JP2009008646A - Onboard navigation device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an onboard navigation device capable of accurately detecting an intersection at which a driver is likely to get lost. <P>SOLUTION: An onboard navigation device 1 forms a guidepath between the current location of a vehicle as detected by a position detector 3 and a destination that has been entered. When the vehicle deviates from the guidepath at an intersection, when the state of the vehicle as detected by a velocity sensor 6, a G sensor 7, or a gyroscope 23 becomes a predetermined state, and when the physical state of a driver as detected by a physical state detection sensor 19, a camera 20, or a microphone 15 becomes a predetermined state, it is determined that the vehicle has deviated from the guidepath by the driver's mistake and the intersection is an intersection at which the driver is likely to get lost. Then, data specifying the intersection at which the vehicle has deviated from the guidepath is sent to an information center 26 provided outside of the vehicle. The information center 26 collects, from vehicles, data specifying intersections, and forms data to notify the vehicles of intersections at which drivers are likely to get lost. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to an in-vehicle navigation device that detects the current location of a vehicle and displays it on a map screen.

  In recent years, navigation devices and related systems have made remarkable progress, and the information obtained from these devices tends to increase significantly. For example, map data usually includes various facility locations, sightseeing information, etc., and VICS (Vehicle Information & Communication System: VICS is a registered trademark), which is a related system of navigation devices, Road information such as traffic congestion information or required time is also provided.

  By the way, in an in-vehicle navigation device, a guidance route is usually formed between a detected current location and an input destination based on map data, and route guidance is executed based on this guidance route. On some roads, there are places where the direction of guidance by the navigation device is difficult to understand. In intersections where the direction of guidance is difficult to understand, vehicles often enter a road different from the direction of guidance after getting lost.

  On the other hand, when the vehicle deviates from the guidance route, it is determined from the vehicle state information such as the detected speed and brake whether the deviation from the guidance route is due to the driver's error. There is a related art related to a navigation device that stores information on intersections that deviate from the guidance route and prompts attention when the vehicle is at an intersection stored or a similar intersection (see, for example, Patent Document 1). ).

According to the above-mentioned prior art, when the vehicle is at an intersection that is likely to deviate from the guidance route due to an error, the vehicle is prevented from deviating from the guidance route by alerting the driver and stopped on the road after deviating. Since U-turns can also be reduced, it is effective in reducing traffic congestion and preventing accidents.
JP 2004-333467 A

  However, it is difficult to determine whether the course of the vehicle has deviated from the guidance route due to the driver's error or whether the driver has intentionally performed due to a change in the driving plan or the like based on the vehicle state or the like. It is difficult for the navigation device to automatically grasp the intersection where the vehicle deviates from the guidance route due to the driver's error. That is, the vehicle is in various states depending on the driver's habits and road conditions, and it has been difficult to uniformly detect that the vehicle has deviated from the guidance route due to the driver's error.

In addition, since it is normal for a driver to easily get lost at an intersection, it is rare for the driver to deviate from the route. Therefore, it is desirable to collect intersection information that is easy for the driver to get lost, regardless of whether or not there is a departure from the guidance route. Becomes more difficult.
The present invention has been made in view of the above circumstances, and an object of the present invention is to provide an in-vehicle navigation device capable of accurately detecting an intersection that is easily lost by a driver.

  According to the in-vehicle navigation device of the first aspect, the intersection where the vehicle has passed is determined by the driver based on the vehicle state detected by the vehicle state detection unit and the physical state of the driver detected by the biological state detection unit. Judge whether it is easy to get lost. As a result, it is possible to accurately detect whether or not the intersection through which the vehicle has passed is likely to be lost to the driver, based on information sources having different characteristics such as the vehicle state and the driver's body information.

  According to the in-vehicle navigation device of the second aspect, when the intersection determination unit detects that the vehicle has deviated from the guidance route by the route departure detection unit, the vehicle state detected by the vehicle state detection unit satisfies a predetermined condition. When the driver's physical condition that is satisfied and detected by the biological condition detection means satisfies a predetermined condition, it is assumed that the vehicle has deviated from the guidance route due to the driver's error, and the intersection through which the vehicle has passed is for the driver. Judge that it is easy to get lost. As described above, when it is detected that the vehicle has deviated from the guidance route due to an error of the driver, it is determined that the vehicle is likely to get lost for the driver. Therefore, it is possible to further improve the accuracy of detecting the easily lost intersection.

