JP2015099560A - Travel support device, computer program, and manufacturing method of computer program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a driver with travel support information appropriately according to the current situation of a vehicle without giving discomfort to the driver as much as possible.SOLUTION: A travel support device 1 is mounted in a vehicle 2, and outputs, to a driver, travel support information including information on the recommended travel speed for passing a road R having a plurality of traffic lights 3 installed thereon without waiting for the traffic lights to change. The travel support device 1 includes a situation information acquisition unit 31 that acquires the situation of the vehicle 2, and an output control unit 33 that controls the output mode of the travel support information on the basis of the situation of the vehicle 2.

Description

  The present invention relates to a driving support apparatus, a computer program, and a computer program manufacturing method that provide information for supporting smooth driving to a vehicle driver.

In recent years, attempts have been made to realize green wave traveling using an intelligent road traffic system (ITS).
The green wave traveling is a traveling mode in which the speed of a vehicle such as an automobile is controlled so that a traffic light can always pass in blue, and a smooth traffic flow is realized.
In order to carry out green wave traveling, it is necessary to obtain a speed at which a plurality of signals installed in front can pass in blue at least for a certain section.

  Patent Document 1 below discloses a system that obtains a recommended traveling speed for carrying out green wave traveling and provides traveling support information including information on the recommended traveling speed to the vehicle.

JP 2011-81640 A

  In the conventional system described above, the recommended travel speed is calculated based on signal control command information, traffic information collected by optical beacons and the like, and does not take into account individual situations for each vehicle.

  For this reason, even if the recommended travel speed is given, depending on the situation of the vehicle, it may be difficult to travel at the recommended travel speed, and the driver may feel uncomfortable.

  Therefore, there is a demand for a policy that can appropriately provide driving support information without causing the driver to feel uncomfortable and guide the vehicle to green wave driving.

  The present invention has been made in view of such circumstances, and provides a technique capable of appropriately providing driving support information according to the current state of the vehicle without giving the driver as much discomfort as possible. The purpose is to do.

  The driving support apparatus according to the present invention outputs driving support information including recommended driving speed information for passing through a road section installed in a vehicle and provided with a plurality of traffic signals without waiting for a signal to the driver. A driving support device that includes a status acquisition unit that acquires information indicating the status of the vehicle, and a control unit that controls an output mode of the driving support information based on the information indicating the status of the vehicle. ing.

  Further, the computer program according to the present invention is a process for outputting driving support information including recommended driving speed information for passing through a road section in which a plurality of traffic signals are installed without waiting for a signal to a driver of the vehicle. Is a computer program for causing a computer to execute the step of acquiring information indicating the state of the vehicle in the computer and controlling an output mode of the driving support information based on the information indicating the state of the vehicle And a computer program for executing the above.

  Further, the computer program according to the present invention outputs driving support information including recommended driving speed information for passing through a road section in which a plurality of traffic signals are installed without waiting for a signal to a vehicle driver. A computer program for causing a computer to execute a process for controlling the output mode of the vehicle, and for causing the computer to execute a step of controlling the output mode of the driving support information based on information indicating the state of the vehicle It is a program.

  The computer program manufacturing method according to the present invention also provides driving assistance information including recommended driving speed information for passing through a road section in which a plurality of traffic signals are installed without waiting for a signal to a vehicle driver. A computer program manufacturing method for causing a computer to execute an output process, the computer program causing a computer to execute a step of controlling an output mode of the driving support information based on information indicating a state of the vehicle The computer program for making a computer perform the process which outputs the said driving assistance information with respect to the driver of a vehicle is used.

  ADVANTAGE OF THE INVENTION According to this invention, driving assistance information can be provided appropriately according to the current situation of the vehicle without giving the driver as much discomfort as possible.

It is a top view which shows the structure of an intelligent road traffic system. It is a block diagram which shows the structure of the driving assistance apparatus mounted in the vehicle. It is a graph which shows the mode at the time of calculating the recommended travel speed which a recommended speed calculation part generates. It is a figure which shows the output mode at the time of driving | running | working assistance information containing recommended driving speed information output by the display part 23, (a) typically shows the intersection which can be passed with the recommended driving speed calculated | required in FIG. An example in the case of display is shown, and (b) shows an example in the case where a road map image is displayed on the display unit together with the recommended traveling speed. It is the flowchart which showed the process sequence for controlling the output timing by the audio | voice of driving assistance information. It is a figure which shows an example of the output mode for outputting the recommended driving speed contained in driving assistance information, (a) is an example of normal mode, (b) is an example of low speed mode, (c) is cancellation It is an example of a mode. It is the flowchart which showed the process at the time of an output control part selecting an output mode based on vehicle presence information, and when selecting an output mode according to the presence or absence of the other vehicle (preceding vehicle) ahead of the own vehicle Shows the processing. It is the flowchart which showed the process at the time of an output control part selecting an output mode based on vehicle presence information, When selecting an output mode according to the presence or absence of the other vehicle (following vehicle) behind the own vehicle Shows the processing. It is the flowchart which showed the process at the time of an output control part selecting an output mode based on the weather information which a condition information acquisition part acquires. It is a figure which shows an example of the selection table used when the driving assistance device which concerns on other embodiment selects an output mode based on the information which shows the state of the speed of a vehicle. It is a figure which shows an example of the output mode for outputting recommended driving speed by other embodiment, (a) is an example of 1st mode, (b) is an example of 2nd mode, (c) is , An example of the third mode, (d) is an example of the fourth mode.

[Description of Embodiment of Present Invention]
As described above, in the conventional system, the recommended travel speed is calculated based on signal control command information, traffic information collected by a light beacon or the like, and does not take into account individual situations for each vehicle. .

  For this reason, even if the recommended travel speed is given, depending on the situation of the vehicle, it may be difficult to travel at the recommended travel speed, and the driver may feel uncomfortable.

  For example, when there is a preceding vehicle or a following vehicle around the vehicle, even if the recommended travel speed is provided, it is necessary to consider the speed of the preceding vehicle or the subsequent vehicle, and the vehicle travels at the recommended travel speed. It can be difficult.

  Even if information on recommended travel speed is provided, the vehicle can be adjusted to the recommended travel speed as soon as the vehicle is accelerating / decelerating or there is a large difference between the recommended travel speed and the current speed. Sometimes you can't.

The driver grasps the situation of the vehicle and the situation around the vehicle, and tries to travel at a speed determined from the situation.
In such a case, if there is a large difference between the given recommended traveling speed and the speed that the driver determines to be appropriate, the driver may feel uncomfortable.
The inventor of the present application paid attention to this point and completed the present invention.

First, the contents of the embodiments of the present invention will be listed and described.
(1) A travel support apparatus according to an embodiment of the present invention is mounted on a vehicle and includes travel support information including information on recommended travel speeds for passing through a road section in which a plurality of traffic signals are installed without waiting for a signal. A driving support device that outputs information to a driver, a status acquisition unit that acquires the status of the vehicle, and a control unit that controls an output mode of the driving support information based on the status of the vehicle. I have.

According to the travel support device having the above configuration, the output mode of the travel support information is controlled based on the situation of the vehicle. For example, the recommended travel depends on the surrounding traffic situation where the vehicle is currently located, the weather, and other factors. Recommended if it seems difficult to maintain the speed, or if the vehicle is accelerating / decelerating or if there is a large difference between the recommended speed and the current speed, and it cannot be adjusted to the recommended speed promptly. When the travel speed does not match the current vehicle situation, the output of the travel support information can be stopped or the way of output to the driver can be changed according to the situation.
As a result, even if there is a large difference between the recommended travel speed and the speed that seems appropriate in the current vehicle situation because the recommended travel speed does not match the current vehicle situation, Thus, the driving support information can be appropriately provided according to the current state of the vehicle without giving a sense of incongruity as much as possible.

(2) (3) In the driving support device, the information indicating the situation of the vehicle preferably includes surrounding information indicating a surrounding situation of the vehicle, and in this case, the surrounding information includes the surroundings of the vehicle. It is preferable to include vehicle presence information indicating whether or not there is another vehicle.
In this case, it can control appropriately so that it may become the output mode of the driving assistance information according to the existence of other vehicles around the vehicle.

(4) In the travel support device, when the vehicle presence information indicates that another vehicle is present in front of the vehicle, the control unit is configured to control the vehicle speed and the recommended travel speed. It is preferable to control the output mode of the driving support information based on the comparison result.
In this case, the vehicle cannot travel at a speed higher than that of other vehicles existing ahead. Therefore, the control unit determines that the vehicle following the other vehicle cannot travel at a speed higher than the current speed, and compares the current vehicle speed with the recommended travel speed to more appropriately support the travel support information. Can be controlled.

