JP2018077860A - Navigation device, navigation method, and navigation program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent a user from erroneously recognizing a current position of another mobile body at a wrong position.SOLUTION: An on-vehicle device 100 includes: an acquisition unit 102 for acquiring positional information on another vehicle V2 from information received via radio communication; a graphic controller 13 for drawing the current position of the other vehicle V2 on an electronic map EM on the basis of the positional information acquired by the acquisition unit 102; a first determination unit 103 for determining whether a first condition is satisfied by using the positional information acquired by the acquisition unit 102; and a drawing control unit 105 for controlling the graphic control 13 to start drawing the current position based on the positional information if the first determination unit 103 determines that the first condition is satisfied.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a navigation device, a navigation method, and a navigation program.

  For example, Patent Document 1 discloses a technique for performing map matching processing on the road of a map on the current position of another moving body based on position information acquired through inter-vehicle communication.

JP 2010-108343 A

  In the above prior art, there is a possibility of misrecognizing the current position or relative orientation of another moving body.

  The problem to be solved by the present invention includes the above-described problem as an example.

  In order to solve the above-mentioned problem, the invention according to claim 1 is characterized in that acquisition means for acquiring position information of another moving body from information received via wireless communication, and position information acquired by the acquisition means. Based on the drawing means for drawing the current position of the other moving body on the map and the first judgment means for judging whether or not the first condition is satisfied by using the position information obtained by the obtaining means. And a drawing control means for controlling the drawing means to start drawing the current position based on the position information when the first determination means determines that the first condition is satisfied. Prepare.

  In order to solve the above-mentioned problem, the invention described in claim 6 includes an acquisition means for acquiring position information of another moving body from information received via wireless communication, and position information acquired by the acquisition means. On the other hand, there are provided correction means for performing correction within a range where the second condition is satisfied, and safe driving support means for executing safe driving support based on the corrected position information.

  In order to solve the above problem, the invention according to claim 16 is an acquisition procedure for acquiring position information of another mobile unit from information received via wireless communication, and the position information acquired by the acquisition procedure. A determination procedure for determining whether or not a predetermined condition is satisfied, and based on the position information acquired in the acquisition procedure when the determination procedure determines that the predetermined condition is satisfied And a drawing control procedure for controlling drawing so as to start drawing of the current position of the other moving body.

  In order to solve the above-mentioned problem, the invention described in claim 17 is an acquisition procedure for acquiring position information of another mobile unit from information received via wireless communication, and position information acquired by the acquisition procedure. A determination procedure for determining whether or not a predetermined condition is satisfied, and based on the position information acquired in the acquisition procedure when the determination procedure determines that the predetermined condition is satisfied The computer executes a drawing control procedure for drawing control so as to start drawing the current position of the other moving body.

It is a figure which shows an example of the some vehicle containing the vehicle carrying the vehicle-mounted apparatus which is one Embodiment of the navigation apparatus of this invention. It is a block diagram which shows the hardware structural example of the electronic system of the own vehicle. It is a functional block diagram which shows the function structural example of the radio | wireless communication control part of the vehicle-mounted apparatus of another vehicle. It is a functional block diagram which shows the functional structural example of the radio | wireless communication control part of the vehicle-mounted apparatus of the own vehicle, and the functional structural example of the control part exhibited when CPU performs the predetermined | prescribed program memorize | stored in the memory | storage device. It is explanatory drawing showing transition of the positional information on the own vehicle and other vehicles accompanying the movement of the own vehicle and other vehicles, and transition of the display content of the display of the own vehicle. It is explanatory drawing showing transition of the positional information on the own vehicle and other vehicles accompanying the movement of the own vehicle and other vehicles, and transition of the display content of the display of the own vehicle. It is a flowchart which shows the example of a control procedure of the navigation method which CPU in the vehicle-mounted apparatus of the own vehicle performs with the navigation program memorize | stored in the memory | storage device. It is a flowchart which shows the example of a control procedure of the navigation method which CPU in the vehicle-mounted apparatus of the own vehicle performs with the navigation program memorize | stored in the memory | storage device. An example of the functional configuration of the wireless communication control unit of the in-vehicle device of the host vehicle and a CPU executing a predetermined program stored in the storage device in a modified example in which correction is performed within a predetermined correction range. It is a functional block diagram which shows the function structural example of a control part. It is explanatory drawing of a comparative example showing the transition of the positional information on the own vehicle and other vehicles accompanying the movement of the own vehicle and other vehicles, and the transition of the display content of the display of the own vehicle. It is explanatory drawing of a comparative example showing the transition of the positional information on the own vehicle and other vehicles accompanying the movement of the own vehicle and other vehicles, and the transition of the display content of the display of the own vehicle. It is explanatory drawing of a comparative example showing the transition of the positional information on the own vehicle and other vehicles accompanying the movement of the own vehicle and other vehicles, and the transition of the display content of the display of the own vehicle. It is explanatory drawing for demonstrating (theta) 1 and (theta) 2. It is explanatory drawing showing transition of the positional information on the own vehicle and other vehicles accompanying the movement of the own vehicle and other vehicles, and transition of the display content of the display of the own vehicle. It is explanatory drawing showing transition of the positional information on the own vehicle and other vehicles accompanying the movement of the own vehicle and other vehicles, and transition of the display content of the display of the own vehicle. It is a flowchart which shows the example of a control procedure of the navigation method which CPU in the vehicle-mounted apparatus of the own vehicle performs with the navigation program memorize | stored in the memory | storage device. It is a flowchart which shows the example of a control procedure of the navigation method which CPU in the vehicle-mounted apparatus of the own vehicle performs with the navigation program memorize | stored in the memory | storage device. It is demonstrated by executing a predetermined program stored in the storage device, and a functional configuration example of the wireless communication control unit of the in-vehicle device of the host vehicle in a modification that performs processing according to the accuracy of the position information It is a functional block diagram which shows the function structural example of a control part.

  Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

  FIG. 1 is a diagram illustrating an example of a plurality of vehicles including a vehicle equipped with an in-vehicle device that is an embodiment of the navigation device of the present invention.

  As shown in FIG. 1, the vehicle V <b> 1 is equipped with an in-vehicle device 100, and the vehicle V <b> 2 is equipped with an in-vehicle device 200. Although only one vehicle V2 is shown in FIG. 1, the vehicle V2 is not limited to a single vehicle, and a plurality of vehicles V2 may exist. However, for convenience of explanation, a case where only one other vehicle V2 exists will be described below. The in-vehicle device 100 of the vehicle V1 and the in-vehicle device 200 of the vehicle V2 can transmit / receive information to / from each other via wireless communication. In the present embodiment, the in-vehicle device 100 (corresponding to a navigation device) of the vehicle V1 draws the current position of the vehicle V2 (corresponding to another moving body) on an electronic map EM described later and displays it on the display 2 described later. A case where safe driving support is executed will be described. Hereinafter, the vehicle V1 is appropriately referred to as “own vehicle V1”, and the vehicle V2 is referred to as “other vehicle V2”.

  FIG. 2 is a block diagram illustrating a hardware configuration example of the electronic system of the host vehicle V1.

  As shown in FIG. 2, the host vehicle V <b> 1 includes an in-vehicle device 100, a display 2, a wireless communication antenna 3, a vehicle speed sensor 4, a brake switch 5, a blinker switch 6, an in-vehicle camera 7, a GPS 8, and a gyro sensor 9. The in-vehicle device 100 includes a control unit 10, a graphic controller 13, and a wireless communication control unit 14.

  The control unit 10 includes a CPU 11 and a storage device 12. The CPU 11 (corresponding to a computer) executes various programs stored in the storage device 12 (including a navigation program for causing the CPU 11 to execute each procedure of the navigation method shown in the flow of FIGS. 7 and 8 to be described later). As a result, various processes are performed, and information is exchanged with other units and various control instructions are output, thereby controlling the entire in-vehicle apparatus 100.

  The storage device 12 includes a ROM 12a, a RAM 12b, and a storage medium 12c. The ROM 12a is an information storage medium in which the various programs and other necessary information are written in advance. The RAM 12b is an information storage medium on which information necessary for the CPU 11 to execute the various programs is written and read. The storage medium 12c is a non-volatile information storage medium such as a flash memory or a hard disk. The storage medium 12c stores various information such as map information.

  The graphic controller 13 (corresponding to the drawing means) has a function of acquiring image data from a video RAM (not shown) or the like under the control of the CPU 11, drawing an image based on the image data, and displaying the image on the display 2. For example, the graphic controller 13 draws an electronic map EM (corresponding to a map; see FIG. 5 to be described later) based on the map information stored in the storage medium 12 c under the control of the CPU 11 and displays it on the display 2. Further, for example, the graphic controller 13 draws the current position of the host vehicle V1 on the electronic map EM based on the position information (described later) of the host vehicle V1 or the position information (described later) of the other vehicle V2 under the control of the CPU 11. The current position of the other vehicle V2 is drawn on the electronic map EM and displayed on the display 2. Note that the graphic controller 13 may draw only the current position of the other vehicle V2 on the electronic map EM, and display it on the display 2 without drawing the current position of the host vehicle V1. Further, for example, the graphic controller 13 draws information for alerting the driver based on safe driving support under the control of the CPU 11 and displays the information on the display 2.

  The display 2 is composed of an LCD panel, for example, and displays various information images based on the image signal input from the graphic controller 13.

  The wireless communication control unit 14 has a function of controlling transmission / reception of information with the in-vehicle device 200 of each other vehicle V <b> 2 by wireless communication via the wireless communication antenna 3.

  The wireless communication antenna 3 is attached outside the vehicle V1 and transmits information signals input from the wireless communication control unit 14 and information signals received from the in-vehicle device 200 of the other vehicle V2 to the wireless communication control unit 14. Output.

  The vehicle speed sensor 4 has a function of detecting the traveling speed of the host vehicle V1. Based on the detection signal of the vehicle speed sensor 4, the CPU 11 can recognize how fast the host vehicle V1 is traveling at that time.

  The brake switch 5 has a function of detecting whether or not the brake of the host vehicle V1 is depressed and entering an operating state, that is, whether or not the host vehicle V1 is being decelerated by a braking operation.

  The blinker switch 6 has a function of detecting the presence or absence of a blinker operation in either the right direction or the left direction of the host vehicle V1.

  The in-vehicle camera 7 has a function of capturing a landscape image in the image capturing direction from the host vehicle V1 using, for example, a CCD image sensor and outputting a corresponding image signal to the CPU 11. The in-vehicle camera 7 may be an infrared sensor or a radar.

  The GPS 8 has a function of measuring the current position of the host vehicle V <b> 1, acquiring position information expressed in latitude and longitude, and outputting the position information to the CPU 11.

  The gyro sensor 9 has a function of detecting the traveling direction (traveling direction) of the host vehicle V1. Based on the detection signal of the gyro sensor 9, the CPU 11 can recognize in which direction (direction) the host vehicle V1 is traveling at that time.

  The host vehicle V1 may not include one or more of the vehicle speed sensor 4, the brake switch 5, the blinker switch 6, the in-vehicle camera 7, and the gyro sensor 9, or may include hardware other than the above. Good.

  The electronic system of the other vehicle V2 can have the same hardware configuration as described above, but does not necessarily have the same hardware configuration as described above. In the other vehicle V2, the wireless communication control unit of the in-vehicle device 200 is referred to as a “wireless communication control unit 24”, and the other parts have the same names as described above.

  FIG. 3 is a functional block diagram illustrating a functional configuration example of the wireless communication control unit 24 of the in-vehicle device 200 of the other vehicle V2.

  As illustrated in FIG. 3, the wireless communication control unit 24 includes a transmission / reception unit 241.

