acquired, and the process proceeds to step S150. In step S150, based on the estimated speed restriction value acquired in step S141 and the vehicle speed of the other vehicle acquired in step S149, the difference between the estimated speed restriction value and the vehicle speed of the other vehicle (details) in the same manner as in step S50. Determines whether or not the absolute value of the difference is equal to or greater than a predetermined value.

  If it is determined that the difference between the estimated speed restriction value and the vehicle speed of the other vehicle is greater than or equal to a predetermined value (YES in step S150), the process proceeds to step S151. If the difference between the estimated speed restriction value and the vehicle speed of the other vehicle is not determined to be equal to or greater than the predetermined value (NO in step S150), the process proceeds to step S152.

  In step S151, it is determined that the estimated speed restriction value acquired in step S141 is not the speed restriction value of the road on which the host vehicle is traveling (that is, the estimated speed restriction value of the parallel road is determined), and the process proceeds to step S152. In step S152, similarly to step S52, information for performing notification for non-own lane is output to the notification unit 18, and the process proceeds to step S105.

  In step S153, it is determined that the estimated speed restriction value acquired in step S141 is the speed restriction value of the road on which the host vehicle is traveling (that is, the estimated speed restriction value for the straight road), and the process proceeds to step S154. In addition, the estimated speed restriction value determined to be the speed restriction value of the road on which the host vehicle is traveling is stored in a volatile memory such as a RAM. The estimated speed regulation value (corresponding to the past speed regulation value) stored in the volatile memory may be deleted when the ACC power supply is turned off, for example.

  In step S154, as in step S54, information for performing notification for own lane is output to the notification unit 18, and the process proceeds to step S105.

  Returning to FIG. 10, in step S <b> 105, according to the information output as a result of the target speed regulation value determination process, the notification unit 18 notifies in the same manner as in step S <b> 5, and the flow ends.

  According to the above configuration, there is a parallel road around the position where the speed restriction sign is detected by the image recognition processing, and the speed restriction value of the road being traveled is detected by erroneously detecting the speed restriction sign of the parallel road. When there is a possibility of estimation by mistake, erroneous recognition of the occupant's speed regulation value can be suppressed by holding the notification of the estimated speed regulation value or changing the notification content.

  Here, the above example will be specifically described with reference to FIG. FIG. 12 is a schematic diagram showing an example of a host vehicle traveling on a road where parallel roads exist. A in FIG. 12 is a speed regulation sign for a road on which the host vehicle is traveling, the speed regulation value is 100 km / h, and B is a speed regulation sign for a parallel road, and the speed regulation value is 40 km / h.

  For example, when the parallel road is close to the road on which the vehicle is traveling and the speed restriction sign B of the parallel road is detected by the image recognition processing, the speed restriction value 40 km / h of the speed restriction sign B of the parallel road is set to 40 km / h. It is erroneously determined as the speed limit value of the road on which the host vehicle is traveling. On the other hand, according to the configuration of the present embodiment, when there is a parallel road around the position where the speed restriction sign is detected by the image recognition process, the estimated speed restriction value is suspended or the notification content is changed. , Misrecognition of the passenger's speed regulation value can be suppressed.

  If the parallel road speed restriction value obtained from the map data is close to the estimated speed restriction value, the estimated speed restriction value is likely to be the parallel road speed restriction value. . In the above configuration, the estimated speed regulation value is calculated when the host vehicle is traveling based on the fact that the absolute value of the difference between the speed regulation value of the parallel road obtained from the map data and the estimated speed regulation value is within a predetermined value. Judge that it is not the speed regulation value of the road. Therefore, when there is a high possibility that the estimated speed restriction value is a speed restriction value for a parallel road, the estimated speed restriction value is not determined to be the speed restriction value for the road on which the host vehicle is traveling, and the speed restriction value is incorrect. Can be prevented.

  In the present embodiment, the estimated speed restriction value is determined based on whether the distance between the current position of the own vehicle when the speed restriction sign is detected and the nearest branch point before the own vehicle is equal to or less than a predetermined value. It is the structure which judges whether it is the speed regulation value of the road in which the vehicle is drive | working.

  However, although the distance between the current position of the host vehicle and the parallel road when the speed regulation sign is detected is equal to or less than a predetermined value, the detected speed regulation sign is for the own lane (see C in FIG. 13). In this case, it is erroneously determined that the estimated speed regulation value is not the speed regulation value of the road on which the host vehicle is traveling.

  With respect to this problem, in the present embodiment, it is further determined whether or not the speed regulation sign and the parallel road are on the same side when viewed from the own lane, so that the estimated speed regulation value is determined when the host vehicle is traveling. It is possible to judge more accurately whether or not it is the speed limit value of the road.

  Details are as follows. When the speed restriction sign detected in the image recognition process is detected on the side where the parallel road does not exist, there is a high possibility that the restriction restriction sign of the road on which the host vehicle is running is detected. According to the configuration of the present embodiment, when it is determined that the speed restriction sign detected in the image recognition process is detected on the side where no parallel road exists, the estimated speed restriction value is the speed restriction value of the road on which the host vehicle is traveling. Therefore, it is possible to more accurately determine that the estimated speed regulation value is the speed regulation value of the road on which the host vehicle is traveling.

  However, even when it is further determined whether or not the speed regulation sign and the parallel road are on the same side when viewed from the own lane, the speed regulation sign detected by the image recognition process exists on the same side as the parallel road In the case of the speed regulation sign for the own lane (see D in FIG. 13), it is impossible to accurately determine whether the estimated speed regulation value is the speed regulation value of the road on which the host vehicle is traveling.