(5) More specifically, in the case of (4) above, the control unit compares the speed of the vehicle with the recommended travel speed. As a result, the recommended travel speed is higher than the vehicle speed. If it is determined that it is larger, it is preferable to stop outputting the recommended travel speed information.
In this case, since the control unit can determine that the vehicle cannot travel at the current speed or higher, if the recommended travel speed is greater than the current vehicle speed, the vehicle will travel at the recommended travel speed. Therefore, it can be determined that the recommended traveling speed does not match the current vehicle situation. Therefore, in this case, by stopping the output of the recommended travel speed, it is possible to limit the information on the recommended travel speed that does not match the current vehicle situation from being provided to the driver. As a result, it is possible to prevent the driver from feeling uncomfortable and to perform appropriate driving support according to the current state of the vehicle.

(6) When the vehicle presence information indicates that another vehicle is present behind the vehicle, the control unit calculates a predetermined minimum traveling speed and the recommended traveling speed. Based on the comparison result, the output mode of the driving support information may be controlled.
In this case, for example, if the vehicle travels at a speed extremely lower than the average vehicle speed on the traveling road, there is a risk that the traffic flow of the other subsequent vehicles may be hindered.
For this reason, when there is another vehicle behind the vehicle, the control unit sets the minimum traveling speed based on the average vehicle speed or the like, and sets the minimum traveling speed, the recommended traveling speed, By comparing these, the output mode of the driving support information can be controlled more appropriately.

(7) More specifically, in the case of (6) above, when the control unit compares the minimum travel speed with the recommended travel speed, the recommended travel speed is smaller than the minimum travel speed. When it is determined, it is preferable to stop outputting the recommended travel speed information.
If it is determined that the recommended travel speed is lower than the minimum travel speed, the control unit can determine that it is difficult for the vehicle to travel at the recommended travel speed that is lower than the minimum travel speed. Therefore, in this case, by stopping the output of the recommended travel speed, it is possible to limit the information on the recommended travel speed that does not match the current vehicle situation from being provided to the driver. As a result, it is possible to prevent the driver from feeling uncomfortable and to perform appropriate driving support according to the current state of the vehicle.

(8) In the driving support device, the surrounding information is preferably weather information indicating weather around the vehicle.
In this case, it can control appropriately so that it may become the output aspect of the driving assistance information according to the present weather condition around the vehicle.

(9) In the travel support device, the information indicating the state of the vehicle includes information indicating a state of the speed of the vehicle, and the control unit includes a comparison result between the speed of the vehicle and the recommended travel speed. Based on this, it is preferable to control the output mode of the driving support information.
In this case, it can control appropriately so that it may become the output mode of the driving assistance information according to the speed of the vehicle by the comparison result of the speed of the vehicle and the recommended driving speed.

(10) Further, the control unit may control the output mode of the travel support information in consideration of the acceleration / deceleration state in addition to the comparison result between the vehicle speed and the recommended travel speed, In this case, it can classify | categorize into a more various driving | running pattern, and it becomes possible to control more finely.

(11) In the travel support apparatus, the control unit may output the recommended travel speed information by voice after a predetermined period when the vehicle passes through one of the traffic signals.
If audio output of recommended travel speed information is performed while passing through a traffic signal point, it may be difficult to distinguish between guidance for a traffic signal that is passing or guidance for the next traffic signal. is there. Further, if the guidance is output while passing the traffic signal point, information is provided to the driver who is about to pass the traffic signal point, which may cause an excessive burden on the driver.
In this regard, since the recommended travel speed information is output by voice after a predetermined period after passing the traffic signal, the guidance of the recommended travel speed output by voice is suppressed while preventing an excessive burden on the driver. Thus, it is possible to make it easier for the driver to understand that the guidance is for a traffic signal that appears next.

(12) In the travel support device, the control unit may output information of the recommended travel speed by voice when the recommended travel speed is updated.
The recommended traveling speed changes sequentially depending on the traveling state of the vehicle. In this regard, every time the recommended travel speed is updated, new information can be provided to the driver in a timely manner by outputting information on the recommended travel speed by voice.

(13) A computer program according to an embodiment of the present invention provides driving assistance information including recommended traveling speed information for passing through a road section in which a plurality of traffic signals are installed without waiting for a signal to a vehicle driver. A computer program for causing a computer to execute processing to be output to the computer, wherein the computer obtains information indicating the vehicle status, and outputs the driving support information based on the information indicating the vehicle status. And a step of controlling an aspect.

(14) Further, the computer program according to the embodiment of the present invention provides driving support information including recommended driving speed information for passing through a road section in which a plurality of traffic signals are installed without waiting for a signal. A computer program for causing a computer to execute a process for controlling an output mode when outputting to a driver, the step of controlling the output mode of the driving support information based on information indicating the state of the vehicle A computer program for causing a computer to execute.

(15) Further, the computer program manufacturing method according to an embodiment of the present invention includes travel support information including information on recommended travel speeds for passing through a road section in which a plurality of traffic signals are installed without waiting for a signal. A method for manufacturing a computer program for causing a computer to execute a process of outputting a vehicle driver to a vehicle driver, wherein the step of controlling the output mode of the driving support information based on information indicating the state of the vehicle is controlled by the computer. A computer program manufacturing method for manufacturing a computer program for causing a computer to execute a process of outputting the driving support information to a vehicle driver using a computer program for causing the computer to execute the driving support information.

According to the computer program having the above configuration, it is possible to appropriately provide the driving support information according to the current state of the vehicle without giving the driver as much discomfort as possible.
Further, according to the computer program manufacturing method having the above-described configuration, a computer program that can provide driving support information appropriately according to the current state of the vehicle without giving the driver as much discomfort as possible is obtained. Can do.

[Details of the embodiment of the present invention]
Hereinafter, preferred embodiments will be described with reference to the drawings.
[1. (Overall system configuration)
FIG. 1 is a plan view showing a configuration of an intelligent road traffic system.
The intelligent road traffic system (running support system) shown in FIG. 1 includes a vehicle 2 equipped with a driving support device 1, a plurality of traffic signals 3, a roadside communication device 4, an optical beacon 5, and a central for signal control and the like. Device 6 is included.

The traffic signal 3 and the roadside communication device 4 are installed at each of a plurality of intersections A1 to A3 provided continuously on the road R.
The traffic signal 3 and the roadside communication device 4 are communicably connected to a central device 6 installed in a traffic control center or the like via a communication line 7.

  The traffic signal device 3 includes, for example, a lamp that lights in blue, yellow, and red, and includes a control unit that controls the color of the lamp. The control unit performs lamp color control based on signal control information transmitted from the central device 6 via the communication line 7.

The plurality of roadside communication devices 4 installed at the respective intersections A1 to A3 have a function of performing wireless communication (road-to-vehicle communication) with the travel support device 1 of the vehicle 2 traveling around the intersections.
The roadside communication device 4 receives various information transmitted by the driving support device 1 and transmits the received various information to the central device 6 through the communication line 7. The roadside communication device 4 transmits various information such as traffic information given from the central device 6 via the communication line 7 to the travel support device 1 of the vehicle 2 by wireless communication.
In addition, the travel support device 1 of the vehicle 2 can perform wireless communication (vehicle-to-vehicle communication) with another travel support device 1 by a CSMA (Carrier Sense Multiple Access) method or a wireless LAN method.

The optical beacon 5 is installed above the road R and has a function of performing bidirectional communication (road-to-vehicle communication) with the driving support device 1 of the vehicle 2 by optical communication using near infrared as a communication medium. ing.
The optical beacon 5 is installed on the upstream side of the lane that flows into each of the intersections A1 to A3. The optical beacon 5 is also communicably connected to the central device 6 via the communication line 7 in the same manner as the traffic signal 3 and the like.
Further, the optical beacon 5 includes a vehicle detection sensor for detecting the vehicle 2 passing directly under the optical beacon 5 in addition to a road-to-vehicle communication function with the travel support device 1 of the vehicle 2 by optical communication. The traffic volume at each point on the road R can be measured.

  The central device 6 constitutes a LAN (Local Area Network) with the traffic signal device 3, the roadside communication device 4, the optical beacon 5 and the like of each intersection included in the area under its control. Therefore, the central device 6 can perform bidirectional communication with each traffic signal device 3, each roadside communication device 4, and the optical beacon 5. The central device 6 systematically controls the traffic signal 3 at the intersection belonging to its own network. The central device 6 may be installed on the road instead of the traffic control center.

  The roadside communication device 4 and the optical beacon 5 measure the traffic volume on the road R from information obtained by road-to-vehicle communication with the vehicle 2 and information obtained by sensors, and the traffic volume around the intersection where each is installed. Generates information indicating The central device 6 collects information indicating the traffic generated by the roadside communication device 4 and the optical beacon 5 through the network.

  The central device 6 has a control unit composed of a workstation (WS), a personal computer (PC), and the like. This control unit acquires various types of traffic information given from the roadside communication device 4 and the optical beacon 5, and performs processing, recording, signal control based on the information, and information provision in an integrated manner.

  The central device 6 has a function of transmitting signal control information for controlling the central device 6 to the control unit of each traffic signal device 3. The control unit of the traffic signal device 3 that has received the signal control information determines the distribution of the lighting time of each lamp color based on the signal control information, and performs lighting control of each lamp color accordingly.