According to the in-vehicle navigation device of the third aspect, the biological state detecting means detects the driver's pulse, and if the detection sensor is attached to the steering wheel of the vehicle, it can be easily detected from the driver's hand during driving. A signal can be collected.
According to the vehicle-mounted navigation device according to claim 4, the biological state detection means is installed for other purposes, such as a boarding presence detection camera for operating the airbag, by detecting the driver's line of sight. It is possible to detect by using a vehicle interior camera.
According to the in-vehicle navigation device of the fifth aspect, the biological state detection means can detect and detect the driver's utterance by using the existing microphone and voice recognition device of the navigation device.

<Embodiment 1>
Hereinafter, an in-vehicle navigation device 1 according to Embodiment 1 of the present invention will be described with reference to FIGS. 1 to 9. FIG. 1 is a block diagram showing a configuration of the in-vehicle navigation device 1. The navigation device 1 includes a control device 2 mainly composed of a microcomputer, a position detector 3 for detecting the current position of the vehicle, a map data input device 4, an operation switch group 5, a speed sensor 6, and a G (acceleration) sensor. 7, a brake pressure sensor 8, a turn signal switch 9, a steering angle sensor 10, an external memory 11, a display device 12 including a color liquid crystal display, a voice controller 14 to which a speaker 13 is connected, and a voice input from a microphone 15 are recognized. Voice recognition device 16, remote control sensor 18 for transmitting and receiving commands and the like with remote control 17, biological state detection sensor 19 attached to a grip portion of a steering wheel (not shown) of a vehicle, and installed in a vehicle interior Sending and receiving data between the camera 20 and the information center 26 outside the vehicle by wireless communication And a signal unit 21.

  The position detector 3 corresponds to the present location detection means of the present invention, and includes a geomagnetic sensor 22 that detects the vehicle direction, a gyroscope 23 that detects the rotational angular velocity of the vehicle, a distance sensor 24 that detects the travel distance of the vehicle, and an artificial satellite. It has a GPS receiver 25 for GPS (Global Positioning System) that detects (positions) the current position of the vehicle (own vehicle) based on the transmitted radio wave. Each sensor 22-25 has an error with a different property. For this reason, the control device 2 detects the current position, traveling direction, speed, travel distance, current time, etc. of the vehicle with high accuracy by using the detected values of the sensors 22 to 25 while interpolating. Yes. Depending on the accuracy, the position detector 3 may be configured by only a part of the sensors 22 to 25 described above. Moreover, you may use the steering angle sensor 10, the wheel sensor of each rolling wheel, etc.

  The map data input device 4 is a map data recording medium that records various data such as road map data, landmark data, map matching data, destination data (facility database), and table data for converting traffic information into road data. It is comprised by the drive device for reading data from. As the map data recording medium, a large-capacity storage medium such as a DVD is generally used, but a medium such as a memory card or a hard disk device may be used.

  The operation switch group 5 which is an external operation means corresponds to the destination input means of the present invention together with the remote controller 17, and is a mechanical switch provided near the screen of the display device 12 or a touch panel provided on the screen of the display device 12. It is comprised including. The user uses the operation switch group 5 to input a destination of the vehicle, information necessary for searching for the destination (destination search condition), a passing point, etc., and a screen or display mode switching of the display device 12 (map) The navigation apparatus 1 can be operated by inputting various commands for performing scale change, menu display selection, route search, route guidance start, current position correction, volume adjustment, and the like. On the other hand, the remote controller 17 is provided with a plurality of operation switches, and various command signals are transmitted from the remote controller 17 to the control device 2 via the remote control sensor 18 by the switch operation. Note that the operation switch group 5 and the remote controller 17 can cause the control device 2 to execute the same function by any operation.

