JP3251602B2 - Pre-presentation device for road-related information for vehicles - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is mounted on a vehicle such as an automobile or a mobile body, calculates an arbitrary departure point or current position, a recommended travel route to a destination, and calculates the current position, route or course. The present invention relates to a vehicle road related information advance presentation device to be presented.

[0002]

2. Description of the Related Art As a conventional device of this kind, there has been proposed a device disclosed in IEICE 8 / '79, P870-P887, "Comprehensive Vehicle Control System". This means that the current position data and the destination data of the vehicle are input, the shortest route between them is calculated, and 10 to 15 points where the required action should be taken.
When the vehicle was about two seconds before, the driver instructed to turn right / left according to the route data. In addition, for example,
There is one disclosed in Japanese Patent Publication No. 8-223017. In this method, the current position data and destination data of a vehicle are input, the shortest route between them is calculated, and when the display position of the vehicle comes a certain distance before a predetermined intersection, an instruction such as right / left turn is given according to the route data. there were.

[0003]

However, since the conventional vehicle road related information pre-presentation device is configured as described above, in any case, the position detection error varies depending on the presentation timing. Therefore, there is a fatal problem in so-called route guidance, such as presenting after passing through an intersection or presenting a different right / left turn far before the intersection to be presented. Another problem is that it cannot be realized unless the infrastructure on the road is improved. Furthermore, when the vehicle is presented a certain distance in advance, when the speed is high, a predetermined judgment time and an operation time are required to perform a predetermined operation. Therefore, at a characteristic point, for example, a course change (right turn or left turn, etc.) ) Has to be performed at a stage where deceleration is not completed. In addition, what is presented before a predetermined time, that is, what is presented in advance by a distance proportional to the vehicle speed, is because a recommended course is presented at a predetermined operation, that is, for example, a predetermined time predicted from the vehicle speed of turning right or left. For example, when approaching slowly after approaching an intersection, etc., the route will be presented only after reaching the position immediately before, so that the operation of the turn signal will be delayed or too soon before the intersection There was a fatal safety problem such as the lane change was not possible or the driver was upset because of the presentation of the vehicle. Conversely, when the vehicle speed is high, simply presenting the vehicle in advance for a certain period of time still has a serious problem that, for example, the vehicle speed cannot be lowered sufficiently to make a right / left turn on the course.

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and detects and estimates roads / intercepts / positions on road data of a vehicle based on road map data and estimates position detection errors one by one. A vehicle road related information advance presentation device having a step of presenting a recommended route or road network related information to a driver at an appropriate timing at a predetermined distance or a predetermined time before the position detection error is obtained. The purpose is to: Then, not only a predetermined distance or a predetermined time, that is, a time proportional to the vehicle speed, but also a predetermined time or more at a low speed and a predetermined time or more at a high speed. Accordingly, it is an object of the present invention to provide a vehicle road related information advance presentation device which can eliminate the fatal drawbacks of both and can present both advantages to the maximum in advance. The object is substantially the same in the case where the route search is juxtaposed.

[0005]

A vehicle road related information advance presenting apparatus according to the present invention includes a map storage means for storing road related information, a position of the vehicle, and a map corresponding to a position where the vehicle is traveling. position-related information detecting means asking you to position errors according with estimating the position of the upper, ya any semantic information of the roads related to roads that arrives <br/> our vehicle is predicted Te
Calculated on the basis of the relevant information, when reached presentation timing in expectation erroneous difference for each semantic information, in which the semantic information with a Hisage Shimesuru presenting means.

A vehicle road related information pre-presentation apparatus according to the present invention detects a position of a vehicle, a map storage means storing road related information, and estimates a position on a map corresponding to a position where the vehicle is traveling. position-related information detecting means asking you to position errors according with, arrows remaining distance or predicted duration of any semantic information to any point in anticipation erroneous difference based on the road the arrival of the vehicle is predicted Te Is provided, and a presentation means for calculating and presenting the same is provided.

