JP4325535B2 - Forward road information transmission system - Google Patents

Description

  The present invention calculates a road estimated to be overlined by map matching between the current position of the own vehicle and road map data as an overline estimated road, and relates to the calculated overline estimated road. Information on the direction of travel is created as front road information, and the created front road information is sent to a travel control device and an alarm device to cause the travel control device to perform a travel control operation or to cause the alarm device to perform an alarm operation. The present invention relates to a forward road information transmission system.

Map matching between the current position of the vehicle and the road map data to calculate the road estimated to be overlined as the overline estimated road, and information on the traveling direction of the vehicle regarding the calculated overline estimated road (For example, road shape information such as curve curvature and road gradient, and incidental information such as toll booths, interchanges, and the presence of tunnels, etc.) are created as front road information, and the created front road information is used as a travel control device or alarm. Some of them are sent to a device to cause the travel control device to perform a travel control operation or to cause an alarm device to perform an alarm operation (see, for example, Patent Document 1).
JP-A-8-194896

  By the way, when there are branch points or intersections in the traveling direction of the host vehicle, a plurality of forward road information is created corresponding to a plurality of candidate roads ahead from the branch points or intersections. In the configuration described in Patent Document 1, when it is impossible to specify the course of the host vehicle from a plurality of progress candidate roads, the forward road information is not sent to the travel control device and the warning device. It has become.

  However, this makes it difficult to perform the travel control operation and alarm operation on the road ahead from the vicinity of the junction or intersection, and the system actually narrows the actual working area in which the travel control operation and alarm operation are performed. In other words, there is a problem that it is difficult to make the system function (performance) sufficiently exhibited, and the convenience is inferior. Also, not only when there is a branch point or intersection in the traveling direction of the host vehicle, but the accuracy of map matching between the current position of the host vehicle and the road map data is not high, and when multiple overline estimated roads are calculated Since a plurality of forward road information is created corresponding to a plurality of upper line estimated roads, there is a problem as described above.

  The present invention has been made in view of the above-described circumstances, and the purpose of the present invention is to expand an actual working area in which the system actually performs travel control and alarm operation, and to fully exhibit the functions of the system. It is possible to provide a forward road information transmission system that can improve convenience.

According to the first aspect of the present invention, the upper line estimated road calculating means performs map matching between the current position of the host vehicle specified by the current position specifying means and the road map data stored in the road map data storage means. And calculating a forward road estimated road where the own vehicle is overlined, and the forward road information creating means obtains information on the traveling direction of the own vehicle with respect to the estimated upper road calculated by the upward line estimated road calculating means. Based on the road map data stored in the storage means, it is created as the road information ahead. Then, the control means sends the forward road information created by the forward road information creation means to the travel control device or the alarm device, and causes the travel control device to perform the travel control operation or causes the alarm device to perform the alarm operation. . Here, when a plurality of forward road information is created by the forward road information creation means, the control means creates a difference in curvature of the curves of the created forward road information, a difference in intersection angle at the intersection, a road gradient If the similarity is the difference between the two, the toll booth, the interchange, or the presence or absence of a tunnel, and whether the similarity satisfies a predetermined condition, Any one or a plurality of forward road information is averaged and transmitted to the travel control device or the warning device.

Therefore, even when there are branch points or intersections in the traveling direction of the host vehicle and a plurality of forward road information is created corresponding to a plurality of candidate roads ahead from the branch points or intersections, they are created. If the degree of similarity of the plurality of front road information satisfies a predetermined condition, that is, if the contents of the plurality of front road information are similar, one of the plurality of front road information or the plurality of front road information is averaged. Since it is sent to the travel control device and the alarm device to perform the travel control operation and the alarm operation, the travel control operation and the alarm operation for the road ahead from the vicinity of the branch point or the intersection can be appropriately performed. As a result, the actual working area where the system actually performs the travel control operation and the alarm operation can be expanded, the system functions can be fully exhibited, and the convenience can be enhanced .

