JP5473545B2 - In-vehicle device - Google Patents

Description

  The present invention relates to an in-vehicle device that detects reverse running of a vehicle and warns an occupant.

  In order to prevent reverse running on an automobile-only road, vehicles are allowed to pass on roads that are prohibited from traveling, such as roads to service areas (SA) and parking areas (PA). A vehicle-mounted navigation system that detects reverse running of a vehicle when the vehicle approaches from a direction opposite to the permitted direction and alerts the occupant by sound and images is known as a related art. (Patent Document 1)

JP 2007-139531 A

  The invention of Patent Document 1 detects reverse running of a vehicle based on the position and direction of the host vehicle and the position and direction of a reverse running prohibited road. Therefore, when the traveling direction of the vehicle and the direction of the reverse running prohibited road are not so far away, there is a possibility that the reverse running of the vehicle cannot be detected correctly. An object of the present invention is to provide an in-vehicle device that can effectively prevent reverse running from the SA / PA side to an introduction path for entering SA / PA in SA / PA.

According to the first aspect of the present invention, vehicle position detection means for detecting the position of a vehicle in a service area or a parking area attached to a highway as the vehicle position, and the vehicle position is a service area or a parking area. When inside, the highway at the branch point is centered on the branch point between the introduction road and the expressway for entering the service area or the parking area, the radius being a predetermined first distance larger than the length of the introduction road Is a fan-shaped range centered on a predetermined first angle extending from the traveling direction toward the direction of the introduction path, or a predetermined second angle extending left and right around the traveling direction of the introduction path at the branch point. Te, a range setting means for setting a reverse run determination range including the connection point between the introduction passage and the service area or a parking area, the traveling distance of the vehicle in the reverse run determination range A travel distance acquisition means for acquiring the vehicle, a reverse travel determination means for determining that the vehicle is going to run backward when the total of the travel distances is greater than a predetermined threshold, and a reverse run determination means when the vehicle is going to run backward It is an in-vehicle device provided with a notification means for performing a predetermined notification when it is determined.

  ADVANTAGE OF THE INVENTION According to this invention, it can prevent effectively reverse running from the SA / PA side to the introduction path for entering SA / PA.

It is a block diagram which shows the structure of the vehicle-mounted apparatus by one Embodiment of this invention. It is a flowchart of reverse running warning processing. It is a figure for demonstrating a reverse running determination range.

  FIG. 1 shows the configuration of an in-vehicle device that performs reverse running determination processing according to an embodiment of the present invention. The in-vehicle device 1 in FIG. 1 includes a control unit 10, an HDD 11, a vibration gyroscope 20, a GPS receiving unit 21, a vehicle speed sensor 22, a display monitor 30, and a speaker 31.

  The control unit 10 is a part for executing various processes and controls for operating the in-vehicle device 1, and includes a microprocessor, various peripheral circuits, RAM, ROM, and the like. In the control unit 10, reverse running warning processing as described later is executed.

  The HDD 11 is a non-volatile recording medium that can store and hold recorded data. Map data, image data, audio data, and the like used for warning to passengers are stored in the HDD 11. These data are read by the control unit 10. The map data includes data on the expressway, SA / PA, and the introduction route between them. For example, the introduction road for entering SA / PA includes a position where the introduction road branches off from the highway, a position where the introduction road connects to the highway, and further includes the direction of travel of each road at each branch point and each connection point. .

  The vibration gyro 20 is a sensor for detecting the angular velocity of the vehicle. The GPS receiving unit 21 receives a GPS signal transmitted from a GPS satellite and outputs it to the control unit 10. The vehicle speed sensor 22 is a sensor for detecting the vehicle speed of the vehicle. By calculating the control unit 10 based on output results from the vibration gyroscope 20, the GPS receiving unit 21, the vehicle speed sensor 22, and the like, the vehicle position and the travel distance can be acquired.

  The display monitor 30 is a device for performing various screen displays, and includes a liquid crystal display or the like. When the vehicle is about to run backward, the display monitor 30 can warn the occupant using an image.

