JP2013160504A - Driving support apparatus and driving support method for moving body - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an apparatus and method for supporting driving of a moving body, configured to prevent an increase in processing load for driving support even if map data is not available.SOLUTION: A driving support apparatus of a moving body selects a learning result corresponding to a position of a vehicle from a plurality of learning results stored in a storage part of a vehicle, to support driving of the vehicle. The driving support apparatus of the moving body includes: a learning DB management part 33 that manages a plurality of learning results stored in the storage part in association with each of meshes formed on the basis of the position of the moving vehicle; and a target area narrowing part 34 that selects a mesh corresponding to the position of the vehicle from the meshes, and selects other meshes adjacent to the mesh corresponding to the vehicle position in an advancing direction of the vehicle. Driving of the vehicle is supported on the basis of the learning results included in the selected mesh and the adjacent meshes.

Description

  The present invention relates to a travel support device for a mobile body that supports travel of a mobile body according to a travel position, and a travel support method for the mobile body.

  2. Description of the Related Art Conventionally, as a driving support device that supports driving of a moving body such as a vehicle, a device that learns a driving operation of a driver and performs driving support based on the learned driving operation is known. In such an apparatus, for example, vehicle information such as vehicle speed is learned in association with road map data registered in the navigation system and travels based on a learning result acquired from road map data corresponding to the current position. Support is provided. An example of such an apparatus is described in Patent Document 1.

  The device described in Patent Literature 1 is a device that supports traveling of a vehicle having a plurality of traveling modes, for example, a hybrid vehicle. The apparatus is provided with means for storing the detected vehicle travel information in a storage device for each of the predetermined categories, and means for updating the stored travel information. Note that the categories are classified based on, for example, areas composed of areas set by dividing map data into mesh shapes. The device also includes means for identifying a category corresponding to the travel route to the destination from road information identified by the travel route to the destination, and means for reading travel information in the identified category from the storage device. Is provided. That is, in this device, a category corresponding to the travel route is specified, and travel information in the specified category is read from the storage unit.

JP 2009-12605 A

  By the way, in recent years, portable navigation systems are often used in vehicles, and navigation systems are often retrofitted to vehicles. In such a case, the vehicle is not always able to acquire map data from the navigation system, and in the case where the map data cannot be acquired, the device described in Patent Literature 1 has first hindered specification of the category, As a result, it may interfere with driving support.

  When map data cannot be used, the learned vehicle information can be managed in association with the position information, but cannot be managed in association with map data. For this reason, in such management in which map data cannot be used, an increase in processing load for reading is unavoidable, for example, the vehicle information and position information must always be managed in time series.

  The present invention has been made in view of such circumstances, and the purpose of the present invention is to provide a travel support for a moving body that can suppress an increase in processing load related to travel support even when map data cannot be used. An object of the present invention is to provide a device and a traveling support method for a moving body.

Hereinafter, means for solving the above-described problems and the effects thereof will be described.
In order to solve the above problem, the invention according to claim 1 is detected by the position detector of the moving body from a plurality of pieces of support information learned and stored in the storage section of the moving body in association with the position of the moving body. A travel support device for a mobile object that selects support information corresponding to the position of the mobile object and supports the travel of the mobile object, each associated with a plurality of meshes that are partitioned based on the position at which the mobile object moves A management unit that manages the plurality of support information stored in the storage unit, and selects a mesh corresponding to the position of the moving body detected by the position detection unit from the plurality of meshes, and the position of the moving body A selecting unit that selects another mesh adjacent to the mesh corresponding to the moving body in the traveling direction of the moving body, and based on support information included in the selected mesh and the adjacent other mesh There are a subject matter to be performing driving support of the moving body.

  In order to solve the above problem, the invention according to claim 9 is detected by the position detection unit of the moving body from a plurality of pieces of support information learned and stored in the storage unit of the moving body in association with the position of the moving body. A driving support method for supporting driving of a mobile object by selecting support information corresponding to a current position, wherein a plurality of supports are associated with a plurality of meshes that are partitioned based on positions where the mobile body moves. A step of managing information, and a mesh corresponding to the position of the moving body is selected from the plurality of meshes, and another mesh adjacent in the traveling direction of the moving body is selected with respect to the mesh corresponding to the position of the moving body. And a step of selecting, and performing traveling support of the mobile body based on support information included in the selected mesh and the other adjacent mesh.

  According to such a configuration or method, the traveling support of the moving body is managed in association with a mesh selected based on the position of the moving body and other meshes adjacent to the selected mesh. Based on support information. Thereby, since support information used for driving support is narrowed down according to the position of a mobile object, increase in processing load and processing time concerning acquisition of support information can be controlled. That is, even when the map data cannot be used, the support information can be managed so as to suppress an increase in processing load for driving support. Note that the traveling direction of the moving body can be estimated from a change with time of the position detected by the position detection unit of the moving body, and a sensor such as a gyro for detecting the traveling direction is included in the position detection unit. It may be.

  In addition, since support information is acquired from other meshes adjacent in the traveling direction, even when the moving body moves beyond the section of the mesh, the support information can be acquired without interruption, and driving support is continuously performed. be able to.

Accordingly, it is possible to provide suitable travel support while managing the support information associated with the position with a small processing load.
The gist of the invention according to claim 2 is that, in the travel support device for a mobile object according to claim 1, the management unit maps and manages the support information on a table divided for each mesh. .

  A tenth aspect of the present invention is the traveling support method for a moving body according to the ninth aspect, wherein in the managing step, the support information is mapped and managed in a table divided for each mesh. To do.

  According to such a configuration or method, support information is managed by mapping to a table partitioned for each mesh. Accordingly, by selecting a mesh corresponding to the position of the moving body, it becomes easy to obtain support information included in the selected mesh.

  According to a third aspect of the present invention, in the travel support device for a moving body according to the first or second aspect, a constant width is formed inside each of the meshes along a boundary line with another adjacent mesh. And the selection unit is adjacent to each other on the condition that the position of the moving object is in the boundary area and the traveling direction of the moving object is directed to the boundary line along the boundary area. The gist is to select another mesh.

  The invention according to claim 11 is the traveling support method for a moving body according to claim 9 or 10, wherein each mesh has a constant width along a boundary line with another adjacent mesh. In the step of setting and selecting the boundary region having, on the condition that the position of the moving body is in the boundary region, and the traveling direction of the moving body is directed to the boundary line along the boundary region The gist is to select another adjacent mesh.

  According to such a configuration or method, when the position of the moving body is in the boundary region, other selected meshes are limited to other meshes adjacent to the boundary region. As a result, the number of meshes to be selected is minimized, so that support information can be managed with a smaller processing load.

  According to a fourth aspect of the present invention, in the traveling support apparatus for a moving body according to the third aspect, the selection unit is a boundary region set to the adjacent other mesh from the adjacent other mesh. Of these, only the support information included in the boundary region adjacent to the mesh corresponding to the position of the moving body is selected.

  According to a twelfth aspect of the present invention, in the traveling support method for a moving body according to the eleventh aspect, in the selecting step, a boundary region set in the adjacent other mesh is determined from the adjacent other mesh. Of these, only the support information included in the boundary region adjacent to the mesh corresponding to the position of the moving body is selected.

  According to such a configuration or method, support information to be selected from other adjacent meshes can be reduced, so that support information can be managed with a smaller processing load.