Further, even when the current position of the host vehicle and the road map data are not highly map-matched and a plurality of forward road information is created corresponding to a plurality of estimated upper roads, If the degree of similarity of the front road information satisfies a predetermined condition, one of a plurality of front road information or a plurality of front road information is averaged and sent to the travel control device or alarm device to perform the travel control operation or alarm operation. Therefore, even after this time, it is possible to properly perform the travel control operation and the alarm operation, and it is possible to widen the actual working area where the system actually performs the travel control operation and the alarm operation, and the system functions are sufficiently It can be demonstrated.

According to the second aspect of the present invention, when the control means detects that the similarity of the plurality of front road information does not satisfy the predetermined condition, any of the plurality of front road information is sent to the travel control device or the warning device. Do not send. Thus, when a plurality of forward road information is created corresponding to a plurality of progress candidate roads and a plurality of upper line estimated roads, the similarity of the created forward road information does not satisfy a predetermined condition, that is, If the contents of multiple front road information are not similar, none of the plurality of front road information will be sent out, and it will be avoided in advance that inappropriate driving control operations and warning operations will be performed. Can do.

According to the invention described in claim 3 , when the control unit detects that the similarity of the plurality of front road information does not satisfy the predetermined condition, all of the plurality of front road information is sent to the travel control device and the warning device. To do. Thus, when a plurality of forward road information is created corresponding to a plurality of progress candidate roads and a plurality of upper line estimated roads, the similarity of the created forward road information does not satisfy a predetermined condition, that is, If the contents of the plurality of front road information are not similar, all of the plurality of front road information is transmitted, and all of the plurality of front road information can be notified to the travel control device and the alarm device.

  Hereinafter, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a functional block diagram showing the overall configuration of the forward road information transmission system. A forward road information transmission system 1 mounted on a vehicle includes a GPS receiver 2, a current position specifying device 3 (current position specifying means in the present invention), a road map database 4 (road map data storing means in the present invention). , An upper line estimated road calculating device 5 (an upper line estimated road calculating means in the present invention), a forward road information creating device 6 (forward road information creating means in the present invention), and a control device 7 (control means in the present invention). Configured.

  When the GPS receiver 2 receives a GPS radio wave transmitted from a GPS satellite, the GPS receiver 2 extracts a parameter from the received GPS radio wave and outputs the parameter to the current position specifying device 3. When a parameter is input from the GPS receiver 2, the current position specifying device 3 calculates the input parameter, specifies the current position of the host vehicle, and outputs it to the upper line estimated road calculation device 5.

  The road map database 4 stores map road data. In this case, the map road data may be downloaded from a distribution center, or may be recorded on a recording medium such as a DVD or a memory card. When the current position of the host vehicle is input from the current position specifying device 3, the upper line estimated road calculation device 5 reads a location corresponding to the current position of the host vehicle from the road map data stored in the road map database 4. Map matching is performed between the current position of the host vehicle and the road map data, and a road estimated to be overlined by the host vehicle is calculated as an upper line estimated road and output to the forward road information creation device 6.

  The forward road information creation device 6 reads the information on the traveling direction of the own vehicle with respect to the estimated upper line from the road map data stored in the road map database 4 when the estimated upper road is input from the estimated upper road calculation device 5. To create road information. In this case, the forward road information includes road shape information such as a curvature of a curve and a road gradient, and incidental information such as the presence of a toll gate, an interchange, and a tunnel.

  The control device 7 is mounted on an accelerator control device 8 that performs accelerator control, a brake control device 9 that performs brake control, a steering control device 10 that performs steering control, a shift control device 11 that performs shift control, and an alarm device 12 that performs an alarm operation. It is connected via a LAN (not shown), and forward road information is sent to each device 8-12, thereby causing each device 8-12 to perform a travel control operation and a warning operation.

  In the above configuration, the GPS receiver 2, the current position specifying device 3, the road map database 4, the upper line estimated road calculation device 5, and the forward road information creation device 6 are configured by functions of a car navigation device. May be. In the present embodiment, the case where the current position specifying device 3 specifies the current position of the host vehicle using GPS radio waves has been described. However, a gyroscope, a distance sensor, and the like are also used, and the detection results thereof. The present position of the own vehicle may be specified by mutually complementing.