  The transmission / reception unit 241 intermittently transmits and receives information via wireless communication. One of the most important functions of the transmission / reception unit 241 is to transmit identification information (hereinafter referred to as “vehicle ID” as appropriate) of the other vehicle V2 and information (corresponding to first information) at least including position information via wireless communication. The transmission is intermittent (for example, every 100 [ms]). Note that the position information included in the information transmitted by the transmission / reception unit 241 is the position information detected by the GPS 8 (hereinafter referred to as “first position information” as appropriate), and the first position information is the vehicle speed sensor 4 or the gyro sensor 9. The position information after being corrected based on the speed information and traveling direction information detected by the above (hereinafter referred to as “second position information” as appropriate), the first or second position information is obtained by a known appropriate map matching process. Any position information after correction (hereinafter referred to as “third position information” as appropriate) may be used. In addition to the vehicle ID and position information of the other vehicle V2, the transmission / reception unit 241 includes the speed information of the other vehicle V2 detected by the vehicle speed sensor 4, the traveling direction information of the other vehicle V2 detected by the gyro sensor 9, Information including accompanying information such as accuracy information indicating the accuracy of the position information and road type information indicating the road type on which the other vehicle V2 travels may be transmitted. In the above description, the transmission / reception of information is intermittently performed. However, the communication itself may be intermittently connected and disconnected, or the communication itself is always connected to transmit information packets. It may be performed intermittently at a predetermined interval (for example, every 100 [ms]), or the content of information that is continuously transmitted may be updated at a predetermined interval (for example, every 100 [ms]). In addition, the information transmission interval or the information update interval is infinitely close to 0 ms and includes a case of continuous or real-time information transmission or information update. Further, the position information transmitted by the other vehicle V2 may include positioning errors, and here, the degree of the errors does not matter.

  FIG. 4 shows a functional configuration example of the wireless communication control unit 14 of the in-vehicle device 100 of the host vehicle V1, and a functional configuration of the control unit 10 that is exhibited when the CPU 11 executes a predetermined program stored in the storage device 12. It is a functional block diagram which shows an example.

  As shown in FIG. 4, the wireless communication control unit 14 includes a transmission / reception unit 141.

  The transmission / reception unit 141 (corresponding to the first reception unit) intermittently transmits / receives information via wireless communication. One of the most main functions of the transmission / reception unit 141 is information intermittently transmitted from the transmission / reception unit 241 in the other vehicle V2 and including at least the vehicle ID and the position information via wireless communication (for example, 100 Every [ms]. When information including accompanying information in addition to the vehicle ID and position information is transmitted by the transmission / reception unit 241 in the other vehicle V2, the transmission / reception unit 141 receives the vehicle ID transmitted from the transmission / reception unit 241 in the other vehicle V2. And information including accompanying information in addition to position information is received. Information received by the transmission / reception unit 141 is output to the control unit 10.

  The control unit 10 includes an acquisition unit 102, a first determination unit 103, a correction unit 104, a drawing control unit 105, and a safe driving support unit 106.

  The acquisition unit 102 (corresponding to an acquisition unit) acquires at least the vehicle ID and position information of the other vehicle V2 from the information received by the transmission / reception unit 141. In addition, when the information including accompanying information in addition to the vehicle ID and the position information is received by the transmission / reception unit 141, the acquisition unit 102 determines the vehicle ID and the position of the other vehicle V2 from the information received by the transmission / reception unit 141. Accompanying information may be acquired in addition to the information. Information acquired by the acquisition unit 102 is stored and accumulated in the RAM 12b.

  Whether the first determination unit 103 (corresponding to the first determination unit) satisfies the first condition (corresponding to the first condition and the predetermined condition) using at least the latest position information acquired by the acquisition unit 102 Make a decision. In the present embodiment, the first condition is set such that a road corresponding to the latest position information acquired by the acquisition unit 102 can be specified on the electronic map EM. The first condition is not limited to the fact that the road corresponding to the latest position information can be specified on the electronic map EM, and the road corresponding to the latest position information is specified on the electronic map EM. Regardless of whether or not it is possible, it may be set that the other vehicle V2 is traveling on the road. However, for convenience of explanation, a case will be described below where the first condition is set such that a road corresponding to the latest position information can be specified on the electronic map EM.

  That is, the first determination unit 103 first travels the other vehicle V2 at a predetermined speed (a speed that can be regarded as traveling on the road) or higher, or the other vehicle V2 exceeds the predetermined distance (while traveling on the road). It is determined whether the vehicle is traveling within a distance that can be regarded as “a predetermined distance or more in the same direction”. Accordingly, the first determination unit 103 determines whether or not the other vehicle V2 is traveling on the road. This determination is made when the other vehicle V2 that is transmitting information (that is, the engine is ON) is not driving on the road (that is, the vehicle is stopped on the road or is located on a place other than the road (for example, in the parking lot) Or on private land, etc.) or when it is not possible to determine whether the vehicle is traveling on the road. This determination is made every time information is acquired (updated). When the speed information is included in the information received by the transmission / reception unit 141, the traveling speed of the other vehicle V2 can be obtained based on the speed information acquired by the acquisition unit 102 from the first received information. Therefore, regarding the determination method for the information acquired first, the first determination unit 103 obtains the traveling speed of the other vehicle V2 based on the speed information acquired by the acquisition unit 102 from the received first information, and Judgment should be made. At this time, the first determination unit 103 determines that the other vehicle V2 is traveling on the road by determining that the other vehicle V2 is traveling at a predetermined speed or higher. When the speed information is not included in the information received by the transmission / reception unit 141, the traveling speed of the other vehicle V2 cannot be obtained only with the first information acquired by the acquisition unit 102 from the received first information. In addition, since the travel distance cannot be obtained only with the first information, it cannot be determined that the first information is traveling. In this case, the first determination unit 103 obtains the latest (of the same other vehicle V2) acquired by the acquisition unit 102 from a plurality of continuous information including the latest information (of the same other vehicle V2) received. Using the plurality of continuous position information including the position information, the travel speed or travel distance of the other vehicle V2 is obtained based on the displacement of the plurality of positions corresponding to the plurality of position information, and the above determination is made. That's fine. At this time, the first determination unit 103 determines that the other vehicle V2 is traveling at a predetermined speed or more, or that the other vehicle V2 is traveling a predetermined distance or more, so that the other vehicle V2 is on the road. Judge that you are driving.

  And when it judges that the other vehicle V2 is drive | working the road, the 1st judgment part 103 respond | corresponds to the said positional information using at least the newest positional information acquired by the acquisition part 102 continuously. It is determined whether the road can be identified on the electronic map EM. Specifically, the first determination unit 103 can specify the road corresponding to the position information on the electronic map EM because the position corresponding to the latest position information exists on the road of the electronic map EM (that is, There is no need to perform map matching processing), or the position corresponding to the latest position information does not exist on the road of the electronic map EM, but the road corresponding to the position information can be specified on the electronic map EM ( That is, it is determined whether or not the map matching process needs to be performed and the map matching process can be performed).

  Note that the first determination unit 103 basically acquires the information obtained by the obtaining unit 102 from a plurality of continuous information including the latest information (for the same other vehicle V2) received (for the same other vehicle V2). ) Use a plurality of continuous position information including the latest position information (if the acquisition unit 102 has acquired speed information, traveling direction information, road type information, etc., these information may also be used) Thus, it is determined that the road corresponding to the latest position information can be specified on the electronic map EM. However, in the case of a road arrangement situation in which there is no possibility that the road corresponding to the acquired first position information is erroneously specified on the electronic map EM, the first determination unit 103 acquires the acquired first position information. (If the acquisition unit 102 has acquired speed information, traveling direction information, road type information, etc., these information may also be used), and the road corresponding to the position information is displayed on the electronic map EM. It may be determined that it can be specified. In addition, as an arrangement state of a road that does not cause the possibility of erroneously specifying the road corresponding to the first position information on the electronic map EM, for example, there is one road around the position corresponding to the first position information on the electronic map EM. There are cases where there is only a book, and cases where the road type information is acquired together with the first position information by the acquisition unit 102 and the road corresponding to the first position information can be specified by the road type information.

  The correction unit 104 (corresponding to the correction unit) causes the first determination unit 103 to display the position corresponding to the latest position information on the road of the electronic map EM but the road corresponding to the position information on the electronic map EM. If it is determined that the position information can be specified, the latest position information is corrected by a known appropriate map matching process. The position information corrected by the correction unit 104 is stored in the RAM 12b.

  The drawing control unit 105 (corresponding to the drawing control unit) is determined by the first determination unit 103 that the road corresponding to the latest position information can be specified on the electronic map EM (= the first condition is satisfied). When it is determined that the current position of the other vehicle V2 is drawn on the electronic map EM based on the latest position information, the graphic controller 13 is started. That is, until the graphic controller 13 can specify the road corresponding to the latest position information on the electronic map EM under the control of the drawing control unit 105 (= until the first condition is satisfied). That is, while the road corresponding to the latest position information cannot be specified on the electronic map EM, the drawing of the current position of the other vehicle V2 on the electronic map EM is not started, and the road corresponding to the latest position information is not displayed. When identification on the electronic map EM becomes possible (= when the first condition is satisfied), drawing of the current position of the other vehicle V2 on the electronic map EM is started.

  Specifically, the first determination unit 103 determines that the road corresponding to the position information can be identified on the electronic map EM because the position corresponding to the latest position information exists on the road of the electronic map EM. If it is, the drawing control unit 105 causes the graphic controller 13 to start drawing the current position of the other vehicle V2 on the electronic map EM using the latest position information. On the other hand, when the first determination unit 103 determines that the position corresponding to the latest position information does not exist on the road of the electronic map EM, but the road corresponding to the position information can be specified on the electronic map EM. The drawing control unit 105 causes the graphic controller 13 to start drawing the current position of the other vehicle V2 on the electronic map EM using the latest position information corrected by the correction unit 104.

  The safe driving support unit 106 (corresponding to the safe driving support means) sets the travel direction of the other vehicle V2 based on the latest position information acquired by the acquiring unit 102 or the latest position information corrected by the correcting unit 104. Based on this, safe driving assistance is executed. As safe driving assistance, for example, the possibility of collision between the host vehicle V1 and the other vehicle V2 by recognizing the relative position and relative direction of the other vehicle V2 with respect to the host vehicle V1, and the collision with the driver. For example, there is an alert to the possibility of

  FIGS. 5 and 6 are explanatory diagrams showing the transition of the position information of the host vehicle V1 and the other vehicle V2 and the transition of the display contents of the host vehicle V1 as the host vehicle V1 and the other vehicle V2 move. is there. In FIGS. 5 and 6, in order to avoid the complexity of the illustration and facilitate understanding, the other vehicle V2 that transmits information is assumed to be a single vehicle, and the own vehicle V1 moves even if the own vehicle V1 moves. It is assumed that the area of the electronic map EM displayed on the display 2 of V1 does not change. 5 and 6, it is assumed that the transmission / reception unit 241 in the other vehicle V2 transmits information including only the vehicle ID and the position information.

  In FIG. 5A, the host vehicle V1 travels on the road L1 along the vertical direction in the drawing toward the upper side in the drawing, and the other vehicle V2 crosses the road L1 in the horizontal direction in the drawing. The situation which is drive | working toward the left side in the figure on the road L2 along is shown.

  FIG. 5B shows a position based on the first position information of the host vehicle V1 detected by the GPS 8 in the situation shown in FIG. 5A (corresponding to the first position information corrected by the map matching process). The position P1a and the position P2a corresponding to the first position information of the other vehicle V2 acquired by the acquisition unit 102 are shown on the electronic map EM. The initial position information includes an error, and the initial position P2a is different from the actual position.