  The speed sensor 6 is attached to a transmission (not shown) of the vehicle and detects the vehicle speed from the gear rotation speed of the transmission. Further, the speed sensor 6 may be other than this, for example, a sensor that detects the vehicle speed from the rotational speed of the driving wheel or the driven wheel of the vehicle. The G sensor 7 detects acceleration (deceleration) generated in the front-rear direction of the vehicle in order to detect that sudden braking has been applied to the vehicle. The brake pressure sensor 8 is a pressure sensor that detects a hydraulic pressure in a master cylinder or a disc brake (both not shown) of the vehicle. The turn signal switch 9 is housed in a steering column (not shown) of the vehicle and is interlocked with a winker (not shown). By detecting this, it can be determined whether or not the winker is operating. The steering angle sensor 10 is formed by a potentiometer or the like and can detect the steering angle of the vehicle. The gyroscope 23, the speed sensor 6, the G sensor 7, the brake pressure sensor 8, the turn signal switch 9, and the steering angle sensor 10 described above correspond to the vehicle state detection means of the present invention.

  The external memory 11 is composed of a flash memory card or the like. The external memory 11 stores specific data such as route data to the destination set by the control device 2 during route guidance, route data passed by the vehicle, and the like. On the screen of the display device 12, a map around the position of the vehicle is displayed at various scales, and a current location mark (pointer) indicating the current position and the traveling direction of the vehicle is displayed superimposed on the display. In addition, a route guidance screen is displayed when route guidance to the destination is executed. Furthermore, an input screen for inputting information necessary for the user to search for the destination, searching for and setting the destination, various messages, and the like are also displayed.

  The voice recognition device 16 collates the voice inputted through the microphone 15 with the dictionary data for recognition stored therein, and recognizes the inputted voice. The voice controller 14 controls the voice recognition device 16 to output a voice recognition result to the control device 2, and the recognized voice is talkback output via the speaker 13. Further, an audio output signal is output to the speaker 13 based on an audio output command from the control device 2. The speaker 13, together with the display device 12, corresponds to the route guidance means of the present invention, and the voice to be output from now on is a voice related to the route guidance, a voice related to the operation explanation, a voice notifying that the anti-theft function is in operation, a voice Talkback voice according to the recognition result.

  A biological state detection sensor 19 attached to the steering wheel detects a driver's body (biological) state such as a pulse state and a sweat state from the palm or the like. The camera 20 is formed by a CCD camera, a CMOS camera, or the like that can capture an image in the visible light region or the infrared region, and an image processing unit. The camera 20 is attached in the vicinity of a room mirror (not shown) in the passenger compartment, on the driver's eyeball. The reflected visible light or infrared is imaged. A driver's eyeball image captured by a CCD camera or a CMOS camera is subjected to image processing by an image processing unit, and the state of the driver's line of sight is detected. The microphone 15, the voice recognition device 16, the biological state detection sensor 19 and the camera 20 described above correspond to the biological state detection means of the present invention.

  The microcomputer constituting the control device 2 includes a CPU, memory (RAM, ROM, EEPROM, flash memory, etc.), I / O, and the like. The intersection passage detection means, intersection determination means, route search means, and route according to the present invention Corresponds to deviation detection means. The control device 2 displays a road map around the current location on the screen of the display device 12 so as to be movable along the travel route, and superimposes a current location mark indicating the current position and traveling direction of the vehicle on the road map. It is a function to display. In this case, the display of the current location moves on the map as the vehicle travels, and the map is scrolled according to the position of the vehicle. At this time, map matching is performed in which the current location of the vehicle is placed on the road. The control device 2 corresponds to the memory means of the present invention, and includes a memory for storing the map data input from the map data input device 4.

  Next, based on FIG. 2 thru | or FIG. 4, the control method of the navigation apparatus 1 by the control apparatus 2 of this embodiment is demonstrated. In step S201, in response to an input request from the activated in-vehicle navigation device 1 as to whether or not to provide route guidance, the driver (or the user on board) operates the operation switch group 5 or the remote controller 17 to “route” When “Guidance” is input, “route guidance control” starts (step S202). When the user inputs “do not provide route guidance”, “normal control” is started (step S203).

  In “route guidance control”, first, the user uses the operation switch group 5 to input the destination of the vehicle (step S301 shown in FIG. 3). Next, in step S302, based on the map data, a vehicle guidance route connecting the current location and the destination is formed (searched) between the current location detected by the position detector 3 and the destination input by the user. The search method for the guidance route is not particularly limited to this, but is generally based on the Dijkstra method.