  According to a fifth aspect of the present invention, in the traveling support device for a moving body according to the third or fourth aspect, a central region not included in the boundary region is set at the center of each mesh, and the selection unit The gist is that the selection of the other adjacent mesh is prohibited on the condition that the position of the moving body is in the central region of the mesh.

  The invention according to claim 13 is the traveling support method for a moving body according to claim 11 or 12, wherein a center region not included in the boundary region is set and selected at the center of each mesh. The gist of the process is that selection of the other adjacent mesh is prohibited on the condition that the position of the moving body is in the central region of the mesh.

  According to such a configuration or method, when the position of the moving body corresponds to the central region, the selection is made for driving support by prohibiting selection of other meshes adjacent to the mesh corresponding to the position of the moving body. The number of support information that is provided can be reduced.

  According to a sixth aspect of the present invention, in the travel support device for a moving body according to any one of the third to fifth aspects, the mesh is partitioned into a rectangular shape, and the boundary region is formed in the rectangular shape. The gist is that each region is set as a region parallel to the boundary line.

  According to a fourteenth aspect of the present invention, in the traveling support method for a moving body according to any one of the eleventh to thirteenth aspects, the mesh is partitioned into a rectangular shape, and the boundary region is formed into the rectangular shape. The gist is to set each region as a region parallel to the boundary line.

  According to such a configuration or method, since the boundary area is provided along the boundary line, it is possible to reduce the labor required for partitioning and managing the boundary area. Thereby, the applicability of this driving assistance device is improved.

  The invention according to claim 7 is the traveling support apparatus for a moving body according to any one of claims 3 to 6, wherein the selection unit is configured such that when the position of the moving body belongs to a plurality of boundary regions, the plurality The gist is to select a plurality of other meshes adjacent to a region where the boundary regions are overlapped.

  According to a fifteenth aspect of the present invention, in the traveling support method for a moving object according to any one of the claims 11 to 14, in the step of selecting, when the position of the moving object belongs to a plurality of boundary regions, The gist is to select a plurality of other meshes adjacent to a region where a plurality of boundary regions are overlapped.

  According to such a configuration or method, by selecting a plurality of other meshes adjacent to a region where a plurality of boundary regions overlap, an appropriate mesh can be obtained even when there are a plurality of other meshes in the traveling direction. You will be able to choose. This makes it possible to limit the number of selected meshes to an appropriate one. In addition, when the mesh is set to a rectangular shape, other adjacent meshes include a mesh that has only a corner adjacent to the mesh corresponding to the position of the moving object, so that the moving object can move in the angular direction. Can also respond.

  The invention according to claim 8 is the travel support device for a mobile body according to any one of claims 1 to 7, wherein the mobile body is a vehicle, and the support information relates to an operation history of the vehicle. The gist is information or information on the history of vehicle behavior.

  The invention according to claim 16 is the traveling support method for a moving object according to any one of claims 9 to 15, wherein the moving object is a vehicle, and information relating to an operation history of the vehicle is used as the support information. Or using information on the history of vehicle behavior.

  According to such a configuration or method, it becomes possible to perform travel support related to the operation history of the vehicle by selecting the mesh. That is, even if there is no map data for the vehicle, an appropriate mesh is selected as long as there is position information, and support information corresponding to the position is acquired from the selected mesh. Thereby, such a travel support device for a moving body can be suitably applied to a vehicle.

The block diagram which shows the system configuration | structure about one Embodiment which actualized the vehicle provided with the driving assistance apparatus of the moving body concerning this invention. The block diagram which shows a detailed structure about the structure of the driving assistance device of the embodiment. The schematic diagram which shows typically the state which divided the position which a mobile body moves in the same embodiment into the mesh. The schematic diagram which shows typically about the detail of the mesh utilized in the embodiment. The schematic diagram which shows typically the learning database which has a table which assign | provides and manages area ID to a target area for every mesh in the same embodiment. The schematic diagram which shows typically an example of the state from which the other adjacent mesh is selected in the same embodiment. The schematic diagram which shows typically the other example of the state from which the other adjacent mesh is selected in the same embodiment. The schematic diagram which shows typically the other example of the state in which the other adjacent mesh is selected in the same embodiment. FIG. 4 is a schematic diagram schematically showing an example of a target area holding a learning result and a current position and direction of a vehicle in the embodiment. The figure which illustrates the table which hold | maintained the learning result of FIG. 9, and extraction object. The schematic diagram which shows typically the other example of the object area which hold | maintains a learning result, and the present position and direction of a vehicle in the embodiment. The figure which illustrates the table which hold | maintained the learning result of FIG. 11, and extraction object.

Hereinafter, an embodiment in which a vehicle including a traveling support device for a moving body according to the present invention is embodied will be described with reference to the drawings.
As shown in FIG. 1, a vehicle 10 as a moving body is provided with a travel support unit 11 as a travel support device. The vehicle 10 includes a vehicle control unit 12 that controls the vehicle, an information processing unit 13 that provides various information to the driver, a GPS 14 as a position detection unit that detects the current position, a brake pedal, and the like. A pedal sensor 15 that detects an operation amount and a vehicle sensor 16 that detects a traveling state such as a vehicle speed are provided. Since the GPS 14, the pedal sensor 15, and the vehicle sensor 16 are electrically connected to the travel support unit 11, the GPS 14, the pedal sensor 15, and the vehicle sensor 16 can output respective detection signals to the travel support unit 11. The travel support unit 11, the vehicle control unit 12, and the information processing unit 13 are connected to each other via an in-vehicle network such as CAN (Control Area Network).

  The GPS 14 is a so-called global positioning system (GPS) or the like, and sequentially detects the current position and traveling direction of the vehicle 10 using signals from GPS satellites, and from the information detected sequentially. The vehicle position 140 is output to the travel support unit 11.

  The pedal sensor 15 detects the amount of depression of the brake as an operation amount related to the driver's vehicle operation, and outputs information including the detected amount of depression of the pedal to the driving support unit 11 as a driver action 150 signal. The pedal sensor 15 is, for example, a sensor provided also in an accelerator or the like, but for convenience of explanation, only one pedal sensor 15 is shown in FIG. 1 and illustration of the pedal sensors 15 other than the brake pedal is omitted. ing.

  The vehicle sensor 16 detects the speed as a state relating to the traveling state of the vehicle, and outputs information including the detected speed to the traveling support unit 11 as a vehicle state 160 signal. Note that the vehicle 10 is also provided with a vehicle sensor 16 whose detection target is, for example, acceleration, engine speed, etc., as a state relating to the running state of the vehicle. For convenience of explanation, FIG. Only the vehicle sensor 16 is shown, and the other vehicle sensors 16 are not shown.

  Each of the driving support unit 11, the vehicle control unit 12, and the information processing unit 13 includes a CPU that executes various arithmetic processes, a ROM that stores various control programs, a RAM that is used as a work area for data storage and program execution, The microcomputer is mainly composed of an output interface, a memory and the like. The vehicle control unit 12 is, for example, a brake control computer (brake ECU) that controls the brake of the vehicle 10 or an engine control computer (engine ECU) that controls the engine of the vehicle 10. The information processing unit 13 is, for example, a control computer that provides various types of information to the driver by performing operation control of an image display device, a speaker, and the like.