  In the situation shown in FIG. 5B, only the first position information exists for the other vehicle V2 and there is no speed information. Therefore, the first determination unit 103 means that the other vehicle V2 is traveling on the road. Not judged. Therefore, at the time of the situation shown in FIG. 5B, the graphic controller 13 has not started drawing the current position of the other vehicle V2 corresponding to the first position P2a on the electronic map EM.

  In this case, as in the example shown in FIG. 5C, on the electronic map EM displayed on the display 2 of the host vehicle V1, there is a mark indicating the current position of the other vehicle V2 corresponding to the first position P2a. Only the mark M1 indicating the current position of the host vehicle V1 corresponding to the first position P1a is displayed.

  In FIG. 6 (a) showing a situation slightly later than the situation shown in FIG. 5 (a), the host vehicle V1 shows a slightly upper side of the road L1 from the position shown in FIG. 5 (a). While traveling toward the middle upper side, the other vehicle V2 is traveling a little on the left side in the drawing toward the left side in the drawing from the position shown in FIG. 5A of the road L2. .

  FIG. 6B shows the position based on the second position information of the host vehicle V1 detected by the GPS 8 in the situation shown in FIG. 6A (the second position information corrected by the map matching process). Corresponding position) P1b and a position P2b corresponding to the second position information of the other vehicle V2 acquired by the acquiring unit 102 are shown on the electronic map EM. The second position information includes an error, and the second position P2b is different from the actual position.

  In the situation shown in FIG. 6B, since the first and second position information exists for the other vehicle V2, the first determination unit 103 uses the first and second position information to determine that the other vehicle V2 is a road. It is determined that you are driving. Further, the first determination unit 103 uses the first and second position information, and the second position P2b does not exist on the road of the electronic map EM, but the road corresponding to the position information is determined as the road of the electronic map EM. It is determined that L2 can be specified. Then, the correction unit 104 corrects the second position information by map matching processing, and the position P2b ′ corresponding to the corrected second position information is placed on the road L2 of the electronic map EM. Yes. Therefore, at the time of the situation shown in FIG. 6B, the graphic controller 13 starts drawing the current position of the other vehicle V2 corresponding to the corrected second position P2b ′ on the electronic map EM. ing. At this time, when safe driving support is executed based on the corrected second position information by the safe driving support unit 106, future positions and traveling directions of the host vehicle V1 and the other vehicle V2 are shown in the figure. It is predicted as indicated by an arrow indicated by a dotted line, and it is determined that there is a possibility that the vehicle V1 and the other vehicle V2 may collide with each other if they run as they are in the future.

  In this case, as in the example shown in FIG. 6C, a mark indicating the current position of the host vehicle V1 corresponding to the second position P1b on the electronic map EM displayed on the display 2 of the host vehicle V1. M1 and a mark M2 indicating the current position of the other vehicle V2 corresponding to the corrected second position P2b ′ are displayed. In addition, the display 2 of the host vehicle V1 includes information for alerting the driver to the possibility of a collision between the host vehicle V1 and the other vehicle V2 (in this example, “please pay attention to the vehicle from the right side”). It is displayed.

  7 and 8 are flowcharts showing an example of a control procedure of the navigation method executed by the CPU 11 in the in-vehicle device 100 of the host vehicle V1 by the navigation program stored in the storage device 12 in order to realize the above method. 7 and 8, the case where there is only one other vehicle V2 will be described in order to avoid the complexity of illustration and facilitate understanding. However, when there are a plurality of other vehicles V2, the processing described below can be applied to each other vehicle V2.

  7 and 8, the process shown in this flow is started, for example, when the power of the in-vehicle device 100 of the host vehicle V1 is turned on (in other words, when the engine of the host vehicle V1 is turned on).

  First, in step S <b> 10, the CPU 11 controls the graphic controller 13 by the function of the drawing control unit 105 to draw an electronic map EM based on the map information stored in the storage medium 12 c and display it on the display 2. Then, the CPU 11 controls the graphic controller 13 by the function of the drawing control unit 105, and displays a mark M1 indicating the current position of the host vehicle V1 on the electronic map EM based on the position information of the host vehicle V1 input from the GPS 8. Draw and display on display 2. Note that the process of step S10 is repeatedly performed at predetermined time intervals.

  Thereafter, the process proceeds to step S20, and the CPU 11 includes at least information transmitted from the transmission / reception unit 241 in the other vehicle V2 via wireless communication (including vehicle ID and position information. Note that in addition to the vehicle ID and position information, speed information, traveling It may be determined whether or not accompanying information such as azimuth information, accuracy information, and road type information is received via wireless communication by the function of the transmission / reception unit 141 of the wireless communication control unit 14. Until the information is received from the other vehicle V2, the determination in step S20 is not satisfied (S20: NO), and a loop standby is performed. When information is received from the other vehicle V2, the determination in step S20 is satisfied (S20: YES), and the process proceeds to step S30.

  In step S30, the CPU 11 determines whether or not the same vehicle ID as the vehicle ID included in the information received in step S20 is stored in the RAM 12b, thereby obtaining information from the other vehicle V2 related to the vehicle ID. Is first received. If the same vehicle ID as the vehicle ID included in the information received in step S20 is not stored in the RAM 12b, it is assumed that the information is received from the other vehicle V2 related to the vehicle ID for the first time. The determination in step S30 is satisfied (S30: YES), and the process proceeds to step S40.

  In step S <b> 40, the CPU 11 acquires at least the vehicle ID and position information of the other vehicle V <b> 2 from the information received in step S <b> 20 by the function of the acquisition unit 102. If information including accompanying information such as speed information, traveling direction information, accuracy information, road type information, and the like is received in addition to the vehicle ID and position information in step S20, the CPU 11 determines the function of the acquisition unit 102. Thus, in addition to the vehicle ID and position information of the other vehicle V2, accompanying information is acquired from the information received in step S20.

  In step S50, the CPU 11 stores the information acquired in step S40 in the RAM 12b.

  Thereafter, the process proceeds to step S60, and the CPU 11 determines whether or not speed information has been acquired in step S40. If the speed information cannot be acquired, the determination in step S60 is not satisfied (S60: NO), the process returns to step S20 and the same procedure is repeated. On the other hand, if the speed information can be acquired, the determination at Step S60 is satisfied (S60: YES), and the routine goes to Step S80.

  In step S80, the CPU 11 determines whether or not the other vehicle V2 is traveling on the road based on the speed information stored in the RAM 12b by the function of the first determination unit 103. When it is determined that the other vehicle V2 is not traveling on the road (S80: NO), the process returns to step S20 and the same procedure is repeated. On the other hand, when it is determined that the other vehicle V2 is traveling on the road (S80: YES), the process proceeds to step S90.

  In step S90, the CPU 11 determines whether the road corresponding to the position information can be identified on the electronic map EM using at least the position information stored in the RAM 12b by the function of the first determination unit 103. Judgment by. When it is determined that the road corresponding to the position information stored in the RAM 12b cannot be specified on the electronic map EM (S90: cannot be specified), the process returns to step S20 and the same procedure is repeated.

  On the other hand, when it is determined in step S90 that the position corresponding to the position information stored in the RAM 12b exists on the road of the electronic map EM, and the road corresponding to the position information can be specified on the electronic map EM. For (S90: existing on the road), the process proceeds to step S100.

  In step S100, the CPU 11 controls the graphic controller 13 by the function of the drawing control unit 105, and uses the position information stored in the RAM 12b to display the mark M2 indicating the current position of the other vehicle V2 on the electronic map EM. Drawing is started and displayed on the display 2.

  Thereafter, the process proceeds to step S105, and the CPU 11 executes the above-described safe driving support based on the position information stored in the RAM 12b by the function of the safe driving support unit 106. Then, it returns to said step S20 and repeats the same procedure.

  On the other hand, when it is determined in step S90 that the position corresponding to the position information stored in the RAM 12b does not exist on the road of the electronic map EM, but the road corresponding to the position information can be specified on the electronic map EM. For (S90: identifiable), the process proceeds to step S110.

  In step S110, the CPU 11 corrects the position information stored in the RAM 12b by the map matching process by the function of the correction unit 104.

  In step S120, the CPU 11 stores the position information after the correction in step S110 in the RAM 12b.

  Thereafter, the process proceeds to step S130, in which the CPU 11 controls the graphic controller 13 by the function of the drawing control unit 105, and uses the corrected position information stored in the RAM 12b to present the current vehicle V2 on the electronic map EM. Drawing of the mark M2 indicating the position is started and displayed on the display 2.

  In step S140, the CPU 11 executes the above-described safe driving support based on the corrected position information stored in the RAM 12b by the function of the safe driving support unit 106. Note that safe driving support may be executed based on the position information before correction stored in the RAM 12b. Then, it returns to said step S20 and repeats the same procedure.

  On the other hand, when the same vehicle ID as the vehicle ID included in the information received in step S20 is stored in the RAM 12b in step S30, the information is received from the other vehicle V2 related to the vehicle ID. Is determined to be the second and subsequent times, the determination in step S30 is not satisfied (S30: NO), and the process proceeds to step S150.

  In step S150, the CPU 11 acquires at least the vehicle ID and position information of the other vehicle V2 from the information received in step S20 by the function of the acquisition unit 102. If information including accompanying information such as speed information, traveling direction information, accuracy information, road type information, and the like is received in addition to the vehicle ID and position information in step S20, the CPU 11 determines the function of the acquisition unit 102. Thus, in addition to the vehicle ID and position information of the other vehicle V2, accompanying information is acquired from the information received in step S20.

  Thereafter, the process proceeds to step S160, and the CPU 11 stores the information acquired in step S150 in the RAM 12b.

  In step S170, the CPU 11 uses the function of the first determination unit 103 to determine whether the other vehicle V2 is traveling on the road using a plurality of continuous position information including the latest position information stored in the RAM 12b. Is determined by the above-described method. If it is determined that the other vehicle V2 is not traveling on the road (S170: NO), the process returns to step S20 and the same procedure is repeated. On the other hand, when it is determined that the other vehicle V2 is traveling on the road (S170: YES), the process proceeds to step S190.

  In step S190, the CPU 11 uses the function of the first determination unit 103 to determine whether the road corresponding to the position information can be identified on the electronic map EM using at least the latest position information stored in the RAM 12b. Judgment by the method of. If it is determined that the road corresponding to the latest position information stored in the RAM 12b cannot be specified on the electronic map EM (S190: cannot be specified), the process returns to step S20 and the same procedure is repeated.

  On the other hand, in the above step S190, it is determined that the road corresponding to the position information can be specified on the electronic map EM because the position corresponding to the latest position information stored in the RAM 12b exists on the road of the electronic map EM. If it is found (S190: exists on the road), the process proceeds to step S200.

  In step S200, the CPU 11 controls the graphic controller 13 by the function of the drawing control unit 105, and uses the latest position information stored in the RAM 12b to mark the current position of the other vehicle V2 on the electronic map EM. The drawing of M2 is started and displayed on the display 2. If drawing of the mark M2 on the electronic map EM has already started at this time, the drawing position of the mark M2 on the electronic map EM is updated in this step S200.

  Thereafter, the process proceeds to step S205, and the CPU 11 executes the above-described safe driving support based on the latest position information stored in the RAM 12b by the function of the safe driving support unit 106. Then, it returns to said step S20 and repeats the same procedure.

  On the other hand, in step S190, it is determined that the position corresponding to the latest position information stored in the RAM 12b does not exist on the road of the electronic map EM, but the road corresponding to the position information can be specified on the electronic map EM. If it is found (S190: can be specified), the process proceeds to step S210.

  In step S210, the CPU 11 corrects the latest position information stored in the RAM 12b by the map matching process by the function of the correction unit 104.

  In step S220, the CPU 11 stores the latest position information after the correction in step S210 in the RAM 12b.