  Next, vehicle guidance (route guidance) is executed based on the searched guidance route (step S303). The route guidance is executed by route display on the display device 12, voice guidance by the speaker 13, or a combination of both. Next, based on the current location of the vehicle detected by the position detector 3 and the map data, it is determined whether the vehicle has passed the intersection during route guidance (step S304). Here, the intersection defined in the present invention includes not only a crossroad but also a case where a three-way or five or more roads intersect at one point. If it is determined that the vehicle has not passed the intersection, the process proceeds to step S310.

  On the other hand, if it is determined that the vehicle has passed the intersection, the process proceeds to step S305, and based on the guidance route and the current position, the vehicle has deviated from the searched guidance route on the intersection where the actual course of the vehicle has passed. It is determined whether or not (developed). Specifically, the deviation from the guidance route refers to a case where the vehicle travels in a direction different from the guidance direction by the navigation device at the intersection, and whether the vehicle position detected by the position detector 3 is on the guidance route. It is determined by whether or not.

  When it is determined that the actual course of the vehicle has deviated from the guidance route, a driving error determination is performed (step S306). In the driving error determination, it is determined by the method described later whether the driver has deviated from the guidance route due to the driver's error and is an intersection that is easily lost by the driver. When it is determined that the vehicle course deviates from the guidance route due to a driver's error and is easy to get lost by the driver (step S307), data for identifying the intersection that has deviated from the guidance route due to the error (for example, the position of the intersection) Are stored in the memory of the control device 2 (step S308).

  Thereafter, data specifying the intersection stored in the memory is transmitted to the information center 26 outside the vehicle via the transceiver 21 (step S309). The information center 26 collects data from a large number of vehicles that specify intersections that are easy to get lost for the driver because they are off the guidance route due to such errors. In the information center 26, by analyzing these data, data that can easily notify the vehicle that it is a point (intersection) that is easy to deviate from the guidance route due to an error and that is easy for the driver to get lost is formed.

Thereafter, it is determined whether or not the vehicle has arrived at the destination. When the vehicle has arrived at the destination, the control routine ends. When the vehicle has not arrived at the destination, the process returns to step S303 and the route guidance is continued. (Step S310).
Further, as described above, when it is determined in step S304 that the vehicle has not passed the intersection, and in step S307, it is determined that the driver is not off the guidance route because of the driver's error. If so, the process proceeds to step S310 to determine whether or not the vehicle has arrived at the destination.

  If it is determined in step S305 that the vehicle has not deviated from the guidance route, a normal determination is performed (step S311). In the normal determination, it is determined whether or not the passing intersection is likely to be lost by the driver by a method described later. When it is determined that the passing intersection is likely to be lost for the driver (step S312), data specifying the passing intersection (for example, the latitude and longitude of the position of the intersection) is stored in the memory of the control device 2 (step S312). After step S308), data specifying the intersection stored in the memory is transmitted to the information center 26 outside the vehicle via the transceiver 21 (step S309). In Step S312, when it is not determined that the passing intersection is likely to be lost for the driver, the process proceeds to Step S310, and it is determined whether or not the vehicle has arrived at the destination.

On the other hand, when the “normal control” shown in step S203 of FIG. 2 is executed, as shown in FIG. 4, first, during traveling, based on the current location of the vehicle detected by the position detector 3 and the map data. It is determined whether or not the vehicle has passed the intersection (step S401). When it is determined that the vehicle has not passed the intersection, this control routine ends.
When it is determined that the vehicle has passed the intersection, the process proceeds to step S402, and the intersection determination is performed as in step S311 described above. In the normal determination, when it is determined that the passing intersection is likely to be lost for the driver (step S403), the data for specifying the passing intersection (for example, the latitude and longitude of the position of the intersection), as described above, After storing in the memory of the control device 2 (step S404), the data specifying the intersection stored in the memory is transmitted to the information center 26 outside the vehicle via the transceiver 21 (step S405). If it is not determined in step S403 that the passing intersection is likely to be lost by the driver, the present control routine is terminated.