  The signal control information includes, for example, information indicating parameters such as an ID for identifying the traffic signal 3 to be controlled, a cycle length, a split, an offset, and an expiration date of the signal control information. The cycle length is the time necessary for the display of the traffic signal 3 to make a round (one cycle). The split is a value obtained by dividing the blue lighting time of the traffic signal 3 by the cycle length. The offset is a value indicating a difference between the start time of one cycle (for example, the blue lighting start time) and the reference time.

The central device 6 determines the parameters described above based on information indicating the traffic volume given from the roadside communication device 4 or the optical beacon 5 and generates signal control information. The central device 6 generates signal control information corresponding to each traffic signal 3 and gives it to each traffic signal 3.
The central device 6 transmits the generated signal control information to the optical beacon 5 and the roadside communication device 4 together with the position information of the corresponding traffic signal device 3. The optical beacon 5 and the roadside communication device 4 that have received the signal control information and the position information of the traffic signal 3 send the signal control information and the position information of the traffic signal 3 to the travel support device 1 of the vehicle 2 traveling on the road R. Transmit by road-to-vehicle communication.

[2. Regarding the configuration of the driving support device 1]
FIG. 2 is a block diagram illustrating a configuration of the driving support device 1 mounted on the vehicle 2.
The travel support device 1 is a device having a function of performing travel support for a driver of a vehicle 2 (own vehicle 2) on which the travel support device 1 is mounted. For example, a smartphone, a tablet terminal, a portable computer Etc.

The driving support device 1 according to this embodiment has a car navigation function, a function of providing traffic information acquired by road-to-vehicle communication, road-to-road communication, and the like as a driving support function, and at least a predetermined section. It has a function of obtaining a speed (recommended travel speed) that allows a plurality of traffic signals 3 installed in front of the vehicle 2 to pass in blue and outputting the same to the driver.
The driving support device 1 outputs information on car navigation, traffic information, and information on recommended driving speed as driving support information to the driver.

  The driving support device 1 has a function of acquiring information indicating the status of the host vehicle 2 and controlling the output mode of the driving support information based on the acquired information indicating the status of the host vehicle 2.

As shown in the figure, an optical communication device 10 and a wireless communication device 11 provided in the host vehicle 2 are connected to the driving support device 1 by communication.
The optical communication device 10 includes a projector / receiver, and has a function as a transmitter / receiver that performs optical communication with the optical beacon 5. The optical communication device 10 further has a function of communicating with the driving support device 1 by wireless communication such as wireless LAN or Blue Tooth (registered trademark), or by wire.
The driving support device 1 has a function of performing optical communication with the optical beacon 5 and performing road-to-vehicle communication via the optical communication device 10 that can be connected to the driving support device 1.

The wireless communication device 11 has a function as a transceiver that performs wireless communication with the roadside communication device 4. The wireless communication device 11 further has a function of connecting to the driving support device 1 by wireless or wired communication.
The driving support device 1 has a function of performing wireless communication with the roadside communication device 4 via the wireless communication device 11 that can be connected to the driving support device 1 and performing road-to-vehicle communication.

In addition, a vehicle sensor 12 that detects whether there is another vehicle 2 around the host vehicle 2 mounted on the host vehicle 2 is connected to the driving support device 1 by communication.
The vehicle sensor 12 has a function of detecting the presence of another vehicle around the host vehicle 2 (front, rear, side, etc.) using infrared rays, millimeter waves, a camera, or the like. In addition, the vehicle sensor 12 has a function of connecting to the driving support device 1 by wireless or wired communication.
The driving support device 1 has a function of acquiring an output related to a detection result of another vehicle from the vehicle sensor 12.

Furthermore, a vehicle control unit 13 that controls the host vehicle 2 is connected to the driving support device 1 by communication.
The vehicle control unit 13 has a function of performing necessary control when the host vehicle 2 travels. For example, information on the speed of the host vehicle 2, information on the steering angle, lights of the host vehicle 2, and operations of the blinker. Process information, information about wiper operation. The vehicle control unit 13 also has a function of connecting to the driving support device 1 by wireless or wired communication.
The driving support device 1 has a function of acquiring information related to the speed of the host vehicle 2, information related to the operation of lights and turn signals, and information related to the operation of the wiper from the vehicle control unit 13.

  As illustrated in FIG. 2, the driving support device 1 includes a control unit 20, a storage unit 21 that stores necessary information, an operation unit 22, a display unit 23, a speaker 24, a GPS receiver 25, a gyro sensor 26, and a communication unit. 27.

The operation unit 22 is a functional unit for receiving an operation input by an operator of the travel support device 1 and is configured by an input device such as an operation key.
The display unit 23 is a functional unit for visually displaying information given from the control unit 20 and outputting the information, and is configured by an output device such as a liquid crystal display or a touch panel. When the display unit 23 is configured by a touch panel, the display unit 23 is configured to have the function of the operation unit 22.
The speaker 24 has a function of outputting information given from the control unit 20 as sound.

A GPS receiver 25 (GPS: Global Positioning System) receives a GPS signal and provides it to the control unit 20.
The gyro sensor 26 detects the direction of the driving support device 1 and gives an output related to the detection result to the control unit 20.
The control unit 20 obtains the absolute position of the driving support device 1 (own vehicle 2) from the GPS signal received by the GPS receiver 25, outputs related to the detection result of the gyro sensor 26, and the vehicle control unit 13 of the own vehicle 2. Based on the information on the speed of the host vehicle 2 acquired from the above, the position and direction are complemented, and the accurate current position and direction of the driving support device 1 (host vehicle 2) can be always grasped.

  The communication unit 27 communicates with the above-described optical communication device 10, the wireless communication device 11, the vehicle sensor 12, the vehicle control unit 13, or the like by wireless communication such as wireless LAN or Blue Tooth (registered trademark), or by wire. It has a function to connect. The driving support device 1 exchanges information with the optical communication device 10, the wireless communication device 11, the vehicle sensor 12, the vehicle control unit 13, and the like via the communication unit 27.

The storage unit 21 stores a control program for controlling and functioning each functional unit described above, a program for realizing a driving support function, a program for realizing a car navigation function, and the like.
The storage unit 21 stores a road map database. In the road map database, reference data on the road map, node data such as intersections, and road data such as link data related to road sections connecting the nodes are registered in association with IDs for identifying the nodes and links. Has been.
The control unit 20 can output a necessary road map image on the display unit 23 by referring to the road map database.

  The control unit 20 has a function of performing communication control processing related to optical communication performed via the optical communication device 10. In addition, the control unit 20 has a function of performing communication control processing related to wireless communication performed via the wireless communication device 11. Further, the control unit 20 communicates with each device (the optical communication device 10, the wireless communication device 11, the vehicle sensor 12, and the vehicle control unit 13) connected to the travel support device 1 via the communication unit 27. It has a function to perform control.

  In addition to the function of executing car navigation, the control unit 20 functionally includes a recommended speed calculation unit 30, a status information acquisition unit 31, and an output control unit 33, as shown in the figure. The functions of these parts will be described in detail later.

  Part or all of the functions of the control unit 20 of the driving support device 1 may be configured by a hardware circuit, or part or all of the functions may be realized by a computer program. When some or all of the functions of the control unit 20 are realized by a computer program, the driving support device 1 includes a computer, and the computer program executed by the computer is stored in the storage unit 21.

The computer program that realizes the function of the control unit 20 can be generated by an SDK (Software Development Kit) for generating the computer program.
The SDK, when given the necessary parameters, etc., selects an output mode, which will be described later, based on information indicating the status of the vehicle 2, and executes a function as an output control unit 33 for controlling the output mode of the driving support information on the computer. And a program module for generating a computer program that realizes the function of the control unit 20 by combining a program module for causing the program and other necessary program modules.
A computer program for realizing the function of the control unit 20 can be generated by using the SDK.

[3. Information about vehicle status)
The status information acquisition unit 31 of the control unit 20 has a function of acquiring information indicating the status of the host vehicle 2.
The information indicating the situation of the host vehicle 2 includes ambient information indicating the surrounding situation of the host vehicle 2, information indicating the speed state of the host vehicle 2, position information indicating the position of the host vehicle 2 with respect to each traffic signal 3, and the like. Contains.

  The surrounding information includes vehicle presence information indicating whether or not another vehicle 2 exists around the host vehicle 2 and weather information indicating the weather around the host vehicle 2.

  The information indicating the speed state of the host vehicle 2 includes information (speed information) indicating the current speed of the host vehicle 2 and information (acceleration / deceleration information) indicating the current acceleration / deceleration state of the host vehicle 2. Yes.

[3.1 About vehicle presence information]
The situation information acquisition part 31 acquires the output regarding the detection result of the other vehicle 2 obtained from the vehicle sensor 12 as vehicle presence information at any time. The vehicle presence information is a detection result by the vehicle sensor 12 and is information indicating whether or not another vehicle 2 is detected in front, rear, and both left and right sides of the host vehicle 2. The situation information acquisition unit 31 can determine whether there is another vehicle 2 on the front, rear, and left and right sides of the host vehicle 2 based on the output from the vehicle sensor 12.