A storage 22 as a storage unit, which is a non-volatile storage device, is connected to the driving support unit 11 via an input / output interface in a readable / writable manner.
The storage 22 is provided with a learning database 23 as a table for storing information related to driving support. The learning database 23 is a database in which learning results based on the vehicle position 140 and the driver behavior 150 and the vehicle state 160 learned in association with the vehicle position 140 are stored. In the learning database 23, for example, as shown in FIG. 5, “division ID” is set and “direction”, “area ID”, “longitude” are associated with the “division ID”. , “Latitude” and “learning result” are set. In the “section ID”, “address” and “detail” are set. In the present embodiment, a number assigned based on the latitude and longitude distance coordinates is set for “address”, and a number assigned to an area where “address” is further finely divided is set for “detail”. A method of assigning “address” and “detail” will be described later. In the “direction”, the traveling direction of the vehicle 10 is set as an angle (unit [deg]). In “area ID”, a number assigned to each of a plurality of target areas included in one “address” is set. The target area is an area that is a learning target based on the traveling of the vehicle 10, and details will be described later. “Latitude” and “longitude” are set by the distance coordinate value (unit [m]) of the longitude and latitude detected as the vehicle position 140, respectively. Each position to be identified by the “section ID” and “area ID” is associated with a “learning result” based on the driver action 150 and the vehicle state 160.

  As shown in FIG. 1, the driving support unit 11 is provided with an arithmetic processing unit 20 including a CPU and a memory 21 including a RAM. The travel support unit 11 stores in advance a program for executing various travel support, various parameters used for travel support, and the like. The various parameters include values indicating the characteristics and performance of the vehicle 10. That is, the travel support unit 11 provides various travel support based on the execution processing of various programs and various parameters by the arithmetic processing unit 20.

  In the present embodiment, the driving support unit 11 learns and stores the driver action 150 and the vehicle state 160 of the vehicle 10 based on the vehicle position 140 (learning process), and the learned learning result as support information is stored in the vehicle. A driving support program that outputs (support processing) for driving support based on the position 140 is stored. The travel support unit 11 stores various parameters related to the processing of the travel support program. That is, in the driving support unit 11, the driving support program 150 and the vehicle state 160 of the vehicle 10 are learned in association with the vehicle position 140 (learning process) by executing the driving support program in the arithmetic processing unit 20. Based on the vehicle position 140, a learning result used for driving support is output (support processing). In the following, for convenience of explanation, the driving support program learns the deceleration operation of the vehicle 10 associated with the vehicle position 140 based on the brake pedal operation 151 and the speed 161 as shown in FIG. Based on 140, the case where the learning result used for the driving | operation assistance with respect to deceleration operation is output is demonstrated.

  As shown in FIG. 2, a brake pedal operation 151 is input to the arithmetic processing unit 20 as information indicating the driver action 150, and a speed 161 and an acceleration 162 are input as information indicating the vehicle state 160 to indicate the vehicle position 140. The current position 141 and the traveling direction 142 are input as information. Note that the traveling direction can also be calculated from the temporal change of the current position 141.

  By the way, in the arithmetic processing unit 20, a plurality of target areas, which are areas where the driver action 150 and the like are learned, and which are targets for driving support, are managed for each mesh divided by a predetermined distance. . That is, in the arithmetic processing unit 20, as shown in FIG. 3, the position to which the vehicle 10 moves is managed as meshes A11 to A33 that are partitioned into rectangles, and for each mesh as shown in FIG. The target area C1 included in is managed. Although a plurality of target areas may be included in the mesh, in FIG. 4, illustration of target areas other than the target area C1 is omitted for convenience of explanation.

  As illustrated in FIG. 3, the mesh is a rectangular area that is partitioned based on latitude and longitude (distance coordinates). The mesh is partitioned by dividing the latitude and longitude into predetermined lengths. More specifically, the moving position of the vehicle 10 is divided by lane lines W10, W11, W12, W13,... As boundary lines in which the length in the latitude direction is set for each fixed length, and in the longitude direction. It is divided by division lines E10, E11, E12, E13,... As boundary lines whose lengths are set for each fixed length. Thereby, the position where the vehicle 10 moves is divided into meshes A11, A12, A13, A21, A22, A23, A31, A32, A33,. That is, the mesh A11 is partitioned by four partition lines E10, E11, W10, W11, the mesh A12 is partitioned by four partition lines E10, E11, W11, W12, and the mesh A13 is partitioned by four partition lines E10, E11, W12. , W13. The mesh A21 is partitioned by four partition lines E11, E12, W10, W11, the mesh A22 is partitioned by four partition lines E11, E12, W11, W12, and the mesh A23 is partitioned by four partition lines E11, E12, W12. , W13. Further, the mesh A31 is partitioned by four partition lines E12, E13, W10, W11, the mesh A32 is partitioned by four partition lines E12, E13, W11, W12, and the mesh A33 is four partition lines E12, E13, W12. , W13.

  In this embodiment, each mesh is partitioned in units of 1 km. That is, the intervals between the lane markings W10, W11, W12, and W13 in the latitude direction are each 1 km, and the intervals between the lane markings E10, E11, E12, and E13 in the longitude direction are each 1 km. In the present embodiment, for example, the distance coordinates of longitude (both north latitude) are W10 = 3906 [km], W11 = 3907 [km], W12 = 3908 [km], and W13 = 3909 [km]. Further, for example, the distance coordinates of longitude (all east longitude) are E10 = 12642 [km], E11 = 112643 [km], E12 = 12644 [km], and E13 = 1645 [km].

  By the way, although the latitude and longitude are obtained from the GPS 14 as angle coordinates, the latitude and longitude represented by the angle coordinates can be converted into the latitude and longitude represented by the distance coordinates. For example, in the vicinity of Japan, the latitude represented by angle coordinates can be converted to a distance as 1 [seconds] = 25.287 [m]. That is, the latitude distance coordinate can be obtained by an expression represented by “25.287 [m / second] × latitude angle coordinate [second]”. Similarly, in the vicinity of Japan, the longitude expressed in angle coordinates can be converted into a distance as 1 [seconds] = 30.818 [m]. In other words, the distance coordinate of the longitude can be obtained by an expression represented by “30.818 [m / second] × angle coordinate of the longitude [second]”.

  As shown in FIG. 4, the inside of each mesh A11-A13, A21-A23, A31-A33 is divided finely. In addition, since the inside of any mesh is divided similarly, the mesh A22 will be described in detail below. For convenience of description, details of the other meshes A11 to A13, A21, A23, and A31 to A33 are described. I will omit the explanation.

  In the mesh A22, the distance between the lane marking W11 and the lane marking W12 is a length L2 (= 1 km), and the distance between the longitude lane marking E11 and the lane marking E12 is a length L1 (= 1 km). is there. On the latitudinal side of the mesh A22, a lane marking v1 and a lane marking v2 parallel to the lane marking W12 are provided. Since the lane marking v1 is provided along the lane marking W11 at a position 100 m inside (north side) from the lane marking W11, the lane marking v1 is an area that divides the mesh A22 along the lane marking W11, that is, the area B7, A region composed of B8 and B9 is formed. Since the lane marking v2 is provided along the lane marking W12 at a position 100 m inward (south side) from the lane marking W12, the lane marking v2 is divided into regions A1 and B2 in FIG. , B3. On the longitude side, a dividing line f1 and a dividing line f2 are provided in parallel with the dividing line E11 and the dividing line E12. The division line f1 is provided along the division line E11 at a position 100 m inside (east side) from the division line E11. Therefore, the division line f1 is an area dividing the mesh A22 along the division line E11, that is, the area B1, A region composed of B4 and B7 is formed. Since the division line f2 is provided along the division line E12 at a position of 100 m on the inner side (west side) from the division line E12, the area dividing the mesh A22 along the division line E12, that is, the areas B3 and B6 in FIG. , B9 is formed. Thus, nine regions B1 to B9 are partitioned in the mesh A22. Of these, the four regions B1, B3, B7, and B9 are regions formed by overlapping regions along two partition lines.