  Next, the operation of the above configuration will be described with reference to FIGS. Here, FIG. 2 shows a process performed by the entire front road information transmission system 1 as a flowchart.

  First, the forward road information transmission system 1 activates each device 2 to 7 as an initial process (step S1). Next, the forward road information transmission system 1 specifies the current position of the own vehicle by the current position specifying device 3 (step S2), and the road map stored in the road map database 4 and the specified current position of the own vehicle. The upper line estimated road calculation device 5 calculates an upper line estimated road estimated by map matching with the data so that the host vehicle is overlined (step S3).

  Next, the forward road information transmission system 1 determines whether or not at least one overline estimated road has been successfully calculated (step S4), and that at least one overline estimated road has been successfully calculated. Is detected ("YES" in step S4), it is determined whether or not there are a plurality of upper line estimated roads (step S5). When the forward road information transmission system 1 detects that there is one upper line estimated road of the own vehicle (“NO” in step S5), information on the traveling direction of the own vehicle with respect to the one upper line estimated road. Is generated by the front road information generation device 6 as front road information (step S6).

  Now, it is assumed that there is a branching point or an intersection on the overline estimated road. When there is a branch point or an intersection on the estimated road, the forward road information transmission system 1 uses the forward road information creation device 6 to output a plurality of forward road information corresponding to a plurality of advance candidate roads ahead of the branch point or intersection. Therefore, when it is detected that there are a plurality of front road information (“YES” in step S7), whether or not the plurality of front road information is similar (similarity in the present invention is predetermined). Whether or not the condition is satisfied is determined by the control device 7 (step S8).

  In this case, the control device 7 determines whether or not a plurality of forward road information is similar as follows. That is, the control device 7 calculates the curvature of the curve of the predetermined section for, for example, two progress candidate roads ahead of the branch point if there is a branch point on the upper line estimated road as shown in FIG. By determining whether or not the curvatures of these curves are substantially equal (whether or not the difference between the curvatures of the curves is less than a threshold value), the information on the two roads corresponding to the two traveling candidate roads is similar. It is determined whether or not. Further, as shown in FIG. 4, if there is an intersection on the upper line estimated road of the host vehicle, for example, the control device 7 determines whether the intersection angles of the two advance candidate roads from the intersection are substantially equal. (Whether or not the difference between the intersection angles of the intersections is less than a threshold value), it is determined whether or not the two forward road information corresponding to the two travel candidate roads are similar.

  Then, as shown in FIG. 3 (a), the control device 7 has substantially the same curvature of the curves of the two progress candidate roads ahead of the branch point (the difference between the curvatures of the curves is less than the threshold value) As shown in FIG. 4A, when the intersection angles of the two advance candidate roads from the intersection are substantially the same (the difference between the intersection angles of the intersections is less than the threshold), the two progressions It is detected that the two pieces of road information corresponding to the candidate road are similar (“YES” in step S8), and one of the two pieces of road information is sent to the travel control devices 8 to 11 and the warning device 12. (Step S9), the process returns to Step S2.

  In response to this, when the front road information is input from the control device 7, the travel control devices 8 to 11 and the alarm device 12 perform a travel control operation and an alarm operation according to the content of the input front road information. . That is, in the present embodiment, for example, the brake control device 9 performs brake control (deceleration control) or the alarm device 12 is approaching the branch point in response to the host vehicle approaching the branch point or intersection. The voice message of the warning message for notifying the driver is output.

  On the other hand, as shown in FIG. 3B, the control device 7 has a case where the curvatures of the curves of the two candidate roads ahead of the branch point are not equivalent (the difference between the curvatures of the curves is equal to or greater than a threshold value). Alternatively, as shown in FIG. 4B, when the intersection angles of the two advance candidate roads from the intersection are not equal (the difference between the intersection angles of the intersections is equal to or greater than a threshold value), the two advance candidates The fact that the two pieces of road information corresponding to the road are not similar is detected (“NO” in step S8), and either of the two pieces of road information is sent to the travel control devices 8-11 and the warning device 12. The process returns to step S2 described above without sending. In this case, the traveling control devices 8 to 11 and the alarm device 12 do not perform the traveling control operation or the alarm operation.