  In view of this problem, in this embodiment, whether the difference between the estimated speed restriction value and the past speed restriction value is equal to or greater than a predetermined value, or whether the difference between the estimated speed restriction value and the vehicle speed of the other vehicle is equal to or greater than a predetermined value. By further determining whether or not the estimated speed limit value is the speed limit value of the road on which the host vehicle is traveling, it is possible to determine with higher accuracy. In this embodiment as well, by determining whether the vehicle speed of the other vehicle is closer to the estimated speed limit value or the past speed limit value, the estimated speed limit value is the speed limit of the road on which the host vehicle is traveling. It is good also as a structure which judges more accurately whether it is a value.

  For example, in step S150, when the vehicle speed of the other vehicle is closer to the past speed restriction value than the estimated speed restriction value, the process proceeds to step S151, and the estimated speed restriction value is not the speed restriction value of the road on which the host vehicle is traveling. The configuration may be determined as follows. On the other hand, if the vehicle speed of the other vehicle is closer to the estimated speed restriction value than the past speed restriction value in step S150, the process proceeds to step S153, where the estimated speed restriction value is the speed restriction value of the road on which the host vehicle is traveling. What is necessary is just to be the structure judged to exist. Further, when the vehicle speed of the other vehicle is intermediate between the past speed restriction value and the estimated speed restriction value, it may be configured to be closer to a lower value.

  The effect of further making these determinations is the same as that shown in the description of the speed regulation value notification system 100, and thus description thereof is omitted here.

  As mentioned above, although other embodiment of this invention was described, this invention is not limited to the above-mentioned embodiment, Furthermore, the following embodiment is also contained in the technical scope of this invention. Hereinafter, the next embodiment will be described with reference to the drawings. FIG. 14 is a block diagram showing a schematic configuration of a speed regulation value notification system 300 to which the present invention is applied. For convenience of explanation, members having the same functions as those shown in the drawings used in the description of the above-described embodiment are denoted by the same reference numerals, and description thereof is omitted.

  The speed regulation value notification system 300 is configured such that the estimated speed regulation value is a road on which the host vehicle is traveling according to the degree of change over time in the captured image of the same speed regulation sign sequentially detected in the image recognition process. This is different from the speed regulation value notification system 100 in that it is configured to determine whether or not the speed regulation value is the same. The speed regulation value notification system 300 includes a speed regulation value notification device 1 b instead of the speed regulation value notification device 1 and a vehicle speed sensor 10 instead of the position detector 3 and the map data storage unit 4. Is the same as the speed regulation value notification system 100.

  The speed regulation value notification device 1b is mainly composed of a microcomputer composed of a CPU, ROM, RAM, EEPROM, and the like, and based on information input from the in-vehicle camera 2 and the vehicle speed sensor 10, various kinds of information stored in the ROM. By executing the control program, processing for estimating and notifying the speed limit value of the road on which the host vehicle is traveling is executed. As shown in FIG. 14, the speed regulation value notification device 1 b includes, as functional blocks, an image processing unit 11, a speed regulation value estimation unit 12, another vehicle speed information acquisition unit 15, a target speed regulation value determination unit 16, and a notification unit 18. , A size information acquisition unit 19 and a host vehicle speed information acquisition unit 20 are provided. The vehicle speed sensor 10 is a known sensor that detects the vehicle speed (traveling speed) of the host vehicle.

  Subsequently, an operation flow of the speed regulation value notification device 1b will be described with reference to FIG. FIG. 15 is a flowchart illustrating an example of an operation flow of the speed regulation value notification device 1b. For example, this flow is started when a captured image is input from the in-vehicle camera 2, and this flow is sequentially repeated every time a captured image is input.

  In step S201, image recognition processing is performed in the same manner as in step S1, and the process proceeds to step S202. In step S202, the speed regulation value estimation unit 12 estimates that the speed regulation value of the speed regulation sign detected in the image recognition process is the speed regulation value of the road on which the host vehicle is traveling, and the process proceeds to step S203.

  In step S203, the size information acquisition unit 19 acquires size information in the captured image of the speed regulation sign obtained when the speed regulation sign is detected in the image recognition process, and the process proceeds to step S204. Therefore, the size information acquisition unit 19 corresponds to the size acquisition means in the claims. In step S204, the host vehicle speed information acquisition unit 20 acquires information on the vehicle speed of the host vehicle detected by the vehicle speed sensor 10, and the process proceeds to step S205.

  In step S205, the target speed restriction value determination unit 16 performs the target speed restriction value determination process, and the speed restriction value of the speed restriction sign detected in the image recognition process is the speed restriction value of the road on which the host vehicle is traveling. Or not, and the process proceeds to step S206. Here, the outline of the target speed regulation value determination process in the speed regulation value notification device 1b will be described using the flowchart of FIG. FIG. 16 is a flowchart illustrating an example of a target speed regulation value determination process in the speed regulation value notification device 1b.

  First, in step S251, the speed restriction value estimated by the speed restriction value estimation unit 12 in step S202 (hereinafter, estimated speed restriction value) is acquired, and the process proceeds to step S252. In step S252, size information (hereinafter, current size information) in the captured image of the speed regulation sign acquired by the size information acquiring unit 19 in step S203 is acquired, and the process proceeds to step S253.

