JP6511767B2 - Reverse run judging device - Google Patents

Description

  The present invention relates to a reverse travel judging device for judging reverse travel of a vehicle.

  In recent years, traffic accidents have occurred due to vehicles traveling backwards on expressways, and various configurations have been proposed for judging the vehicles traveling backward and giving a warning. For example, when the change in the vehicle position on the road obtained by map matching processing on the position information of the vehicle detected through GPS (Global Positioning System) becomes an impossible change in the forward vehicle A configuration has been proposed for determining reverse travel (see, for example, Patent Document 1).

JP, 2013-167452, A

  However, in the configuration of Patent Document 1, it is essential to refer to map data, and in many cases, a vehicle-mounted device (hereinafter also referred to as ETC vehicle-mounted device) compatible with ETC (registered trademark, Electronic Toll Collection) and navigation device Is realized by combining In addition, when the map data stored in the navigation device is old and there is no data of a running highway (including a toll road), it may not be possible to determine the reverse travel of the vehicle.

  The present invention has been made in view of these problems, and it is an object of the present invention to provide a reverse travel judging device capable of judging reverse travel of a vehicle without making reference to map data essential.

  A reverse traveling judging device according to the present invention made to achieve the above object is mounted on a vehicle, and includes a radio wave detecting means for detecting a radio wave from a roadside machine, a position detecting means for detecting a position of the vehicle, and the radio wave detection A storage means for storing the position detected by the position detection means when the means detects a radio wave from the roadside machine, and the position of the vehicle detected by the position detection means are stored in the storage means Reverse travel judging means for judging that the vehicle is traveling backward when approaching a position.

  The radio wave detection means is mounted on the vehicle and detects radio waves from the roadside device. The position detection means detects the position of the vehicle. The storage means stores the position detected by the position detection means when the radio wave detection means detects a radio wave from the roadside device. The reverse running judging means judges that the vehicle is running backward when the position of the vehicle detected by the position detecting means is approaching the position stored in the storage means.

  Expressways (may be toll roads: the same applies hereinafter) are generally one-way. For this reason, when the vehicle passes once near the roadside machine provided on the expressway and the position is stored in the storage means, when the vehicle is approaching the position, the vehicle runs backward. Can be regarded as According to the above configuration, it is possible to determine by the reverse running judging means that the vehicle is running backward when such a state occurs. For this reason, according to the present invention, it is possible to determine reverse travel of the vehicle without making reference to map data essential.

It is a block diagram which shows the structure of DSRC vehicle-mounted device of 1st Embodiment. It is a flowchart which shows the reverse run warning processing in the DSRC vehicle-mounted device. It is a schematic diagram which shows the structure of the service area where the reverse run warning process is performed. It is explanatory drawing which shows typically the effect of the reverse run warning process. It is a flow chart which shows reverse run warning processing in a 2nd embodiment. It is a flow chart which shows reverse run warning processing in a 3rd embodiment. It is a flow chart which shows reverse run warning processing in a 4th embodiment. It is a flow chart which shows reverse run warning processing in a 5th embodiment. It is a block diagram which shows the structure of the vehicle-mounted system of 6th Embodiment. It is a flowchart which shows the process of the DSRC vehicle-mounted device of the system. It is a flowchart which shows the process of the navigation apparatus of the system.

Hereinafter, embodiments to which the present invention is applied will be described using the drawings.
[1. First embodiment]
[1-1. Constitution]
A DSRC (Dedecerated Short Range Communication) on-vehicle unit 1 as a reverse travel judging device according to the first embodiment shown in FIG. 1 is mainly configured of a control unit 10, and includes vehicles C1 to C6 (see FIG. 3). It is mounted on and used. The DSRC in-vehicle unit 1 may be an ETC in-vehicle unit (that is, an in-vehicle unit for receiving charging information of an expressway or a toll road), and an in-vehicle unit having other functions in addition to the functions of the ETC in-vehicle unit. It may be

  The control unit 10 is configured as a microcomputer including a CPU 10A, a ROM 10B, a RAM 10C, and an NVRAM 10D. A wireless unit 11, a card authentication unit 12, an input operation unit 13, a speaker 14, a display unit 15, a storage unit 16, and a positioning unit 17 are connected to the control unit 10.

  The wireless unit 11 is configured to perform data communication with a roadside device SP (see FIG. 3) installed on a road. In the present embodiment, the roadside apparatus SP is, for example, ITS traffic (registered trademark, ITS is an abbreviation for Intelligent Transport Systems), etc., road traffic information pertaining to VICS (registered trademark), guidance of service area SA, etc. Shall be able to transmit various information of

  Such a roadside device SP is provided, for example, at a location as shown in FIG. In the example of FIG. 3, one roadside machine SP1 is an approach road for entering a service area SA (which may be a parking area) from the main line MR of an expressway or toll road (hereinafter simply referred to as an expressway). It is provided in the middle of SR. In the example of FIG. 3, the other roadside device SP2 is provided in the parking section P2 for IP communication provided separately from the general parking section P1 in the service area SA. In the example of FIG. 3, another roadside machine SP3 is provided at the junction of the exit route TR and the main line MR for leaving the service area SA to the main line MR of the expressway.