  Further, the forward road information transmission system 1 detects that there is no branching point or intersection on the upper line estimated road of the own vehicle and there is only one forward road information ("NO" in step S7). Forward road information is sent to the travel control devices 8 to 11 and the warning device 12 (step S10), and the process returns to step S2. In this case, when the front road information is input from the control device 7, the travel control devices 8 to 11 and the alarm device 12 perform a travel control operation and a warning operation according to the content of the input front road information.

  Further, the forward road information transmission system 1 detects that there are a plurality of upper line estimated roads because, for example, the accuracy of map matching between the current position of the host vehicle and the road map data is not high (step S5). In step S11), the information on the traveling direction of the host vehicle is generated by the front road information generation device 6 as a plurality of front road information (step S11). It is determined by the control device 7 whether the forward road information is similar (step S12).

  That is, as shown in FIG. 5A, the control device 7 has substantially the same curvature of the curves of the two upper-line estimated roads of the host vehicle (the difference between the curvatures of the curves is less than the threshold). It is detected that the two forward road information corresponding to these two upper line estimated roads are similar (“YES” in step S12), and in this case as well, either of the two forward road information is used as the travel control device. 8 to 11 and the alarm device 12 (step S9), the process returns to the above-described step S2. In this case, when the front road information is input from the control device 7, the travel control devices 8 to 11 and the alarm device 12 perform a travel control operation and a warning operation according to the content of the input front road information.

  On the other hand, as shown in FIG. 5B, the control device 7 has a case where the curvatures of the curves of the two upper-line estimated roads of the host vehicle are not substantially equal (the difference between the curvatures of the curves is equal to or greater than a threshold value). Detects that the two forward road information corresponding to the two upper line estimated roads are not similar (“NO” in step S12), and the travel control device uses either of the two forward road information. The process returns to the above-described step S2 without sending to 8 to 11 or the alarm device 12. In this case, the traveling control devices 8 to 11 and the alarm device 12 do not perform the traveling control operation or the alarm operation.

  By the way, when the travel control operation is performed according to the similarity of the plurality of forward road information as described above, the accelerator control, brake control, and the like described above are performed according to the situation of the host vehicle and the road at that time. What is necessary is just to select and perform necessary one among steering control and shift control. That is, in the example shown in FIG. 3 and FIG. 4 described above, since the curve turning direction is different from the branch point or the intersection, the brake control is performed until the branch point or the intersection is reached. The control (turning control) is not performed. On the other hand, in the example shown in FIG. 5 described above, the bending direction of the curve is substantially the same, so that the brake control and the steering control are performed. become. 3 to 5 merely schematically show the road shape, and the ratio of the scale of the own vehicle and the distance from the own vehicle to a branch point, an intersection, or a curve entry point does not necessarily match. .

  As described above, according to the present embodiment, in the forward road information transmission system 1, there are branch points and intersections in the traveling direction of the host vehicle, and a plurality of progress candidate roads ahead from the branch points and intersections are supported. Even when a plurality of front road information is created, if the created front road information is similar, any one of the plurality of front road information is used as a travel control device 8-11 or an alarm device. 12 is configured to perform a travel control operation and an alarm operation, so that it is possible to perform a travel control operation and an alarm operation for a road ahead from the vicinity of a branch or intersection. In addition, it is possible to widen an actual working area where the traveling control operation and the alarm operation are performed, to fully exhibit the functions of the system, and to improve convenience.

  Further, even when the current position of the host vehicle and the road map data are not highly map-matched and a plurality of forward road information is created corresponding to a plurality of estimated upper roads, If the front road information is similar, any one of the plurality of front road information is sent to the travel control devices 8 to 11 and the alarm device 12 to perform the travel control operation and the alarm operation. Thus, the travel control operation and the alarm operation can be performed, the actual working area where the system actually performs the travel control operation and the alarm operation can be expanded, and the functions of the system can be fully exhibited.