  In step S253, information on the size in the captured image of the speed restriction sign acquired by the size information acquisition unit 19 in the latest past target speed restriction value determination process (hereinafter, past size information) is obtained, and the process proceeds to step S254. Move. It is assumed that the speed restriction signs that are the targets of the current size information and the past size information are the same. In step S254, the vehicle speed information of the host vehicle acquired by the host vehicle speed information acquiring unit 20 in step S204 is acquired, and the process proceeds to step S255.

  In step S255, a speed regulation sign stationary determination process is performed, and the process proceeds to step S256. In the speed regulation sign stationary determination process, the captured image of the speed regulation sign is based on the current size information acquired in step S252, the past size information acquired in step S253, and the vehicle speed information acquired in step S254. It is determined whether or not the degree of change in size over time (for example, the rate of change per unit time) corresponds to the degree of change when the speed regulation sign is stationary. . Details are as follows.

  Since the speed regulation sign installed on the road or the like is stationary, the size of the speed regulation sign in the captured image increases with time. In addition, the rate of change per unit time of the speed regulation sign in the captured image (hereinafter, the rate of change of the stationary object size) has a relationship that increases as the vehicle speed of the host vehicle increases. In the present embodiment, it is assumed that the target speed regulation value determination unit 16 holds in advance a function and a table that can determine the stationary object size change rate according to the vehicle speed of the host vehicle.

  In the speed regulation sign stationary determination process, a stationary object size change rate corresponding to the vehicle speed of the host vehicle is obtained using the function and table held in advance. Further, based on the past size information, the current size information, and the imaging interval information of the in-vehicle camera 2, the rate of change per unit time of the size indicated by the current size information with respect to the size indicated by the past size information (hereinafter referred to as the detected object size). Change rate). The information on the imaging interval of the in-vehicle camera 2 may be configured to be held in advance by the target speed regulation value determination unit 16 or may be acquired from the in-vehicle camera 2.

  In the speed regulation sign stationary determination process, for example, when the absolute value of the difference between the stationary object size change rate and the detected object size change rate is equal to or less than a predetermined value, the speed regulation sign is assumed to be stationary. It is determined that it corresponds to the degree of change. Here, the predetermined value is a value that can be arbitrarily set and may be 0, but is preferably a value that takes into account the calculation error of the stationary object size change rate or the detected object size change rate.

  If it is determined that it corresponds to the degree of change in the case of being stationary (YES in step S256), the process proceeds to step S257. On the other hand, if it is not determined that it corresponds to the degree of change in the case of being stationary (NO in step S256), the process proceeds to S261.

  In step S257, the latest past speed regulation value (hereinafter referred to as past speed regulation value) determined to be the speed regulation value of the road on which the vehicle is traveling in the past target speed regulation value judgment processing is acquired. The process moves to S258. In step S258, based on the estimated speed restriction value acquired in step S251 and the past speed restriction value obtained in step S257, the difference between the estimated speed restriction value and the past speed restriction value is determined in the same manner as in step S48. It is determined whether or not the absolute value of the difference is equal to or greater than a predetermined value.

  If it is determined that the difference between the estimated speed restriction value and the past speed restriction value is equal to or greater than the predetermined value (YES in step S258), the process proceeds to step S259. If the difference between the estimated speed restriction value and the past speed restriction value is not determined to be greater than or equal to the predetermined value (NO in step S258), the process proceeds to step S263.

  In step S259, as in step S49, the information on the vehicle speed (that is, the traveling speed) of the other vehicle acquired by the other vehicle speed information acquisition unit 15 is acquired, and the process proceeds to step S260. In step S260, based on the estimated speed restriction value acquired in step S251 and the vehicle speed of the other vehicle acquired in step S259, the difference between the estimated speed restriction value and the vehicle speed of the other vehicle (details) in the same manner as in step S50. Determines whether or not the absolute value of the difference is equal to or greater than a predetermined value.

  If it is determined that the difference between the estimated speed restriction value and the vehicle speed of the other vehicle is equal to or greater than a predetermined value (YES in step S260), the process proceeds to step S261. If the difference between the estimated speed restriction value and the vehicle speed of the other vehicle is not determined to be equal to or greater than the predetermined value (NO in step S260), the process proceeds to step S262.

  In step S261, it is determined that the estimated speed restriction value acquired in step S251 is not the speed restriction value of the road on which the host vehicle is traveling (that is, the speed restriction value in the road sign mark sticker of the preceding vehicle), and step S262. Move on. In step S262, as in step S52, information for performing notification for non-own lanes is output to the notification unit 18, and the process proceeds to step S206.

  In step S263, it is determined that the estimated speed restriction value acquired in step S251 is the speed restriction value of the road on which the host vehicle is traveling (that is, the estimated speed restriction value for the straight road), and the process proceeds to step S264. In addition, the estimated speed restriction value determined to be the speed restriction value of the road on which the host vehicle is traveling is stored in a volatile memory such as a RAM. The estimated speed regulation value (corresponding to the past speed regulation value) stored in the volatile memory may be deleted when the ACC power supply is turned off, for example.

  In step S264, as in step S54, information for performing notification for own lane is output to the notification unit 18, and the process proceeds to step S206.

  Returning to FIG. 15, in step S <b> 206, in accordance with the information output as a result of the target speed regulation value determination process, the notification unit 18 notifies in the same manner as in step S <b> 5, and the flow ends.