  For example, when an output indicating that the presence of another vehicle 2 is detected in front of the host vehicle 2 is acquired from the vehicle sensor 12, the situation information acquisition unit 31 indicates that the other vehicle 2 exists in front of the host vehicle 2. It judges and gives the information which shows that the other vehicle 2 exists ahead of the own vehicle 2 to the output control part 33 as information which shows the condition of the own vehicle 2. FIG.

In addition, the situation information acquisition unit 31 has another vehicle 2 in front of the own vehicle 2 when the own vehicle 2 is stopped by waiting for a signal at a predetermined distance or more upstream from the position of the stop line of the traffic signal 3. It can also be judged.
In this case, the situation information acquisition unit 31 acquires information regarding the position of the traffic signal 3 and the position of the stop line as vehicle presence information through road-to-vehicle communication, and also acquires the position information of the host vehicle 2 from the GPS receiver 25. Obtained and determined by GPS signal.
The situation information acquisition unit 31 determines that there is another vehicle 2 ahead of the host vehicle 2 based on the information regarding the position of the traffic signal 3 and the position of the stop line and the position information of the host vehicle 2. The situation information acquisition unit 31 provides the output control unit 33 with information indicating that there is another vehicle 2 ahead of the host vehicle 2 as information indicating the situation of the host vehicle 2.

In addition, the situation information acquisition unit 31 does not need to stop by the traffic signal 3 during traveling, but if the number of times of acceleration / deceleration crossing a predetermined speed range is equal to or greater than a predetermined number, the host vehicle 2 It can also be determined that there is another vehicle 2 ahead of the vehicle. This is because when there is another vehicle 2 in front of the host vehicle 2, acceleration / deceleration may be repeated in order to match the speed of the other vehicle 2.
In this case, the situation information acquisition unit 31 acquires the speed information of the host vehicle 2 as the vehicle presence information and makes a determination. The situation information acquisition unit 31 gives the determination result to the output control unit 33 as information indicating the situation of the host vehicle 2.

In addition, the situation information acquisition unit 31 can determine that another vehicle 2 exists in front of the host vehicle 2 when a brake operation is performed a predetermined number of times or more during traveling. This is because when there is another vehicle 2 in front of the host vehicle 2, acceleration / deceleration may be repeated in order to match the speed of the other vehicle 2.
In this case, the situation information acquisition unit 31 acquires information regarding the brake operation from the vehicle control unit 13 as the vehicle presence information.

The situation information acquisition unit 31 can determine that another vehicle 2 exists in front of the host vehicle 2 when the lane is changed a predetermined number of times or more during traveling. This is because when there are many other vehicles 2 ahead of the host vehicle 2, the lane change may be repeated in order to avoid the other vehicles 2.
The situation information acquisition unit 31 determines whether or not a lane change has been performed based on information regarding the steering angle and information regarding the operation of the blinker of the host vehicle 2. The situation information acquisition unit 31 acquires information regarding the steering angle and information regarding the operation of the blinker of the host vehicle 2 from the vehicle control unit 13 as the vehicle presence information.

  In addition, the situation information acquisition unit 31 determines that there is another vehicle 2 around the host vehicle 2 when the information indicating the traffic volume acquired from the road-to-vehicle communication indicates congestion or traffic jam. You can also

Furthermore, the status information acquisition unit 31 determines whether there is another vehicle 2 around the host vehicle 2 based on the position information of the other vehicle 2 transmitted from the other vehicle 2 by inter-vehicle communication. Can also be judged.

  As described above, the situation information acquisition unit 31 can acquire vehicle presence information that is information indicating the situation of the host vehicle 2 from each unit.

[3.2 Other information indicating the status of the vehicle 2]
The situation information acquisition part 31 can acquire the information which shows the present weather of the area where the own vehicle 2 is located through road-to-vehicle communication.

Moreover, the situation information acquisition part 31 acquires the information (wiper operation information) regarding the operation | movement of a wiper from the vehicle control part 13 as weather information.
The situation information acquisition unit 31 refers to the wiper operation information. If the wiper of the host vehicle 2 is not operating, it can be determined that it is not raining. If the wiper is in continuous operation, it is raining. It can be judged. Further, if the wiper is in an indirect operation, the situation information acquisition unit 31 can determine that it is raining but it is raining. Thus, the wiper operation information can be used as information indicating the weather.

  As described above, the situation information acquisition unit 31 acquires weather information as information indicating the situation of the host vehicle 2.

Further, the situation information acquisition unit 31 can acquire the current speed information of the host vehicle 2 from the vehicle control unit 13 as information indicating the speed state of the host vehicle 2. In addition, the situation information acquisition unit 31 calculates the current acceleration (deceleration) of the host vehicle 2 by calculating the difference between the current speed of the host vehicle 2 and the past speed, and calculates the current speed of the host vehicle 2. Acceleration / deceleration information can be acquired.
The situation information acquisition unit 31 provides the current speed information and acceleration / deceleration information of the host vehicle 2 to the output control unit 33 as information indicating the situation of the host vehicle 2.

  In addition, when the driving assistance device 1 includes an acceleration sensor, the situation information acquisition unit 31 can acquire acceleration / deceleration information from the acceleration sensor. When the vehicle control unit 13 includes an acceleration sensor, the situation information acquisition unit 31 can acquire acceleration / deceleration information from the vehicle control unit 13.

Moreover, the status information acquisition part 31 acquires the positional information of the own vehicle 2 based on the GPS signal by the GPS receiver 25, and acquires the positional information of each traffic signal apparatus 3 from road-to-vehicle communication, a road map database, etc. The position information indicating the position of the own vehicle 2 with respect to each traffic signal 3 can be obtained.
In this case, the situation information acquisition unit 31 provides the output control unit 33 with the obtained position information indicating the position of the host vehicle 2 with respect to each traffic signal device 3 as correspondence information.

[4. (Calculation of recommended travel speed)
The recommended speed calculation unit 30 of the control unit 20 has a function of calculating a recommended travel speed.
The recommended speed calculation unit 30 acquires the position information of the host vehicle 2 based on the GPS signal from the GPS receiver 25 and acquires information (speed information) about the speed of the host vehicle 2 from the vehicle control unit 13.

The recommended speed calculation unit 30 identifies a link corresponding to the road R on which the host vehicle 2 is currently traveling based on the position information of the host vehicle 2 and the road map database in the storage unit 21. Further, the recommended speed calculation unit 30 specifies a predetermined number of traffic signals 3 located on the traveling direction side of the host vehicle 2 along the road R with the current position of the host vehicle 2 as a reference.
Further, the recommended speed calculation unit 30 acquires signal control information given from the central device 6 through road-to-vehicle communication. The recommended speed calculation unit 30 acquires signal control information of the specified predetermined number of traffic signals 3.
The recommended speed calculation unit 30 obtains a recommended travel speed based on the above information.

FIG. 3 is a graph showing a mode when the recommended travel speed generated by the recommended speed calculation unit 30 is calculated. In FIG. 3, the horizontal axis indicates the distance from the current position of the host vehicle 2, and the vertical axis indicates time.
In FIG. 3, the temporal change of the lamp color for each traffic signal 3 is represented as a bar-shaped diagram along the vertical axis direction. In the bar-shaped diagram representing the change in lamp color, the white part indicates the time zone when the lamp color is blue (progress permission signal), and the hatched part indicates the time zone when the lamp color is red (stop signal). ing. The time zone of each lamp color in the traffic signal 3 can be obtained from signal control information transmitted from the central device 6 through road-to-vehicle communication.

Each bar-shaped diagram is based on the current position of the host vehicle 2 in the horizontal axis direction, at a distance portion to the positions of the intersections A1 to A5 where the traffic signals 3 corresponding to the respective bar-shaped diagrams are installed. It is represented.
In order for the own vehicle 2 to travel without stopping at each traffic signal 3, it is only necessary to travel at such a speed that the traffic light 3 can pass in the blue time zone.

Here, in the graph shown in FIG. 3, since the horizontal axis is the distance and the vertical axis is the time (time), if the host vehicle 2 travels at a constant speed, the relationship between the position of the host vehicle 2 and its passing time is Indicated by a straight line. Further, the slope of the straight line expressed when the host vehicle 2 travels at a constant speed indicates the speed of the host vehicle 2.
Accordingly, in the figure, if a straight line that can pass through the current position and the traffic signal 3 that can pass in the time zone in which the light color is blue is obtained as much as possible, the slope of the obtained straight line is the recommended travel speed. It becomes.

Therefore, the recommended speed calculation unit 30 can change the slope of the straight line by changing the assumed speed of the host vehicle 2, pass through the current position, and pass through the time zone in which the light color is blue. A straight line is determined so that the traffic signal 3 is increased as much as possible. The recommended speed calculation unit 30 obtains a recommended traveling speed from the obtained straight line. The recommended speed calculation unit 30 obtains a recommended travel speed within a range equal to or less than the regulated speed set on the road R.
The recommended speed calculation unit 30 obtains an upper limit value and a lower limit value of the recommended travel speed, and obtains the recommended travel speed as a certain numerical range.