The present invention is not limited to the above-described embodiments, and can be modified or expanded as follows.
The functional blocks of the entire system may be realized by other configurations.
When it is detected that a plurality of pieces of road information are similar, the road is not limited to a configuration in which any one of the pieces of road information is sent to a travel control device or an alarm device, and the roads are averaged and traveled. It may be configured to send to a control device or an alarm device.
When it is detected that the plurality of front road information is not similar, not only the configuration in which none of the plurality of front road information is sent to the travel control device or the alarm device, but all of the plurality of front road information is travel controlled. It may be configured to send to a device or an alarm device.

The travel control is not limited to the configuration in which the accelerator control, the brake control, the steering control, and the shift control are performed, and may be a configuration in which any one of them is selected, or the lighting control of the light or the window opening / closing control. The structure which performs this may be sufficient. When determining whether or not the forward road information is similar, the threshold value may be changed according to the vehicle speed or the vehicle weight.
The configuration may be such that only one of the travel control operation and the alarm operation is performed.
The determination as to whether or not the degree of similarity of a plurality of forward road information satisfies a predetermined condition is not limited to a configuration for determining whether a difference in curvature of a curve or a difference in intersection angle at an intersection is less than a threshold value. A configuration may be used in which incidental information such as a difference in gradient, presence / absence of a toll booth, an interchange, or a tunnel is determined. Judgment whether or not the curvatures of the curves are approximately equal is any of the conditions when the curve is approximately symmetrical when viewed from the direction of travel, when the curves are close to each other in the same direction, or when both are included You can go there.

  Calculates certainty information that represents the degree of certainty of forward road information in consideration of the similarity of multiple forward road information, sends any of the multiple forward road information to the travel control device and alarm device, and The information may also be sent to the travel control device and the alarm device. With such a configuration, it is possible to notify the travel control device and the alarm device of the certainty of the forward road information to be sent. The travel control operation and the alarm operation can be performed in consideration of the certainty in the travel control device and the alarm device. The certainty here means, for example, the accuracy of dead reckoning navigation, the accuracy of map matching, and current indicators such as indices determined from the number of observations of GPS satellites when the current position is specified using GPS radio waves. The accuracy for specifying the position is also taken into consideration.

Functional block diagram showing an embodiment of the present invention flowchart The figure which shows the example with the case where forward road information is similar and the case where it is not similar 3 equivalent figure 3 equivalent figure

Explanation of symbols

In the drawings, 1 is a forward road information transmission system, 3 is a current position specifying device (current position specifying means), 4 is a road map database (road map data storage means), and 5 is an upper line estimated road calculating device (upper line estimated road calculating means). ), 6 is a front road information creation device (front road information creation means), and 7 is a control device (control means).

Claims (3)

Current position specifying means for specifying the current position of the host vehicle;
Road map data storage means for storing road map data;
Estimating the road that is estimated to be overlined by map matching the current position of the host vehicle specified by the current position specifying unit and the road map data stored in the road map data storage unit Upper line estimated road calculating means for calculating as a road;
Forward road information creation means for creating forward road information based on the road map data stored in the road map data storage means for information on the traveling direction of the host vehicle with respect to the estimated upper line road calculated by the upper line estimated road calculation means When,
Control means for sending forward road information created by the forward road information creating means to a travel control device or an alarm device to cause the travel control device to perform a travel control operation or to cause the alarm device to perform an alarm operation; With
The control means, when a plurality of forward road information is created by the forward road information creation means , a difference in curvature of curves of the created forward road information, a difference in intersection angle at an intersection, a road When the difference in slope, the presence of a toll booth, interchange, or tunnel is used as a similarity, it is determined whether or not the similarity satisfies a predetermined condition, and it is detected that the similarity of multiple forward road information satisfies the predetermined condition the forward road information delivery system characterized by delivering Previous SL running control device and said alarm by averaging one or more of the forward road information of a plurality of forward road information. In the forward road information sending system according to claim 1,
When the control means detects that the similarity between the plurality of forward road information does not satisfy a predetermined condition, none of the plurality of forward road information is transmitted to the travel control device or the warning device. Forward road information transmission system. In the forward road information sending system according to claim 1 ,
Characterized in that the control unit, when the similarity of the plurality of forward road information has detects that do not meet the predetermined condition, for sending all of the plurality of forward road information to the driving control unit and said alarm Forward road information transmission system.

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