  Next, the operation error determination shown in step S306 of FIG. 3 will be described with reference to FIGS. In the driving error determination, it is determined whether or not the vehicle is off the guidance route due to the driver's error. In the control device 2, the vehicle state detected by the speed sensor 6, the G sensor 7, the brake pressure sensor 8 or the gyroscope 23 satisfies a predetermined condition, and is detected by the microphone 15, the biological state detection sensor 19 or the camera 20. When the driver's physical condition satisfies a predetermined condition, it is determined that the vehicle is off the guidance route due to a driver's error and the driver is likely to get lost. In other cases, data transmission to the information center 26 is not performed.

  Specifically, it is determined according to the table shown in FIG. 5 whether or not the deviation from the guidance route is due to a driver's error. No. 5 in FIG. In Nos. 1 to 8, when the vehicle makes a straight turn at the intersection and the vehicle goes straight through the intersection, no. Nos. 9 to 12 show that if the vehicle turns right or left at the intersection when the guidance route goes straight through the intersection, no. 13 and 14 show the determination method for each state when the vehicle turns the intersection in the opposite direction when the guidance route turns right and left at the intersection.

  In FIG. 5, vehicle state conditions include that the vehicle has sufficiently decelerated just before entering the intersection, that sudden braking has been applied immediately before the intersection and a large deceleration has occurred, and that the lane has been changed immediately before the intersection. Has been raised. Here, “there is sufficient deceleration” refers to a case where the speed sensor 6 detects that the vehicle has performed sufficient deceleration that can turn right or left immediately before entering the intersection (shown in FIG. 6). On the other hand, “no sufficient deceleration” means a case where the speed sensor 6 detects that the vehicle has passed the intersection without sufficient deceleration (shown in FIG. 7). Furthermore, “If you are driving in a lane that cannot be followed by a guidance route on two or more lanes on one side, there is a lane change in front of the intersection” means that the vehicle has just entered the intersection by the gyroscope 23. FIG. 8 shows a case where it is detected that a straight lane is changed from a lane where straight travel is prohibited (shown in FIG. 8).

  In FIG. 5, when the condition of the driver's biological (body) state is “satisfied”, the driver's pulse state, sweating state detected by the biological state detection sensor 19, and the driver photographed by the camera 20. For at least one of the line of sights, the state when passing the intersection is different from the other cases (for example, the pulse rate of the driver when passing the intersection is more than that before and after passing the intersection) The driver's sweating amount when passing through the intersection is considerably higher than that before and after passing the intersection. The driver's gaze movement when passing through the intersection is considerably more intense than before and after passing the intersection. Or when the driver passes the intersection by the microphone 15 and the voice recognition device 16, the driver may say "Ah!" Or "Wrong!" It refers to when detecting that originated the word reminiscent of deviation from the guidance route by mistake. In addition, “-” in the determination result column indicates that the determination result is unknown.

  In FIG. As shown in Fig. 1, when the vehicle goes straight through the intersection when the guidance route turns right or left at the intersection, the speed sensor 6 detects that the vehicle has sufficiently decelerated just before entering the intersection. In addition, when it is detected by the gyroscope 23 that the lane change has been executed immediately before the intersection, and the condition of the driver's biological (body) state is satisfied, the vehicle is off the guidance route due to the driver's error, It is determined that the intersection is easy for the driver to get lost, and data specifying the intersection is transmitted to the information center 26.

  No. As shown in FIG. 5, when the vehicle travels straight through the intersection when the guidance route turns right or left at the intersection, the speed sensor 6 detects that the vehicle has passed the intersection without sufficient deceleration, When the G sensor 7 detects that a large deceleration has occurred immediately before the intersection and sudden braking has been applied, and the condition of the driver's biological condition is satisfied, the vehicle has left the guidance route due to the driver's error. Then, it is determined that the intersection is easy for the driver to get lost, and data specifying the intersection is transmitted to the information center 26. In FIG. 5, in other cases, the determination result that the driver intentionally deviates from the guidance route, or the determination result is unknown, and the vehicle deviates from the guidance route due to the driver's error. It is not judged. In addition, it may be determined based on the brake pressure detected by the brake pressure sensor 8 instead of the G sensor 7 whether or not the sudden brake has acted on the vehicle.