  The region B1 is a region that is partitioned by two partition lines E11 and W12 and two partition lines f1 and v2. Similarly, the region B2 is a region partitioned by one partition line W12 and three partition lines f1, f2, v2, and the region B3 is formed by two partition lines W12, E12 and two partition lines f2, v2. This is the area to be partitioned. The region B4 is a region partitioned by one partition line E11 and three partition lines v1, v2, and f1, and the region B5 is a region partitioned by four partition lines f1, f2, v1, and v2. Yes, the region B6 is a region partitioned by one partition line E12 and three partition lines f2, v1, and v2. Further, the region B7 is a region partitioned by two partition lines E11, W11 and two partition lines v1, f1, and the region B8 is partitioned by one partition line W11 and three partition lines f1, f2, v1. The region B9 is a region partitioned by two partition lines E12, W11 and two partition lines f2, v1. In the present embodiment, at least eight regions B1 to B4 and B6 to B9 including one partition line E11, E12, W11, and W12 are defined as “boundary regions”, while the partition lines E11 and E12 are included. , W11, W12, and one area B5 partitioned without any one is defined as a “central area”. That is, the region B5 as the “central region” is set as a region not included in the “boundary region”.

  Further, “address” based on the latitude and longitude is given to the mesh A22. The “address” is based on the longitude and latitude values of the intersection P0 between W11 (= 3907 [km]) having a small value and E11 (= 112643 [km]) having a small value in the mesh A22. Are granted. In other words, the “address” of the mesh A22 is a number in which the longitude and latitude of the intersection point P0 are 5 digits each, and “12643303907” configured by arranging “12643” and “03907” in the order of “longitude” and “latitude”. Is set. In addition, numbers “01” to “09” are assigned as “details” to the regions B1 to B9 of the mesh A22, respectively. Thereby, “address” can be classified in more detail by “detail”. That is, “address” and “details” are assigned to the other meshes A11 to A13, A21, A23, and A31 to A33 as in the case of the mesh A22.

  As shown in FIG. 4, the target area C <b> 1 is an area that is set by expanding the position of the spot where the specific driver action 150 is repeatedly performed and the position to a predetermined range before and after the traveling direction D. For example, as the target area C1 in the road environment, the position where the brake pedal operation is performed in order to stop at the temporary stop position and the range before and after the position, and the position where the brake pedal operation is performed in order to enter the curve A range is mentioned. The target area C1 set in this way can be set in accordance with the restriction and shape of the road included in the map data when the map data can be used. However, the map data cannot be used and the restriction and shape of the road are limited. When it cannot be grasped, each time the driver operates the brake pedal, the position where the operation is performed is registered and learned as a target area. If the target area is not used for a predetermined period of time, or if it is determined that the brake pedal operation at that point is not reproducible, the registration of the target area is canceled. ing. Thereby, even if there is no map data, the driving support unit 11 appropriately registers and manages the target area.

  In the arithmetic processing unit 20, a driving support program is executed. Based on the execution of the driving support program, as shown in FIG. 2, the arithmetic processing unit 20 creates a target area based on the driver behavior learning unit 30 that learns the driver's behavior and the position where the driver's behavior occurs. And an area mapping unit 32 that maps the created target area to the mesh. Further, the arithmetic processing unit 20 includes a learning database (DB) management unit 33 that manages learning results together with the target area with a mesh, and target area narrowing as a selection unit that narrows down the target area to be selected based on the vehicle position 140. A unit 34 and an area entry detection unit 35 that detects entry into a target area narrowed down based on the vehicle position 140 are provided. Furthermore, an area verification unit 36 that determines whether the target area where the entry of the vehicle 10 is detected is the same as the created target area and determines whether to update the content of the detected target area; A prediction output unit 37 that outputs a learning result set in a target area where the vehicle 10 is detected to enter is provided.

  Then, the arithmetic processing unit 20 performs “narrowing processing” for narrowing down a target area, which is an area to be learned or supported based on the vehicle position 140, “learning processing” for performing learning for driving support, and driving support. For this purpose, “support processing” for outputting a learning result is performed.

First, the arithmetic processing unit 20 that performs the “narrowing process” will be described with reference to FIG.
Based on the current position 141 of the vehicle 10, the target area narrowing unit 34 narrows down target areas to be searched from a plurality of target areas registered in the learning database 23. First, the target area narrowing unit 34 specifies a mesh corresponding to the current position 141 of the vehicle 10 and specifies another mesh adjacent to the traveling direction 142 with respect to the specified mesh. Next, the target area narrowing unit 34 selects the corresponding mesh thus identified and other adjacent meshes as search target meshes. Then, the target area narrowing unit 34 sets the target area included in the mesh selected as the search target as the search target of the target area searched based on the current position 141 of the vehicle 10. Thereby, in the search of the target area performed by the area entry detection unit 35, the target area to be searched is narrowed down. In other words, because the search for the target area required for the “learning process” and “support process” is executed based on the narrowed target area, the processing load and the processing time required for searching the control area are reduced. Can be achieved. In the present embodiment, the target area narrowing unit 34 is adjacent to the case where the current position 141 of the vehicle 10 is in a region partitioned by a lane line and the traveling direction 142 faces the direction of the lane line. The mesh is selected. That is, the target area narrowing unit 34 can also prohibit other adjacent meshes from being included in the selection target according to the current position 141 of the vehicle 10. As described above, the target area narrowing unit 34 determines whether to include other adjacent meshes as selection targets based on the regions B1 to B9 including the current position 141 of the vehicle 10 and the traveling direction 142 of the vehicle 10. Can be determined. Further, the target area narrowing unit 34 includes a target area that is included only in a region adjacent to the mesh corresponding to the current position 141 of the vehicle 10 from among other adjacent mesh regions. .

  The mesh selected by the target area narrowing unit 34 and the target area will be described in detail with reference to FIGS. In the present embodiment, the case where the current position 141 of the vehicle 10 is included in the mesh A22 will be described, but the same applies to the case where the current position 141 is included in another mesh.

  As shown in FIG. 6, when the current position 141 of the vehicle 10 is in the detailed “05” (region B5), the region B5 is the central region, and therefore, between the adjacent meshes (for example, the mesh A32). A boundary region (for example, region B6) is interposed in the region. In other words, since the vehicle 10 does not move to another adjacent mesh unless it passes through the boundary region, the possibility that the vehicle 10 immediately moves to the adjacent mesh is low. Therefore, when the current position 141 of the vehicle 10 is in the region B5, the mesh to be selected is limited to the mesh A22 corresponding to the current position 141. That is, selection of another mesh (for example, mesh A32) adjacent to the mesh A22 is prohibited. As a result, selection of meshes that are unlikely to move the vehicle 10 immediately is prohibited, and fewer meshes are selected. For this reason, the number of target areas to be searched can be reduced by being included in the selected mesh.

