JP2014196907A - Travel support system, travel support method and computer program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a travel support system for preventing a travel plan from being frequently corrected by a change in a travel schedule route, a travel support method and a computer program.SOLUTION: A travel schedule route of a vehicle 2 is acquired, and a travel plan based on the travel schedule route is prepared. On the other hand, the shortest route from the position of the vehicle to a destination of the travel schedule route is searched while the vehicle travels on the travel schedule route. In the case that the vehicle deviates from the travel schedule route and that the vehicle deviates from the shortest route at the same time, the travel plan is corrected on the basis of a corrected travel schedule route.

Description

  The present invention relates to a travel support system, a travel support method, and a computer program for creating a travel plan for performing efficient travel in a vehicle including a drive motor and an engine as drive sources.

  In recent years, in addition to gasoline cars that use an engine as a drive source, there are electric vehicles that use a motor driven based on electric power supplied from a battery, and hybrid vehicles that use a motor and an engine as drive sources. To do.

  Conventionally, in the hybrid vehicle described above, in order to perform fuel-efficient travel, a travel plan that is a motor and engine control schedule is created for the planned travel route when travel is started. Yes. Here, when creating the travel plan, the driving force of the vehicle required during travel is estimated from the route information (for example, distance, gradient, average vehicle speed, etc.) of the planned travel route, and the estimated drive A driving plan is created using force. For example, Japanese Patent Application Laid-Open No. 2000-287302 describes a technique for creating a travel plan by estimating a driving force necessary for traveling from the shape and type of the travel route set when the travel route is set. Has been.

JP 2000-287302 A (pages 4 to 6, FIG. 4)

  Here, the planned travel route of the vehicle may be changed while the vehicle is traveling. Specifically, this is a case where the vehicle deviates from the planned travel route. In this case, the planned travel route is changed from the position of the vehicle after deviating to the route to the destination. In the technique for creating a travel route as described in Patent Document 1, since the travel route is created along the planned travel route, every time the planned travel route is changed as described above, It is necessary to revise (re-plan) the travel plan. However, if the travel plan is corrected each time the planned travel route changes, particularly when the user travels on a back road or the like, the travel plan is frequently corrected, and the processing burden associated with the correction of the travel plan is increased. In addition, there is a problem that the processing load related to communication for transmitting the corrected travel plan in the vehicle becomes large.

  The present invention has been made in order to solve the problems in the prior art, and in the case of creating a travel plan that is a control schedule for a drive motor and an engine of a vehicle having a drive motor and an engine as drive sources, It is an object of the present invention to provide a driving support system, a driving support method, and a computer program that prevent frequent correction of a driving plan due to a change in a planned route.

In order to achieve the above object, a travel support system (1) according to claim 1 of the present application includes a planned travel route (61) to a destination of a vehicle (2) including a drive motor (5) and an engine (4) as drive sources. ), An EV travel range that travels using only the drive motor as a drive source with respect to the planned travel route, and travels using the drive motor and the engine as drive sources in combination. A travel plan means (33) for creating a travel plan (48) in which an HV travel range is set, a vehicle position detection means (33) for detecting the position of the vehicle, and while the vehicle travels on the planned travel route, Shortest route search means (33) for searching for the shortest route (62) from the position of the vehicle to the destination, and travel determination means (33) for determining whether or not the vehicle deviates from the planned travel route. When it is determined that the vehicle deviates from the planned travel route, route correction means (33) for correcting the planned travel route based on the position of the vehicle deviating from the planned travel route, and the vehicle When it is determined that the vehicle has deviated from the planned travel route, route determination means (33) for determining whether the vehicle has also deviated from the shortest route at the same time, and the vehicle has deviated from the shortest route at the same time. And travel plan correction means (33) for correcting the travel plan based on the planned travel route corrected by the route correction means when determined.
Note that “using a drive motor and an engine together as a drive source” does not necessarily mean that both the engine and the drive motor are driven, and only one of them is driven depending on the situation. Including. For example, a state in which one of traveling using only the engine as a drive source, traveling using only the drive motor as a drive source, and travel using both the engine and the drive motor as drive sources is used.

  A travel support system (1) according to claim 2 is the travel support system according to claim 1, wherein the vehicle (2) is determined not to depart from the shortest route (62). In this case, there is a return determination means (33) for determining whether or not the vehicle has returned to the planned travel route (61) before the correction by the route correction means (33) without deviating from the shortest route. The travel plan correction means (33) is based on the planned travel route corrected by the route correction means when it is determined that the vehicle has returned to the planned travel route before correction by the route correction means. And correcting the travel plan.

  A travel support system (1) according to claim 3 is the travel support system according to claim 2, wherein the vehicle (2) is determined not to depart from the shortest route (62). In this case, the travel control of the vehicle based on the travel plan (48) is interrupted until it is subsequently determined that the route has been returned to the planned travel route (61) before the correction by the route correction means (33). It is characterized by that.

  Further, the driving support system (1) according to claim 4 is the driving support system according to any one of claims 1 to 3, wherein the shortest route searching means (33) is the vehicle (2). Each time it is determined that the vehicle has deviated from the shortest route (62), the shortest route from the vehicle position deviating from the shortest route to the destination is searched.