  Next, the intersection determination shown in step S311 in FIG. 3 and step S402 in FIG. 4 will be described with reference to FIG. In the intersection determination, it is determined whether or not the intersection through which the vehicle passes is likely to be lost to the driver. The control device 2 includes a speed sensor 6, a G sensor 7, a brake pressure sensor 8, a turn signal switch 9, a steering angle sensor 10, or a vehicle state detected by the gyroscope 23 that satisfies a predetermined condition. When the driver's physical state detected by the state detection sensor 19 or the camera 20 satisfies a predetermined condition, it is determined that the passing intersection is likely to be lost for the driver, and data for specifying the intersection is sent to the information center 26. In other cases, data transmission to the information center 26 is not performed.

  Specifically, it is determined according to the table shown in FIG. 9 whether or not the intersection through which the vehicle has passed is easy for the driver to get lost. Similar to the table shown in FIG. 5, in FIG. 9, the vehicle condition is that the vehicle has been sufficiently decelerated immediately before entering the intersection, and sudden braking has occurred immediately before the intersection, resulting in a large deceleration. It has been raised. In FIG. 9, “there is sufficient deceleration” refers to a case where the speed sensor 6 detects that the vehicle has performed sufficient deceleration that can turn right or left immediately before entering the intersection (see FIG. 6). . On the other hand, “no sufficient deceleration” means that the speed sensor 6 detects that the vehicle has passed the intersection without sufficient deceleration (see FIG. 7).

  In FIG. 9, when the condition of the driver's living body (body) state is “satisfied”, the driver's pulse state, sweating state detected by the living body state detection sensor 19, and the driver photographed by the camera 20. For at least one of the line of sights, the state when passing the intersection is different from the other cases (for example, the pulse rate of the driver when passing the intersection is more than that before and after passing the intersection) The driver's sweating amount when passing through the intersection is considerably higher than that before and after passing the intersection. The driver's gaze movement when passing through the intersection is considerably more intense than before and after passing the intersection. Or when the driver passes the intersection by the microphone 15 and the voice recognition device 16, the driver may say "Ah!" Or "Wrong!" It refers to when detecting that originated the word reminiscent of deviation from the guidance route by mistake.

  In FIG. 1 to 3, when the G sensor 7 detects that a sudden braking has occurred and a large deceleration has occurred immediately before the intersection, and the condition of the driver's biological (body) state is satisfied, It is determined that the passing intersection is easily lost by the driver, and data specifying the intersection is transmitted to the information center 26. In FIG. 9, in other cases, the determination result is unknown, and the data specifying the intersection is not transmitted to the information center 26. In the intersection determination, similarly to the driving error determination, whether or not sudden braking is applied to the vehicle may be determined based on the brake pressure detected by the brake pressure sensor 8 instead of the G sensor 7.

  According to this embodiment, based on the detected vehicle state and the driver's physical state, it is determined whether or not the intersection through which the vehicle has passed is likely to be lost to the driver. As a result, it is possible to accurately detect whether or not the intersection through which the vehicle has passed is likely to be lost to the driver, based on information sources having different characteristics such as the vehicle state and the driver's body information.

Further, when it is detected that the vehicle has deviated from the guidance route, the detected vehicle state satisfies a predetermined condition, and the detected driver's physical condition satisfies a predetermined condition, the driver's If the vehicle deviates from the guidance route due to an error, it is determined that the intersection where the vehicle has passed is likely to be lost for the driver. As described above, when it is detected that the vehicle has deviated from the guidance route due to an error of the driver, it is determined that the vehicle is likely to get lost for the driver. Therefore, it is possible to further improve the accuracy of detecting the easily lost intersection.
Further, since the pulse is detected as the driver's physical state, if a detection sensor is attached to the steering wheel of the vehicle, the detection signal can be easily collected from the driver's hand during driving.
In addition, since the line of sight is detected as the driver's body state, a vehicle interior camera installed for other purposes, such as a boarding presence / absence detection camera for operating the airbag, can be used.
Further, since the utterance is detected as the driver's physical state, the existing microphone 15 and the voice recognition device 16 of the navigation device 1 can be used.
<Embodiment 2>
Hereinafter, an in-vehicle navigation device 1 according to Embodiment 2 of the present invention will be described with reference to FIGS. 10 and 11. This embodiment differs from Embodiment 1 only in that the table used in the above-described intersection determination is the table shown in FIG. As shown in FIG. 10, only the vehicle crossing speed is given as the vehicle state condition in the present embodiment. Further, the “condition is satisfied” in the driver's biological (body) state in FIG. 10 is the same as in the case of the table shown in FIG.