Further, the road-related information pre-presentation apparatus for a vehicle according to the present invention, map storage means for storing road-related information, and detects the position of the vehicle, the position on the map where the vehicle corresponding to the position of the running position-related information detection means for obtaining an error position according with estimating and eventually any semantic information about the road on which the arrival of the vehicle is predicted on the road-related information
On the basis of determined, if reached Hisage shows timing, the meaning information
Comprising a Hisage Shimesuru presentation unit, presenting means is provided with a function to change depending on the degree of mis-difference presentation form.

[0008]

Further, the vehicle road related information pre-presentation apparatus according to the present invention detects the position of the vehicle, the map storage means storing the road related information, and detects the position on the map corresponding to the position where the vehicle is traveling. position-related information detection means for obtaining an error position according with estimating and eventually any semantic information about the road on which the arrival of the vehicle is predicted on the road-related information
Once reached prompted, Hisage shows timing based, the semantic information comprises a Hisage Shimesuru presentation unit, presenting unit, in particular, with the ability to change depending on the density of the extent and the road network erroneous difference presentation form Things.

[0010]

[0011]

[0012]

[0013]

[0014]

[0015]

[0016]

[0017]

[0018]

In the present invention, the position-related information detecting means detects a road, a position, and a traveling direction on a map corresponding to a road, a position, and a direction in which the vehicle is traveling, and estimates a position error. Then, the presenting means searches the map storage means for arbitrary meaning information of the road predicted to be reached from the position-related information, or further calculates, and when the presentation timing that allows for the position estimation error is reached, the semantic information is arbitrarily determined. In the form of

Further, in the present invention, the presentation means includes:
From the position-related information or the recommended route information, information on the road that is predicted to be reached is retrieved from the map, and the remaining distance to any point or the estimated required time is calculated in consideration of the position estimation error, and calculated in any form. Present.

Further, in the present invention, the presentation means includes:
From the location-related information or the recommended route information, search or further calculate any semantic information about the road that is predicted to arrive in the near future, and based on the content, present the semantic information in any form when the presentation timing is reached. But
The presentation form is changed according to the degree of the estimated position error.

[0021]

Further, in the present invention, the presentation means includes:
Based on the location-related information or the recommended route information, any semantic information about the road that is expected to be reached is retrieved from the map or further calculated, and based on the contents, when the presentation timing is reached, any semantic information is converted into any form Presented by
The presentation form is changed according to the degree of the estimated position error and the density of the road network.

[0023]

[0024]

[0025]

[0026]

[0027]

[0028]

[0029]

[0030]

[0031]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to the drawings. The present invention has a functional block configuration as schematically shown in FIG. 1, and is constituted by a combination of a hard logic circuit, sensors, an input device, a map storage device, and an output device.
Although it can be operated, the characteristic means of the present invention is realized by a computer program stored in a semiconductor memory, that is, by sequential processing, using a microcomputer-based processing device instead of a hard logic circuit. since it is practical, it will now be explained what a more detailed example, according to a system using the microcomputer shown in FIG. In FIG. 1, 1 is a map storage means, 2 is a position-related information detecting means interconnected to the map storage means 1, and 3 is a presentation means interconnected to the map storage means 1 and the position-related information detecting means 2. is there. In FIG. 2, 100 is a vehicle speed sensor, 200 is a direction sensor, 210 is a GPS receiver, 220 is a beacon receiver, 300 is a CRT, 400 is a touch panel, 500 is a speaker, and 600 is a CD storing a map database.
A ROM and a driver for driving the ROM, 700 is a traffic information receiver, 1000 is a microcomputer system having a CPU 1100 as a core, and various sensors, CD-R
Resources 12 such as OM drive, interface circuit with touch panel, CRT controller, image memory, etc.
00 and a RAM for storing the results of the calculation
1300, a ROM 1400 for storing programs, a non-volatile storage RAM (not shown), a system timer, a clock source, and the like. In the ROM 1400, for example, a computer program whose processing procedure is shown in FIGS. 3, 4, and 5 is incorporated.

The operation of the embodiment will be described below with reference to the processing flowcharts of the computer programs shown in FIGS. First, these programs, for example,
Interrupt processing is performed at predetermined time intervals such as 0.1 second by a system timer. In FIG. 3, step 1
The vehicle speed sensor 100 generated every time the vehicle travels a certain distance
The moving distance ΔL is calculated from the count-up value of the output pulse. In step 2, the vehicle speed V is calculated.