  The travel support method according to claim 5 is a route acquisition step of acquiring a planned travel route (61) to a destination of a vehicle (2) having a drive motor (5) and an engine (4) as drive sources; A travel plan (48) in which an EV travel range that travels using only the drive motor as a drive source and an HV travel range that travels using the drive motor and the engine together as drive sources with respect to the travel route is set. A travel plan step to be created, a vehicle position detection step for detecting the position of the vehicle, and a shortest route (62) from the vehicle position to the destination are searched while the vehicle travels on the planned travel route. It is determined that the shortest route search step, a travel determination step for determining whether or not the vehicle deviates from the planned travel route, and that the vehicle deviates from the planned travel route. A route correcting step for correcting the planned travel route based on the position of the vehicle deviating from the planned travel route, and when it is determined that the vehicle deviates from the planned travel route, A route determination step for determining whether or not the vehicle has deviated from the shortest route at the same time, and when it is determined that the vehicle has also deviated from the shortest route at the same time, based on the planned travel route corrected by the route correction step. A travel plan correcting step for correcting the travel plan.

  Further, the computer program according to claim 6 is a route acquisition function for acquiring a planned travel route (61) to a destination of a vehicle (2) having a drive motor (5) and an engine (4) as drive sources. And an EV travel range in which travel is performed using only the drive motor as a drive source for the planned travel route, and an HV travel range in which travel is performed using both the drive motor and the engine as drive sources (48 ), A vehicle position detection function for detecting the position of the vehicle, and a shortest route (62) from the vehicle position to the destination while the vehicle travels on the planned travel route. A shortest route search function for searching, a travel determination function for determining whether or not the vehicle has deviated from the planned travel route, and a determination that the vehicle has deviated from the planned travel route. When it is determined that the vehicle has deviated from the planned travel route, and a route correction function for correcting the planned travel route based on the position of the vehicle deviated from the planned travel route, the vehicle A route determination function for determining whether or not the vehicle has deviated from the shortest route at the same time, and when it is determined that the vehicle has also deviated from the shortest route at the same time, And a travel plan correcting function for correcting the travel plan based on the travel plan.

  According to the travel support system according to claim 1 having the above-described configuration, when creating a travel plan that is a control schedule for a drive motor and an engine of a hybrid vehicle using the engine and the drive motor as drive sources, It is possible to prevent the travel plan from being frequently corrected due to the change. As a result, it is possible to reduce the processing load related to the correction of the travel plan and the processing load related to communication for transmitting the corrected travel plan within the vehicle. In situations where it can be determined that there is little risk of the planned travel route being changed continuously based on the positional relationship between the shortest route to the destination and the vehicle, the travel plan is corrected based on the travel planned route after the change. Even after the planned travel route is changed, it is possible to perform appropriate vehicle travel control based on the travel plan corresponding to the changed travel planned route.

  According to the driving support system of the second aspect, when it is determined that the vehicle has deviated from the planned traveling route but has not deviated from the shortest route, the vehicle does not deviate from the shortest route thereafter. When returning to the pre-corrected travel plan route, the travel plan is corrected based on the post-correction travel plan route. The travel plan can be corrected based on the route. Therefore, while preventing the travel plan from being frequently revised, it is possible to perform appropriate vehicle travel control based on the travel plan corresponding to the changed travel planned route even after the planned travel route is changed. It is.

  According to the driving support system according to claim 3, when it is determined that the vehicle has deviated from the planned traveling route but has not deviated from the shortest route, the vehicle subsequently becomes the planned traveling route before correction. Until the vehicle is restored, the vehicle travel control based on the travel plan is interrupted, so that the vehicle travel control based on the travel plan may not be performed in a situation where the travel planned route does not correspond to the travel plan. It becomes possible. As a result, it is possible to prevent inappropriate travel control from being performed on the vehicle.

  Further, according to the driving support system of the fourth aspect, every time it is determined that the vehicle has deviated from the shortest route, the shortest route from the position of the vehicle deviating from the shortest route to the destination is searched. It is possible to always specify an appropriate shortest route in parallel with the planned route. As a result, it is possible to appropriately determine the timing for correcting the travel plan.

  According to the driving support method according to claim 5, when a driving plan that is a control schedule for a drive motor and an engine of a hybrid vehicle using the engine and the drive motor as drive sources is created, a change in the planned driving route is caused. It is possible to prevent the travel plan from being frequently corrected. As a result, it is possible to reduce the processing load related to the correction of the travel plan and the processing load related to communication for transmitting the corrected travel plan within the vehicle. In situations where it can be determined that there is little risk of the planned travel route being changed continuously based on the positional relationship between the shortest route to the destination and the vehicle, the travel plan is corrected based on the travel planned route after the change. Even after the planned travel route is changed, it is possible to perform appropriate vehicle travel control based on the travel plan corresponding to the changed travel planned route.

  Furthermore, according to the computer program of the sixth aspect, when a travel plan that is a control schedule for a drive motor and an engine of a hybrid vehicle using the engine and the drive motor as drive sources is created, the travel is performed according to a change in the planned travel route. It is possible to prevent the plan from being revised frequently. As a result, it is possible to reduce the processing load related to the correction of the travel plan and the processing load related to communication for transmitting the corrected travel plan within the vehicle. In situations where it can be determined that there is little risk of the planned travel route being changed continuously based on the positional relationship between the shortest route to the destination and the vehicle, the travel plan is corrected based on the travel planned route after the change. Even after the planned travel route is changed, it is possible to perform appropriate vehicle travel control based on the travel plan corresponding to the changed travel planned route.

1 is a schematic configuration diagram of a vehicle and a vehicle control system according to the present embodiment. It is a block diagram showing typically a control system of a vehicle control system concerning this embodiment. It is the figure shown about an example of the travel plan produced in a navigation apparatus. It is a flowchart of the driving assistance processing program concerning this embodiment. It is explanatory drawing explaining the correction aspect of the conventional travel plan. It is explanatory drawing explaining the correction aspect of the travel plan of this embodiment. It is a flowchart of the shortest path | route search processing program which concerns on this embodiment.