  In FIG. 3, when the host vehicle 2 travels between 35 km / h and 45 km / h, the traffic light 3 can pass between the blue lights of the intersections A1 to A3, and the vehicle has reached the intersection A4. In some cases, the traffic light 3 is colored red.

Therefore, when the speed of the host vehicle 2 is, for example, 30 km / h, the traffic light 3 turns red when it reaches the intersection A2, as shown in the figure.
If the speed of the host vehicle 2 is 50 km / h, the traffic light 3 turns red when it reaches the intersection A3.

  Thus, in the case of FIG. 3, the upper limit value of the recommended traveling speed at which the vehicle can travel to the intersection A4 without stopping by the traffic light 3 is 45 km / h, and the lower limit value is 35 km / h.

The recommended speed calculation unit 30 updates the target traffic signal 3 as needed as the host vehicle 2 travels and moves, and calculates the upper limit value and the lower limit value of the recommended travel speed as described above.
The recommended speed calculation unit 30 gives the calculated upper and lower limits of the recommended travel speed to the output control unit 33 as information indicating the recommended travel speed (recommended travel speed information).

[5. Control of output mode of driving support information)
The output control unit 33 of the control unit 20 has a function of controlling the output mode of the driving support information based on information indicating the situation of the host vehicle 2 given from the situation information acquisition unit 31.

The output control unit 33 includes the recommended travel speed information provided from the recommended speed calculation unit 30 in the travel support information and outputs the travel support information to the driver.
In addition to the recommended travel speed information, the travel support information includes route guidance based on the car navigation function, traffic information, information on other vehicles 2 existing at intersections, and the like. A mode in which recommended travel speed information is output will be described.

[5.1 Output by display unit]
FIG. 4 is a diagram showing an output mode when driving support information including recommended driving speed information is output by the display unit 23, and (a) is an intersection that can be passed along with the recommended driving speed obtained in FIG. Is schematically shown as an example.

In FIG. 4A, a pointer 41 indicating the current position of the host vehicle 2 is displayed at one end of a route diagram 40 indicating the road R, and at intersections A1 to A5 downstream of the current position. The corresponding circle is displayed.
Further, a recommended traveling speed display 42 for displaying the recommended traveling speed is displayed in the vicinity of the pointer 41.

  The route diagram 40 shows, for example, in blue the range (hatched range) from the current position to the intersection A4 that can be passed without stopping while waiting for a signal by traveling at the recommended traveling speed. The range is displayed in other colors. Thus, it is displayed so that it is possible to easily grasp which intersection can be passed if the vehicle travels at the recommended travel speed.

FIG. 4B shows an example when a road map image is displayed on the display unit 23 together with the recommended travel speed.
In FIG. 4B, a road map image 45 showing the vicinity of the current position of the host vehicle 2 is displayed on the display of the display unit 23. On the road portion 46 indicating the road R in the road map image 45, a pointer 47 indicating the current position of the host vehicle 2 is displayed.
A recommended travel speed display 42 for displaying the recommended travel speed is displayed in the vicinity of the pointer 47.

On the downstream side of the pointer 47, a route diagram 48 indicating the route that the host vehicle 2 should travel is displayed superimposed on the road map image 45.
Similarly to the route diagram 40 in FIG. 4A, this route diagram 48 also shows, for example, in blue the range that can be passed without stopping while waiting for a signal from the current position by traveling at the recommended traveling speed. Other ranges are displayed in other colors. Thereby, it is possible to easily grasp whether or not the previous intersection can pass when traveling at the recommended traveling speed.

  Regarding the display on the display unit 23, when the recommended travel speed is recalculated and updated as the host vehicle 2 moves, the output control unit 33 updates the display every time it is updated.

Moreover, the output control part 33 can output driving | running | working assistance information with a sound through the speaker 24 other than the output by displaying on the display part 23, as shown in FIG.
The output by voice is different from the display by a display or the like, and depending on the timing of the voice guidance, it may be difficult to distinguish the target that the voice is trying to guide.

  For this reason, the output control part 33 of this embodiment has a function which controls appropriately the output timing by the audio | voice of driving assistance information.

[5.2 Timing of audio output]
FIG. 5 is a flowchart showing a processing procedure for controlling the output timing of the driving support information by voice.
The output control unit 33 determines the positional relationship between the host vehicle 2 and each intersection (traffic signal 3) as needed based on the position information indicating the position of the host vehicle 2 with respect to each traffic signal 3 acquired by the situation information acquisition unit 31. I know.

First, the output control unit 33 determines whether or not T ₁ second has elapsed after passing through the intersection that has passed most recently among the intersections provided on the road R on which the host vehicle 2 travels (step S1). ).
If T ₁ second has not passed since the intersection was passed, the process returns to step S1 again, and the same determination is repeated.

On the other hand, if T ₁ second has passed since passing through the most recently passed intersection, the process proceeds to step S2, and whether T ₂ seconds before the scheduled time to reach the next intersection ahead has passed. It is determined whether or not (step S2).
When the time T ₂ seconds before the scheduled time to reach the next intersection ahead has passed, the process returns to step S1 again.

Therefore, when the own vehicle 2 enters the intersection, the output control unit 33 performs a step from the point T ₂ seconds before the scheduled time to reach the intersection until the point T ₁ second after passing the intersection passes. Since S1 and S2 are repeatedly executed, voice output is not executed when the host vehicle 2 travels at the intersection and the positions before and after the intersection.

If it is determined in step S2 that T ₂ seconds before the scheduled time to reach the next intersection has not passed, the output control unit 33 has passed T ₃ seconds after passing through the most recently passed intersection. It is determined whether or not (step S3). Incidentally, the T ₃ seconds, T is set to be slightly longer than ₁ second, the period can be determined whether it is immediately after T ₁ seconds have elapsed since through the intersection that has passed through the most recently Is set. That is, when it is determined that T ₃ seconds have not passed since the intersection that passed most recently, it can be determined that T ₁ second has passed immediately after passing the intersection that passed most recently. it can.

In step S3, if it is determined that T ₃ seconds after passing through the intersection that has passed through the most recently has not elapsed, the output control unit 33 proceeds to step S5, to perform the voice guidance (audio output) (step S5 ).
As a result, the driving support information including the current recommended driving speed is output by voice at a timing immediately after T ₁ second has passed since the vehicle passed through the most recently passed intersection. In other words, the output control unit 33 executes the sound output of the driving support information immediately after T ₁ second has passed after passing through the intersection.

On the other hand, in step S3, whether the case to determine the T ₃ seconds after passing through the intersection that has passed most recently has elapsed, the output control unit 33, the recommended travel speed is updated by newly calculated Is confirmed (step S4).

If the recommended travel speed has been updated in step S4, the output control unit 33 proceeds to step S5 and executes voice guidance (step S5).
On the other hand, when the recommended travel speed has not been updated, the output control unit 33 ends the process without executing voice guidance.

As described above, the output control unit 33 does not perform voice output for the period before and after passing through the intersection, and performs voice output of the driving support information immediately after T ₁ second has passed after passing through the intersection.
Thereafter, up to T ₂ seconds before the scheduled time to reach the next intersection ahead, when the recommended travel speed is updated, the travel support information including the updated recommended travel speed is output as audio.

  If the voice of the recommended travel speed is output while passing through the intersection (traffic signal 3), it may be difficult to distinguish between the guidance for the passing intersection and the guidance for the next intersection. is there. In addition, if the recommended travel speed information is output while passing through the intersection point, information is provided to the driver who is about to pass the traffic signal 3 point, which may overload the driver. There is.

In this regard, in this embodiment, voice output is not executed for the period before and after passing the intersection, and recommended travel speed information is output by voice after T ₁ second (predetermined period) after passing the intersection. On the other hand, it is possible to make it easier for the driver to understand that the guidance of the recommended traveling speed output by voice is guidance on the next intersection, while suppressing an excessive burden on the driver.

Note that T ₁ second set as a period after passing through the intersection is set to a period in which it is possible to recognize that the guidance to be output after that is the guidance for the next intersection.

  In the above embodiment, in a period other than the period before and after passing through the intersection, when the recommended travel speed is updated, the travel support information including the updated recommended travel speed is output as a voice. It is possible to provide the driver with a recommended traveling speed that changes sequentially according to the state at a good timing.

[5.3 Output mode]
The output control unit 33 has a function of selecting an output mode in accordance with information indicating the situation of the host vehicle 2 acquired by the situation information acquisition unit 31 and controlling the output mode of the driving support information.
For example, the output control unit 33 is configured to select an output mode according to the situation of the host vehicle 2 from three output modes of a normal mode, a low speed mode, and a stop mode.

The normal mode is a mode that is selected when there are few other vehicles 2 around the host vehicle 2 and it is relatively easy to travel.
The stop mode is a mode that is selected when it is determined that the recommended travel speed does not match the current situation of the host vehicle 2.
The low-speed mode is a mode selected in the case of an intermediate situation between the situation of the host vehicle 2 in which the normal mode is selected and the situation of the host vehicle 2 in which the stop mode is selected. This mode is selected when it is considered that traveling at a low speed is preferable to traveling.