[0033]

(Equation 1)

In step 3, the moving average Vav of the vehicle speed V
Is calculated. In step 4, the azimuth sensor 200, for example, a geomagnetic azimuth sensor, or a rate gyro sensor detects the geomagnetic azimuth or further the relative azimuth, and estimates the vehicle azimuth Ω. In step 5, a new position of the vehicle is calculated by integrating the movement vector represented by the vehicle direction and the movement distance with the previous position. The initial value of the previous position is used by reading out the battery backup memory that stores the position immediately before the stop of the system. In addition, when a new absolute position is detected or a corrected position is detected by operating the GPS receiver 210, the beacon receiver 220, or the touch panel 400, the position is corrected. In step 6, the travel distance L from the position of the vehicle on the new road on the road network of the CD-ROM 1600 map is determined.
1. The elapsed time T1 is integrated. In step 7, the position is corrected or corrected (the expected error value decreases).
, And the elapsed time T2 are integrated. In step 8, it is checked whether it is time for collation, that is, for example, whether or not the vehicle has traveled a predetermined distance, such as 10 meters, from the position when the previous pass 1 was executed. If it is time for collation, the process proceeds to step 9; otherwise, the process proceeds to step 24. In step 9, the correlation coefficient between the trajectory, that is, the position series, and the shape of the nearby road on the map corresponding to the latest position (for example, for each of the nearby roads, the standard deviation of the trajectory segment and the azimuth of the road segment, Is calculated, and a similarity is calculated using the calculated values). The road, the position on the road, the traveling direction on the road, and the like are estimated and calculated based on the correlation coefficient. When the obtained locus is bent at a predetermined angle such as 45 degrees to 135 degrees and the road on the map is also bent within such a bent angle, the position is corrected to the road. Here, it is expected that the error in the estimated position that has accumulated at the position after the bending is reduced. In addition,
If there are multiple curved roads nearby and the correlation coefficient is similar, the position correction is suspended and the position is corrected when the correlation coefficient becomes significantly larger than the others. Is done. In this case, the position correction is performed using the absolute position information of various receivers or the like in step 5 here, and the position is further corrected or the reserved position correction is performed with reference to the absolute position. It may be corrected to a promising position. In step 10, the turning (bending) in step 9 is checked. Step 11 if turning
If not, go to step 12. In step 11, a value corresponding to the turning angle for the position error calculation stored in a suitable storage means such as a constant table of the ROM 1400 is read and the parameter K22 is read.
Is set. In step 12, it is checked whether the absolute position has been newly detected. That is, the reception result of the GPS receiver 210 or the beacon receiver 220 in step 5 is checked here. If detected, the process proceeds to step 13, and if not detected, the process proceeds to step 14.
In step 13, a value corresponding to the absolute position detection accuracy is set in the parameter K22. For example, when the GPS receiver 210 detects an absolute position, a value proportional to a DOP (Position Detection Accuracy Degradation Index) value is set. In step 14, it is checked whether or not the position has been corrected by operating with an appropriate means such as the touch panel 400. If it has been corrected, the process proceeds to step 15, and if it has not been corrected, the process proceeds to step 17. In step 15,
The accuracy of the position correction is set to the value of the parameter K22. This accuracy is set when the user corrects the position, or an appropriate value is determined in advance. In step 16, the travel distance L2 after the position correction or correction is performed.
Is cleared. In step 17, it is checked whether the position of the vehicle has moved to a new road on the map. If it has, the process proceeds to step 18. If it has not, the process proceeds to step 24. In step 18, in the traveling direction of the newly transferred road, with respect to an arbitrary destination that is expected to reach in the future, for example, a road up to an intersection three ahead, a road other than the road at the next intersection CD-RO as an information map storage means on the road to the next intersection is have One
Searched from M600. Data such as facilities having a position attribute is similarly searched under the condition that it is near the predicted arrival road. In the case of an application in which a recommended route is separately obtained, information on a road that constitutes a recommended route and extends to an arbitrary distance according to a user's designation is searched. This search may be performed when the route is searched.
In step 19, for example, the road length CL or the required time TL to the next intersection (feature point A) of the road is indicated by CD.
-Retrieved from ROM 600. In the case of an application in which a recommended route is separately obtained, the length of the recommended route, that is, the length of the road to the destination or the required time is calculated in advance. Or, a point up to a point where traveling ends on a road, that is, a branch point or an intersection, and a point where the vehicle does not travel along a road without a recommended route (feature point A).
The length of the route or the required time up to is searched or further calculated. If there is road traffic information received by the traffic information receiver 700 from outside, it is similarly used. In step 20, the attribute of the predicted arrival road is checked, for example,
If there is a section where a certain speed limit is set, and there is a section that has been converted into data, the content (meaning), presentation start time, presentation end time, presentation interval, and the like are registered for each content. In step 21, the feature of the road shape of the predicted arrival road is calculated and extracted, and the content (meaning), the feature, the presentation time / position, and the like are registered. For example, the bending angle of the road segment is evaluated, and the angle and a position 200 meters before the bending (an example of XS described later) are registered.
In steps 22 and 23, the travel distance L1 and the elapsed time T1 since the position is newly moved to the road are cleared. In step 24, an estimated error g of the position of the vehicle is calculated by, for example, the following equation.