  Thereafter, the process proceeds to step S230, in which the CPU 11 controls the graphic controller 13 by the function of the drawing control unit 105, and uses the latest corrected position information stored in the RAM 12b to use the other vehicle V2 on the electronic map EM. Drawing of the mark M2 indicating the current position of the image is started and displayed on the display 2. If drawing of the mark M2 on the electronic map EM has already started at this time, the drawing position of the mark M2 on the electronic map EM is updated in this step S230.

  In step S240, the CPU 11 executes the above-described safe driving support based on the latest corrected position information stored in the RAM 12b by the function of the safe driving support unit 106. Note that safe driving support may be executed based on the latest position information before correction stored in the RAM 12b. Then, it returns to said step S20 and repeats the same procedure.

  Note that the processing shown in this flow is terminated when, for example, the power source of the in-vehicle device 100 of the host vehicle V1 is turned off (in other words, when the engine of the host vehicle V1 is turned off). In the above, the safe driving support is executed only when it is determined that the road corresponding to the position information can be identified on the electronic map EM. However, if the acquisition unit 102 can acquire the position information, Even when it is determined that the vehicle V2 is not traveling on the road, or when it is determined that the road corresponding to the position information cannot be specified on the electronic map EM, the safe driving support may be executed.

  Moreover, in FIG.7 and FIG.8 demonstrated above, the procedure of step S40 and step S150 is equivalent to an acquisition procedure. Moreover, the procedure of step S80, step S90, step S170, and step S190 corresponds to the determination procedure. Further, the procedure of step S100, step S130, step S200, and step S230 corresponds to a drawing control procedure.

  As described above, the in-vehicle device 100 (corresponding to the navigation device) of the present embodiment acquires the position information of the other vehicle V2 (corresponding to another moving body) from the information received via wireless communication. 102 (corresponding to the obtaining means) and a graphic controller 13 (corresponding to the drawing means) for drawing the current position of the other vehicle V2 on the electronic map EM (corresponding to the map) based on the position information obtained by the obtaining unit 102. A first determination unit 103 (corresponding to the first determination unit) that determines whether or not a first condition (corresponding to the first condition) is satisfied using the position information acquired by the acquisition unit 102; When the first determination unit 103 determines that the first condition is satisfied, a drawing control unit 105 (for controlling the graphic controller 13 to start drawing the current position based on the position information) Includes a corresponding) to the image control means.

  In addition, the navigation method of the present embodiment uses the procedure for acquiring the position information of the other vehicle V2 (corresponding to another moving body) from the information received via wireless communication, and the acquired position information. The procedure for determining whether or not the first condition (corresponding to the predetermined condition) is satisfied and the current position of the other vehicle V2 based on the acquired position information when it is determined that the first condition is satisfied And a drawing control procedure so as to start drawing the position.

  In addition, the navigation program of the present embodiment uses the procedure for acquiring the position information of the other vehicle V2 (corresponding to another moving body) from the information received via wireless communication, and the acquired position information. The procedure for determining whether or not the first condition (corresponding to the predetermined condition) is satisfied and the current position of the other vehicle V2 based on the acquired position information when it is determined that the first condition is satisfied The CPU 11 (corresponding to a computer) is caused to execute a drawing control procedure so as to start drawing the position.

  In the present embodiment, the graphic controller 13 draws the current position of the other vehicle V2 on the electronic map EM based on the position information acquired by the acquisition unit 102. Thereby, the user can visually recognize the presence of the other vehicle V2 and its current position, and can be careful of the collision with the other vehicle V2.

  Note that the acquired position information may include an error. Therefore, if drawing of the current position of the other vehicle V2 is started from when position information starts to be acquired, the current position of the other vehicle V2 may be drawn at an incorrect point on the electronic map EM. As a result, the user may erroneously recognize the current position of the other vehicle V2 as an incorrect position.

  Therefore, in the present embodiment, the first determination unit 103 uses the acquired position information to identify the first condition (in the present embodiment, in particular, the road corresponding to the acquired latest position information is an electronic map EM. Judgment is made as to whether or not the above-identifiable items are satisfied. When the first determination unit 103 determines that the first condition is satisfied, the graphic controller 13 starts drawing the current position of the other vehicle V2 based on the acquired position information. That is, the graphic controller 13 does not start drawing the current position of the other vehicle V2 until the first condition is satisfied, and starts drawing the current position of the other vehicle V2 when the first condition is satisfied. . This prevents the current position of the other vehicle V2 from being drawn at an incorrect point on the electronic map EM by not drawing the current position of the other vehicle V2 while the first condition is not satisfied. Is possible. As a result, the user can be prevented from erroneously recognizing the current position of the other vehicle V2 as an incorrect position.

  In the in-vehicle device 100, the first determination unit 103 uses the position information to determine whether the road corresponding to the position information can be specified on the electronic map EM, and the drawing control unit 105 Until the first determination unit 103 determines that the road corresponding to the position information can be identified on the electronic map EM, the current position based on the position information is not drawn, but the first determination unit 103 corresponds to the position information. When it is determined that the road to be identified can be specified on the electronic map EM, the graphic controller 13 is controlled to start drawing the current position based on the position information.

  Here, when drawing of the current position of the other vehicle V2 is started from when the position information starts to be acquired, a road corresponding to the position information cannot be specified on the electronic map EM (that is, a map matching process may be performed). In the case where it is not possible, the current position of the other vehicle V2 is drawn on the electronic map EM. Therefore, the road is caused by the positional information including the error described above even though the vehicle is actually traveling on the road. The current position of the other vehicle V2 may be drawn at a point other than the road on the electronic map EM as if the vehicle is not traveling. Therefore, in the present embodiment, when the first determination unit 103 determines that the road corresponding to the acquired position information can be specified on the electronic map EM (that is, when map matching processing can be performed). The graphic controller 13 starts drawing the current position of the other vehicle V2 based on the acquired position information. Thus, when the road corresponding to the acquired position information can be identified on the electronic map EM, the current position of the other vehicle V2 is displayed on the electronic map EM by starting drawing the current position of the other vehicle V2. It is possible to further suppress drawing at the wrong point. As a result, it is possible to further suppress the user from erroneously recognizing the current position of the other vehicle V2 as an incorrect position.

  The in-vehicle device 100 further includes a correction unit 104 (corresponding to a correction unit) that corrects the position information, and the first determination unit 103 includes a road whose position corresponding to the position information is included in the electronic map EM. The correction unit 104 determines whether or not a road corresponding to the position information that does not exist on the electronic map EM can be identified, and the correction unit 104 uses the first determination unit 103 to determine the position corresponding to the position information on the electronic map EM. When it is determined that the road corresponding to the position information that does not exist on the included road can be identified on the electronic map EM, the position information is corrected, and the drawing control unit 105 is based on the corrected position information. The graphic controller 13 is controlled to start drawing the current position.

  In the present embodiment, the first determination unit 103 determines that the position corresponding to the acquired position information does not exist on the road of the electronic map EM, but the road corresponding to the position information can be specified on the electronic map EM. If it is performed (that is, if the map matching process can be performed), the correction unit 104 corrects the acquired position information by the map matching process. Thereafter, the graphic controller 13 starts drawing the current position of the other vehicle V2 based on the corrected position information. Thereby, when the position corresponding to the acquired position information does not exist on the road of the electronic map EM, but the road corresponding to the position information can be specified on the electronic map EM, the specified electronic map EM After the current position of the other vehicle V2 is corrected on the road, the current position of the other vehicle V2 is started, so that the current position of the other vehicle V2 is drawn at an incorrect point on the electronic map EM. Can be further suppressed. As a result, it is possible to further suppress the user from erroneously recognizing the current position of the other vehicle V2 as an incorrect position.

  In the in-vehicle device 100, the first determination unit 103 determines whether the other vehicle V2 is traveling at a predetermined speed or more, or whether the other vehicle V2 is traveling a predetermined distance or more. The drawing control unit 105 determines that the other vehicle V2 is traveling at a predetermined speed or more, or the other vehicle V2 is traveling a predetermined distance or more by the first determining unit 103. The graphic controller 13 is controlled to start drawing the current position based on the position information.

  Here, when drawing of the current position of the other vehicle V2 is started from when the position information starts to be acquired, even when the other vehicle V2 does not travel on the road (for example, when the vehicle stops on the road). Since the current position of the other vehicle V2 is drawn on the electronic map EM, whether the vehicle is traveling on the road due to the position information including the error described above even though the vehicle is not actually traveling on the road As described above, the current position of the other vehicle V2 may be drawn on the road of the electronic map EM. Therefore, in the present embodiment, the first determination unit 103 determines whether the other vehicle V2 is traveling at a predetermined speed or more, or whether the other vehicle V2 is traveling a predetermined distance or more. Then, it is determined whether or not the other vehicle V2 is traveling on the road. When the first determination unit 103 determines that the other vehicle V2 is traveling on the road, the graphic controller 13 starts drawing the current position of the other vehicle V2 based on the acquired position information. . As a result, the drawing of the current position of the other vehicle V2 is not started while the other vehicle V2 is not traveling on the road, so that the current position of the other vehicle V2 is drawn at an incorrect point on the electronic map EM. Can be suppressed. As a result, the user can be prevented from erroneously recognizing the current position of the other vehicle V2 as an incorrect position.

  Further, in the in-vehicle device 100, the safe driving support unit 106 (safe driving support means for executing safe driving support) based on the position information acquired by the acquiring unit 102 or the position information corrected by the correcting unit 104. Further).

  Thereby, the danger of an accident can be reduced and safety can be improved.

  In the in-vehicle device 100, the safe driving support unit 106 is based on the traveling direction of the other vehicle V2 based on the position information acquired by the acquiring unit 102 or the position information corrected by the correcting unit 104. Carry out driving assistance.

  Thereby, it is possible to suppress erroneous recognition of the relative direction of the other vehicle V2 in the safe driving support, and it is possible to further reduce the risk of an accident and further increase the safety.

  The in-vehicle device 100 further includes a transmission / reception unit 141 (corresponding to first receiving means) that receives information (corresponding to first information) transmitted from the other vehicle V2 via wireless communication, and an acquisition unit 102 Acquires position information from the information received by the transmission / reception unit 141.

  This makes it possible to draw the current position of the other vehicle V2 in a situation where there is no roadside facility that detects the presence and position of the other vehicle V2 and transmits the detection result.

  The present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the spirit and technical idea of the present invention. Hereinafter, such modifications will be sequentially described.

(1) When performing correction within the range of a predetermined correction width That is, as shown in FIG. 9 corresponding to FIG. 4 described above, the wireless communication control unit 14 of this modification includes a transmission / reception unit 141. The transmission / reception unit 141 has the same function as that described in the above embodiment.

  In addition, the control unit 10 of the present modification includes an acquisition unit 102, a first determination unit 103, a correction unit 104, a second determination unit 107, a drawing control unit 105, and a safe driving support unit 106.

  The acquisition unit 102 and the first determination unit 103 have the same functions as those described in the above embodiment. In this modification, the acquisition unit 102 corresponds to an acquisition unit. In the present modification, the first determination unit 103 corresponds to a first determination unit and a second determination unit.

  The correction unit 104 according to the present modification includes a road corresponding to the position information, although the position corresponding to the latest position information acquired by the acquisition unit 102 by the first determination unit 103 does not exist on the road of the electronic map EM. When it is determined that it can be specified on the electronic map EM, the latest position information is corrected within a range where a second condition (corresponding to the second condition, details will be described later) is satisfied. In this modification, the correction unit 104 corresponds to a correction unit.

  Here, after the position information is acquired by the acquisition unit 102 at a certain first timing, the position information acquired by the acquisition unit 102 at the next second timing is corrected by map matching processing, and the correction is performed. When safe driving support is executed using the subsequent position information, the direction from the position corresponding to the position information at the first timing to the position corresponding to the position information at the second timing before correction, and There may be a case where the azimuth from the position corresponding to the position information at the first timing to the position corresponding to the position information at the corrected second timing changes greatly. In this case, there is a possibility that the relative direction of the other vehicle V2 is erroneously recognized in the safe driving support (for example, it is erroneously recognized that the other vehicle V2 turns left or right).