Hereinafter, a driving support system according to the present invention will be described in detail with reference to the drawings based on an embodiment embodied in a navigation device.
First, a schematic configuration of a vehicle control system 3 of a vehicle 2 equipped with the navigation device 1 according to the present embodiment as an in-vehicle device will be described with reference to FIGS. 1 and 2. FIG. 1 is a schematic configuration diagram of a vehicle control system 3 according to the present embodiment, and FIG. 2 is a block diagram schematically showing a control system of the vehicle control system 3 according to the present embodiment. The vehicle 2 is a hybrid vehicle that uses a motor and an engine as drive sources. In particular, in the embodiment described below, a plug-in hybrid vehicle that can charge a battery from an external power source is used.

  As shown in FIGS. 1 and 2, the vehicle control system 3 according to the present embodiment includes a navigation device 1 installed on the vehicle 2, an engine 4, a drive motor 5, a generator 6, and a battery 7. And a planetary gear unit 8, a vehicle control ECU 9, an engine control ECU 10, a drive motor control ECU 11, a generator control ECU 12, a charge control ECU 13, and a communication control ECU 14.

  Here, the navigation device 1 is provided on the center console or panel surface of the vehicle 2, and outputs a liquid crystal display 35 that displays a map around the vehicle and a planned travel route to the destination, and voice guidance regarding route guidance. A speaker 36 and the like are provided. Then, the current position of the vehicle 2 is specified by GPS or the like, and when the destination is set, the route from the departure point (for example, the current position) to the destination is searched, and the set planned traveling route is followed. Guidance is performed using the liquid crystal display 35 and the speaker 36. Further, as will be described later, the navigation device 1 is based on route information (for example, distance, gradient, average vehicle speed, etc.) of the planned travel route when a planned travel route from the departure place to the destination is set. A travel plan that is a control schedule for controlling the drive source (the engine 4 and the drive motor 5) of the vehicle 2 is created. The detailed configuration of the navigation device 1 will be described later.

  The engine 4 is an engine such as an internal combustion engine that is driven by fuel such as gasoline, light oil, and ethanol, and is used as a first drive source of the vehicle 2. The engine torque, which is the driving force of the engine 4, is transmitted to the planetary gear unit 8, and the drive wheels 17 are rotated by a part of the engine torque distributed by the planetary gear unit 8 to drive the vehicle 2.

  The drive motor 5 is a motor that rotates based on the electric power supplied from the battery 7 and is used as a second drive source of the vehicle 2. The drive motor is driven by the electric power supplied from the battery 7 and generates a drive motor torque that is a torque of the drive motor 5. Then, the drive wheels 17 are rotated by the generated drive motor torque, and the vehicle 2 is driven. Further, when engine braking is necessary and when braking is stopped, the drive motor 5 functions as a regenerative brake, and regenerates vehicle inertia energy as electric energy.

In the plug-in hybrid vehicle according to the present embodiment, when a travel plan to be described later is created in the navigation device 1, the engine 4 and the drive motor 5 are basically controlled based on the created travel plan. Is done. Specifically, in the EV travel section specified in the travel plan, so-called EV travel is performed in which only the drive motor 5 is used as a drive source. Further, in the HV travel section designated in the travel plan, so-called HV travel is performed in which the engine 4 and the drive motor 5 are used together as a drive source. In HV traveling, traveling is performed by switching the drive source in accordance with traveling conditions such as starting, stopping, and high-speed traveling. Specifically, one of travel using only the engine 4 as a drive source, travel using only the drive motor 5 as a drive source, and travel using both the engine 4 and the drive motor 5 as drive sources is selectively used depending on the travel situation.
On the other hand, when the travel plan is not created in the navigation device 1, the EV travel is basically performed until the remaining amount of the battery 7 becomes a predetermined value or less. Then, after the remaining amount of the battery 7 becomes equal to or less than a predetermined value, HV traveling is performed.

  The generator 6 is a generator that is driven by a part of the engine torque distributed by the planetary gear unit 8 to generate electric power. The generator 6 is connected to the battery 7 via a generator inverter (not shown). The generated alternating current is converted into a direct current and supplied to the battery 7. In addition, you may comprise the drive motor 5 and the generator 6 integrally.

  The battery 7 is a secondary battery as a power storage means capable of repeating charging and discharging, and a lead storage battery, a capacitor, a nickel cadmium battery, a nickel hydrogen battery, a lithium ion battery, a sodium sulfur battery, or the like is used. Further, the battery 7 is connected to a charging connector 18 provided on the side wall of the vehicle 2. The battery 7 can be charged by connecting the charging connector 18 to a power supply source such as an outlet in a home or a charging facility equipped with a predetermined charging facility. Further, the battery 7 is also charged by regenerative power generated by the drive motor and power generated by the generator 6.

  The planetary gear unit 8 includes a sun gear, a pinion, a ring gear, a carrier, and the like, distributes part of the driving force of the engine 4 to the generator 6 and transmits the remaining driving force to the driving wheels 17.

The vehicle control ECU (electronic control unit) 9 is an electronic control unit that controls the entire vehicle 2. The vehicle control ECU 9 includes an engine control ECU 10 for controlling the engine 4, a drive motor control ECU 11 for controlling the drive motor 5, a generator control ECU 12 for controlling the generator 6, and a battery 7. The charging control ECU 13 for performing the control is connected to the plurality of vehicle-mounted devices including the navigation device 1 via a vehicle-mounted network such as CAN.
The vehicle control ECU 9 includes an internal storage device such as a CPU 21 as an arithmetic device and a control device, a RAM 22 used as a working memory when the CPU 21 performs various arithmetic processes, and a ROM 23 in which a control program and the like are recorded. I have.