[0035]

(Equation 2) Here, K21 is the maximum error rate of the vehicle speed sensor, for example,
0.005.

In step 25, an estimation error is expected in the traveling distance L1 or the elapsed time T1.

[0037]

(Equation 3)

In step 26, the estimated error g is expected to be negative in the running distance L1.

L1 ″ = L1-g T1 ″ = T1-g / Vav

In step 27, for example, the vehicle position DL or the required time DT on the road, which is standardized by the road length CL or the required time TL to the feature point A and displayed in an arbitrary scale D, is calculated. .

[0041]

(Equation 5)

In step 28, a normalized position error g1 or a normalized time error gt is similarly calculated from the estimated error g.

G1 = D · g / CL gt = D · g / (Vav · TL)

In FIG. 4, in step 29, the presentation start position Xth or the presentation start time Tth is calculated.

Xth = CL− (CL−XS) · {Vav / V0 + exp (−Vav / V1)} Tth = CT− (CT−TS) · {1 / V0 + exp (−Vav / V1) / Vav Ｖ V0 and V1 are arbitrary speeds (constants)

In step 30, the traveling distance L1 ', which takes the error into account, is determined as the presentation start position Xt in consideration of the average vehicle speed.
h. Alternatively, a similar elapsed time T1 'is compared with the presentation start time Tth. If L1 ′ ≧ Xth, the process proceeds to step 31; otherwise, the process proceeds to step 35. In step 31, it is checked whether the estimated error g is larger than a predetermined value. Step 32 if larger
If not, go to step 33. In step 32, it is checked whether or not there is an intersection in the range of the error with the position as the center. If there is no intersection, the process proceeds to step 33; Step 33
In, the information related to the predicted arrival road is in any form according to the registered content, for example, the feature point of the running road and the first intersection or nearby facilities are deformed, the driving direction is up, A part of the screen is arbitrarily enlarged or reduced, superimposed, and presented. In that case,
For example, the information is superimposed and displayed on the CRT 300 together with the announcement sound from the speaker 500, or the sound is announced in advance by calling the attention from the speaker 500 with the announcement sound. Also, “presenting” is added to the registration. Information related to the expected arrival road further example, more than
It is presented as below. The centrifugal force is predicted and calculated based on the curvature of the curved road on which the feature is extracted and the current vehicle speed V.
If so, a warning is issued. further,
The reason for the warning, the distance or time in consideration of the error to the dangerous position, and the like are presented. Alternatively, the vehicle speed in the safe area is further calculated, and the safe vehicle speed is presented. Or,
Control for reducing the vehicle speed is performed via a vehicle speed braking device (not shown), and the vehicle speed is gradually reduced. In this case, it is desirable that the vehicle speed be reduced to a safe (recommended) speed. The risk factor may be, besides the curvature of the road, a slope, a slope, a change in the road width, or a combination thereof. Further, not only control of the vehicle such as deceleration or acceleration but also control of changing the direction of the vehicle when the estimation accuracy is high may be performed. In step 34, for example,
The presentation is canceled and the registration is deleted. Alternatively, it is presented that the error is large, or that the semantic information has a positional width. In step 35, it is checked whether or not there is any other registration other than the one being presented. If there is a registration, the process returns to step 29; otherwise, the process proceeds to step 36. In step 36, the traveling distance L1 ″ that takes into account the error is negative.
Is compared with the presentation end position XE. Alternatively, the elapsed time T1 ″ is compared with a similar presentation end time TE.
If 1 ″> XE or T1 ″> TE, the process proceeds to step 37; In step 37, the presentation is stopped and the registration is deleted. Step 38
Then, it is checked whether there is any other registration that has not been deleted yet. If there is no undeleted registration, the process returns to step 36, and if it is not, the process returns. In FIG. 5, step 39
Then, for example, the position of the vehicle is set as the center of the screen of the CRT 300, and the display map is scrolled as the position moves.
That is, the window that determines which part of the display buffer memory (not shown) is to be displayed is shifted as it moves. Then, when there is an area in the display buffer memory where a shortage of the map is predicted, new display map data is read from the CD-ROM 600. CRT3