  While the speed regulation sign provided on the road is stationary, the road sign mark sticker of the preceding vehicle is likely to be moving. According to the above configuration, when the road sign mark sticker (see E in FIG. 17) of the preceding vehicle is detected by the image recognition process, the estimated speed regulation value is the speed regulation of the road on which the host vehicle is traveling. Since it is determined that the value is not a value, it is possible to prevent the speed regulation value of the road sign mark sticker of the preceding vehicle from being erroneously estimated to be the speed regulation value of the road on which the host vehicle is traveling.

  However, if the preceding vehicle with the road sign mark sticker is stopped, the speed restriction value of the road sign mark sticker of the preceding vehicle is mistaken for the speed restriction value of the road on which the vehicle is traveling. Will be judged.

  In view of this problem, in this embodiment, whether the difference between the estimated speed restriction value and the past speed restriction value is equal to or greater than a predetermined value, or whether the difference between the estimated speed restriction value and the vehicle speed of the other vehicle is equal to or greater than a predetermined value. By further determining whether or not the estimated speed limit value is the speed limit value of the road on which the host vehicle is traveling, it is possible to determine with higher accuracy. In this embodiment as well, by determining whether the vehicle speed of the other vehicle is closer to the estimated speed limit value or the past speed limit value, the estimated speed limit value is the speed limit of the road on which the host vehicle is traveling. It is good also as a structure which judges more accurately whether it is a value.

  For example, in step S260, when the vehicle speed of the other vehicle is closer to the past speed restriction value than the estimated speed restriction value, the process proceeds to step S261, where the estimated speed restriction value is not the speed restriction value of the road on which the host vehicle is traveling. The configuration may be determined as follows. On the other hand, if the vehicle speed of the other vehicle is closer to the estimated speed restriction value than the past speed restriction value in step S260, the process proceeds to step S263, where the estimated speed restriction value is the speed restriction value of the road on which the host vehicle is traveling. What is necessary is just to be the structure judged to exist. Further, when the vehicle speed of the other vehicle is intermediate between the past speed restriction value and the estimated speed restriction value, it may be configured to be closer to a lower value.

  The effect of further making these determinations is the same as that shown in the description of the speed regulation value notification system 100, and thus description thereof is omitted here.

  In the above-described embodiment, the speed regulation value notification system 100, the speed regulation value notification system 200, and the speed regulation value notification system 300 have been described. However, configurations that are common to each other may be combined to be combined.

  The present invention is not limited to the above-described embodiments, and the following embodiments are also included in the technical scope of the present invention. Hereinafter, the next embodiment will be described with reference to the drawings. FIG. 18 is a block diagram showing a schematic configuration of a speed regulation value notification system 400 to which the present invention is applied. For convenience of explanation, members having the same functions as those shown in the drawings used in the description of the above-described embodiment are denoted by the same reference numerals, and description thereof is omitted.

  The speed regulation value notification system 400 is a speed regulation value except that the speed regulation value notification device 1c is included instead of the speed regulation value notification device 1 and that the position detector 3 and the map data storage unit 4 are not included. The configuration is the same as that of the notification system 100.

  The speed regulation value notification device 1c is composed mainly of a microcomputer comprising a CPU, ROM, RAM, EEPROM, etc., and executes various control programs stored in the ROM based on information input from the in-vehicle camera 2. Thus, a process for estimating and notifying the speed regulation value of the road on which the vehicle is traveling is executed. As shown in FIG. 18, the speed regulation value notification device 1 c includes an image processing unit 11, a speed regulation value estimation unit 12, a target speed regulation value determination unit 16, and a notification unit 18 as functional blocks.

  Subsequently, an operation flow of the speed regulation value notification device 1c will be described with reference to FIG. FIG. 19 is a flowchart illustrating an example of an operation flow of the speed regulation value notification device 1c. For example, this flow is started when a captured image is input from the in-vehicle camera 2, and this flow is sequentially repeated every time a captured image is input.

  In step S301, an image recognition process is performed in the same manner as in step S1, and the process proceeds to step S302. In step S302, the speed regulation value estimation unit 12 estimates that the speed regulation value of the speed regulation sign detected in the image recognition process is the speed regulation value of the road on which the host vehicle is traveling, and the process proceeds to step S303.

  In step S303, the target speed restriction value determination unit 16 performs the target speed restriction value determination process, and the speed restriction value of the speed restriction sign detected in the image recognition process is the speed restriction value of the road on which the host vehicle is traveling. Or not, and the process proceeds to step S304. Here, an outline of the target speed regulation value determination process in the speed regulation value notification device 1c will be described using the flowchart of FIG. FIG. 20 is a flowchart illustrating an example of a target speed restriction value determination process in the speed restriction value notification device 1c.

  First, in step S331, the speed regulation value estimated by the speed regulation value estimation unit 12 in step S302 (hereinafter, estimated speed regulation value) is acquired, and the process proceeds to step S332. In step S332, the latest past speed regulation value (hereinafter referred to as past speed regulation value) determined to be the speed regulation value of the road on which the host vehicle is traveling in the past target speed regulation value judgment processing is acquired. The process moves to S333.

  In the case where the past speed regulation value is not yet held in the target speed regulation value determination unit 16, as a provisional past speed regulation value, for example, the road on which the host vehicle obtained from the map data is traveling A configuration may be adopted in which the speed limit value or the like of the road on which the host vehicle obtained by the vehicle-to-vehicle communication or the road-to-vehicle communication is acquired using a speed limit value or communication means (not shown) and the process proceeds to step S333.