  The speaker 31 outputs audio based on the audio signal output from the control unit 10. When the vehicle is going to run backward, a warning using voice can be given to the occupant.

  Next, an embodiment of the reverse running warning process will be described. The reverse running warning process of the present invention is executed when the vehicle is in SA / PA. In the reverse running warning process according to the present invention, a predetermined distance from the highway and a branch point between the highway and the introduction road for entering the SA / PA is set at a predetermined distance, and a fan-shaped range having a predetermined central angle is determined for reverse running. Range.

  An example of the reverse running determination range is shown in FIG. In FIG. 3A, reference numeral 312a and in FIG. 3B, reference numeral 312b indicate the reverse running determination range. When the host vehicle position 310 that is the position of the vehicle is in the reverse run determination range 312a or 312b, the travel distance of the host vehicle within the reverse run determination range 312a or 312b is calculated, and the travel distance is predetermined. If the threshold is exceeded, it is determined that the vehicle is going backward.

  The reverse running warning process in the in-vehicle device 1 will be described with reference to FIG. 2 and FIG. As described above, the reverse running warning process of the present invention is executed when the vehicle is in SA / PA300.

  In step S201, the reverse running determination range 312a is set based on the map data. The reverse running determination range 312a in FIG. 3A is a sector having a radius R and a central angle θa with the branch point 311 as the center. The radius R is set to a value larger than the length of the introduction path 302. For example, set as follows. The position information of the branch point 311 between the highway 301 and the introduction road 302 and the position information of the connection point 313 between the introduction road 302 and the SA / PA 300 are read from the map data, and the information between the branch points 311 and 313 is read from the information. The distance L1 is calculated. Considering the distance L1 as the length of the introduction path 302, let R be 1.5 times the distance L1.

  The central angle θa of the sector-shaped reverse running determination range 312a can be calculated by the following procedure. Based on the traveling direction of the expressway 301 and the traveling direction of the introduction path 302 at the branch point 311 included in the map data, an angle θ1 formed by these is calculated, and a value obtained by adding 45 ° to θ1 or a value obtained by doubling θ1 For example, θa may be set to a value that is calculated to be larger than θ1. Thus, by determining the radius R and the central angle θa, the connection point 313 can be reliably included in the reverse running determination range 312a. If the reverse running determination range 312a can be set, the process proceeds to step S202.

  In step S202, it is determined whether or not the vehicle position 310 exists in the reverse running determination range 312a set in step S201. When the host vehicle position 310 is within the reverse running determination range 312a, storage of the travel distance of the vehicle is started. The travel distance is calculated by the control unit 10 based on the output result of the vehicle speed sensor 22 and the like as described above. When the storage of the travel distance is started, the process proceeds to step S203. On the other hand, when the host vehicle position 310 does not exist in the reverse running determination range 312a, the travel distance within the acquired reverse running determination range 312a is initialized, and then the process proceeds to step S205.

  In step S203, it is determined whether or not the total distance traveled in the reverse running determination range 312a is greater than a predetermined threshold L2. The threshold value L2 can be calculated by subtracting the distance L1 between the branch points from the radius R, for example. If the total distance traveled by the vehicle in the reverse running determination range 312a is greater than the threshold value L2, it is determined that the vehicle is going to run backward on the introduction path 302, and the process proceeds to step 204. Otherwise, the process returns to step S202.

  In step S204, a warning is given by an image or sound that the vehicle is going backward on the introduction path 302. The image is displayed on the display monitor 30 and the sound is reproduced by the speaker 31. When the warning ends, the process returns to step S202.

  In step S205, it is determined whether or not the vehicle position 310 is outside the SA / PA 300. If the own vehicle position 310 is outside the SA / PA 300, the reverse running warning process is terminated. If the own vehicle position 310 is inside the SA / PA 300, the process returns to step S201.

  According to the embodiment described above, the following operational effects are obtained.