At the center of the 00 screen, a vehicle symbol is displayed facing the direction of the vehicle in the map coordinate system. Further, the information of the standardized position DL and the standardized position error g1 are superimposed on the display of the road having the length D to the feature point A. Alternatively, information on the normalized elapsed time TL and the normalized time error gt is displayed in an overlapping manner. These may be displayed numerically instead of graphically. In step 40, it is checked whether or not there is any newly registered contents (semantic information such as attributes, features or positions on the road network or road form). Those already presented are not eligible. If there is any registered content, the process proceeds to step 41, otherwise returns. In step 41, data processing is started for contents (semantic information) that take a long time to process for quick presentation. Alternatively, in the case where retrieval takes a long time, for example, for reading out quite complicated graphic data, data reading from the CD-ROM 600 is started. At the end of processing, a flag is raised. Then, the process returns. In FIG. 6, in step 42, it is checked whether or not to display a route according to the held content of the selection result of the user. If it is the route display mode, the process proceeds to step 43; otherwise, the process returns. Step 4
At 3, it is checked whether a departure place or a destination has been set. If it has been set, the process proceeds to step 45; otherwise, the process proceeds to step 44. In step 44,
A departure place or a destination is set. In step 45, it is checked whether the route should be modified. If the route is to be modified, the process proceeds to step 46; otherwise, the process returns. In step 46, a recommended route from the departure point to the destination is searched in consideration of traffic information, and then the process returns.

[0047]

As described above, the present invention achieves the following effects. 1. Since any semantic information on the predicted arrival road or the recommended route can be presented at a timing that allows for a position estimation error, the user can grasp the semantic information accurately. 2. Since the remaining distance or the estimated required time to an arrival predicted road or an arbitrary point on the recommended route can be presented at a timing that allows for the position estimation error, the user can determine the remaining distance or the estimated required time without delay. . 3. Since the presentation form of arbitrary meaning information relating to the predicted arrival road or the recommended route can be changed according to the position estimation error, the user can trust the presentation content. 4. Arbitrary semantic information about the predicted arrival road or recommended route can be presented at a predetermined time or more at a low speed or at a predetermined time or more at a high speed, so more accurate timing at a low or high speed can be provided. To be presented. Alternatively, since the control for changing the motion of the vehicle is performed at the same timing, there is no inconvenience in changing the motion at any vehicle speed. 5. Since the presentation form of arbitrary meaning information regarding the predicted arrival road can be changed according to the degree of the estimated position error and the density of the road network, the user can trust the presentation content more. 6. Since any semantic information relating to the predicted arrival road or the recommended route can be processed in advance of the point in time to be presented, the presentation timing is not lost. Alternatively, more complicated presentation contents can be presented. 7. Since the presentation start timing and the presentation end timing can be given for each piece of attribute information relating to the predicted arrival road or the recommended route, more detailed presentation can be realized. 8. Since any meaningful information regarding the predicted arrival road or the recommended route can be a function of the average vehicle speed, the presentation form based on the instantaneous vehicle speed does not fluctuate. 9. Since any semantic information relating to the predicted arrival road or the recommended route is presented after the announcement sound is emitted, the user can lean his / her attention immediately before hearing the announcement, so that the user does not hear it. 10. A danger is predicted from arbitrary feature information on the predicted arrival road or the recommended route and the vehicle speed, and a warning is issued at a timing in which a position estimation error is anticipated. it can. 11. The danger is predicted from arbitrary characteristic information on the predicted road or recommended route and the vehicle speed, and a warning and a safe (recommended) speed are presented at a timing in which a position estimation error is anticipated. To
It is possible to know the degree of vehicle operation to prevent danger. 12. Danger is predicted from arbitrary characteristic information on the predicted arrival road or recommended route and the vehicle speed, and control is performed to reduce the vehicle speed at a timing that allows for a position estimation error. Automatically decelerates to make driving easier and more secure. 13. Predicting that the motion of the vehicle should be changed based on arbitrary characteristic information on the predicted arrival road or recommended route and the vehicle speed, and performing control to change the motion of the vehicle at a timing that allows for a position estimation error, The exercise change control for preventing danger or the like is automatically performed at a highly reliable prior timing, so that driving becomes easier.