  Further, as shown in FIG. 7, when the current position 141 of the vehicle 10 is in the detailed “06” (region B6), another mesh A32 is adjacent to the boundary region B6 via the lane marking E12. ing. Further, the traveling direction 142 of the vehicle 10 is directed to the outer side of the mesh A22, that is, the direction of the lane marking E12. For these reasons, there is a high possibility that the vehicle 10 moves from the region B6 to the other mesh A32 adjacent to the partition B E12. Therefore, when the current position 141 of the vehicle 10 is in the region B6, a mesh A22 corresponding to the current position 141 and another mesh A32 adjacent to the mesh A22 in the traveling direction 142 are selected. As a result, meshes with a high possibility that the vehicle 10 will move are appropriately selected. That is, it becomes possible to appropriately reduce the number of target areas to be searched by being included in the selected mesh.

  In addition, also in the other adjacent mesh A32, the vehicle 10 does not move to other areas unless it passes through the boundary area adjacent to the lane marking E12. Therefore, the target area to be searched in the selected mesh A32 is set to only three areas B1, B4, and B7 adjacent to the lane marking E12, that is, the detailed numbers “01”, “04”, and “07”. If yes. As a result, the number of target areas to be searched can be further reduced.

  When the vehicle 10 is in the details “02”, “04”, “08” (region B2, region B4 and region B8), it is adjacent as in the case where the vehicle is in the details “06” (region B6). Other meshes to be selected are selected.

  Furthermore, as shown in FIG. 8, when the current position 141 of the vehicle 10 is in the detailed “03” (region B3), another mesh A32 is adjacent to the region B3 that is the boundary region via the lane marking E12. In addition, another mesh A23 is adjacent via the lane marking W12. In addition, another mesh A33 is adjacent to the region B3 so as to face the corner formed by the intersection of the two partition lines E12, W12. At this time, as in the case of FIG. 7, the traveling direction 142 of the vehicle 10 is directed to the outside of the mesh A22, that is, the direction of the lane marking E12, so that the vehicle 10 is adjacent from the region B3 beyond the lane marking E12. There is a high possibility of moving to another mesh A32. In addition, since the vehicle 10 is close to the lane line W12, the vehicle 10 may move from the region B3 over the lane line W12 to the adjacent mesh A23, and the vehicle 10 is also close to the corner. There is also a possibility of moving to the mesh A33. Therefore, when the current position 141 of the vehicle 10 is in the region B3, in addition to the mesh A22 corresponding to the current position 141 and the mesh A32 adjacent to the mesh A22 in the traveling direction 142, adjacent to the region B3. The selected mesh A23 and mesh A33 are selected. As a result, meshes with a high possibility that the vehicle 10 will move are appropriately selected. That is, it becomes possible to appropriately reduce the number of target areas to be searched by being included in the selected mesh.

  As in the case of FIG. 7, the vehicle 10 does not move to other areas in the other adjacent mesh A32 unless it passes through the boundary area adjacent to the lane marking E12 of the mesh A32. Therefore, in the selected other adjacent mesh A32, the target areas to be searched are only three areas B1, B4, and B7 adjacent to the lane marking E12, that is, the details “01”, “04”, and “07”. I also try to do it. For the same reason, in the selected other adjacent mesh A23, the target area to be searched for is the three regions B7, B8, B9 adjacent to the lane marking W12, that is, the details “07” “08”. Only “09” is set. Further, for the same reason, in the selected mesh A33, the target area to be searched may be only one area B7 adjacent to the lane marking E12 and the lane marking W12, that is, “07” in detail. ing. As a result, the number of target areas to be searched can be further reduced.

  When the vehicle 10 is in the detailed “01”, “07”, “09” (region B1, region B7, and region B9), it is adjacent as in the case where the vehicle is in the detail “03” (region B3). Other meshes to be selected are selected.

  As described above, the target area narrowing unit 34 narrows down the target area to be searched based on the current position 141 to the target areas included in the selected mesh and the selected other adjacent mesh. As a result, the number of target areas to be searched is narrowed down, so that the processing load required for searching the target area is lower and the processing time is shorter than when the target area is not narrowed down. Become.

  In addition, you may consider the information etc. which are set to the mesh in narrowing down a target area. For example, when a day of the week and a time when the learning result is valid are set in the mesh, the day of the week or time may be added to the selection conditions of the target area, or the past selection status is associated with the target area. If there is, the associated past selection situation may be added to the selection conditions of the target area.

Next, the arithmetic processing unit 20 that executes the “learning process” will be described with reference to FIG. 2.
The driver behavior learning unit 30 acquires the driver behavior 150 and the vehicle state 160 based on the detection of the brake pedal operation 151, and also uses the acquired driver behavior 150 and the vehicle state 160 as a behavior learning result as the learning DB management unit 33. Output to. Further, based on the detection of the brake pedal operation 151, an area creation trigger is output to the area creation unit 31. Note that the brake pedal operation 151 is a pedal depression amount, but it may be ON or OFF of the brake pedal.

  The area creation unit 31 acquires the vehicle position 140 based on the area creation trigger received from the driver behavior learning unit 30, and based on the current position 141 and the traveling direction 142 included in the acquired vehicle position 140. Two target areas (for example, target area C1) are defined. In the target area, the current position 141 is defined as an approach position, and a position that is a predetermined distance away from the current position 141 in the traveling direction 142 is defined as a target position. For example, the target area is defined as an elliptical range having a long side with a length of 100 m, that is, a length of 200 m, respectively, in the forward and backward directions from the current position 141. The area creation unit 31 outputs the defined target area to the area mapping unit 32 and outputs it to the area matching unit 36.

  The area mapping unit 32 maps the target area to the corresponding mesh based on the target area defined by the area creating unit 31 and outputs the target area and the mesh in which the target area is mapped to the learning DB management unit 33. To do.

  On the other hand, the area entry detection unit 35 specifies the target area into which the vehicle 10 has entered based on the current position 141 and outputs the specified target area to the area matching unit 36. At this time, the area entry detection unit 35 searches for a target area where the vehicle 10 has entered from the target area narrowed down by the target area narrowing unit 34. If the target area is not specified, the area entry detection unit 35 does not output the target area to the area matching unit 36.

  The area collation unit 36 collates the target area input from the area creation unit 31 with the target area input from the area entry detection unit 35, and learns whether to update the target area based on the collation result. The database management unit 33 is notified. The area collation unit 36, when the range of the target area input from the area creation unit 31 and the range of the target area input from the area entry detection unit 35 overlap by a predetermined ratio or more, the two areas are the same area. It is determined that there is, and a notification is given to update the target area input from the area entry detection unit 35. On the other hand, the area collation unit 36 determines whether the target area is not input from the area entry detection unit 35 or the range of the target area input from the area creation unit 31 and the range of the target area input from the area entry detection unit 35. If the overlap is less than a predetermined ratio, it is determined that the two areas are different, and a notification that the target area is not updated is notified.