  In step S333, based on the estimated speed restriction value acquired in step S331 and the past speed restriction value obtained in step S332, the difference between the estimated speed restriction value and the past speed restriction value in the same manner as in step S48 (for details) It is determined whether or not the absolute value of the difference is equal to or greater than a predetermined value.

  If it is determined that the difference between the estimated speed restriction value and the past speed restriction value is equal to or greater than the predetermined value (YES in step S333), the process proceeds to step S334. If the difference between the estimated speed restriction value and the past speed restriction value is not determined to be greater than or equal to the predetermined value (NO in step S333), the process proceeds to step S336.

  In step S334, it is determined that the estimated speed restriction value acquired in step S331 is not the speed restriction value of the road on which the host vehicle is traveling, and the process proceeds to step S335. In step S335, similarly to step S52, information for performing notification for the non-own lane is output to the notification unit 18, and the process proceeds to step S304.

  In step S336, it is determined that the estimated speed restriction value acquired in step S331 is the speed restriction value of the road on which the host vehicle is traveling (that is, the estimated speed restriction value for the straight road), and the process proceeds to step S337. In addition, the estimated speed restriction value determined to be the speed restriction value of the road on which the host vehicle is traveling is stored in a volatile memory such as a RAM. The estimated speed regulation value (corresponding to the past speed regulation value) stored in the volatile memory may be deleted when the ACC power supply is turned off, for example.

  In step S337, as in step S54, information for performing notification for own lane is output to the notification unit 18, and the process proceeds to step S304.

  Returning to FIG. 19, in step S304, according to the information output as a result of the target speed regulation value determination process, the notification unit 18 notifies in the same manner as in step S5, and the flow ends.

  According to the above configuration, based on the fact that the speed difference between the estimated speed restriction value and the past speed restriction value is greater than or equal to a predetermined amount, the estimated speed restriction value is the speed restriction value of the road on which the host vehicle is traveling. Therefore, as described in the description of the speed regulation value notification system 100, it is erroneously determined that the estimated speed regulation value is the speed regulation value of the road on which the host vehicle is traveling. It becomes possible to prevent more.

  In the speed regulation value notification system 400, instead of whether or not the difference between the estimated speed regulation value and the past speed regulation value is equal to or greater than a predetermined value, whether the difference between the estimated speed regulation value and the vehicle speed of the other vehicle is equal to or greater than a predetermined value. Depending on whether or not the estimated speed regulation value is the speed regulation value of the road on which the host vehicle is traveling, it may be determined. In this case, what is necessary is just to set it as the structure further equipped with the other vehicle speed information acquisition part 15 in the speed regulation value notification apparatus 1c. In addition, a process similar to that in step S49 may be performed instead of step S332, and a process similar to that in step S50 may be performed instead of step S333.

  According to this, since it is determined whether or not the estimated speed restriction value is the speed restriction value of the road on which the host vehicle is traveling based on the estimated speed restriction value and the vehicle speed of the other vehicle, the speed restriction value notification As described in the description of the system 100, it is possible to further prevent the estimated speed regulation value from being erroneously determined as the speed regulation value of the road on which the host vehicle is traveling.

  Further, in the speed regulation value notification system 400, in addition to whether or not the difference between the estimated speed regulation value and the past speed regulation value is greater than or equal to a predetermined value, whether or not the difference between the estimated speed regulation value and the vehicle speed of the other vehicle is greater than or equal to a predetermined value. Accordingly, it may be configured to determine whether or not the estimated speed regulation value is the speed regulation value of the road on which the host vehicle is traveling. In this case, the speed regulation value notification device 1c may further include the other vehicle speed information acquisition unit 15, and a process similar to that in steps S49 and S50 may be added after step S333.

  Furthermore, instead of determining whether the difference between the estimated speed restriction value and the vehicle speed of the other vehicle is greater than or equal to a predetermined value, it is determined whether the vehicle speed of the other vehicle is closer to the estimated speed restriction value or the past speed restriction value. It is good also as a structure to perform. For example, instead of the process similar to step S50, when the vehicle speed of the other vehicle is closer to the past speed restriction value than the estimated speed restriction value, the process proceeds to step S334, while the vehicle speed of the other vehicle is greater than the past speed restriction value. If it is close to the estimated speed regulation value, the configuration may be shifted to step S336.

  In this case, when the past speed regulation value is not yet held in the target speed regulation value determination unit 16, the host vehicle obtained from the map data, for example, is running as the provisional past speed regulation value. A configuration may be used in which the speed limit value of the road on which the host vehicle is traveling obtained by the vehicle-to-vehicle communication or the road-to-vehicle communication using a road speed limit value or communication means (not shown) is used.

  The present invention is not limited to the above-described embodiments, and various modifications can be made within the scope of the claims, and the technical means disclosed in different embodiments can be appropriately combined. Such embodiments are also included in the technical scope of the present invention.