[Brief description of the drawings]

FIG. 1 is a block diagram schematically showing a functional configuration of an embodiment of the present invention.

FIG. 2 is a block diagram showing an actual hardware configuration of one embodiment of the present invention.

FIG. 3 is a flowchart showing a processing program incorporated in a ROM according to an embodiment of the present invention.

FIG. 4 is a flowchart showing a processing program incorporated in a ROM according to an embodiment of the present invention.

FIG. 5 is a flowchart showing a processing program incorporated in a ROM according to an embodiment of the present invention.

FIG. 6 is a flowchart showing a processing program incorporated in a ROM according to an embodiment of the present invention.

[Description of Signs] 1 Map storage means 2 Position-related information detection means 3 Presentation means

──────────────────────────────────────────────────続 き Continued on the front page (58) Fields surveyed (Int. Cl. ⁷ , DB name) G09B 29/00-29/10 G01C 21/00 G08G 1/09 G08G 1/0969

Claims (4)

(57) [Claims] 1. A map storage means for storing road-related information, and detects the position of the vehicle, obtains an error position according with the vehicle to estimate the position on the map of the map storage means corresponding to the position of the running position-related information detection unit, arrows Te calculated on the basis of any semantic information of the road-related information on a road where the arrival of the vehicle is predicted, for each semantic information that
Once led to the presentation timing in anticipation of the above error difference, a vehicle for road-related information pre-presentation device equipped with Hisage Shimesuru presentation means the above meaning information. 2. A map storage means for storing road-related information, and detects the position of the vehicle, obtains an error position according with the vehicle to estimate the position on the map of the map storage means corresponding to the position of the running any meaning for the position-related information detection unit, arrows arrival of the vehicle is predicted Te road that
It calculates the remaining distance or the predicted travel time of the taste information to any point in anticipation of the erroneous difference based on vehicular road-related information pre-presentation apparatus having a Hisage Shimesuru presenting means. 3. A map storage means storing road-related information, detecting a position of the vehicle , estimating a position on the map of the map storage means corresponding to a position where the vehicle is traveling, and obtaining an error of the position. position-related information detection unit, eventually determined based on any semantic information about the road on which the arrival of the vehicle is predicted on the road-related information, once reached Hisage shows timing comprises Hisage Shimesuru presenting means the semantic information, the presenting means, in particular, the vehicular road, wherein the that it has changed in accordance with presentation form to the degree of the error-related information pre-presentation device. 4. A map storage means storing road-related information, detecting a position of a vehicle, estimating a position on the map of the map storage means corresponding to a position where the vehicle is traveling, and obtaining an error of the position. position-related information detection unit, eventually determined based on any semantic information about the road on which the arrival of the vehicle is predicted on the road-related information, once reached Hisage shows timing comprises Hisage Shimesuru presenting means the semantic information, the presenting means, in particular, the vehicular road-related information pre-presentation device characterized by the presentation form has been changed in accordance with the density of the extent and the road network of the error.