  The engine control ECU 10, the drive motor control ECU 11, the generator control ECU 12, and the charge control ECU 13 include a CPU, RAM, ROM, and the like (not shown), and control the engine 4, the drive motor 5, the generator 6, and the battery 7, respectively. .

  Further, the communication control ECU 14 controls communication performed with various vehicle-mounted devices including the navigation device 1 and the vehicle control ECU 9.

Next, the configuration of the navigation device 1 will be described with reference to FIG.
As shown in FIG. 2, the navigation device 1 according to the present embodiment includes a current position detection unit 31 that detects a current position of a vehicle on which the navigation device 1 is mounted, a data recording unit 32 that records various data, A navigation ECU 33 that performs various arithmetic processes based on the input information, an operation unit 34 that receives operations from the user, a liquid crystal display 35 that displays facility information relating to a map around the vehicle and facilities to the user, Communicating between a speaker 36 that outputs voice guidance related to route guidance, a DVD drive 37 that reads a DVD as a storage medium, and an information center such as a probe center or a VICS (registered trademark: Vehicle Information and Communication System) center And a communication module 38 for performing.

Below, each component which comprises the navigation apparatus 1 is demonstrated in order.
The current position detection unit 31 includes a GPS 41, a vehicle speed sensor 42, a steering sensor 43, a gyro sensor 44, and the like, and can detect the current vehicle position, direction, vehicle traveling speed, current time, and the like. . Here, in particular, the vehicle speed sensor 42 is a sensor for detecting a moving distance and a vehicle speed of the vehicle, generates a pulse according to the rotation of the driving wheel of the vehicle, and outputs a pulse signal to the navigation ECU 33. And navigation ECU33 calculates the rotational speed and moving distance of a driving wheel by counting the pulse which generate | occur | produces. Note that the navigation device 1 does not have to include all the four types of sensors, and the navigation device 1 may include only one or more types of sensors.

  The data recording unit 32 reads out an external storage device and a hard disk (not shown) as a recording medium, a map information DB 46, a route information DB 47, a travel plan 48, a predetermined program, etc. recorded on the hard disk and a hard disk. And a recording head (not shown) which is a driver for writing predetermined data. The data recording unit 32 may be configured by a memory card, an optical disk such as a CD or a DVD, instead of the hard disk.

  Here, the map information DB 46 includes, for example, link data regarding roads (links), node data regarding node points, branch point data regarding each branch point, point data regarding points such as facilities, map display data for displaying a map, The storage means stores search data for searching for a route, search data for searching for a point, and the like. The link data includes information related to the tilt section (including information related to the tilt angle) and information related to the curve (including information related to the start point, end point, and turning radius). Moreover, it is good also as a structure which memorize | stores map information DB46 in an external server, and the navigation apparatus 1 acquires link data etc. by communication.

  Further, the route information DB 47 stores a guide route (that is, a planned travel route of the vehicle 2) set in the navigation device 1 and a shortest route from the vehicle 2 to the destination of the guide route separately from the guide route. Is done. When the guide route or the shortest route is changed, the route information DB 47 is updated each time.

  Here, the guidance route is set when the destination is selected by the user, and is a route from the departure point (for example, the current position of the vehicle) to the destination. The navigation device 1 displays voice guidance and guidance so that the user travels along the guidance route. The guide route is searched by a known Dijkstra method or the like under a search condition specified by the user (for example, any of recommendation, distance priority, pay priority, and general priority). Furthermore, when the vehicle 2 deviates from the guidance route as described later, the guidance route is re-searched (corrected) based on the position of the deviating vehicle.

  On the other hand, the shortest route is the shortest route to the current position of the vehicle and the destination, and is searched and set by the Dijkstra method or the like in the same way as the guide route while the guide route is set in the navigation device 1. Further, when the vehicle 2 deviates from the shortest route as will be described later, it is re-searched (corrected) based on the position of the deviating vehicle. When the guide route is a route searched with a distance priority, the guide route and the shortest route are basically the same route.

  In the travel plan 48, for example, an EV travel section in which EV travel is performed and an HV travel section in which HV travel is performed are set for each section (particularly, in this embodiment) of the planned travel route. For example, FIG. 3 shows an example of a travel plan 48 created when traveling on a planned travel route including links a to e. In the travel plan 48 shown in FIG. 3, link a is divided into EV travel sections, links b and c are partitioned into HV travel sections, link d is partitioned into EV travel sections, and link e is partitioned into HV travel sections. The The travel plan 48 includes traffic congestion information, link information (road shape, gradient, average vehicle speed, etc.), vehicle information (front projection area, drive mechanism inertia weight, vehicle weight, driving wheel rolling resistance coefficient, From the air resistance coefficient, cornering resistance, etc.), the section where EV traveling is predicted to be better in fuel efficiency is set as the EV traveling section, and the section where HV traveling is predicted to be better in fuel efficiency is HV Set to travel section. Moreover, you may set the non-specific driving | running | working area which determines whether EV driving | running | working or HV driving | running | working is performed based on the residual amount of the battery 7 other than EV driving | running | working area and HV driving | running | working area.