  The learning DB management unit 33 specifies a target area in which learning content is held. First, the learning DB management unit 33 creates / non-creates the target area received in the mesh received from the area mapping unit 32 in response to the notification of whether or not to update the target area received from the area matching unit 36. Do. For example, when the learning DB management unit 33 receives a notification to update the target area from the area matching unit 36, the learning database 23 includes the target area corresponding to the current position 141. The target area instructed by is specified as the target area for holding the learning content. On the other hand, when the learning DB management unit 33 receives a notification from the area matching unit 36 that the target area is not updated, the learning database 23 does not have a target area corresponding to the current position 141, so the area mapping unit 32. The target area received from is created, and the created target area is specified as the target area for holding the learning content. In this way, the target area where the learning content is held is specified.

  When the learning area is specified, the learning DB management unit 33 updates the learning content held in the target area based on the behavior learning result received from the driver behavior learning unit 30. That is, the brake pedal operation 151, the speed 161, and the acceleration 162 are learned from the learning result of the target area. For example, the learning DB management unit 33 learns the target position for deceleration or stop from the speed 161 or learns “reproducibility” that is the rate at which the brake pedal operation 151 is repeated, and based on the learned result. The learning result of the learning database 23 is updated. In this embodiment, “reproducibility” is calculated as “ratio”, but “ratio” may be a ratio based on accumulation from the past or a ratio based on a limited number of past data. As for “reproducibility”, other algorithms such as “probability” and “distribution” may be used instead of “ratio” as long as the possibility of successful driving support can be increased. A known learning method can be employed for learning.

As described above, the arithmetic processing unit 20 performs the “learning process”.
Further, the arithmetic processing unit 20 that executes the “support process” will be described with reference to FIG.
The area entry detection unit 35 specifies a target area into which the vehicle 10 has entered based on the current position 141, and outputs a learning result associated with the specified target area to the prediction output unit 37. For example, the target position and speed, the position where the brake pedal operation is performed, and the like are output as learning results. Also at this time, the area entry detection unit 35 searches for the target area where the vehicle 10 has entered from the target area narrowed down by the target area narrowing unit 34. That is, the driving support unit 11 can acquire a learning result corresponding to the current position 141 and provide it to the driving support.

  On the other hand, if the target area is not specified based on the current position 141, the area entry detection unit 35 does not output a learning result to the prediction output unit 37, so the driving support unit 11 also provides a learning result used for driving support. Can not do it.

  The prediction output unit 37 outputs the learning result input from the driving support unit 11 to the vehicle control unit 12 and the information processing unit 13 via CAN. Thereby, in the vehicle 10, the driving support based on the learning result is reflected in the vehicle control by the vehicle control unit 12, or the driving support information based on the learning result is provided to the driver by the information processing unit 13. For example, when performing stop support or deceleration support based on the brake pedal operation 151 as travel support, the vehicle control unit 12 can stop the fuel supply to the engine or adjust the brake force. In addition, the information processing unit 13 can provide a display and sound prompting the driver to operate the brake pedal.

The effect | action of the driving assistance device of this embodiment is demonstrated with reference to FIGS.
First, an example of the learning result stored in the travel support unit 11 will be described.
As shown in FIGS. 9 and 11, the travel support unit 11 shows the target areas where the brake pedal operation 151 is learned by line segments. That is, the brake pedal operation 151 is learned for the position indicated by the line segment, and the learning content is registered in the learning database 23. The mesh indicated by the address “1264303907” having longitude “12643” ([m]) and latitude “3907” ([m]) shown in FIG. 9 is a mesh including the current position 141 of the vehicle 10. At the same time, area IDs “001” to “007” (“0” is omitted in the figure) assigned to the target areas are registered in the mesh. In addition, the meshes indicated by the addresses “12644” and latitude “3907” and “1264403907” have the area IDs “001” and “002” (“0” in the figure) respectively assigned to the target areas. (Omitted) is registered. Furthermore, the area ID “001” (“0” is omitted in the figure) assigned to the target area is registered in the mesh having the longitude “12642”, the latitude “3908”, and the address “1264203908”. ing. In addition, the meshes indicated by the addresses “12643” and latitude “3908” and “1264303908” are assigned area IDs “001” to “003” (“0” in the figure). (Omitted) is registered. Furthermore, the meshes indicated by the addresses “12644” and latitude “3908” and “1264403908” have the area IDs “001” and “002” respectively assigned to the target areas (“0” in the figure). (Omitted) is registered.

  That is, as shown in FIGS. 10 and 12, in the learning database 23, the learning content corresponding to the area ID “001” is registered in the section ID address “1264303907”, and “details”, “ “04”, “120”, “3907xxx”, and “12643xxx” are associated as values of “direction”, “latitude”, and “longitude”, respectively. Note that “3907xxx” is a value in units of [m], “3907” is a value corresponding to the place of [km], and “xxx” is a value corresponding to less than [km]. For convenience of explanation, specific numerical notations are omitted. “12463xxx” is a value in units of [m], “12463” is a value corresponding to the place of [km], and “xxx” is a value corresponding to less than [km]. For convenience of explanation, specific numerical notations are omitted. Hereinafter, the contents associated with “address” and “area ID” in the learning database 23 are described in the order of “detail” and “direction”. For convenience of explanation, explanation of the values of “latitude” and “longitude” is omitted. That is, in the address “1264303907”, the area ID “002” is associated with “04” and “115”, and the area ID “003” is associated with “05” and “115”. The area ID “004” is associated with “05” and “114”. Further, in the address “1264303907”, the area ID “005” is associated with “05” and “170”, and the area ID “006” is associated with “05” and “120”. In the area ID “007”, “03” and “350” are set. Further, in the other address “1264403907”, the area ID “001” is set with “04” and “90”, and the area ID “002” is associated with “05” and “350”. Yes. Further, in the other address “1264303908”, the area ID “001” is associated with “04” and “240”, and the area ID “002” is associated with “08” and “30”. “09” and “120” are associated with the area ID “003”. Further, in another address “1264403908”, the area ID “001” is associated with “05” and “40”, and the area ID “002” is associated with “05” and “40”. It is attached.

  At this time, as shown in FIG. 9, when the current position 141 of the vehicle 10 is the central area (area B5), the mesh “1264303907” corresponding to the current position 141 of the vehicle 10 is selected, but the adjacent mesh For example, selection of the address “1264403907” is prohibited. As a result, as shown in FIG. 10, only the target area included in the mesh corresponding to the current position 141, that is, the target area having the area ID of “1264303907” is extracted as the search target. It becomes. Then, when performing “learning process” or “support process”, a target area is selected from the extraction targets.

  On the other hand, as shown in FIG. 11, when the current position 141 of the vehicle 10 is the boundary region (region B2), the mesh “1264303907” corresponding to the current position 141 of the vehicle 10 is selected and adjacent to the boundary region. The mesh “1264303908” to be selected is also selected. As a result, as shown in FIG. 12, the target area included in the mesh corresponding to the current position 141, that is, the target area having the area ID of “1264303907” is selected as the search target. In addition, among the target areas included in other adjacent meshes, that is, the target areas having the area ID of “1264303908”, the area IDs whose “details” are “07” to “09” are also extracted as search targets. Then, when performing “learning process” or “support process”, a target area is selected from the extraction targets.