  As the passing speed of the intersection, for example, a value obtained by averaging the speed when the vehicle detected by the speed sensor 6 passes the intersection is used. In FIG. As shown in FIG. 2, when the speed sensor 6 detects that the vehicle crossing speed is smaller than a predetermined threshold and the condition of the driver's biological (body) state is satisfied, It is determined that the driver is likely to get lost, and data specifying the intersection is transmitted to the information center 26. In FIG. 10, in other cases, the determination result is unknown, and data specifying the intersection is not transmitted to the information center 26.

  Here, when the vehicle passes through the intersection, a difference occurs in the passing speed depending on the size of the intersection. Therefore, as shown in FIG. 11, the threshold value regarding the intersection passing speed may be varied depending on the size of the intersection. That is, as shown in FIG. 11 (a), when the vehicle passes through a large-scale intersection, the threshold of the passing speed is set to V1, and as shown in FIG. 11 (b), the vehicle passes through a medium-scale intersection. In this case, the threshold value of the passing speed is set to V2, and when the vehicle passes a small intersection as shown in FIG. 11C, the threshold value of the passing speed is set to V3 (V1> V2>). V3). Since the control device 2 of the in-vehicle navigation device 1 can recognize the size of each intersection based on the map data, the threshold value of the passing speed is set based on the size of the intersection that the vehicle has passed, and the actual vehicle The crossing speed of the intersection may be compared with this.

  Further, since the speed of passing through the intersection varies depending on the individual, the usual passing speed of the intersection may be measured for each individual, and the threshold value of the passing speed may be set from the average value or the like. In this case, since there may be a plurality of drivers who use the same vehicle, for example, the control device 2 of the in-vehicle navigation device 1 is connected to an ECU (Electronic Control Unit) of a power seat (not shown), The control device 2 may be able to identify the driver by sending his / her seat position data selected by the driver to the control device 2.

Further, as a modification of the second embodiment, the intersection passage time may be used as the vehicle state condition in the table used in the intersection determination instead of the intersection passage speed of the vehicle. This is because, for example, when the vehicle goes straight through an intersection, based on the current location of the vehicle detected by the position detector 3, the time when the vehicle enters and leaves the intersection is specified and the elapsed time between them is measured. Is done. Further, when the vehicle turns right or left at the intersection, the vehicle is replaced with the current position of the vehicle detected by the position detector 3 or in addition to the detected value of the turn signal switch 9 and the steering angle sensor 10. This is done by identifying the time of entering and leaving the intersection and measuring the elapsed time between them.
In this case, if the detected vehicle intersection passage time is longer than a predetermined threshold time and the condition of the driver's biological (body) state is satisfied, it is determined that the passing intersection is likely to be lost for the driver, Data specifying the intersection is transmitted to the information center 26.

<Other embodiments>
The present invention is not limited to the above-described embodiments, and can be modified or expanded as follows.
The results of the intersection determination based on the detection results of the vehicle state and the driver's biological state in the tables shown in FIGS. 5, 9, and 10 are not limited to those shown in the figure, and can be changed to all aspects. Is possible. For example, in FIG. 1 and no. In the case shown in FIG. 5, in addition to determining that the intersection is easy for the driver to lose, 2 or No. In the case shown in FIG. 9, it may be determined that the intersection is easy for the driver to get lost. For the table shown in FIG. In the case shown in FIG. 2, it may be determined that the intersection is easy for the driver to get lost.

  In addition, when it is determined that the vehicle is off the guidance route due to a driver's error and the driver is likely to get lost, the data for specifying the intersection is stored in the memory of the navigation device 1 instead of being transmitted to the information center 26. Similarly, a large amount of data collected by driving the host vehicle is analyzed by the control device 2 so as to inform the user who gets on the host vehicle from the navigation device 1 that the intersection is easy for the driver to get lost. Also good.