When the vehicle 2 travels on the planned travel route, the navigation ECU 33 changes the travel control based on the current position of the vehicle 2 and the travel plan 48 (EV travel → HV travel or HV travel → EV travel). It is determined whether or not it is time to do. When it is determined that it is time to change the travel control, a control instruction for instructing EV travel or HV travel is transmitted to the vehicle control ECU 9. And vehicle control ECU9 which received the control instruction which instruct | indicates EV driving | running | working controls the drive motor 5 via drive motor control ECU11, and starts EV driving | running | working which uses only the drive motor 5 as a drive source. The vehicle control ECU 9 that has received the control instruction for instructing the HV traveling controls the engine 4 and the driving motor 5 via the engine control ECU 10 and the driving motor control ECU 11 according to the traveling state. HV traveling that travels together using as a drive source is started. In addition, during the HV traveling, the battery 7 is also charged by driving the generator 6 in a predetermined section (for example, a section in which the vehicle 2 travels constantly at a high speed).
The route information DB 47 and the travel plan 48 may be stored in an external server, and the navigation device 1 may be updated or acquired by communication.

  On the other hand, the navigation ECU (Electronic Control Unit) 33 is an electronic control unit that controls the entire navigation device 1. The CPU 51 as an arithmetic device and a control device, and a working memory when the CPU 51 performs various arithmetic processes. As well as a RAM 52 for storing route data when a route is searched, a control program, a driving support processing program (see FIG. 4) described later, and a shortest route search processing program (see FIG. 7). ) And vehicle information related to the vehicle such as the vehicle weight, etc., and an internal storage device such as a flash memory 54 for storing a program read from the ROM 53. The navigation ECU 33 constitutes various means as processing algorithms. For example, the route acquisition unit acquires a planned travel route to a destination of a vehicle including the drive motor 5 and the engine 4 as drive sources. The travel plan means creates a travel plan in which an EV travel section and an HV travel section are set for the planned travel route. The vehicle position detection means detects the position of the vehicle. The shortest route search means searches for the shortest route from the position of the vehicle to the destination while the vehicle travels on the planned travel route. The traveling determination unit determines whether or not the vehicle deviates from the planned traveling route. When it is determined that the vehicle deviates from the planned travel route, the route correction means corrects the planned travel route based on the position of the vehicle that deviates from the planned travel route. When it is determined that the vehicle deviates from the planned travel route, the route determination means determines whether the vehicle deviates from the shortest route at the same time. The travel plan correcting means corrects the travel plan based on the planned travel route corrected by the route correcting means when it is determined that the vehicle has also deviated from the shortest route at the same time. When it is determined that the vehicle has not deviated from the shortest route, the return determination unit determines whether or not the vehicle has subsequently returned to the planned travel route before the correction by the route correcting unit without deviating from the shortest route. To do.

  The operation unit 34 is operated when inputting a departure point as a travel start point and a destination point as a travel end point, and includes a plurality of operation switches (not shown) such as various keys and buttons. Then, the navigation ECU 33 performs control to execute various corresponding operations based on switch signals output by pressing the switches. The operation unit 34 can also be configured by a touch panel provided on the front surface of the liquid crystal display 35. Moreover, it can also be comprised with a microphone and a speech recognition apparatus.

  Further, the liquid crystal display 35 includes a map image including a road, traffic information, operation guidance, operation menu, key guidance, a planned travel route from the departure point to the destination, guidance information along the planned travel route, news, weather, and the like. Forecast, time, mail, TV program, etc. are displayed.

  In addition, the speaker 36 outputs voice guidance for guiding traveling along the guidance route based on an instruction from the navigation ECU 33 and traffic information guidance.

  The DVD drive 37 is a drive that can read data recorded on a recording medium such as a DVD or a CD. Based on the read data, music and video are played, the map information DB 46 is updated, and the like.

  The communication module 38 is a communication for receiving traffic information including information such as traffic jam information, regulation information, and traffic accident information transmitted from a traffic information center such as a VICS (registered trademark) center or a probe center. For example, a mobile phone or DCM is applicable.

  Next, a driving support processing program executed by the navigation ECU 33 in the navigation device 1 having the above configuration will be described with reference to FIG. FIG. 4 is a flowchart of the driving support processing program according to the present embodiment. Here, the travel support processing program is a program that is executed when a planned travel route from the departure point to the destination is set in the navigation device 1 and creates a travel plan 48 along the planned travel route. 4 and 7 are stored in the RAM 52 and the ROM 53 provided in the navigation device 1 and executed by the CPU 51.

  First, in step (hereinafter abbreviated as “S”) 1 in the driving support processing program, the CPU 51 acquires a planned driving route of the vehicle 2. In the present embodiment, the planned travel route of the vehicle 2 is a guide route set in the navigation device 1 and is searched by a known Dijkstra method or the like when the user designates a destination.

  Next, in S2, the CPU 51 creates a travel plan 48 for the planned travel route acquired in S1. Specifically, link information (road shape, gradient, average vehicle speed, etc.) and vehicle information (front projection area, driving mechanism inertia weight, vehicle weight, driving wheel rolling resistance coefficient, air resistance coefficient, cornering) The driving force generated when the vehicle 2 travels on the planned travel route is predicted from the resistance and the like. Then, a section where it is predicted that the fuel efficiency is better when the EV travel is performed (for example, a section where the predicted driving force is less than a predetermined threshold) is set as the EV travel section, and the fuel efficiency is higher when the HV travel is performed. A section that can be predicted to be good (for example, a section in which the predicted driving force is equal to or greater than a predetermined threshold) is set as an HV traveling section (FIG. 3). The created travel plan 48 is transmitted to the vehicle control ECU 9 via the CAN.