As described above, according to the driving support apparatus of the present embodiment, the effects listed below can be obtained.
(1) Based on a plurality of learning results that are managed in association with a mesh selected for traveling support of the vehicle 10 based on the current position 141 of the vehicle 10 and other meshes adjacent to the selected mesh. To be done. Thereby, since the learning result used for driving assistance is narrowed down according to the current position 141 of the vehicle 10, an increase in processing load and processing time for acquiring the learning result can be suppressed. That is, even if the map data cannot be used, the learning result can be managed so as to suppress an increase in the processing load for driving support. Note that the traveling direction 142 of the vehicle 10 may be estimated from a change with time of the current position 141 detected by the GPS 14 of the vehicle 10, and the GPS 14 includes a sensor such as a gyro for detecting the traveling direction. It may be.

  In addition, since the learning result is acquired from other meshes adjacent to the traveling direction 142, the learning result can be acquired without interruption even when the vehicle 10 moves beyond the section of the mesh, and the driving support is continuously provided. It can be carried out.

Accordingly, it is possible to provide suitable driving support while managing the learning result associated with the position composed of the latitude and longitude distance coordinates with a small processing load.
(2) The learning result is managed by mapping to the learning database 23 divided for each mesh. Accordingly, by selecting a mesh corresponding to the current position 141 of the vehicle 10, it is easy to acquire a learning result included in the selected mesh.

  (3) When the current position 141 of the vehicle 10 is in the boundary region, other selected meshes are limited to other meshes adjacent to the boundary region. As a result, the number of meshes to be selected is minimized, so that learning results can be managed (extracted) with a smaller processing load.

  (4) Since only the learning result included in the boundary region adjacent to the mesh corresponding to the position of the vehicle 10 among the boundary regions set in the other adjacent mesh is selected, the selection is performed from the other adjacent mesh. Learning results can be reduced. For this reason, the learning result can be managed (extracted) with a smaller processing load.

  (5) When the position of the vehicle 10 corresponds to the central region, the number of learning results selected for driving support is reduced by prohibiting selection of other meshes adjacent to the mesh corresponding to the position of the vehicle 10. Can be reduced.

  (6) Since the boundary region is provided along the lane markings W10 to W13, E10 to E13,..., The labor required for partitioning and managing the boundary region can be reduced. Thereby, the applicability of this driving assistance device is improved.

  (7) By selecting a plurality of other meshes adjacent to the regions B1, B3, B7, and B9 where a plurality of boundary regions overlap, an appropriate mesh can be obtained even when there are a plurality of other meshes in the traveling direction 142. Will be able to select. This makes it possible to limit the number of selected meshes to an appropriate one. In addition, since the mesh is set to a rectangular shape, other adjacent meshes include a mesh that has only a corner adjacent to the mesh corresponding to the position of the vehicle 10, so that the direction of the vehicle 10 is increased. It can correspond to the movement of.

  (8) By selecting the mesh, it is possible to perform travel support related to the brake pedal operation 151 of the vehicle 10. That is, even if there is no map data, the vehicle 10 selects an appropriate mesh as long as there is information on the current position 141, and acquires a learning result corresponding to the current position 141 from the selected mesh. Thereby, the driving support device can be suitably applied to the vehicle 10.

(Other embodiments)
In addition, the said embodiment can also be implemented in the following aspects, for example.
In the above embodiment, the case where the navigation system is not provided is illustrated, but the navigation system may be provided. In this case, when the map data cannot be obtained, the driving support device can be used. This can increase the possibility of providing travel support.

In the above embodiment, the case where there is no map data is illustrated, but map data may be present. Even in this case, driving assistance can be provided without using map data.
-In above-mentioned embodiment, it illustrated about the case where a vehicle-mounted network is CAN. However, the present invention is not limited to this, and the in-vehicle network may be another network such as Ethernet (registered trademark) or FlexRay (registered trademark). Thereby, the freedom degree of a structure of a driving assistance device comes to improve.

  -In above-mentioned embodiment, the case where the position and the advancing direction of the vehicle 10 were detected using GPS14 was illustrated. However, the present invention is not limited to this, and the position and traveling direction may be specified by ground facilities or the like.

  -Moreover, the case where the advancing direction 142 was included in the vehicle position 140 was illustrated. However, the present invention is not limited to this, and the traveling direction may be calculated from a change in position over time. Further, the detection may be performed by using a sensor provided separately, for example, by a gyro, or may be detected based on the Doppler effect generated at the time of radio wave reception.

Also by these things, the freedom degree of a structure of a driving assistance device comes to be raised.
In the above embodiment, the case where the target area C1 is an elliptical range having a long side of 100 m before and after the traveling direction 142 with respect to the current position 141 is illustrated. However, the present invention is not limited to this, and if appropriate as a target area, the front and rear lengths in the traveling direction 142 with respect to the current position 141 may be shorter or longer than 100 m, respectively, and the front and rear lengths may be different. May be. Moreover, the shape of the target area is not an ellipse, but may be a circle, a rectangle such as a rectangle, or another polygon. Thereby, the applicability as a driving assistance apparatus is improved.

  -In above-mentioned embodiment, it illustrated about the case where the sensor which detects the driver action 150 is the pedal sensor 15 which detects the depression amount of a brake pedal. However, the present invention is not limited to this, and the sensor is a sensor that detects the amount of depression of the accelerator pedal, the amount of steering operation, the presence / absence of operation of the direction indicator, etc., as long as the sensor detects driver behavior, that is, driving operation. May be. As a result, the types of driving operations that can be learned increase, so that the applicability of travel support can be expanded.

  In the above-described embodiment, the driving support program is illustrated for the case where the brake pedal operation 151 is learned and the driving support for the deceleration operation is provided. However, the present invention is not limited to this, and the driving support program may learn driver behavior such as accelerator pedal operation and steering operation, and may provide driving support corresponding to the learned driver behavior such as accelerator operation and steering operation. . As a result, the applicability of travel support can be expanded.

  That is, as long as the learning result can be used for driving support, the learning result may relate to information related to a vehicle operation history or a vehicle behavior history. For example, a learning result obtained by learning road conditions such as intersection information, curve information, and step information based on traveling speed, acceleration, acceleration in the vertical and horizontal directions, and the like may be used.

As a result, even when there is no map data, it is possible to provide driving support according to the road conditions.
In the above-described embodiment, the case where the size of the mesh is 1 km in each of the length L2 in the latitude direction and the length L1 in the longitude direction is illustrated. However, the present invention is not limited to this, and the length in the latitude direction and the longitude direction may be longer than 1 km or shorter than 1 km as long as the mesh is appropriate. Further, the lengths in the latitude direction and the longitude direction may be different. Thereby, the design freedom degree of a driving assistance device comes to be raised.

  In the above embodiment, the case where the mesh is partitioned based on the latitude and longitude distance coordinates is illustrated, but the present invention is not limited thereto, and the mesh may be partitioned based on the latitude and longitude angular coordinates. When the angle coordinates are used, the interval between the division lines can be determined based on the angle. The mesh may be a square, a quadrangle such as a trapezoid or a rhombus, or a polygon other than a rectangle such as a triangle or a hexagon. Thereby, the design freedom of a driving assistance device comes to be high.

  In the above embodiment, the case where the mesh address (number) is given based on the longitude and latitude distance coordinates is illustrated. However, the present invention is not limited to this, and as long as each mesh can be identified, addresses may be assigned to the mesh in any way, such as assigning consecutive numbers within a range to be used. Thereby, the design freedom degree of a driving assistance device comes to be raised.