  FIGS. 10 to 12 show this variation representing the transition of the position information of the host vehicle V1 and the other vehicle V2 and the transition of the display content of the display 2 of the host vehicle V1 as the host vehicle V1 and the other vehicle V2 move. It is explanatory drawing of an example comparative example, and is a figure corresponding to above-mentioned FIG.5 and FIG.6. Here, a case where it is erroneously recognized that the other vehicle V2 has made a right turn will be described.

  In FIG. 10A, the host vehicle V1 travels on the road L1 described above toward the upper side in the figure, and the other vehicle V2 travels on the road L2 described above toward the left side in the figure. Indicates the situation. It is assumed that there is a road L3 that branches from the road L2 before the road L1 intersects the road L1.

  FIG. 10B shows a position based on the first position information of the host vehicle V1 detected by the GPS 8 in the situation shown in FIG. 10A (corresponding to the first position information corrected by the map matching process). The position P1d and the position P2d corresponding to the first position information of the other vehicle V2 acquired by the acquisition unit 102 are virtually shown on the electronic map EM for explanation (that is, FIG. 10B). ) Is not what the user actually sees). Note that the first position information includes an error, and the first position P2d is different from the actual position.

  In the situation shown in FIG. 10 (b), only the first position information exists for the other vehicle V2 and there is no speed information. Therefore, the first determination unit 103 means that the other vehicle V2 is traveling on the road. Not judged. Therefore, at the time of the situation shown in FIG. 10B, the graphic controller 13 has not started drawing the current position of the other vehicle V2 corresponding to the first position P2d on the electronic map EM.

  In this case, as in the example shown in FIG. 10C, on the electronic map EM displayed on the display 2 of the host vehicle V1, a mark indicating the current position of the other vehicle V2 corresponding to the first position P2d is Only the mark M1 indicating the current position of the host vehicle V1 corresponding to the first position P1d is not displayed.

  In FIG. 11 (a) showing a situation slightly later than the situation shown in FIG. 10 (a), the host vehicle V1 shows a slightly upper side of the road L1 from the position shown in FIG. 10 (a). While traveling toward the middle upper side, the other vehicle V2 is traveling a little on the left side in the drawing toward the left side in the drawing from the position shown in FIG. 10 (a) of the road L2. .

  FIG. 11B shows a position based on the second position information of the host vehicle V1 detected by the GPS 8 in the situation shown in FIG. 11A (the second position information corrected by the map matching process). Corresponding position) P1e and a position P2e corresponding to the second position information of the other vehicle V2 acquired by the acquiring unit 102 are virtually shown on the electronic map EM for explanation (that is, FIG. 11 (b) is not actually visually recognized by the user). The second position information includes an error, and the second position P2e is different from the actual position.

  In the situation shown in FIG. 11B, since the first and second position information exists for the other vehicle V2, the first determination unit 103 uses the first and second position information to determine that the other vehicle V2 is a road. It is determined that you are driving. In addition, the first determination unit 103 uses the first and second position information, and the second position P2e does not exist on the road of the electronic map EM, but the road corresponding to the position information is determined as the road of the electronic map EM. It is determined that L2 can be specified. Then, the correction unit of the comparative example corrects the second position information by map matching processing, and the position P2e ′ corresponding to the corrected second position information is on the road L2 of the electronic map EM. It is listed. Therefore, at the time of the situation shown in FIG. 11B, the graphic controller 13 starts drawing the current position of the other vehicle V2 corresponding to the corrected second position P2e ′ on the electronic map EM. ing. At this time, when safe driving support is executed based on the corrected second position information by the safe driving support unit of the comparative example, future positions and traveling directions of the host vehicle V1 and the other vehicle V2 are determined. This is predicted as indicated by the dotted line in the figure. At this time, since the correction as described above is performed, there is a possibility that the other vehicle V2 is misrecognized as turning right toward the road L3, and the own vehicle V1 and the other vehicle V2 may cross each other if they run in the future. That is, it is not determined that there is a possibility of collision between the host vehicle V1 and the other vehicle V2.

  In this case, as in the example shown in FIG. 11C, a mark indicating the current position of the host vehicle V1 corresponding to the second position P1e on the electronic map EM displayed on the display 2 of the host vehicle V1. M1 and a mark M2 indicating the current position of the other vehicle V2 corresponding to the corrected second position P2e ′ are displayed. The traveling direction of the mark M2 is toward the road L3.

  In FIG. 12 (a) showing a situation slightly later than the situation shown in FIG. 11 (a), the host vehicle V1 shows a slightly upper side of the road L1 from the position shown in FIG. 11 (a). While traveling toward the middle upper side, the other vehicle V2 is traveling a little on the left side in the drawing toward the left side in the drawing from the position shown in FIG. 11 (a) of the road L2. .

  FIG. 12B shows the position based on the third position information of the host vehicle V1 detected by the GPS 8 in the situation shown in FIG. 12A (the third position information after correction by the map matching process). Corresponding position) P1f and a position P2f corresponding to the third position information of the other vehicle V2 acquired by the acquisition unit 102 are virtually shown on the electronic map EM for explanation (that is, FIG. 12 (b) is not actually visually recognized by the user). The third position information includes an error, and the third position P2e is different from the actual position.

  In the situation shown in FIG. 12B, since the first to third position information exists for the other vehicle V2, the first determination unit 103 uses the first to third position information to determine whether the other vehicle V2 is a road. It is determined that you are driving. Further, the first determination unit 103 uses the first to third position information, and the third position P2f does not exist on the road of the electronic map EM, but the road corresponding to the position information is determined as the road of the electronic map EM. It is determined that L2 can be specified. Then, the correction unit of the comparative example corrects the third position information by map matching processing, and the position P2f ′ corresponding to the corrected third position information is on the road L2 of the electronic map EM. It is listed. Accordingly, at the time of the situation shown in FIG. 12B, the graphic controller 13 draws the current position of the other vehicle V2 corresponding to the corrected third position P2f ′ on the electronic map EM. ing. At this time, when the safe driving support is executed on the basis of the corrected third position information by the safe driving support unit of the comparative example, the map matching process is performed on the previous second position information. The future position and traveling direction of the own vehicle V1 and the other vehicle V2 are predicted as indicated by the dotted lines in the figure, and there is a possibility that they will cross if they run as they are in the future. It is determined that there is a possibility of collision between V1 and the other vehicle V2.

  In this case, a mark indicating the current position of the host vehicle V1 corresponding to the third position P1f on the electronic map EM displayed on the display 2 of the host vehicle V1 as in the example shown in FIG. M1 and a mark M2 indicating the current position of the other vehicle V2 corresponding to the third position P2f ′ after the correction are displayed. In addition, the display 2 of the host vehicle V1 includes information for alerting the driver to the possibility of a collision between the host vehicle V1 and the other vehicle V2 (in this example, “please pay attention to the vehicle from the right side”). It is displayed.

  As described above, in the comparative example, attention is given to the possibility of a collision between the host vehicle V1 and the other vehicle V2, but the relative orientation of the other vehicle V2 is erroneously recognized immediately after the map matching process as described above. For this reason, it should be alerted at the time of the situation shown in FIG. 11 (a), but the alert is not performed until the next information acquisition time (the situation shown in FIG. 12 (a)). In addition, there was a problem that the alerting was delayed (immediately before). Further, the azimuth determination from the position P2d to the position P2e ′ also affects the acquisition time of the next information after the situation shown in FIG. 11A (the situation shown in FIG. 12A), and the position P2f ′ There is also a possibility that a determination is made that is still on the road L3. In this case, there is a problem that the alerting is further delayed or the alerting is not properly performed. Although the drawing of the mark M2 indicating the current position of the other vehicle V2 has been described here from the position corresponding to the corrected second position P2e ', the drawing is performed from the first position that cannot be corrected. In the case of a system that starts the operation, the user who sees the display of the drawing visually sees that the drawing of the mark M2 transitions from the first position to the second (after correction) and visually There is also a problem of misunderstanding the traveling direction of V2.

  Therefore, in the present modification, the second condition is set such that the relative direction of the other vehicle V2 is not erroneously recognized in the safe driving support. That is, the correction unit 104 corrects the latest position information within a predetermined correction range so that the relative orientation of the other vehicle V2 is not erroneously recognized in the safe driving support. Specifically, the range of the predetermined correction width is set to a range where | θ2−θ1 | ≦ θ3.

  As shown in FIG. 13A, θ1 corresponds to the latest position information (corresponding to the first position information) among a plurality of position information (of the same other vehicle V2) acquired by the acquisition unit 102. A predetermined absolute angle of a straight line SL1 connecting the position (corresponding to the first position) Pb and the position (corresponding to the second position) Pa corresponding to the previous position information (corresponding to the second position information) of the latest position information. It is an orientation with respect to (reference angle). θ2 is an azimuth with respect to the absolute angle of the straight line SL2 connecting the position Pb ′ corresponding to the latest corrected position information (corresponding to the third position) Pb ′ and the previous position Pa. If the previous position Pa has been corrected, θ2 is the latest corrected position Pb ′ and the position (corresponding to the fourth position) Pa corresponding to the corrected previous position information. It becomes an azimuth | direction with respect to the absolute angle of the straight line SL2 which connects (refer FIG.13 (b)). θ3 is a preset angle, and in this modification, an angle that allows the deviation of the traveling direction from the accuracy of the relative direction of the other vehicle V2 in the safe driving support (for example, the road L3 branched from the road L2 is bent). The angle is set within a range in which no erroneous determination is made.

  That is, the correction unit 104 corrects the latest position information acquired by the acquisition unit 102 within a range where | θ2−θ1 | ≦ θ3. Specifically, after correcting the latest position information by map matching processing, the correction unit 104 calculates θ1 and θ2 and calculates | θ2−θ1 |. If | θ2−θ1 | ≦ θ3, the latest position information after correction by the map matching process is stored in the RAM 12b. On the other hand, when | θ2−θ1 |> θ3, the correction unit 104 corrects the correction width to be | θ2−θ1 | = θ3 with respect to the latest position information after correction by the map matching process. The latest position information after the correction is stored in the RAM 12b.

  The second determination unit 107 (corresponding to the third determination unit), when corrected by the correction unit 104, the position corresponding to the latest position information after the correction has reached the road of the electronic map EM. Judgment is made as to whether or not it is listed.

  The drawing control unit 105 of the present modification causes the first determination unit 103 to display the road corresponding to the position information on the electronic map EM because the position corresponding to the latest position information exists on the road of the electronic map EM. When it is determined that the current position of the other vehicle V2 is drawn on the electronic map EM, the graphic controller 13 is started using the latest position information. On the other hand, the drawing control unit 105 can specify the road corresponding to the position information on the electronic map EM, although the position corresponding to the latest position information does not exist on the road of the electronic map EM by the first determination unit 103. When the second determination unit 107 determines that the position corresponding to the latest position information corrected by the correction unit 104 has reached the road on the electronic map EM, the graphic controller 13 Then, drawing of the current position of the other vehicle V2 on the electronic map EM using the latest position information after the correction is started. That is, when the position corresponding to the latest position information does not exist on the road of the electronic map EM, but the road corresponding to the position information can be specified on the electronic map EM, the graphic controller 13 performs the drawing control. The other vehicle based on the corrected latest position information on the electronic map EM while the position corresponding to the corrected latest position information does not reach the road of the electronic map EM by the control of the unit 105. When the position corresponding to the latest position information after correction reaches the road on the electronic map EM without starting drawing the current position of V2, based on the latest position information after correction on the electronic map EM. Drawing of the current position of the other vehicle V2 is started.