  Subsequently, in S3, the CPU 51 determines whether or not the vehicle has started traveling along the planned travel route based on the current position of the vehicle and the detection result of the vehicle speed sensor 42. And when it determines with the vehicle having started driving | running | working (S3: YES), it transfers to S4. On the other hand, if it is determined that the vehicle has not started running (S3: NO), the system waits until the vehicle starts running.

  In S4, the CPU 51 starts travel control based on the travel plan 48 via the vehicle control ECU 9. That is, in the vehicle that has started traveling, the engine 4 and the drive motor 5 are controlled based on the travel plan 48 that is created in the navigation device 1 and transmitted to the vehicle control ECU 9. Specifically, in the EV travel section designated in the travel plan 48, EV travel is performed using only the drive motor 5 as a drive source. Further, in the HV traveling section designated in the traveling plan 48, HV traveling is performed in which the engine 4 and the drive motor 5 are used together as a drive source. In HV traveling, traveling is performed by switching the drive source in accordance with traveling conditions such as starting, stopping, and high-speed traveling. Specifically, one of travel using only the engine 4 as a drive source, travel using only the drive motor 5 as a drive source, and travel using both the engine 4 and the drive motor 5 as drive sources is selectively used depending on the travel situation.

  Next, in S <b> 5, the CPU 51 acquires the current position of the vehicle based on the detection result of the current position detection unit 31. A map matching process for specifying the current position of the vehicle on the map data is also performed.

  Subsequently, in S6, the CPU 51 determines whether or not the vehicle deviates from the planned travel route based on the planned travel route acquired in S1 and the current position of the vehicle detected in S5. Specifically, it is determined that the vehicle has deviated from the planned travel route when the link with which the position of the vehicle is matched becomes a link other than the link constituting the planned travel route.

  If it is determined that the vehicle has deviated from the planned travel route (S6: YES), the process proceeds to S8. On the other hand, when it is determined that the vehicle has not deviated from the planned travel route (S6: NO), the process proceeds to S7. In the navigation device 1, when it is determined that the vehicle deviates from the planned travel route, the guidance route is re-searched (rerouted) based on the position of the deviated vehicle every time the determination is made, The planned travel route is also changed to the re-searched guide route.

  In S7, the CPU 51 determines whether or not the vehicle has arrived at the destination of the planned travel route based on the current position of the vehicle detected in S5 and the planned travel route acquired in S1.

  When it is determined that the vehicle has arrived at the destination of the planned travel route (S7: YES), the travel support processing program is terminated. On the other hand, when it is determined that the vehicle has not arrived at the destination of the planned travel route (S7: NO), the process returns to S5, and travel control along the travel plan 48 is continued.

  On the other hand, in S8, the CPU 51 determines that the vehicle is scheduled to travel based on the shortest route to the destination currently set in the shortest route search processing program (FIG. 7) described later and the current position of the vehicle detected in S5. It is determined whether or not the shortest route is deviated at the same time as deviating from. Specifically, it is determined that the vehicle has deviated from the shortest route when the link whose vehicle position is matched becomes a link other than the link that forms the shortest route.

  If it is determined that the vehicle deviates from the planned travel route at the same time as the vehicle deviates from the shortest route (S8: YES), there is little possibility that the planned travel route will be continuously changed, and the vehicle travels at the present time. It is estimated that the plan 48 should be corrected, and the process proceeds to S9. On the other hand, if it is determined that the vehicle has not deviated from the shortest route (S8: NO), there is a possibility that the planned travel route will be continuously changed in the future. It is presumed that it should not be performed, and the process proceeds to S11.

  In S9, the CPU 51 creates a new travel plan 48 (corrects the current travel plan) for the current planned travel route (that is, the planned travel route based on the re-searched latest guide route). The details are the same as S2, and are omitted here.

  In S10, the CPU 51 transmits the newly created travel plan 48 to the vehicle control ECU 9 via the CAN. As a result, in the vehicle, the engine 4 and the drive motor 5 are controlled based on the newly created travel plan 48 (S4).

  On the other hand, in S11, the CPU 51 temporarily stops the traveling control based on the traveling plan 48 performed via the vehicle control ECU 9. As a result, the vehicle 2 performs the same travel control as when the travel plan 48 is not created until the travel control based on the travel plan 48 is started again. Specifically, EV traveling is performed until the remaining amount of the battery 7 becomes a predetermined value (for example, 10%) or less. Then, after the remaining amount of the battery 7 becomes equal to or less than a predetermined value, HV traveling is performed.

  Next, in S12, the CPU 51 sets the travel plan route acquired in S1 (that is, not the planned travel route based on the guide route re-searched after the departure from the planned travel route, but before YES is determined in S6). It is determined whether or not the vehicle has returned to the original planned travel route based on the planned travel route, which will be referred to as the original planned travel route hereinafter) and the current position of the vehicle. Specifically, it is determined that the vehicle has returned to the original planned travel route when the link whose vehicle position is matched becomes a link that constitutes the original planned travel route.

  When it is determined that the vehicle has returned to the original planned travel route (S12: YES), the process proceeds to S9. In S9, as described above, a new travel plan 48 for the current travel plan route (that is, the travel plan route based on the latest guide route re-searched after departure from the travel plan route) is created (current travel plan). To correct). Thereafter, the newly created travel plan 48 is transmitted to the vehicle control ECU 9 via the CAN. As a result, in the vehicle, control of the engine 4 and the drive motor 5 is resumed based on the newly created travel plan 48 (S4).

  On the other hand, when it is determined that the vehicle has not returned to the original planned travel route (S12: NO), the process returns to S8.