  FIG. 6 is a diagram illustrating an example of an output mode for outputting recommended travel speed information included in the travel support information, where (a) is an example of a normal mode, (b) is an example of a low speed mode, c) is an example of a cancellation mode. In addition, in FIG. 6, it has shown about the case where the recommended travel speed calculated | required by the recommended speed calculating part 30 is 35 km / h-45 km / h.

When the normal mode is selected, the output control unit 33 displays the recommended travel speed obtained by the recommended speed calculation unit 30 on the recommended travel speed display 42 (FIG. 4) displayed on the display unit 23.
In this case, as shown in FIG. 6A, the recommended travel speed display 42 is configured to display an upper limit value (45 km / h) and a lower limit value (35 km / h) of the recommended travel speed. .

Further, when the normal mode is selected, the output control unit 33 outputs the recommended travel speed information obtained by the recommended speed calculation unit 30 through the speaker 24 by voice.
In this case, the upper limit value (45 km / h) and the lower limit value (35 km / h) of the recommended traveling speed are also output by voice so that the voice output is also “35 km / h to 45 km / h. It is configured as follows.

  Thus, in the normal mode, the numerical range of the recommended travel speed is output by display on the display unit 23 and also by sound.

  As illustrated in FIG. 6B, when the output control unit 33 selects the low speed mode, the recommended traveling speed information obtained by the recommended speed calculating unit 30 is displayed on the recommended traveling speed display 42 displayed on the display unit 23. . In this case, the recommended travel speed display 42 is configured to display only the lower limit value (35 km / h) of the recommended travel speed.

  Further, when the low speed mode is selected, the output control unit 33 does not execute the output of the recommended travel speed information by voice, but alerts the user such as “Please pay attention to the preceding vehicle (following vehicle, surroundings)” The driving support information including is output as a voice.

  Thus, in the low speed mode, only the lower limit value of the recommended travel speed is displayed, and the output of the recommended travel speed is not executed depending on the sound. As a result, in the low-speed mode, the recommended driving speed information is output to the driver in the lowest possible speed range by displaying only the lower limit value of the recommended driving speed, which is output somewhat more restrictively than the output of the driving support information in the normal mode. Can be output.

As shown in FIG. 6C, when the stop mode is selected, the output control unit 33 does not display the recommended travel speed display 42 on the display unit 23 and does not execute the output of the recommended travel speed information by sound.
As described above, in the stop mode, the output of the recommended travel speed information is stopped in both display and sound.

[5.4 Selection process depending on whether there is a preceding vehicle]
The output control unit 33 changes the status of the host vehicle 2 from the three output modes of the normal mode, the low speed mode, and the stop mode according to the information indicating the status of the host vehicle 2 acquired by the status information acquisition unit 31. Select the appropriate output mode.

  The output control part 33 of this embodiment selects an output mode according to the presence or absence of the other vehicle 2 which exists in front or back of the own vehicle 2 which vehicle presence information shows.

  FIG. 7 is a flowchart showing processing when the output control unit 33 selects an output mode based on the vehicle presence information, depending on whether there is another vehicle 2 (preceding vehicle) ahead of the host vehicle 2. The process when selecting the output mode is shown.

First, the output control unit 33 determines whether the vehicle presence information acquired by the situation information acquisition unit 31 includes a preceding vehicle (step S11).
When it determines with the preceding vehicle not existing, the output control part 33 selects normal mode (step S16), and complete | finishes a process.

On the other hand, when determining that there is a preceding vehicle, the output control unit 33 determines whether or not the upper limit value of the recommended travel speed given from the recommended speed calculation unit 30 is smaller than the current speed of the host vehicle 2. Determination is made (step S12).
When it is determined that the upper limit value of the recommended travel speed is smaller than the current speed of the host vehicle 2, the host vehicle 2 can travel at the recommended travel speed if the host vehicle 2 decelerates from the current speed.
Therefore, if it is determined in step S12 that the upper limit value of the recommended traveling speed is smaller than the current speed of the host vehicle 2, the output control unit 33 selects the normal mode (step S16) and ends the process.

  In step S12, it is determined that the upper limit value of the recommended travel speed is not smaller than the current speed of the host vehicle 2, that is, the upper limit value of the recommended travel speed is greater than or equal to the current speed of the host vehicle 2. In this case, the output control unit 33 proceeds to step S13, and determines whether or not the lower limit value of the recommended traveling speed given from the recommended speed calculation unit 30 is larger than the current speed of the host vehicle 2 (step S13).

  Here, when it determines with the preceding vehicle existing, the own vehicle 2 cannot drive | work more than the speed of a preceding vehicle. Therefore, the output control unit 33 can determine that the host vehicle 2 following the preceding vehicle cannot travel at the current speed or higher.

  For this reason, if the recommended travel speed given from the recommended speed calculation unit 30 is larger than the current speed of the host vehicle 2, it is difficult for the host vehicle 2 to travel at the recommended travel speed, and the output control unit 33 It can be determined that the recommended traveling speed does not match the current situation of the host vehicle 2.

  Therefore, the output control unit 33 determines whether or not the lower limit value of the recommended travel speed given from the recommended speed calculation unit 30 is larger than the current speed of the host vehicle 2 (step S13).

  In step S13, when the lower limit value of the recommended travel speed is larger than the current speed of the host vehicle 2, the output control unit 33 selects the stop mode (step S14) and ends the process.

  As described above, when the preceding vehicle exists and the lower limit value of the recommended travel speed is larger than the current speed of the host vehicle 2, the cancel mode is selected and the output of the recommended travel speed information is canceled, It is possible to restrict the driver from being provided with recommended travel speed information that does not match the situation of the host vehicle 2. As a result, it is possible to prevent the driver from feeling uncomfortable and to perform appropriate driving support according to the current situation of the host vehicle 2.

  As described above, when there is a preceding vehicle, the output control unit 33 determines that the host vehicle 2 cannot travel at a speed higher than the current speed, and determines the current speed of the host vehicle 2 and the lower limit value of the recommended travel speed. Since the comparison is performed, the output mode of the driving support information can be controlled more appropriately.

  In step S13, when the lower limit value of the recommended travel speed is not greater than the current speed of the host vehicle 2, the output control unit 33 selects the low speed mode (step S15) and ends the process.

  If the lower limit value of the recommended travel speed is not greater than the current speed of the host vehicle 2, that is, if the current speed of the host vehicle 2 is equal to or greater than the lower limit value of the recommended travel speed, the preceding vehicle exists, The vehicle 2 can travel at the recommended travel speed. Therefore, in this case, the output control unit 33 displays only the lower limit value of the recommended traveling speed on the display unit 23 by selecting the low speed mode, and outputs the recommended traveling speed information as low as possible to the driver. It is possible to output recommended travel speed information while considering the presence of a vehicle.

[5.5 Selection process according to the presence or absence of the following vehicle]
FIG. 8 is a flowchart showing processing when the output control unit 33 selects an output mode based on the vehicle presence information, depending on whether there is another vehicle 2 (following vehicle) behind the host vehicle 2. The process when selecting the output mode is shown.

First, the output control unit 33 determines whether the vehicle presence information acquired by the situation information acquisition unit 31 has a following vehicle (step S21).
When determining that the following vehicle does not exist, the output control unit 33 selects the normal mode (step S25) and ends the process.

  On the other hand, when it is determined that there is a subsequent vehicle, for example, when the host vehicle 2 travels at an extremely lower speed than the average traveling speed on the road on which it is traveling, May be disturbed.

  Therefore, when it is determined that the following vehicle exists, the output control unit 33 determines whether or not the upper limit value of the recommended travel speed given from the recommended speed calculation unit 30 is smaller than a preset minimum travel speed. (Step S22).

  In step S22, when the upper limit value of the recommended traveling speed is smaller than the minimum traveling speed, the output control unit 33 selects the stop mode (step S23) and ends the process.

  Here, if the output control unit 33 determines that there is a following vehicle and the upper limit value of the recommended traveling speed is smaller than the minimum traveling speed, the recommended traveling speed in which the host vehicle 2 is lower than the minimum traveling speed. It can be determined that it is difficult to travel on the road. Therefore, in this case, the output control unit 33 can restrict the recommended travel speed information that does not match the current situation of the host vehicle 2 from being provided to the driver by stopping the output of the recommended travel speed information. As a result, it is possible to prevent the driver from feeling uncomfortable and to perform appropriate driving support according to the current situation of the host vehicle 2.

  As described above, the output control unit 33 more appropriately controls the output mode of the driving support information by comparing the minimum driving speed and the recommended driving speed when there is a following vehicle. Can do.

  In addition, the said minimum driving speed can be made into the value, for example, when the minimum of the speed limit is defined on the road where the own vehicle 2 is driving. Moreover, it can also set so that it may become the average vehicle speed in the road where the own vehicle 2 is drive | working.