  When the first determination unit 103 determines that the position corresponding to the latest position information does not exist on the road of the electronic map EM, but the road corresponding to the position information can be specified on the electronic map EM. The drawing control unit 105 performs the correction by the graphic controller 13 according to the distance between the position corresponding to the corrected latest position information and a predetermined point (for example, an intersection) included in the electronic map EM. The start timing of drawing the current position of the other vehicle V2 on the electronic map EM using the latest latest position information may be changed. For example, when the distance between the position corresponding to the corrected latest position information and a predetermined point (for example, an intersection) included in the electronic map EM is shorter than the predetermined distance, the drawing control unit 105 The graphic controller 13 uses the latest position information after the correction (before the position corresponding to the latest position information after the correction reaches the road of the electronic map EM). The drawing of the current position of the other vehicle V2 on the electronic map EM may be started.

  Further, when the first determination unit 103 determines that the position corresponding to the latest position information does not exist on the road of the electronic map EM, but the road corresponding to the position information can be specified on the electronic map EM. The drawing control unit 105 makes the latest correction after the correction to the graphic controller 13 (before the position corresponding to the latest corrected position information reaches the road of the electronic map EM). The drawing of the current position of the other vehicle V2 on the electronic map EM using the position information may be started, and from that time (the position corresponding to the latest position information after the correction is the road of the electronic map EM Before reaching the top), using the latest position information when the correction unit 104 performs correction (correction in the above embodiment) that is not limited to the range where | θ2−θ1 | ≦ θ3, Other on the electronic map EM It may be allowed to start drawing of the current position of both V2.

  The safe driving support unit 106 of the present modified example uses the latest position information acquired by the acquisition unit 102 or the latest position information after correction within the range of | θ2−θ1 | ≦ θ3 by the correction unit 104. Based on the travel direction of the other vehicle V2, the safe driving support is executed. In this modification, the safe driving support unit 106 corresponds to safe driving support means.

  FIGS. 14 and 15 are explanatory diagrams showing the transition of the position information of the host vehicle V1 and the other vehicle V2 and the transition of the display content of the display 2 of the host vehicle V1 as the host vehicle V1 and the other vehicle V2 move. FIG. 13 is a diagram corresponding to FIGS. 11 and 12.

  FIG. 14 (a) is a diagram corresponding to FIG. 11 (a). In FIG. 14 (a), the host vehicle V1 is a little more than the position of the road L1 shown in FIG. 10 (a). A situation in which the vehicle V2 is traveling toward the upper side in the drawing, and the other vehicle V2 is traveling a little on the left side in the drawing toward the left side in the drawing from the position shown in FIG. 10A of the road L2. Is shown.

  FIG. 14B is a diagram corresponding to FIG. 11B. FIG. 14B shows the second position P1e of the host vehicle V1 and the second position of the other vehicle V2. P2e is shown on the electronic map EM.

  In the situation shown in FIG. 14B, since the first and second position information exists for the other vehicle V2, the first determination unit 103 uses the first and second position information to determine that the other vehicle V2 is a road. It is determined that you are driving. However, the correction unit 104 corrects the second position information within the range of | θ2−θ1 | ≦ θ3, and the position P2e ′ corresponding to the corrected second position information is an electronic map. Not on EM road L2. Therefore, at the time of the situation shown in FIG. 14B, the graphic controller 13 starts drawing the current position of the other vehicle V2 corresponding to the corrected second position P2e ′ on the electronic map EM. Not. At this time, when safe driving support is executed based on the corrected second position information by the safe driving support unit 106, future positions and traveling directions of the host vehicle V1 and the other vehicle V2 are shown in the figure. Prediction as indicated by the dotted line arrow can prevent erroneous recognition of turning right toward the road L3. For this reason, it is determined that there is a possibility of crossing if traveling in the future as they are, that is, there is a possibility of collision between the host vehicle V1 and the other vehicle V2.

  In this case, as in the example shown in FIG. 14C, the current position of the other vehicle V2 corresponding to the corrected second position P2e ′ is displayed on the electronic map EM displayed on the display 2 of the host vehicle V1. The mark indicating the position is not displayed, and only the mark M1 indicating the current position of the host vehicle V1 corresponding to the second position P1e is displayed. In addition, the display 2 of the host vehicle V1 includes information for alerting the driver to the possibility of a collision between the host vehicle V1 and the other vehicle V2 (in this example, “please pay attention to the vehicle from the right side”). It is displayed.

  FIG. 15 (a) is a diagram corresponding to FIG. 12 (a). In FIG. 15 (a), the host vehicle V1 is a little more than the position of the road L1 shown in FIG. 14 (a). A situation in which the middle vehicle is traveling toward the upper side in the drawing and the other vehicle V2 is traveling slightly on the left side in the drawing toward the left side in the drawing from the position shown in FIG. 14 (a) of the road L2. Is shown.

  FIG. 15B is a diagram corresponding to FIG. 12B. FIG. 15B shows the third position P1f of the host vehicle V1 and the third position of the other vehicle V2. P2f is shown on the electronic map EM.

  In the situation shown in FIG. 15B, since the first to third position information exists for the other vehicle V2, the first determination unit 103 uses the first to third position information to determine whether the other vehicle V2 is a road. It is determined that you are driving. Further, the first determination unit 103 uses the first to third position information, and the third position P2f does not exist on the road of the electronic map EM, but the road corresponding to the position information is determined as the road of the electronic map EM. It is determined that L2 can be specified. Then, the correction unit 104 corrects the third position information within the range of | θ2−θ1 | ≦ θ3, and the position P2f ′ corresponding to the corrected third position information is an electronic map. It is on EM road L2. Accordingly, at the time of the situation shown in FIG. 15B, the graphic controller 13 starts drawing the current position of the other vehicle V2 corresponding to the corrected third position P2f ′ on the electronic map EM. ing. At this time, when safe driving support is executed by the safe driving support unit 106 based on the corrected third position information, future positions and traveling directions of the host vehicle V1 and the other vehicle V2 are shown in the figure. It is predicted as indicated by an arrow indicated by a dotted line, and it is determined that there is a possibility that the vehicle V1 and the other vehicle V2 may collide with each other if they run as they are in the future.

  In this case, a mark indicating the current position of the host vehicle V1 corresponding to the third position P1f on the electronic map EM displayed on the display 2 of the host vehicle V1 as in the example shown in FIG. M1 and a mark M2 indicating the current position of the other vehicle V2 corresponding to the third position P2f ′ after the correction are displayed. In addition, the display 2 of the host vehicle V1 includes information for alerting the driver to the possibility of a collision between the host vehicle V1 and the other vehicle V2 (in this example, “please pay attention to the vehicle from the right side”). It is displayed.

  In the above example, the drawing of the mark M2 is started when the corrected position of the other vehicle V2 is on the road L2, but the drawing may be started from a point before that. For example, when the first determination unit 103 determines that the acquired other vehicle V2 is traveling on a road, the corrected position of the other vehicle V2 is kept as it is (regardless of whether or not the vehicle is on the road). ) You may draw on the electronic map EM. Alternatively, when it is determined by the first determination unit 103 that the acquired position of the other vehicle V2 does not exist on the road of the electronic map EM, but the road corresponding to the position information can be specified as the road L2 of the electronic map EM. The drawing control unit 105 causes the graphic controller 13 to start drawing the current position of the other vehicle V2 on the electronic map EM using the position information corrected by the correction unit 104, but determines the traveling direction. The above may be based on the position correction of the above example, in which the traveling direction of the other vehicle V2 is recognized as the direction from the position P2d to the position P2e ′. In this case, whether or not the traveling direction recognition of the other vehicle V2 by the position correction in the above example is used only for internal processing in the safe driving support determination (is approaching (traveling toward) the host vehicle V1) Determination or whether or not the vehicle is about to turn on the road L3), and a travel direction expression of drawing on the road L2 (for example, control of the direction of the vehicle icon when the vehicle icon is drawn or the road L3 The present invention may be applied to a representation on whether or not a song is about to be drawn.

  As described above, in this modified example, the possibility of collision between the host vehicle V1 and the other vehicle V2 is alerted, but the relative orientation of the other vehicle V2 is not erroneously recognized as in the comparative example. Therefore, alerting can be performed earlier (from the front) than the comparative example.

  FIGS. 16 and 17 are flowcharts showing an example of a control procedure of the navigation method executed by the CPU 11 in the in-vehicle device 100 of the host vehicle V1 by the navigation program stored in the storage device 12 in order to realize the above method. FIG. 9 is a diagram corresponding to FIGS. 7 and 8.

  16 and 17, steps S10, S20, and S30 are the same as those in FIGS. 7 and 8 described above. In step S30, the vehicle ID included in the information received in step S20 described above is used. If the same vehicle ID is not stored in the RAM 12b, it is considered that the information is received from the other vehicle V2 related to the vehicle ID first, and the determination in step S30 is satisfied (S30: YES). The process proceeds to step S40.

  Step S40 and subsequent steps S50, S60, and S80 are the same as those in FIGS. 7 and 8 described above. When it is determined in step S80 that the other vehicle V2 is traveling on the road (S80). : In the case of YES), the process proceeds to newly provided step S95.

  In step S95, the CPU 11 uses the function of the first determination unit 103 to use at least the position information stored in the RAM 12b, so that the position corresponding to the position information exists on the road of the electronic map EM. It is determined by the above-described method whether or not the road corresponding to can be specified on the electronic map EM. If it is determined that the position corresponding to the position information stored in the RAM 12b does not exist on the road of the electronic map EM (S95: NO), the process returns to step S20 and the same procedure is repeated. On the other hand, when it is determined that the position corresponding to the position information stored in the RAM 12b exists on the road of the electronic map EM (S95: YES), the process proceeds to step S100.

  Step S100 and subsequent step S105 are the same as those in FIGS.

  On the other hand, when the same vehicle ID as the vehicle ID included in the information received in step S20 is stored in the RAM 12b in step S30, information is received from the other vehicle V2 related to the vehicle ID. It is considered that this is the second time or later, the determination in step S30 is not satisfied (S30: NO), and the process proceeds to step S150.

  Step S150 and subsequent steps S160, S170, S190, S200, S205, and S210 are the same as those in FIGS. 7 and 8 described above, and the latest position stored in the RAM 12b in step S210 described above. After the information is corrected by the map matching process, the process proceeds to newly provided step S212.

  In step S212, the CPU 11 calculates the aforementioned θ1 and θ2, and also calculates the aforementioned | θ2-θ1 |.

  Then, in step S214 newly provided, the CPU 11 determines whether or not | θ2−θ1 | calculated in step S212 is larger than the aforementioned θ3 by the function of the second determination unit 107, that is, | θ2−θ1. It is determined whether or not |> θ3. At this time, when | θ2−θ1 |> θ3 is not satisfied, that is, when | θ2−θ1 | ≦ θ3, the position corresponding to the latest position information after the correction in step S210 is the electronic map EM. In other words, the procedure of step S214 corresponds to whether or not the position corresponding to the latest position information after the correction in step S210 has reached the road of the electronic map EM. It can also be said to be a procedure for determining whether or not. If | θ2−θ1 | ≦ θ3, in other words, if the position corresponding to the latest position information corrected in step S210 described above has reached the road on the electronic map EM, the determination in step S214 is Not satisfied (S214: NO), the process proceeds to step S220.

  Step S220 and subsequent steps S230 and S240 are the same as those in FIGS.

  On the other hand, if | θ2−θ1 |> θ3 in step S214, the determination in step S214 is satisfied (S214: YES), and the flow proceeds to newly provided step S250.

  In step S250, the CPU 11 performs correction to reduce the correction width so that | θ2−θ1 | = θ3 with respect to the latest position information after the correction in step S210 by the function of the correction unit 104.