In the present embodiment, it is possible to prevent frequent correction of the travel plan by executing the travel support processing program (FIG. 4). Details will be described below with reference to FIGS. 5 and 6.
For example, a case where the vehicle 2 travels on a road having a shape in which a main road and a back road run side by side as shown in FIG. 5 will be described as an example. Here, the route searched for in the navigation device 1 and set as the planned traveling route 61 is not limited to the shortest route to the destination, but may be prioritized to travel to a main road with a wide road. For example, in the situation shown in FIG. 5, the planned travel route 61 is not the shortest route 62 from the current position of the vehicle 2 but a route from the back road 63 on which the vehicle travels to the main road 64. In this case, if the vehicle 2 does not follow the planned travel route 61 but continuously travels on the back road 63 (that is, travels on the shortest route 62) and travels to the destination, in the prior art, as shown in FIG. Each time the vehicle deviates from the current planned travel route 61, the travel planned route is corrected and the travel plan is corrected based on the corrected travel planned route. In the example shown in FIG. 5, as a result, the travel plan is corrected three times in total.

  On the other hand, in this embodiment, even if it is determined that the vehicle has deviated from the current planned route 61 as shown in FIG. 6, if the vehicle does not deviate from the shortest route 62, the travel plan 48 is not corrected. In addition, the travel control based on the travel plan 48 is temporarily stopped. Thereafter, when it is determined that the vehicle 2 has returned to the original planned travel route, the travel plan 48 is corrected based on the current planned travel route 61, and the control of the vehicle based on the new travel plan 48 is resumed. Is done. In the example shown in FIG. 6, as a result, the travel plan is corrected only once.

  Next, the shortest route search processing program executed by the navigation ECU 33 in the navigation device 1 will be described with reference to FIG. FIG. 7 is a flowchart of the shortest path search processing program according to this embodiment. Here, the shortest route search processing program is executed when a planned travel route is set in the navigation device 1 and is a program for searching for the shortest route from the vehicle to the destination of the planned travel route separately from the planned travel route. is there.

  First, in the shortest route search processing program, in S21, the CPU 51 searches for the shortest route from the current position of the vehicle to the destination of the currently planned travel route, and sets the searched route as the shortest route in the route information DB 47. Remember. The shortest path is searched by a known Dijkstra method or the like.

  Next, in S22, the CPU 51 determines whether or not the vehicle deviates from the shortest route based on the latest shortest route stored in the route information DB 47 and the current position of the vehicle. Specifically, it is determined that the vehicle has deviated from the shortest route when the link whose vehicle position is matched becomes a link other than the link that forms the shortest route.

  If it is determined that the vehicle has deviated from the shortest route (S22: YES), the process returns to S21, and the shortest route is re-searched based on the current position of the vehicle after the departure. On the other hand, when it is determined that the vehicle has not deviated from the shortest route (S22: NO), the process proceeds to S23.

  In S23, the CPU 51 determines whether or not the vehicle has arrived at the destination of the planned travel route based on the current position of the vehicle and the planned travel route currently set in the navigation device 1.

  When it is determined that the vehicle has arrived at the destination of the planned travel route (S23: YES), the shortest route search processing program is terminated. On the other hand, when it is determined that the vehicle has not arrived at the destination of the planned travel route (S23: NO), the process returns to S22.

As described above in detail, the navigation device 1 according to the present embodiment, the travel support method using the navigation device 1 and the computer program executed by the navigation device 1 acquire the planned travel route of the vehicle 2 (S1) and travel. A travel plan based on the planned route is created (S2). On the other hand, while the vehicle travels on the planned travel route, the shortest route from the position of the vehicle to the destination of the planned travel route is searched (S21), and the vehicle travels. When the vehicle deviates from the planned route and also deviates from the shortest route at the same time, the travel plan is corrected based on the corrected travel plan route (S9), so the travel plan is frequently corrected due to a change in the planned travel route. This can be prevented. As a result, it is possible to reduce the processing load related to the correction of the travel plan and the processing load related to communication for transmitting the corrected travel plan within the vehicle. In situations where it can be determined that there is little risk of the planned travel route being changed continuously based on the positional relationship between the shortest route to the destination and the vehicle, the travel plan is corrected based on the travel planned route after the change. Even after the planned travel route is changed, it is possible to perform appropriate vehicle travel control based on the travel plan corresponding to the changed travel planned route.
In addition, when it is determined that the vehicle has deviated from the planned route but has not deviated from the shortest route, the correction is made when the vehicle returns to the pre-corrected planned route without deviating from the shortest route. Since the travel plan is corrected based on the subsequent planned travel route, after the possibility that the planned travel route is continuously changed is reduced, the travel plan may be corrected based on the changed travel planned route. It becomes possible. Therefore, while preventing the travel plan from being frequently revised, it is possible to perform appropriate vehicle travel control based on the travel plan corresponding to the changed travel planned route even after the planned travel route is changed. It is.
Further, when it is determined that the vehicle has deviated from the planned travel route but has not deviated from the shortest route, the vehicle travels based on the travel plan until the vehicle returns to the planned travel route before correction. Since the control is interrupted, it is possible to prevent the vehicle travel control based on the travel plan from being performed in a situation where the planned travel route does not correspond to the travel plan. As a result, it is possible to prevent inappropriate travel control from being performed on the vehicle.
Also, every time it is determined that the vehicle has deviated from the shortest route, the shortest route from the position of the vehicle deviating from the shortest route to the destination is searched, so an appropriate shortest route is always identified in parallel with the planned travel route. Is possible. As a result, it is possible to appropriately determine the timing for correcting the travel plan.