  In step S22, when the upper limit value of the recommended travel speed is not smaller than the minimum travel speed, the output control unit 33 selects the normal mode (step S25) and ends the process.

  When the upper limit value of the recommended travel speed is not smaller than the minimum travel speed, that is, when the minimum travel speed is less than or equal to the upper limit value of the recommended travel speed, the following vehicle exists, but the host vehicle 2 is less than the minimum travel speed. It can run at high speed. Therefore, in this case, the output control unit 33 can output appropriate recommended travel speed information to the driver by selecting the normal mode.

[5.6 Selection process according to the weather]
FIG. 9 is a flowchart illustrating processing when the output control unit 33 selects an output mode based on the weather information acquired by the situation information acquisition unit 31.
Here, the situation information acquisition unit 31 shows a case where the wiper operation information is acquired as weather information.

First, the output control unit 33 determines whether or not the content of the wiper operation information acquired by the situation information acquisition unit 31 indicates that the wiper is operating (step S31).
If it is determined in step S31 that the wiper is not operating, the output control unit 33 selects the normal mode (step S35) and ends the process.
In this case, since the wiper is not operating, it is not raining and it can be determined that the weather is good. Therefore, in this case, the output control unit 33 selects the normal mode and outputs the recommended travel speed as usual.

On the other hand, when determining that the wiper is in operation, the output control unit 33 further determines whether or not the content of the wiper operation information is in the intermittent operation (step S32).
If it is determined in step S32 that the intermittent operation is not being performed, the output control unit 33 selects the cancel mode (step S33) and ends the process.
When the wiper is operating other than intermittent operation, it can be determined that it is raining. Therefore, in this case, the output control unit 33 selects the cancellation mode and does not dare to output recommended travel speed information to the driver.

If it determines with it being in intermittent operation in step S32, the output control part 33 will select a low speed mode (step S34), and will complete | finish a process.
When the wiper is in intermittent operation, it can be determined that it is light rain. Therefore, in this case, the output control unit 33 displays only the lower limit value of the recommended traveling speed on the display unit 23 by selecting the low speed mode, and outputs the recommended traveling speed information that is as low as possible to the driver. The recommended travel speed information can be output in consideration of the above.

  As described above, the output control unit 33 can appropriately control the driving support information to be output in accordance with the current weather around the host vehicle 2.

  In the example of FIG. 9, the situation information acquisition unit 31 has acquired the wiper operation information as weather information. However, for example, the current weather information from the outside of the central device 6, for example, “sunny” It is also possible to obtain information such as “step rain”, “rain” and “heavy rain” in stages, and select an output mode based on the obtained information.

[6. (Effect)
As described above, the driving support device 1 according to the present embodiment includes recommended driving speed information for passing through the road R on which the plurality of traffic signals 3 are installed without waiting for a signal, which is mounted on the host vehicle 2. Driving support information is output to the driver. The driving support device 1 selects the output mode based on the status information acquisition unit 31 that acquires the status (information indicating) of the host vehicle 2 and the status (information that indicates) of the host vehicle 2, and outputs the driving support information. And an output control unit 33 that controls the mode.

According to the driving support device 1 having the above-described configuration, the output mode of the driving support information is controlled based on the situation of the host vehicle 2. For example, the surrounding traffic situation where the host vehicle 2 is currently located, the weather, etc. If it is difficult to maintain the recommended travel speed due to the above factors, or if the host vehicle 2 is accelerating / decelerating or there is a large difference between the recommended travel speed and the current speed, the recommended travel speed is prompt When the recommended travel speed does not match the current vehicle situation, such as when the vehicle cannot be adjusted, the output of the travel support information can be stopped or the way of output to the driver can be changed according to the situation.
As a result, even if there is a large difference between the recommended traveling speed and the speed that seems to be appropriate in the current situation of the own vehicle 2 because the recommended traveling speed does not match the current situation of the own vehicle 2. The driving support information can be appropriately provided according to the current situation of the host vehicle 2 without giving the driver as much discomfort as possible.

  In the present embodiment, the information indicating the situation of the host vehicle 2 includes the surrounding information indicating the surrounding situation of the host vehicle 2, and the surrounding information includes other vehicles around the host vehicle 2. The vehicle presence information indicating whether or not the vehicle 2 is included can be appropriately controlled so that the driving support information is output according to the presence or absence of another vehicle 2 around the host vehicle 2.

[7. Others]
In the above embodiment, the driving support device 1 has the recommended speed calculation unit 30 and the driving support device 1 calculates the recommended driving speed by itself. However, the driving support device 1 sets the recommended speed calculation unit 30. For example, by providing a recommended speed calculation unit in an external device such as the central device 6 or the roadside communication device 4, the driving support device 1 does not include the recommended speed calculation unit 30. You can also.
In this case, the travel support device 1 acquires the recommended travel speed information calculated by the recommended speed calculation unit provided in the central device 6 or the roadside communication device 4 from the central device 6 or the roadside communication device 4 through road-to-vehicle communication or the like. be able to.

Further, in the above embodiment, the case where the output mode selection processing is individually performed for the presence / absence of the preceding vehicle, the presence / absence of the subsequent vehicle, and the weather has been shown. Can also be done.
In this case, for example, each selection process is performed independently, and if at least one of the results obtained in each selection process has a cancellation mode, the cancellation mode is selected, and there is no cancellation mode and one low-speed mode. However, if the low-speed mode is selected, output mode selection processing can be performed in consideration of all the selection processing.

Moreover, although the case where the driving support device 1 includes a car navigation function has been described in the above embodiment, for example, when the host vehicle 2 includes a car navigation system, the driving support device 1 includes the car navigation function. The driving support information can also be output using the function of the navigation system. A car navigation system generally includes devices such as a GPS receiver, a gyro sensor, and a display (display unit).
Therefore, when the host vehicle 2 includes a car navigation system, the driving support device 1 may be configured to output driving support information using the device included in the car navigation system.

[8. Regarding other embodiments]
FIG. 10 is a diagram illustrating an example of a selection table used when the driving support device 1 according to another embodiment selects an output mode based on information indicating a vehicle speed state.

  In the present embodiment, the output control unit 33 outputs the output mode based on the current speed information of the host vehicle 2 acquired by the situation information acquisition unit 31 as information indicating the speed state of the host vehicle 2 and the acceleration / deceleration information. To control the output mode of the driving support information.

  Further, the output control unit 33 compares the speed of the host vehicle 2 with the recommended travel speed, “when the speed of the host vehicle 2 is smaller than the lower limit value of the recommended travel speed”, and “the speed of the host vehicle 2 is recommended. It is set to be classified into three states: “within the range of travel speed” and “when the speed of the host vehicle 2 is larger than the upper limit value of the recommended travel speed”.

  Acceleration / deceleration is set to be classified into three states of “accelerating”, “constant speed state”, and “decelerating”.

  Thereby, the output control unit 33 sets nine patterns of patterns (pattern 1 to pattern 9 in the figure) from the information indicating the speed state, and outputs modes (first mode to first mode) corresponding to each. 4 mode) is set.

  In the present embodiment, the output control unit 33 is configured to refer to the selection table shown in FIG. 10, identify a pattern according to the situation of the host vehicle 2, and select an output mode set in the identified pattern. Has been.

  FIG. 11 is a diagram illustrating an example of an output mode for outputting recommended travel speed information according to the present embodiment, where (a) is an example of a first mode, (b) is an example of a second mode, (C) is an example of the third mode, and (d) is an example of the fourth mode. In addition, in FIG. 11, it has shown about the case where a recommended travel speed is 35 km / h-45 km / h.

When the first mode is selected, the output control unit 33 outputs the upper limit value and the lower limit value of the recommended travel speed on the recommended travel speed display 42 (FIG. 4) displayed on the display unit 23.
In this case, the output control unit 33 outputs the upper limit value and the lower limit value of the recommended travel speed through the speaker 24 by voice.

When the second mode is selected, the output control unit 33 outputs the upper limit value and the lower limit value of the recommended travel speed on the recommended travel speed display 42 displayed on the display unit 23.
In this case, the output control unit 33 outputs only the upper limit value of the recommended traveling speed through the speaker 24 by voice.

When the third mode is selected, the output control unit 33 outputs the upper and lower limits of the recommended travel speed on the recommended travel speed display 42 displayed on the display unit 23.
Further, in this case, the output control unit 33 does not execute the output of the recommended travel speed by voice, but gives an alert such as “Please drive with caution to the preceding vehicle (following vehicle, surroundings)” through the speaker 24. Outputs voice information about the driving support information.

When the fourth mode is selected, the output control unit 33 does not display the recommended travel speed display 42 on the display unit 23, and does not execute the output of the recommended travel speed by sound.
As described above, in the fourth mode, the output of the recommended travel speed is stopped both in the display and in the sound.

Returning to FIG. 10, in the pattern 1, the speed of the host vehicle 2 is lower than the lower limit value of the recommended travel speed and the vehicle is accelerating. In this case, the host vehicle 2 can be accelerated toward the recommended travel speed. It can be judged that there is.
In the pattern 1, the first mode is set, and the output control unit 33 outputs the upper limit value and the lower limit value of the recommended travel speed both by display by the display unit 23 and by sound. As a result, the acceleration of the host vehicle 2 can be adjusted moderately with respect to the driver, leading to traveling at the recommended traveling speed.