1, 1a, 1b, 1c Speed regulation value notification device, 2 vehicle-mounted camera (imaging device), 3 position detector, 4 map data storage unit, 5 display, 6 speaker, 7 indicator, 8 engine ECU, 9 brake ECU, 11 Image processing unit (image recognition unit), 12 speed regulation value estimation unit (speed regulation value estimation unit), 13 position information acquisition unit (detected position information acquisition unit), 14 map data acquisition unit (map data acquisition unit), 15 others Vehicle speed information acquisition unit (other vehicle speed information acquisition unit), 16 target speed regulation value determination unit (target speed regulation value determination unit), 17 course determination unit (course determination unit), 18 notification unit (notification unit), 19 size Information acquisition unit (size acquisition means), 20 own vehicle speed information acquisition unit, 100/200/300/400 speed regulation value notification system

Claims (15)

Image recognition means for detecting a road sign of a speed limit by image recognition from a captured image obtained by imaging the front of the vehicle with an imaging device mounted on the vehicle;
Speed regulation value estimation means for estimating a speed regulation value of a road on which the vehicle is running based on a detection result in the image recognition means;
A speed regulation value notification device comprising notification means for notifying the speed regulation value estimated by the speed regulation value estimation means,
Detection position information acquisition means for acquiring detection position information which is information of a position where the road sign is detected;
Map data acquisition means for acquiring map data including at least road construction data;
Based on the detection position information acquired by the detection position information acquisition means and the map data acquired by the map data acquisition means, the speed regulation value according to the laying situation of the road around the position where the road sign is detected Target speed regulation value determining means for determining whether or not the speed regulation value estimated by the estimation means is a speed regulation value of a road on which the vehicle is traveling,
The map data acquisition means acquires map data including road speed regulation values as road data, and when a road branch point exists within the predetermined distance from the position where the road sign is detected. , Get the speed limit value of the branch road from that branch point,
The target speed regulation value determining means is
The speed regulation value estimated by the speed regulation value estimation means based on the presence of a road branch point within a predetermined distance from the position where the road sign is detected is not the speed regulation value of the road on which the vehicle is traveling. As well as
Based on the difference between the speed regulation value of the branch road acquired by the map data acquisition means and the speed regulation value estimated by the speed regulation value estimation means being within a predetermined value, the speed regulation value estimation means If it is determined that the estimated speed regulation value is not the speed regulation value of the road on which the vehicle is traveling, and the difference between the two speed regulation values is not within a predetermined value, the speed regulation value estimation means estimates The determined speed regulation value is the speed regulation value of the road on which the vehicle is traveling,
The notification means notifies the speed regulation value when the target speed regulation value judgment means judges that the speed regulation value estimated by the speed regulation value estimation means is not the speed regulation value of the road on which the vehicle is traveling. A speed regulation value notifying device characterized by holding or changing a notification content. Image recognition means for detecting a road sign of a speed limit by image recognition from a captured image obtained by imaging the front of the vehicle with an imaging device mounted on the vehicle;
Speed regulation value estimation means for estimating a speed regulation value of a road on which the vehicle is running based on a detection result in the image recognition means;
A speed regulation value notification device comprising notification means for notifying the speed regulation value estimated by the speed regulation value estimation means,
Detection position information acquisition means for acquiring detection position information which is information of a position where the road sign is detected;
Map data acquisition means for acquiring map data including at least road construction data;
Based on the detection position information acquired by the detection position information acquisition means and the map data acquired by the map data acquisition means, the speed regulation value according to the laying situation of the road around the position where the road sign is detected Target speed regulation value determining means for determining whether or not the speed regulation value estimated by the estimation means is a speed regulation value of a road on which the vehicle is traveling,
The target speed regulation value determining means is
The speed regulation value estimated by the speed regulation value estimation means based on the presence of a road branch point within a predetermined distance from the position where the road sign is detected is not the speed regulation value of the road on which the vehicle is traveling. As well as
The speed restriction value newly estimated by the speed restriction value estimation means with respect to the latest past speed restriction value determined by the target speed restriction value determination means as the speed restriction value of the road on which the vehicle is traveling. Based on that the speed difference is equal to or greater than a predetermined amount, it is determined that the speed regulation value newly estimated by the speed regulation value estimation means is not the speed regulation value of the road on which the vehicle is running,
The notification means notifies the speed regulation value when the target speed regulation value judgment means judges that the speed regulation value estimated by the speed regulation value estimation means is not the speed regulation value of the road on which the vehicle is traveling. A speed regulation value notifying device characterized by holding or changing a notification content. Image recognition means for detecting a road sign of a speed limit by image recognition from a captured image obtained by imaging the front of the vehicle with an imaging device mounted on the vehicle;
Speed regulation value estimation means for estimating a speed regulation value of a road on which the vehicle is running based on a detection result in the image recognition means;
A speed regulation value notification device comprising notification means for notifying the speed regulation value estimated by the speed regulation value estimation means,
Detection position information acquisition means for acquiring detection position information which is information of a position where the road sign is detected;
Map data acquisition means for acquiring map data including at least road construction data;
Based on the detection position information acquired by the detection position information acquisition means and the map data acquired by the map data acquisition means, the speed regulation value according to the laying situation of the road around the position where the road sign is detected Target speed regulation value determination means for judging whether or not the speed regulation value estimated by the estimation means is a speed regulation value of a road on which the vehicle is traveling,
Other vehicle speed information acquisition means for acquiring information of other vehicle speed, which is the traveling speed of at least one of the front and rear vehicles of the vehicle ,
The target speed regulation value determining means is