Note that the present invention is not limited to the above-described embodiment, and various improvements and modifications can be made without departing from the scope of the present invention.
For example, in the present embodiment, when it is determined that the vehicle has deviated from the planned travel route but has not deviated from the shortest route, the travel plan is thereafter until the vehicle returns to the planned travel route before correction. The vehicle travel control based on the vehicle is interrupted, but the vehicle travel control based on the travel plan may be continuously performed.

  In the present embodiment, the travel plan is created based on the driving force of the vehicle required when traveling on the planned travel route. However, the travel plan may be created based on other factors. .

  In addition, the travel support processing program (FIG. 4) and the shortest route search processing program (FIG. 8) of the present embodiment are executed by the navigation ECU 33 included in the navigation device, but may be executed by the vehicle control ECU 9. . Further, the processing may be shared by a plurality of ECUs.

  In addition to the navigation device, the present invention can be applied to various devices capable of controlling the vehicle via the vehicle control ECU 9. For example, the present invention can also be applied to in-vehicle devices other than navigation devices, mobile terminals such as mobile phones, smartphones and PDAs, personal computers, and the like (hereinafter referred to as mobile terminals). Further, the present invention can be applied to a system including a server and a mobile terminal. In that case, each step of the above-described driving support processing program (FIG. 4) and the shortest route search processing program (FIG. 8) may be implemented by either a server or a mobile terminal.

DESCRIPTION OF SYMBOLS 1 Navigation apparatus 2 Vehicle 3 Vehicle control system 4 Engine 5 Drive motor 7 Battery 33 Navigation ECU
51 CPU
52 RAM
53 ROM
61 Scheduled route 62 Shortest route

Claims (6)

Route acquisition means for acquiring a planned travel route to a destination of a vehicle including a drive motor and an engine as a drive source;
Travel that creates a travel plan that sets an EV travel range that travels using only the drive motor as a drive source with respect to the planned travel route, and an HV travel range that travels using the drive motor and the engine together as a drive source Planning means,
Vehicle position detection means for detecting the position of the vehicle;
While the vehicle travels along the planned travel route, the shortest route search means for searching for the shortest route from the position of the vehicle to the destination;
Travel determination means for determining whether or not the vehicle deviates from the planned travel route;
Route correcting means for correcting the planned travel route based on the position of the vehicle deviating from the planned travel route when it is determined that the vehicle has deviated from the planned travel route;
Route determination means for determining whether or not the vehicle has also deviated from the shortest route at the same time when it is determined that the vehicle has deviated from the planned travel route;
Travel plan correction means for correcting the travel plan based on the planned travel route corrected by the route correction means when it is determined that the vehicle has also deviated from the shortest route at the same time. A driving support system. If it is determined that the vehicle has not deviated from the shortest route, whether or not the vehicle has subsequently returned to the planned travel route before being corrected by the route correcting means without deviating from the shortest route. A return judging means for judging,
When it is determined that the vehicle has returned to the planned travel route before the correction by the route correction unit, the travel plan correction unit determines the travel plan based on the planned travel route corrected by the route correction unit. The driving support system according to claim 1, wherein the driving support system is corrected.   When it is determined that the vehicle has not deviated from the shortest route, the vehicle is based on the travel plan until it is subsequently determined that the vehicle has returned to the planned travel route before correction by the route correction unit. The travel support system according to claim 2, wherein the travel control of the vehicle is interrupted.   The shortest route search means searches for the shortest route from the position of the vehicle that deviates from the shortest route to the destination every time it is determined that the vehicle deviates from the shortest route. The driving support system according to any one of claims 1 to 3. A route acquisition step of acquiring a planned travel route to a destination of a vehicle including a drive motor and an engine as a drive source;
Travel that creates a travel plan that sets an EV travel range that travels using only the drive motor as a drive source with respect to the planned travel route, and an HV travel range that travels using the drive motor and the engine together as a drive source Planning steps,
A vehicle position detecting step for detecting the position of the vehicle;
While the vehicle travels along the planned travel route, the shortest route search step for searching for the shortest route from the position of the vehicle to the destination;
A travel determination step for determining whether or not the vehicle deviates from the planned travel route;
A route correcting step of correcting the planned travel route based on the position of the vehicle deviating from the planned travel route when it is determined that the vehicle has deviated from the planned travel route;
A route determination step for determining whether or not the vehicle has also deviated from the shortest route at the same time when it is determined that the vehicle has deviated from the planned travel route;
A travel plan correction step of correcting the travel plan based on the planned travel route corrected by the route correction step when it is determined that the vehicle has also deviated from the shortest route at the same time. A driving support method. On the computer,
A route acquisition function for acquiring a planned travel route to a vehicle destination having a drive motor and an engine as a drive source;
Travel that creates a travel plan that sets an EV travel range that travels using only the drive motor as a drive source with respect to the planned travel route, and an HV travel range that travels using the drive motor and the engine together as a drive source Planning function,
A vehicle position detection function for detecting the position of the vehicle;
A shortest route search function for searching for the shortest route from the position of the vehicle to the destination while the vehicle travels on the planned travel route;
A travel determination function for determining whether the vehicle deviates from the planned travel route;
A route correction function for correcting the planned travel route based on the position of the vehicle deviating from the planned travel route when it is determined that the vehicle has deviated from the planned travel route;
A route determination function for determining whether the vehicle has also deviated from the shortest route at the same time when it is determined that the vehicle has deviated from the planned travel route;
A travel plan correction function for correcting the travel plan based on the planned travel route corrected by the route correction function when it is determined that the vehicle has also deviated from the shortest route at the same time;
A computer program for executing

Images