  Thereafter, the process proceeds to newly provided step S260, and the CPU 11 stores the latest position information after the correction in step S250 in the RAM 12b.

  In step S270 newly provided, the CPU 11 executes the above-described safe driving support based on the latest corrected position information stored in the RAM 12b by the function of the safe driving support unit 106. Then, it returns to said step S20 and repeats the same procedure.

  In the above, the safe driving support is executed only when it is determined that the road corresponding to the position information can be specified on the electronic map EM. However, if the acquisition unit 102 can acquire the position information, When it is determined that the vehicle V2 is not traveling on the road, or when it is determined that the road corresponding to the position information cannot be specified on the electronic map EM, the position corresponding to the position information is on the road of the electronic map EM. Even if it is determined that the vehicle does not exist, safe driving assistance may be executed.

  Further, in FIGS. 16 and 17 described above, the procedure of step S40 and step S150 corresponds to the acquisition procedure. Moreover, the procedure of step S80, step S95, step S170, and step S190 corresponds to the determination procedure. Further, steps S100, S200, and S230 correspond to a drawing control procedure.

  As described above, the in-vehicle device 100 (corresponding to the navigation device) of the present modified example acquires the position information of the other vehicle V2 (corresponding to another moving body) from the information received via wireless communication. 102 (corresponding to the acquisition unit) and a correction unit 104 (corresponding to the correction unit) that corrects the position information acquired by the acquisition unit 102 within a range where the second condition (corresponding to the second condition) is satisfied. And safe driving support 106 (corresponding to safe driving support means) for executing safe driving support based on the corrected position information.

  Here, as described above, since the position information acquired by the acquisition unit 102 may include an error, the acquired position information is corrected by map matching processing, and based on the corrected position information. Safe driving assistance is implemented. However, if the amount of correction by the map matching process is too large, the relative direction of the other vehicle V2 and the traveling road may be erroneously recognized in the safe driving support.

  Therefore, in the present modification, the correction unit 104 has a second condition (in particular, in this modification, the relative direction of the other vehicle V2 and the traveling road are not erroneously recognized in the safe driving support) with respect to the acquired position information. Perform correction within the range to be satisfied. Then, the safe driving support unit 106 ′ executes the safe driving support based on the corrected position information within a range where the second condition is satisfied. Thereby, it is possible to suppress erroneous recognition of the relative orientation of the other vehicle V2 in the safe driving support.

  In the in-vehicle device 100, the correction unit 104 corrects the position information acquired by the acquisition unit 102 within a predetermined correction width.

  Moreover, in the said vehicle-mounted apparatus 100, the correction | amendment part 104 is a position corresponding to the newest positional information (equivalent to 1st positional information) among the several positional information of the same other vehicle V2 acquired by the acquisition part 102. FIG. The direction of the straight line connecting (corresponding to the first position) and the position (corresponding to the second position) corresponding to the previous position information (corresponding to the second position information) of the latest position information is θ1, A position corresponding to the latest position information (corresponding to the third position) is connected to a position corresponding to the previous position information or a position corresponding to the previous position information after correction (corresponding to the fourth position). When the straight line azimuth is θ2 and the preset angle is θ3, the latest position information is corrected within a range of | θ2−θ1 | ≦ θ3.

  Thus, if θ3 is set to an angle that allows the deviation of the running direction from the accuracy of the relative direction of the other vehicle V2 in the safe driving support, | θ2-θ1 | is the relative direction of the other vehicle V2 in the safe driving support. The safe driving support is executed using the positional information after the deviation of the driving direction is corrected within the allowable angle or less from the accuracy, so that the relative direction of the other vehicle V2 is incorrect in the safe driving support. It becomes possible to suppress recognition.

  In the present modification, the above content has been described by taking as an example the case where the in-vehicle device 100 has both the function of performing drawing control of the current position of the other vehicle V2 and the function of performing safe driving support. However, the above-described content is applicable even when the in-vehicle device 100 is not provided with a function for performing drawing control of the current position of the other vehicle V2 and only provided with a function for providing safe driving support.

  In the in-vehicle device 100, the safe driving support 106 performs the safe driving support based on the traveling direction of the other vehicle V2 based on the position information corrected by the correcting unit 104.

  In the in-vehicle device 100, the safe driving support 106 is based on position information after correction within a predetermined correction width range (in particular, a range where | θ2−θ1 | ≦ θ3 in this modification), Implement safe driving assistance.

  Thereby, it is possible to suppress erroneous recognition of the relative direction of the other vehicle V2 in the safe driving support, and it is possible to further reduce the risk of an accident and further increase the safety.

  Further, in the on-vehicle apparatus 100, the position corresponding to the corrected position information within a predetermined correction width range (in particular, a range where | θ2−θ1 | ≦ θ3 in the present modification) is the electronic map EM. And a second determination unit 107 (corresponding to a third determination unit) that determines whether or not the vehicle has reached the road included in the image, and the drawing control unit 105 uses the second determination unit 107 to set a predetermined correction width. When it is determined that the position corresponding to the position information after correction within the range has reached the road included in the electronic map EM, the other vehicle based on the position information after correction within the predetermined correction width The graphic controller 13 is controlled to start drawing the current position of V2.

  Thereby, while the position corresponding to the position information after being corrected within the range of | θ2−θ1 | ≦ θ3 does not reach the road of the electronic map EM, the position information is based on the corrected position information. Since the drawing of the current position of the other vehicle V2 is not started, the current position of the other vehicle V2 can be prevented from being drawn at an incorrect point on the electronic map EM. As a result, the user can be prevented from erroneously recognizing the current position of the other vehicle V2 as an incorrect position.

(2) When performing processing according to the accuracy of position information That is, as described above, the transmission / reception unit 214 of the wireless communication control unit 24 of the other vehicle V2 adds the vehicle ID and position information of the other vehicle V2 to the position. Information including accuracy information indicating the accuracy of information may be transmitted. As described above, the position information included in the information transmitted by the transmission / reception unit 241 is any of the first position information, the second position information, and the third position information described above.

  Since the first position information is the position information itself detected by the GPS 8 in the other vehicle V2, the accuracy is low (the error is large), and there is a high possibility that the first position information will not be placed on the road of the electronic map EM in the own vehicle V1.

  The second position information is position information after the first position information is corrected based on speed information, traveling direction information, and the like detected by the vehicle speed sensor 4 and the gyro sensor 9 in the other vehicle V2. However, there is a possibility that the vehicle is not placed on the road of the electronic map EM in the host vehicle V1.

  Since the third position information is position information after the first or second position information is corrected by map matching processing using map information in the host vehicle V1, the third position information is more accurate than the first or second position information. High (small error) and highly likely to be placed on the road of the electronic map EM in the host vehicle V1, but when the map information is different between the host vehicle V1 and the other vehicle V2, etc. May not be placed on the road of the electronic map EM in the host vehicle V1.

  As an expression mode of the accuracy of the position information based on the accuracy information, for example, an expression mode indicating whether the position information is the first position information, the second position information, or the third position information may be used. Representation mode representing the accuracy (error) level of position information (for example, low accuracy (about 100 [m] error), medium accuracy (about 10 [m] error), high accuracy (about 1 [m] error), etc.) But you can. In the following description, for convenience of explanation, it is assumed that the accuracy corresponding to the accuracy information is one of low accuracy, medium accuracy, and high accuracy.

  As shown in FIG. 18 corresponding to FIG. 4 described above, the wireless communication control unit 14 of this modification includes a transmission / reception unit 141. The transmission / reception unit 141 has the same function as that described in the above embodiment. That is, when information including accuracy information in addition to the vehicle ID and the position information is transmitted by the transmission / reception unit 241 in the other vehicle V2, the transmission / reception unit 141 transmits the vehicle transmitted from the transmission / reception unit 241 in the other vehicle V2. Information including accuracy information in addition to ID and position information is received.

  Further, the control unit 10 of the present modification includes an acquisition unit 102, a third determination unit 108, a first determination unit 103, a correction unit 104, a safe driving support unit 106, and a drawing control unit 105.

  The acquisition unit 102 has the same function as that described in the above embodiment. That is, when information including accuracy information in addition to the vehicle ID and position information is received by the transmission / reception unit 141, the acquisition unit 102 determines the vehicle ID and the vehicle ID of the other vehicle V2 from the information received by the transmission / reception unit 141. Acquire accuracy information in addition to position information.

  When the position information and accuracy information are acquired by the acquisition unit 102, the third determination unit 108 (corresponding to the fourth determination unit) determines the position information according to the accuracy corresponding to the accuracy information. It is determined whether or not to use as a determination target by 103 (a specific example will be described later).

  When the third determination unit 108 determines that the position information acquired by the acquisition unit 102 is to be used as a determination target, the first determination unit 103 of the present modification uses at least the position information and performs the above-described determination. I do.

  The correction unit 104 according to the present modification performs correction (hereinafter referred to as “first correction” as appropriate) by the map matching process as in the above-described embodiment on the latest position information acquired by the acquisition unit 102. Alternatively, the correction unit 104 may perform correction (hereinafter referred to as “second correction” as appropriate) within a range where | θ2−θ1 | ≦ θ3 as in the modification example of (1) above.

  When the correction unit 104 performs the second correction, the control unit 10 may further include a second determination unit 107 as indicated by an imaginary line in FIG. In this case, the second determination unit 107 determines whether the position corresponding to the latest position information after the second correction has reached the road on the electronic map EM when the correction unit 104 performs the second correction. It may be determined whether or not.

  The drawing control unit 105 according to the present modified example uses the graphic controller 13 to determine the other vehicle V2 on the electronic map EM according to the determination result of the third determination unit 108 and the determination result of the first determination unit 103. The start timing of drawing the current position is controlled (a specific example will be described later). When the correction unit 104 performs the second correction, the drawing control unit 105 determines the determination result of the third determination unit 108, the determination result of the first determination unit 103, and the determination result of the second determination unit 107. Accordingly, the start timing of drawing the current position of the other vehicle V2 on the electronic map EM by the graphic controller 13 may be controlled (a specific example will be described later).

  The safe driving support unit 106 of the present modified example is based on the travel direction of the other vehicle V2 based on the latest position information acquired by the acquisition unit 102 or the latest position information after the first correction by the correction unit 104. Implement safe driving assistance. In the case where the correction unit 104 performs the second correction, the safe driving support unit 106 includes the latest position information acquired by the acquisition unit 102, or the latest position information after the second correction by the correction unit 104, The safe driving support may be executed based on the traveling direction of the other vehicle V2 based on the above.

  Hereinafter, a specific example of this modification will be described.

(Specific example 1)
In the first specific example, correction is performed on low-accuracy position information that has a large error and is uncomfortable for drawing the current position of the other vehicle V2 as it is. The content is that correction is not performed for medium and high-accuracy position information with a relatively small error and relatively little discomfort given to the drawing of the current position of the other vehicle V2 even if it is as it is. is there. That is, in this example, the third determination unit 108 determines that the position information is used as a determination target by the first determination unit 103 when the accuracy of the position information acquired by the acquisition unit 102 is low. If the accuracy of the position information acquired by the acquisition unit 102 is medium accuracy or high accuracy, it is determined that the position information is not used as a determination target by the first determination unit 103.