The speed regulation value estimated by the speed regulation value estimation means based on the presence of a road branch point within a predetermined distance from the position where the road sign is detected is not the speed regulation value of the road on which the vehicle is traveling. While judging
Based on the speed restriction value estimated by the speed restriction value estimation means and the information on the other vehicle speed acquired by the other vehicle speed information acquisition means, the speed restriction value estimated by the speed restriction value estimation means is the value of the vehicle. Determine if it is the speed limit value of the road you are driving,
The notification means notifies the speed regulation value when the target speed regulation value judgment means judges that the speed regulation value estimated by the speed regulation value estimation means is not the speed regulation value of the road on which the vehicle is traveling. A speed regulation value notifying device characterized by holding or changing a notification content. Image recognition means for detecting a road sign of a speed limit by image recognition from a captured image obtained by imaging the front of the vehicle with an imaging device mounted on the vehicle;
Speed regulation value estimation means for estimating a speed regulation value of a road on which the vehicle is running based on a detection result in the image recognition means;
A speed regulation value notification device comprising notification means for notifying the speed regulation value estimated by the speed regulation value estimation means,
Detection position information acquisition means for acquiring detection position information which is information of a position where the road sign is detected;
Map data acquisition means for acquiring map data including at least road construction data;
Based on the detection position information acquired by the detection position information acquisition means and the map data acquired by the map data acquisition means, the speed regulation value according to the laying situation of the road around the position where the road sign is detected Target speed regulation value determining means for determining whether or not the speed regulation value estimated by the estimation means is a speed regulation value of a road on which the vehicle is traveling,
The map data acquisition means includes
To acquire map data including road speed regulation values as road data,
When the parallel road exists within the predetermined distance from the position where the road sign is detected, the speed regulation value of the parallel road is acquired,
The target speed regulation value determining means is
The speed regulation value estimated by the speed regulation value estimation means based on the fact that there is a parallel road that is parallel to the road on which the vehicle is traveling within a predetermined distance from the position where the road sign is detected. While judging that it is not the speed limit value of the road on which the vehicle is running,
Even when the difference between the speed regulation value of the parallel road acquired by the map data acquisition means and the speed regulation value estimated by the speed regulation value estimation means is within a predetermined value, the speed regulation value estimation means estimates Determining that the speed regulation value is not the speed regulation value of the road on which the vehicle is running,
The notification means notifies the speed regulation value when the target speed regulation value judgment means judges that the speed regulation value estimated by the speed regulation value estimation means is not the speed regulation value of the road on which the vehicle is traveling. A speed regulation value notifying device characterized by holding or changing a notification content. In claim 2 or 3 ,
The map data acquisition means acquires map data including road speed regulation values as road data, and when a road branch point exists within the predetermined distance from the position where the road sign is detected. , Get the speed limit value of the branch road from that branch point,
The target speed regulation value determining means is
Based on the difference between the speed regulation value of the branch road acquired by the map data acquisition means and the speed regulation value estimated by the speed regulation value estimation means being within a predetermined value, the speed regulation value estimation means While determining that the estimated speed regulation value is not the speed regulation value of the road on which the vehicle is traveling,
If the difference between the two speed regulation values is not within a predetermined value, it is determined that the speed regulation value estimated by the speed regulation value estimating means is the speed regulation value of the road on which the vehicle is traveling. A speed regulation value notification device as a feature. In any one of claims 1 to 3
Based on the detected position information acquired by the detected position information acquiring unit and the map data acquired by the map data acquiring unit, it is determined whether the vehicle has traveled straight or branched after passing through the branch point. Further comprising a route determination means for
The notification means includes
If it is determined by the route determining means that the vehicle has proceeded straight, the latest past speed restriction value determined by the target speed restriction value determining means as the speed restriction value of the road on which the vehicle is traveling is obtained. While notifying
When it is determined by the route determination means that the vehicle has proceeded to a branch road, when the target speed restriction value determination means determines that it is not the speed restriction value of the traveling road, the speed restriction value estimation means The estimated restriction speed value is notified, and the branch road speed restriction value acquired by the map data acquisition means when the target speed restriction value determination means determines that it is the speed restriction value of the running road A speed regulation value notifying device characterized by notifying In any one of Claims 1-3, 5, and 6 ,
The target speed regulation value determining means is
Based on the detected position information acquired by the detected position information acquiring means and the map data acquired by the map data acquiring means, it is determined whether the branch road exists on the left or right of the road on which the vehicle is traveling. With
Based on the detection result of the image recognition means, by determining whether the road sign of the speed limit detected by the image recognition means is detected on the left or right in the captured image,
Determining whether the speed limit road sign detected by the image recognition means is detected on the side where the branch road exists or on the side where the branch road does not exist,
When it is determined that the road sign of the speed limit detected by the image recognition means is detected on the side where no branch road exists, the speed restriction value estimated by the speed restriction value estimation means is the speed of the road on which the vehicle is traveling. It is judged that it is a regulation value, The speed regulation value notification apparatus characterized by the above-mentioned. In claim 4 ,
The target speed regulation value determining means is
Based on the detected position information acquired by the detected position information acquiring means and the map data acquired by the map data acquiring means, it is determined whether the parallel road exists on the left or right of the road on which the vehicle is traveling. With
Based on the detection result of the image recognition means, by determining whether the road sign of the speed limit detected by the image recognition means is detected on the left or right in the captured image,
Determining whether the speed limit road sign detected by the image recognition means is detected on the side where the parallel road exists or is detected on the side where the parallel road does not exist,