In Pattern 2, the speed of the host vehicle 2 is within the recommended travel speed range and accelerating. In this case, it can be determined that the host vehicle 2 is about to accelerate toward the upper limit value of the recommended travel speed. .
In pattern 2, the second mode is set, and the output control unit 33 outputs only the upper limit value of the recommended travel speed by voice, and outputs the upper limit value and lower limit value of the recommended travel speed by display on the display unit 23. . Accordingly, it is possible to prompt the driver to guide only the upper limit value of the recommended travel speed by voice, stop the acceleration near the upper limit value, and drive within the recommended travel speed.

In pattern 3, the speed of the host vehicle 2 exceeds the upper limit value of the recommended travel speed and the vehicle is further accelerating. In this case, it can be determined that the host vehicle 2 is about to accelerate beyond the recommended travel speed. .
In pattern 3, the second mode is set, and the output control unit 33 outputs only the upper limit value of the recommended travel speed by voice and outputs the upper limit value and lower limit value of the recommended travel speed by display on the display unit 23. . Thus, only the upper limit value of the recommended travel speed is guided by voice to the driver who is going to accelerate further beyond the recommended travel speed, and the speed of the host vehicle 2 is reduced to near the upper limit value, and the vehicle travels within the recommended travel speed. Can be encouraged to do.

In Pattern 4, the speed of the host vehicle 2 is lower than the lower limit value of the recommended travel speed and is in a constant speed state. In this case, the host vehicle 2 is an external factor such as the presence of a preceding vehicle or an individual It can be determined that the vehicle is traveling at a slower speed depending on the preference of the vehicle.
In the pattern 4, the third mode is set, and the output control unit 33 does not output the recommended travel speed by voice, but only outputs the upper limit value and the lower limit value of the recommended travel speed by display. Thereby, it is possible to restrict the driver from guiding the recommended travel speed by voice.

In the pattern 5, the speed of the host vehicle 2 is in the range of the recommended travel speed and is in a constant speed state. In this case, it can be determined that the host vehicle 2 is traveling according to the recommended travel speed.
In the pattern 5, the third mode is set, and the output control unit 33 does not output the recommended travel speed by voice, but only outputs the upper limit value and the lower limit value of the recommended travel speed by display. As a result, it is possible to limit guidance of the recommended travel speed by voice to the driver traveling at the recommended travel speed.

In Pattern 6, the speed of the host vehicle 2 exceeds the upper limit value of the recommended travel speed and is in a constant speed state. In this case, it can be determined that the host vehicle 2 is traveling at a relatively high speed. .
In the pattern 6, the second mode is set, and the output control unit 33 outputs only the upper limit value of the recommended travel speed by voice and outputs the upper limit value and lower limit value of the recommended travel speed by display on the display unit 23. . Thereby, it is possible to prompt the driver to guide only the upper limit value of the recommended travel speed by voice, to reduce the speed of the host vehicle 2 to near the upper limit value, and to travel within the recommended travel speed.

In patterns 7 and 8, the speed of the host vehicle 2 is decelerating from a speed within the recommended travel speed range or lower, and in this case, it can be determined that the host vehicle 2 is about to stop.
In the patterns 7 and 8, the fourth mode is set, and the output control unit 33 determines that the guidance of the recommended traveling speed is unnecessary because the host vehicle 2 is about to stop, and outputs the recommended traveling speed. Do not run on both display and audio.

In the pattern 9 as well, the host vehicle 2 is decelerating, but the host vehicle 2 may adjust the speed because the speed of the host vehicle 2 is higher than the upper limit value of the recommended travel speed.
For this reason, in the pattern 9, the third mode is set, and the output control unit 33 does not output the recommended travel speed by voice, but only outputs the upper limit value and the lower limit value of the recommended travel speed by display. As a result, it is possible to limit guidance of the recommended travel speed by voice to the driver traveling at the recommended travel speed.

  According to the above configuration, the output control unit 33 divides the pattern based on the comparison result between the speed of the host vehicle 2 and the recommended travel speed, and controls the output mode of the travel support information (recommended travel speed information) for each pattern. Therefore, it can control appropriately so that it may become the output mode of the travel support information (recommended travel speed information) according to the speed of the own vehicle 2.

  Furthermore, the output control unit 33 divides the pattern into consideration by taking into account the acceleration / deceleration state in addition to the comparison result between the speed of the host vehicle 2 and the recommended travel speed, and controls the output mode of the travel support information for each pattern. Therefore, it is possible to classify the driving patterns into more various driving patterns, and to control the output mode of the driving support information more finely.

[9. Conclusion)
The embodiment disclosed this time should be considered as illustrative in all points and not restrictive. The scope of the present invention is defined by the terms of the claims, rather than the meanings described above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

DESCRIPTION OF SYMBOLS 1 Driving assistance device 2 Vehicle 3 Traffic signal 4 Roadside communication device 5 Optical beacon 6 Central device 7 Communication line 10 Optical communication device 11 Wireless communication device 12 Vehicle sensor 13 Vehicle control unit 20 Control unit 21 Storage unit 22 Operation unit 23 Display unit 24 Speaker 25 GPS receiver 26 Gyro sensor 27 Communication unit 30 Recommended speed calculation unit 31 Status information acquisition unit 33 Output control unit 40 Route diagram 41 Pointer 42 Recommended travel speed display 45 Road map image 46 Road part 47 Pointer 48 Route diagram A1 ~ A5 Intersection

Claims (15)

A driving support device that outputs driving support information including information on recommended driving speed for passing through a road section installed in a vehicle and having a plurality of traffic lights without waiting for a signal,
A status acquisition unit that acquires information indicating the status of the vehicle;
A control unit that controls an output mode of the driving support information based on information indicating a state of the vehicle;
A driving support device comprising:   The driving support device according to claim 1, wherein the information indicating the situation of the vehicle includes surrounding information indicating a surrounding situation of the vehicle.   The travel support device according to claim 2, wherein the surrounding information includes vehicle presence information indicating whether or not another vehicle exists around the vehicle. When the vehicle presence information indicates that there is another vehicle in front of the vehicle,
The driving support device according to claim 3, wherein the control unit controls an output mode of the driving support information based on a comparison result between the speed of the vehicle and the recommended driving speed.   When the control unit determines that the recommended travel speed is higher than the vehicle speed as a result of comparing the vehicle speed with the recommended travel speed, the control unit stops outputting the recommended travel speed information. The travel support apparatus according to claim 4. When the vehicle presence information indicates that there is another vehicle behind the vehicle,
The driving support device according to claim 3, wherein the control unit controls an output mode of the driving support information based on a comparison result between a predetermined minimum driving speed and the recommended driving speed.   The control unit, when comparing the minimum travel speed with the recommended travel speed, determines that the recommended travel speed is lower than the minimum travel speed, and stops outputting information on the recommended travel speed. 6. The driving support device according to 6.   The driving support device according to claim 2, wherein the surrounding information is weather information indicating weather around the vehicle. The information indicating the status of the vehicle includes information indicating the speed state of the vehicle,
The driving support device according to claim 1, wherein the control unit controls an output mode of the driving support information based on a comparison result between the speed of the vehicle and the recommended driving speed.   The driving support device according to claim 9, wherein the control unit controls an output mode of the driving support information in consideration of an acceleration / deceleration state in addition to a comparison result between the speed of the vehicle and the recommended driving speed. . The information indicating the status of the vehicle includes position information indicating the position of the vehicle with respect to the plurality of traffic signals,
2. The travel support device according to claim 1, wherein the control unit outputs information of the recommended travel speed by voice after a predetermined period when the vehicle passes through one of the plurality of traffic signals.   The driving support device according to claim 1, wherein the control unit outputs information of the recommended driving speed by voice when the recommended driving speed is updated. A computer program for causing a computer to execute processing for outputting to a vehicle driver driving support information including recommended driving speed information for passing through a road section in which a plurality of traffic signals are installed without waiting for a signal. There,
Obtaining information indicating a status of the vehicle in a computer;
Controlling the output mode of the driving support information based on the information indicating the status of the vehicle;
A computer program for running. Processing to control the output mode when outputting driving support information including recommended driving speed information for passing through a road section where a plurality of traffic signals are installed without waiting for a signal to the driver of the vehicle. A computer program for execution,
A computer program for causing a computer to execute a step of controlling an output mode of the driving support information based on information indicating a state of the vehicle. A computer program for causing a computer to execute a process of outputting driving support information including recommended driving speed information for passing through a road section in which a plurality of traffic signals are installed without waiting for a signal to a vehicle driver A manufacturing method comprising:
A process of outputting the driving support information to a driver of the vehicle using a computer program for causing a computer to execute a step of controlling the output mode of the driving support information based on information indicating the state of the vehicle. A computer program manufacturing method for manufacturing a computer program to be executed by a computer.

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