  If the accuracy of the position information acquired by the acquisition unit 102 is low, the third determination unit 108 determines that the position information is to be used as a determination target by the first determination unit 103. The 1 determination unit 103 makes the above-described determination using at least the latest position information acquired by the acquisition unit 102. When the first determination unit 103 determines that the position corresponding to the latest position information does not exist on the road of the electronic map EM, but the road corresponding to the position information can be specified on the electronic map EM. The correction unit 104 performs the first correction on the latest position information, and the drawing control unit 105 uses the latest position information after the first correction to present the other vehicle V2 on the electronic map EM. The graphic controller 13 starts drawing the position. Alternatively, in the above case, the correction unit 104 performs the second correction on the latest position information, and the second determination unit 107 determines that the position corresponding to the latest position information after the second correction is the electronic map EM. When the second determination unit 107 determines that the position corresponding to the latest position information after the second correction has arrived on the road of the electronic map EM In addition, the drawing control unit 105 may cause the graphic controller 13 to start drawing the current position of the other vehicle V2 on the electronic map EM using the latest position information after the second correction.

  On the other hand, since the accuracy of the position information acquired by the acquisition unit 102 is medium accuracy or high accuracy, the third determination unit 108 determines that the position information is not used as a determination target by the first determination unit 103. When the first position information is acquired by the acquisition unit 102, the drawing control unit 105 draws the current position of the other vehicle V2 on the electronic map EM using the position information. 13 starts.

(Specific example 2)
In the second specific example, the second correction is performed on the low-accuracy position information that has a large correction range by the map matching process and the correction has a high degree of influence on the recognition of the relative direction of the other vehicle V2 by the safe driving support. The correction range by the map matching process is relatively small, and the degree of influence of the correction on the recognition of the relative direction of the other vehicle V2 by the safe driving support is relatively low. 1 correction is performed. That is, in this example, the third determination unit 108 determines whether the position information acquired by the acquisition unit 102 is low accuracy, medium accuracy, or high accuracy by the first determination unit 103. It is determined to be used as a determination target.

  When the third determination unit 108 determines that the position information acquired by the acquisition unit 102 is to be used as a determination target by the first determination unit 103, the first determination unit 103 acquires the latest information acquired by the acquisition unit 102. The above-described determination is performed using at least the position information. The first determination unit 103 may determine that the position corresponding to the latest position information does not exist on the road of the electronic map EM but the road corresponding to the position information can be specified on the electronic map EM. is there.

  In this case, when the accuracy of the position information acquired by the acquisition unit 102 is low, the third determination unit 108 determines that the position information is used as a determination target by the first determination unit 103. The correction unit 104 performs the second correction on the latest position information, and the second determination unit 107 determines that the position corresponding to the latest position information after the second correction is on the road of the electronic map EM. When the second determination unit 107 determines that the position corresponding to the latest position information after the second correction has arrived on the road of the electronic map EM, the drawing control is performed. The unit 105 causes the graphic controller 13 to start drawing the current position of the other vehicle V2 on the electronic map EM using the latest position information after the second correction.

  On the other hand, since the accuracy of the position information acquired by the acquisition unit 102 is medium accuracy or high accuracy, the third determination unit 108 determines that the position information is used as a determination target by the first determination unit 103. In such a case, the correction unit 104 performs the first correction on the latest position information, and the drawing control unit 105 uses the latest position information after the first correction to add other information on the electronic map EM. The graphic controller 13 is caused to start drawing the current position of the vehicle V2.

(Specific example 3)
In specific example 3, correction is not performed on low-accuracy position information that has a large error and has a high risk of erroneous correction (correction in a direction with a larger divergence). Content is to be corrected for medium and high-accuracy position information with a relatively low error and a relatively low risk of incorrect correction (correction in a direction with a larger deviation). It is. That is, in this example, the third determination unit 108 uses the position information as a determination target by the first determination unit 103 when the accuracy of the position information acquired by the acquisition unit 102 is medium accuracy or high accuracy. When the accuracy of the position information acquired by the acquisition unit 102 is low, it is determined that the position information is not used as a determination target by the first determination unit 103.

  When the third determination unit 108 determines that the position information is to be used as a determination target by the first determination unit 103 because the accuracy of the position information acquired by the acquisition unit 102 is medium accuracy or high accuracy. The first determination unit 103 makes the above-described determination using at least the latest position information acquired by the acquisition unit 102. When the first determination unit 103 determines that the position corresponding to the latest position information does not exist on the road of the electronic map EM, but the road corresponding to the position information can be specified on the electronic map EM. The correction unit 104 performs the first correction on the latest position information, and the drawing control unit 105 uses the latest position information after the first correction to present the other vehicle V2 on the electronic map EM. The graphic controller 13 starts drawing the position. Alternatively, in the above case, the correction unit 104 performs the second correction on the latest position information, and the second determination unit 107 determines that the position corresponding to the latest position information after the second correction is the electronic map EM. When the second determination unit 107 determines that the position corresponding to the latest position information after the second correction has arrived on the road of the electronic map EM In addition, the drawing control unit 105 may cause the graphic controller 13 to start drawing the current position of the other vehicle V2 on the electronic map EM using the latest position information after the second correction.

  On the other hand, when the third determination unit 108 determines that the position information is not used as a determination target by the first determination unit 103 because the accuracy of the position information acquired by the acquisition unit 102 is low. The drawing control unit 105 starts drawing the current position of the other vehicle V2 on the electronic map EM using the position information from the time when the first position information is acquired by the acquisition unit 102 to the graphic controller 13. Let Alternatively, the other vehicle V2 that is transmitting the position information may be excluded from the drawing of the current position.

  As described above, in the in-vehicle device 100 of the present modification, the acquisition unit 102 can acquire accuracy information indicating the accuracy of the position information in addition to the position information from the information, and the acquisition unit 102 can acquire the position information. When the accuracy information is acquired, the third determination unit 108 (the fourth determination unit) determines whether to use the position information as a determination target by the first determination unit 103 according to the accuracy corresponding to the accuracy information. The first determination unit 103 makes a determination when the third determination unit 108 determines that the position information is to be used as a determination target.

  Thereby, the exact process according to the precision of the acquired position information can be performed.

(3) Case where the travel locus is also drawn In the above, the graphic controller 13 has drawn the current position of the other vehicle V2 based on the latest position information acquired by the acquisition unit 102. However, the present invention is not limited to this. Absent. That is, the graphic controller 13 may draw the current position and the traveling locus of the other vehicle V2 based on a plurality of pieces of position information including the latest position information acquired by the acquisition unit 102.

  When the first determination unit 103 determines that the road corresponding to the latest position information can be specified on the electronic map EM, the drawing control unit 105 of the present modification example gives the graphic controller 13 the latest update. Drawing of the current position of the other vehicle V2 on the electronic map EM based on the position information and the other vehicle V2 on the electronic map EM based on at least one position information acquired before the latest position information. The drawing of the travel locus, which is the position history of, is started. That is, the graphic controller 13 according to the present modified example controls the drawing control unit 105 until the road corresponding to the latest position information can be specified on the electronic map EM, that is, the latest position information is used. While the corresponding road cannot be specified on the electronic map EM, drawing of the current position and the traveling locus of the other vehicle V2 on the electronic map EM is not started, and the road corresponding to the latest position information is displayed on the electronic map EM. When it becomes possible to specify, the drawing of the current position and traveling locus of the other vehicle V2 on the electronic map EM is started.

  Note that the other vehicle V2 that is the drawing target of the travel locus may be any other vehicle V2 that can acquire position information and is present in the display area of the electronic map EM on the display 2, and be aware of the behavior. It is good also as only the specific other vehicle V2 (for example, a vehicle, an emergency vehicle, etc. with high possibility of crossing with the own vehicle V1). In addition, the drawing control unit 105 can acquire position information, and if the number of other vehicles V2 existing in the display area of the electronic map EM on the display 2 is smaller than a predetermined number, the graphic controller 13 displays the current position and travel history. If the number is more than a predetermined number, only the current position may be drawn by the graphic controller 13.

  As described above, in the in-vehicle device 100 of the present modification, the graphic controller 13 is based on the position information acquired by the acquisition unit 102, the current position of the other vehicle V2, the travel locus of the other vehicle V2, and Can be drawn on the electronic map EM, and the drawing control unit 105 starts drawing the current position and the traveling locus based on the position information when the first determination unit 103 determines that the first condition is satisfied. Thus, the graphic controller 13 is controlled.

  In this modified example, by drawing the travel locus of the other vehicle V2 on the electronic map EM, the user can also visually recognize the travel locus of the other vehicle V2, and pay more attention to the collision with the other vehicle V2. it can.

(4) When the information transmitted from the roadside equipment is received In the above, the information including the positional information of the other vehicle V2 is transmitted from the transmission / reception unit 241 in the other vehicle V2, and the transmission / reception unit 141 is transmitted in the other vehicle V2. Information including the position information of the other vehicle V2 transmitted from the transmission / reception unit 241 is received via wireless communication, and the acquisition unit 102 determines the position information of the other vehicle V2 from the information received by the transmission / reception unit 141. However, it is not limited to this. That is, instead of or in addition to the above, information including the position information of the other vehicle V2 detected by appropriate detection means (not shown) on the roadside equipment side from appropriate roadside equipment (not shown) ( The transmission / reception unit 141 or another transmission / reception unit (not shown) receives the information including the position information of the other vehicle V2 transmitted from the roadside equipment via wireless communication. The acquisition unit 102 may acquire the position information of the other vehicle V2 from the information received by the transmission / reception unit 141 or another transmission / reception unit. In this case, the transmission / reception unit 141 or another transmission / reception unit corresponds to a second reception unit.

  As described above, in the in-vehicle device 100 of the present modification, the transmission / reception unit 141 or another transmission / reception unit (second reception) that receives information (corresponding to the second information) transmitted from the roadside equipment via wireless communication. The acquisition unit 102 acquires position information from information received by the transmission / reception unit 141 or another transmission / reception unit.

  Thereby, even if the other vehicle V2 does not have a wireless communication function, it is possible to draw the current position of the other vehicle V2.

(5) Others When the travel direction information has been acquired by the acquisition unit 102 in the above, the drawing control unit 105 displays a mark indicating the travel direction of the other vehicle V2 together with the mark M2 indicating the current position of the other vehicle V2. (For example, an arrow or the like) may be drawn on the graphic controller 13. As a result, the user can visually recognize the traveling direction of the other vehicle V2 at a glance, and thus can further pay attention to the collision with the other vehicle V2.

  In the above description, the case where the in-vehicle device 100 corresponding to the navigation device is mounted on the vehicle has been described as an example. However, the present invention is not limited to this. ) Or equipment that does not move. Moreover, although the case where the position information of the vehicle is acquired has been described above as an example, the present invention is not limited to this, and the position information of a moving body other than the vehicle (for example, an aircraft, a ship, a human, a non-human animal, etc.) is acquired. May be.

  Note that the flowcharts shown in FIGS. 7, 8, 16, and 17 are not intended to limit the present invention to the illustrated procedure, but to add, delete, or order the procedures without departing from the spirit and technical idea. May be changed.

  In addition to those already described above, the methods according to the above-described embodiments and modifications may be used in appropriate combination.

  In addition, although not illustrated one by one, the present invention is implemented with various modifications within a range not departing from the gist thereof.

11 CPU (equivalent to a computer)
13 Graphic controller (equivalent to drawing means)
100 In-vehicle device (equivalent to navigation device)
102 acquisition unit 103 first determination unit 104 correction unit 105 drawing control unit (corresponding to drawing control means)
106 Safe driving support unit 107 Second determination unit (corresponding to third determination means)
108 3rd judgment part (equivalent to 4th judgment means)
141 Transmission / reception unit (corresponding to first receiving means)
EM electronic map (equivalent to map)
V2 Other vehicle (equivalent to other moving objects)

Claims (1)

An acquisition means for acquiring position information of another moving body from information received via wireless communication;
Drawing means for drawing a current position of the other moving body on a map based on the position information acquired by the acquiring means;
First determination means for determining whether or not a first condition is satisfied using the position information acquired by the acquisition means;
A drawing control means for controlling the drawing means to start drawing the current position based on the position information when the first determination means determines that the first condition is satisfied;
A navigation device comprising:

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