Moreover, when detecting a vehicle state, the blinker operation | movement detected by the turn signal switch 9 etc. can be used besides vehicle speed, sudden braking, and lane change. For example, if the guidance route is turning left or right when the turn signal is off and the vehicle goes straight through the intersection, or if the guidance route is turning right or left and the turn signal is turned on in the opposite direction and the intersection is turned It is determined that the guidance route has been removed.
Alternatively, the vehicle state may be detected by detecting the number, time, and strength of stepping on the brake immediately before entering the intersection.
In addition, when a plurality of biological states become a predetermined state at the same time, the condition of the biological state may be satisfied.

The block diagram which shows the structure of the vehicle-mounted navigation apparatus by Embodiment 1 of this invention. Main control flowchart by control device of in-vehicle navigation device Flow chart of route guidance control Normal control flowchart The figure which shows the judgment table by operational error judgment Plan view showing a state where the vehicle decelerates just before entering the intersection The top view which showed the state where the vehicle went straight through the intersection without decelerating Plan view showing the state where the vehicle changes lanes just before entering the intersection The figure which shows the determination table by intersection determination The figure which shows the determination table of the intersection determination by Embodiment 2. The figure which showed the threshold value of the vehicle passage speed in the large-scale intersection (a), the figure which showed the threshold value of the vehicle passage speed in the medium-scale intersection (b), and the threshold value of the vehicle passage speed in the small-scale intersection Shown figure (c)

Explanation of symbols

  In the drawings, 1 is an in-vehicle navigation device, 2 is a control device (memory means, intersection passage detection means, intersection determination means, route search means, route departure detection means), 3 is a position detector (current location detection means), and 5 is an operation. Switch group (destination input means), 6 is a speed sensor (vehicle state detection means), 7 is a G sensor (vehicle state detection means), 8 is a brake pressure sensor (vehicle state detection means), 9 is a turn signal switch (vehicle) (State detection means), 10 is a steering angle sensor (vehicle state detection means), 12 is a display device (route guidance means), 13 is a speaker (route guidance means), 15 is a microphone (biological condition detection means), and 16 is voice recognition. Device (biological condition detection means) 17 is a remote control (destination input means), 19 is a biological condition detection sensor (biological condition detection means), 20 is a camera (biological condition detection means) 23 is a gy Showing a scope (vehicle state detecting means).

Claims (5)

Memory means for storing map data;
Current location detection means for detecting the current location of the vehicle;
Based on the current location of the vehicle detected by the current location detection means, an intersection passage detection means for detecting that the vehicle has passed the intersection;
An intersection determination means for determining whether or not the intersection that the vehicle has passed is likely to be lost by the driver when the intersection passage detection means detects that the vehicle has passed the intersection; and
Vehicle state detection means for detecting the state of the vehicle;
Comprising a biological state detection means for detecting the physical state of the driver of the vehicle,
The intersection determination unit is configured to determine whether the intersection through which the vehicle has passed is easily lost to the driver based on the vehicle state detected by the vehicle state detection unit and the physical state of the driver detected by the biological state detection unit. An in-vehicle navigation device characterized by determining whether or not. Destination input means for inputting the destination of the vehicle;
Based on the map data, route search means for forming a vehicle guidance route between the detected current location of the vehicle and the input destination,
Route guidance means for guiding a vehicle based on the guidance route formed by the route search means;
Based on the guidance route of the vehicle and the current location, comprising route deviation detection means for detecting that the vehicle has deviated from the guidance route on the intersection where the vehicle has passed,
The intersection determination means detects that the vehicle state detected by the vehicle state detection means satisfies a predetermined condition when the vehicle departure from the guidance route is detected by the route departure detection means, and the biological state detection When the physical condition of the driver detected by the means satisfies a predetermined condition, it is determined that the intersection where the vehicle has passed is likely to be lost for the driver, assuming that the vehicle has deviated from the guidance route due to a driver's error. The in-vehicle navigation device according to claim 1.   The in-vehicle navigation device according to claim 1 or 2, wherein the biological state detection means detects a driver's pulse.   The in-vehicle navigation device according to claim 1, wherein the biological state detection unit detects a driver's line of sight.   The in-vehicle navigation device according to claim 1, wherein the biological state detection unit detects a driver's utterance.

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