When it is determined that the road sign of the speed limit detected by the image recognition means is detected on the side where no parallel road exists, the speed restriction value estimated by the speed restriction value estimation means is the speed of the road on which the vehicle is traveling. It is judged that it is a regulation value, The speed regulation value notification apparatus characterized by the above-mentioned. In any one of claims 1, 3, and 5-7,
The target speed regulation value determining means is
The speed restriction value newly estimated by the speed restriction value estimation means with respect to the latest past speed restriction value determined by the target speed restriction value determination means as the speed restriction value of the road on which the vehicle is traveling. And determining that the speed regulation value newly estimated by the speed regulation value estimation means is not the speed regulation value of the road on which the vehicle is traveling, based on the fact that the speed difference is equal to or greater than a predetermined amount. Speed limit value notification device. In any one of Claims 1, 2, 5-7 , and 9 ,
The target speed regulation value determining means is
Other vehicle speed information acquisition means for acquiring information of other vehicle speed which is a traveling speed of at least one of the front and rear vehicles of the vehicle,
Based on the speed restriction value estimated by the speed restriction value estimation means and the information on the other vehicle speed acquired by the other vehicle speed information acquisition means, the speed restriction value estimated by the speed restriction value estimation means is the value of the vehicle. A speed regulation value notifying device characterized by determining whether or not the speed regulation value is on a running road. According to claim 1 0,
The target speed regulation value determining means is
The latest past speed regulation value determined by the target speed regulation value judgment means as the speed regulation value of the road on which the vehicle is traveling, the speed regulation value newly estimated by the speed regulation value estimation means, Based on the other vehicle speed information acquired by the other vehicle speed information acquisition means,
The speed newly estimated by the speed regulation value estimation means based on the fact that the other vehicle speed is closer to the latest past speed regulation value than the speed regulation value newly estimated by the speed regulation value estimation means. While determining that the regulation value is not the speed regulation value of the road on which the vehicle is traveling,
The speed newly estimated by the speed regulation value estimation means based on the fact that the other vehicle speed is closer to the speed regulation value newly estimated by the speed regulation value estimation means than the latest past speed regulation value. A speed regulation value notifying device, wherein the regulation value is determined to be a speed regulation value of a road on which the vehicle is traveling. Image recognition means for sequentially detecting a road sign of a speed limit by image recognition from captured images obtained by sequentially imaging the front of the vehicle with an imaging device mounted on the vehicle;
Speed regulation value estimation means for estimating a speed regulation value of a road on which the vehicle is running based on a detection result in the image recognition means;
A speed regulation value notification device comprising notification means for notifying the speed regulation value estimated by the speed regulation value estimation means,
A target speed regulation value judging means for judging whether or not the speed regulation value estimated by the speed regulation value estimating means is a speed regulation value of a road on which the vehicle is traveling;
The target speed regulation value determining means is
In the case where there is no latest past speed regulation value determined by the target speed regulation value judging means to be the speed regulation value of the road on which the vehicle is traveling, for the speed regulation value set temporarily, Based on the fact that the speed difference between the speed regulation values newly estimated by the speed regulation value estimation means is greater than or equal to a predetermined amount, the speed regulation value newly estimated by the speed regulation value estimation means is While judging that it is not a road speed regulation value,
When the latest past speed regulation value exists, the speed difference between the speed regulation value newly estimated by the speed regulation value estimation unit with respect to the latest past speed regulation value is equal to or greater than a predetermined amount. Based on this, it is determined that the speed regulation value newly estimated by the speed regulation value estimation means is not the speed regulation value of the road on which the vehicle is traveling. Image recognition means for sequentially detecting a road sign of a speed limit by image recognition from captured images obtained by sequentially imaging the front of the vehicle with an imaging device mounted on the vehicle;
Speed regulation value estimation means for estimating a speed regulation value of a road on which the vehicle is running based on a detection result in the image recognition means;
A speed regulation value notification device comprising notification means for notifying the speed regulation value estimated by the speed regulation value estimation means,
A target speed regulation value judging means for judging whether or not the speed regulation value estimated by the speed regulation value estimating means is a speed regulation value of a road on which the vehicle is traveling;
The target speed regulation value determining means is
Other vehicle speed information acquisition means for acquiring information of other vehicle speed which is a traveling speed of at least one of the front and rear vehicles of the vehicle,
Based on the speed restriction value estimated by the speed restriction value estimation means and the information on the other vehicle speed acquired by the other vehicle speed information acquisition means, the speed restriction value estimated by the speed restriction value estimation means is the value of the vehicle. A speed regulation value notifying device characterized by determining whether or not the speed regulation value is on a running road. According to claim 1 3,
The target speed regulation value determining means is
If there is no latest past speed limit value determined by the target speed limit value determining means as the speed limit value of the road on which the vehicle is traveling, the temporarily set speed limit value is set to the latest past speed limit value. On the other hand, if the latest past speed restriction value exists, the latest past speed restriction value is used,
Based on the latest past speed restriction value, the speed restriction value newly estimated by the speed restriction value estimation means, and the information on the other vehicle speed obtained by the other vehicle speed information obtaining means,
The speed newly estimated by the speed regulation value estimation means based on the fact that the other vehicle speed is closer to the latest past speed regulation value than the speed regulation value newly estimated by the speed regulation value estimation means. While determining that the regulation value is not the speed regulation value of the road on which the vehicle is traveling,
The speed newly estimated by the speed regulation value estimation means based on the fact that the other vehicle speed is closer to the speed regulation value newly estimated by the speed regulation value estimation means than the latest past speed regulation value. A speed regulation value notifying device, wherein the regulation value is determined to be a speed regulation value of a road on which the vehicle is traveling. An imaging device mounted on a vehicle for imaging the front of the vehicle;
Speed limit value notification system which comprises a speed regulation value notification apparatus according to any one of claims 1 to 1 4.