  In the above-described embodiment, the target area narrowing unit 34 is illustrated as a search target by extracting only the target area included in the region adjacent to the lane marking from other adjacent meshes. However, the present invention is not limited to this, and the target area narrowing-down unit extracts all target areas included in other adjacent meshes or areas that are not adjacent to the lane markings that the vehicle may cross, and makes them search targets. You may do it. As a result, the degree of freedom in design for selecting the extraction target is increased, so that the applicability of the driving support device can be improved.

  In the above-described embodiment, the target area narrowing unit 34 has been illustrated as being able to prohibit other adjacent meshes from being included in the selection target. However, the present invention is not limited to this, and the target area narrowing unit may not prohibit other adjacent meshes from being included in the selection target.

  In addition, the target area narrowing unit 34 is exemplified for the case where only other meshes adjacent to the traveling direction 142 of the vehicle 10 are selected. However, the present invention is not limited to this, and the target area narrowing unit may select another mesh adjacent in the left direction or the right direction with respect to the traveling direction of the vehicle.

Thereby, the freedom degree of a structure of a target area narrowing-down part is raised, and it becomes possible to change the mesh made into selection object according to a processing capability.
-In above-mentioned embodiment, vehicle 10 illustrated about the case where it drive | works based on the driving operation of a driver. However, the present invention is not limited to this, and the vehicle may be driven automatically during the entire stroke or a partial stroke. Thereby, the applicability of the driving support device can be expanded.

  -The above-mentioned embodiment illustrated about the case where the mobile is vehicle 10 which runs on a road. However, the present invention is not limited to this, and the moving body may be other than a vehicle that travels on a road with wheels, for example, a railway vehicle, a walking robot, a ship, and the like. In any case, by learning the driving situation, the learning result can be used for subsequent driving.

  DESCRIPTION OF SYMBOLS 10 ... Vehicle, 11 ... Driving support part, 12 ... Vehicle control part, 13 ... Information processing part, 14 ... GPS, 15 ... Pedal sensor, 16 ... Vehicle sensor, 20 ... Arithmetic processing part, 21 ... Memory, 22 ... Storage, DESCRIPTION OF SYMBOLS 23 ... Learning database, 30 ... Driver action learning part, 31 ... Area preparation part, 32 ... Area mapping part, 33 ... Learning DB management part, 33 ... Learning database management part, 34 ... Target area narrowing-down part, 35 ... Area approach detection , 36 ... area collation part, 37 ... prediction output part, 140 ... vehicle position, 141 ... current position, 142 ... traveling direction, 150 ... driver action, 151 ... brake pedal operation, 160 ... vehicle state, 161 ... speed, 162 ... Acceleration, B1 to B9 ... Area, C1 ... Target area, f1, f2 ... Division line, L1, L2 ... Length, P0 ... Intersection, v1, v2 ... Division line, A 1~A13, A21~A23, A31~A33 ... mesh, E10~E13 ... partition lines, W10~W13 ... dividing line.

Claims (16)

The support information corresponding to the position of the moving object detected by the position detection unit of the moving object is selected from the plurality of support information learned and stored in the storage unit of the moving object in association with the position of the moving object. A travel support device for a mobile object that performs travel support,
A management unit that manages a plurality of support information stored in the storage unit in association with a plurality of meshes that are partitioned based on a position where the moving body moves;
The mesh corresponding to the position of the moving object detected by the position detection unit is selected from the plurality of meshes, and another mesh adjacent to the mesh corresponding to the position of the moving object in the traveling direction of the moving object And a selection unit for selecting
A travel support apparatus for a mobile object that performs travel support for the mobile object based on support information included in the selected mesh and the other adjacent mesh. The travel support device for a mobile object according to claim 1, wherein the management unit manages the support information by mapping the support information to a table divided for each mesh. Inside each of the meshes, a boundary region having a certain width is set along a boundary line with another adjacent mesh,
The selection unit selects the other adjacent mesh on the condition that the position of the moving body is in the boundary region and that the traveling direction of the moving body is directed to the boundary line along the boundary region. Item 3. A traveling support apparatus for a moving body according to item 1 or 2. The selection unit receives only the support information included in the boundary region adjacent to the mesh corresponding to the position of the moving body from the other adjacent meshes among the boundary regions set in the other adjacent meshes. The travel support device for a mobile object according to claim 3 to be selected. In the center of each of the meshes, a central region that is not included in the boundary region is set,
5. The travel support device for a mobile object according to claim 3, wherein the selection unit prohibits selection of the other adjacent mesh on the condition that the position of the mobile object is in a central region of the mesh. The mesh is partitioned into a rectangular shape,
The travel support device for a moving body according to any one of claims 3 to 5, wherein the boundary region is set separately as a region parallel to each boundary line forming the rectangle. The selection unit, when the position of the moving body belongs to a plurality of boundary regions, selects another plurality of meshes adjacent to a region formed by overlapping the plurality of boundary regions. A traveling support apparatus for a moving body according to claim 1. The moving body is a vehicle,
The travel support device for a moving body according to any one of claims 1 to 7, wherein the support information is information related to an operation history of the vehicle or information related to a history of vehicle behavior. The mobile unit travels by selecting support information corresponding to the current position detected by the mobile unit position detection unit from a plurality of pieces of support information learned and stored in the storage unit of the mobile unit in association with the position of the mobile unit. A driving support method for providing support,
Managing a plurality of support information in association with each of a plurality of meshes formed on the basis of a position where the moving body moves;
Selecting a mesh corresponding to the position of the moving body from the plurality of meshes, and selecting another mesh adjacent to the mesh corresponding to the position of the moving body in the traveling direction of the moving body. ,
A traveling support method for a moving body, wherein the traveling support of the mobile body is performed based on support information included in the selected mesh and the other adjacent mesh. The travel support method for a moving body according to claim 9, wherein in the managing step, the support information is managed by mapping the support information to a table divided for each mesh. Inside each of the meshes, a boundary region having a certain width is set along a boundary line with another adjacent mesh,
In the selecting step, the adjacent other mesh is selected on the condition that the position of the moving body is in the boundary area and that the traveling direction of the moving body is directed to the boundary line along the boundary area. The traveling support method for a moving object according to claim 9 or 10. In the selecting step, only the support information included in the boundary region adjacent to the mesh corresponding to the position of the moving body is selected from the adjacent other meshes among the boundary regions set in the adjacent other meshes. The traveling support method for a moving object according to claim 11. In the center of each of the meshes, set a central region not included in the boundary region,
The traveling support method for a moving body according to claim 11 or 12, wherein, in the selecting step, selection of the other adjacent mesh is prohibited on the condition that the position of the moving body is in a central region of the mesh. Partitioning the mesh into a rectangular shape,
The traveling support method for a moving body according to any one of claims 11 to 13, wherein the boundary region is set separately as a region parallel to each boundary line forming the rectangle. 15. In the selecting step, when the position of the moving body belongs to a plurality of boundary regions, another plurality of meshes adjacent to a region formed by overlapping the plurality of boundary regions are selected. The traveling support method for a moving object according to item. The moving body is a vehicle;
The travel support method for a moving body according to any one of claims 9 to 15, wherein information regarding an operation history of the vehicle or information regarding a history of vehicle behavior is used as the support information.

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