(1) In order to enter the SA / PA 300 in the in-vehicle device 1 that detects the position of the vehicle by the output of the vibration gyroscope 20 or the GPS receiver 21 and calculates the travel distance of the vehicle by the output of the vehicle speed sensor 22 and the controller 10. The reverse running determination range 312a is set from the branch point 311 on the highway 301 at the entrance of the vehicle (step S201), and the total distance traveled by the vehicle while the host vehicle position 310 is inside the reverse running determination range 312a is predetermined. It is determined whether or not the threshold value is exceeded (steps S202 and S203). If an affirmative determination is made, a warning is given to the occupant that the vehicle is running backward (step S204). Thereby, reverse running to the introduction path 302 for entering the SA / PA 300 can be prevented.

(2) The reverse running determination range 312a is a fan-shaped range extending around the branch point 311 and has a radius longer than the distance from the branch point 311 to the connection point 313. The fan-shaped central angle spreads from the traveling direction of the highway 301 to the traveling direction of the introduction path 302 at the branch point 311 and is larger than the angle from the traveling direction of the highway 301 to the traveling direction of the introduction path 302. Is calculated as follows. Thereby, it can be determined that the vehicle is going to run backward in the range including the periphery of the connection point 313.

(3) The threshold value L2 for determining whether or not the vehicle is going to run backward with respect to the introduction path 302 in the reverse running determination range 312a is determined from the radius R of the reverse running determination range 312a that is a sector shape and the junction point 311 It is set by a value obtained by subtracting the distance L1 from 313. In this way, it is possible to determine that the vehicle is going to run backward even when the vehicle travels on the shortest route from entering the reverse running determination range 312a to the connection point 313.

  The embodiment described above can be modified as follows.

  In step S201, the central angle of the sector-shaped reverse running determination range 312a is set to an angle θa from the traveling direction of the highway 301 at the branch point 311. However, the angle of the central angle may be such that the angle θb is distributed around the traveling direction of the introduction path 302 as shown in FIG. The angle θb may be a value such as the aforementioned angle θ1.

  Although SA / PA has been described as an example, the present invention can be applied to other than SA / PA. Any facility may be used as long as the facility is attached to the expressway.

  Each embodiment and various modifications described above are merely examples, and the present invention is not limited to these contents as long as the features of the invention are not impaired.

1: On-vehicle device 10: Control unit 11: HDD
20: Vibration gyro 21: GPS receiver 22: Vehicle speed sensor 30: Display monitor 31: Speaker 300: SA / PA
301: Expressway 302: Introductory road 310: Own vehicle position 311: Branch point 312a, 312b: Reverse running determination range 313: Connection point

Claims (4)

Vehicle position detection means for detecting the position of the vehicle in the service area or parking area attached to the expressway as the vehicle position;
When the vehicle position is within the service area or the parking area, centering on the branch point between the introduction road and the expressway for entering the service area or the parking area, from the length of the introduction road The radius is a predetermined first large distance, and a predetermined first angle extending from the direction of travel of the highway at the branch point toward the direction of the introduction path, or the direction of travel of the introduction path at the branch point Range setting means for setting a reverse running determination range including a connection point between the introduction path and the service area or the parking area, which is a fan-shaped range having a predetermined second angle extending left and right at the center as a central angle When,
Mileage acquisition means for acquiring the mileage of the vehicle within the reverse running determination range;
Reverse running determination means for determining that the vehicle is going to run backward when the total of the travel distance is greater than a predetermined threshold;
An in-vehicle device comprising: a notification unit that performs a predetermined notification when the reverse determination unit determines that the vehicle is going to reverse. The in-vehicle device according to claim 1 ,
The in-vehicle device according to claim 1, wherein the first angle is calculated based on an inferior angle between a traveling direction of the highway and a traveling direction of the introduction path at the branch point. The in-vehicle device according to claim 1 ,
The in-vehicle device, wherein the second angle is calculated based on a subordinate angle between a traveling direction of the highway and a traveling direction of the introduction path at the branch point. In the in-vehicle device according to any one of claims 1 to 3 ,
The in-vehicle device, wherein the reverse running determination means sets the threshold based on a value obtained by subtracting the length of the introduction path from the first distance .

Images