  The roadside devices SP1 and SP3 are push-type information distribution roadside devices that simultaneously transmit various information such as road traffic information related to VICS (registered trademark) and guidance of the service area SA to the moving vehicle C. is there. On the other hand, the roadside device SP2 is a roadside device capable of performing IP communication (or credit settlement). Each roadside device SP transmits data representing such a service type as a radio wave together with an ID assigned to the roadside device SP and contents such as road traffic information. In the example of FIG. 3, the roadside device SP3 warns the vehicle C6 which is going to join the main line MR through the exit route TR, information for warning the installation failure of the IC card 20 (to be described later) Send The roadside device SP1 transmits the various information to the vehicle C1 entering the service area SA via the entry route SR. The roadside device SP2 mediates IP communication (or credit settlement) by the vehicles C3 and C4 parked in the parking section P2 for IP communication.

  Returning to FIG. 1, the wireless unit 11 receives the respective information from the approaching roadside apparatus SP. A card connector 18 is connected to the card authentication unit 12. The card connector 18 is for mounting an IC card 20 such as a credit card or an ETC card. Thus, the card authentication unit 12 can exchange data with the IC card 20. The IC card 20 has a card control unit 21 that exchanges data with the card authentication unit 12, and a card storage unit 22 that stores information such as a password.

  The input operation unit 13 is configured of, for example, a push button type switch. The speaker 14 notifies the state of the DSRC in-vehicle unit 1 by sound or sound, such as performing an audio output of confirmation when the IC card 20 is attached to the card connector 18 or when there is an operation via the input operation unit 13 Do. The display unit 15 is configured of a liquid crystal display or the like, and reports the state of the DSRC in-vehicle device 1 by display in a predetermined mode, as with the speaker 14.

  The storage unit 16 is a configuration for temporarily storing data received via the wireless unit 11. The positioning unit 17 is a known unit that detects position coordinates (latitude and longitude) of the vehicle C. For example, the positioning unit 17 may be a GPS receiver that receives a transmission signal from an artificial satellite for GPS (Global Positioning System) and detects position coordinates and an altitude of the vehicle. In addition, the positioning unit 17 may be a receiver related to a GNSS (Global Navigation Satellite System: Global Positioning System) other than GPS. Furthermore, the positioning unit 17 may be one that detects position coordinates using another mechanism such as a gyroscope, or may be an interface that acquires position coordinates from another device such as a navigation device.

[1-2. processing]
Next, reverse travel warning processing executed by the control unit 10 in the DSRC vehicle-mounted device 1 will be described. This process is started when the DSRC car-mounted device 1 is powered on. As shown in FIG. 2, in this process, first, in S1 (S represents a step: the same applies hereinafter), radio waves from the roadside device SP are received via the wireless unit 11 and the storage unit 16. In S1, when the radio unit 11 does not receive the radio wave from the roadside device SP, the process stands by at S1. When the radio wave is received from the roadside device SP, the process proceeds to S3. In addition, when road traffic information and the like are received from the roadside device SP1 and the like in S1, a process of providing guidance via the speaker 14 may be executed in another routine.

  In S3, the position coordinates detected by the positioning unit 17 at that time are stored in the NVRAM 10D as the position of the roadside device SP (hereinafter referred to as the roadside device position), and the process proceeds to S5. In S5, the position of the vehicle C on which the DSRC in-vehicle device 1 is mounted (hereinafter referred to as the vehicle position) is measured via the positioning unit 17, and the process proceeds to S7.

  At S7, the vehicle position determined at S5 is compared with the roadside position stored at S3. When the vehicle position is leaving the roadside position (S7: departure), the process proceeds to S5 described above, and when the vehicle position is sufficiently leaving the roadside position (S7: departure sufficiently) And the process proceeds to S1 described above, and when the vehicle position is approaching the roadside vehicle position (S7: approach), the process proceeds to S9.

  The expressway is one-way, and once the vehicle C passes near the roadside machine SP provided on the expressway, it does not return to the position of the roadside machine SP (roadside machine position) unless it runs backwards. . For this reason, under normal circumstances, the vehicle position gradually deviates from the roadside machine position (S7: disengagement). In that case, the processes of S5 and S7 are repeatedly executed (S7: departure), and when the vehicle position is sufficiently detached from the roadside machine position (S7: sufficiently detached), the process is executed again from S1.

  On the other hand, when the vehicle C is approaching the position (roadside machine position) of the roadside machine SP after passing by the vicinity of the roadside machine SP provided on the expressway (S7: approach), the vehicle It can be considered that C is running backwards. Therefore, in this case, a reverse run warning is given in S9, and the process shifts to S5 described above. The reverse travel warning may be processing for driving an alarm by driving at least one of the speaker 14 or the display unit 15, and driving an audio of a vehicle, a speaker such as a navigation device or the display unit, etc. It may be a process to be performed.

  The sufficient departure in S7 mentioned above means that the vehicle C leaves the roadside device SP to such an extent that there is no concern of such reverse travel. For example, sufficient separation from the roadside machine SP1 provided in the entrance road SR of the service area SA shown in FIG. 3 means that the vehicle C passes near the roadside machine SP3 provided in the exit road TR of the service area SA. It may be leaving.

  In addition, approaching at S7 may simply mean that the distance between the position of the vehicle and the position of the roadside machine is decreasing, for example, the vehicle C detects the approach road SR in the service area SA. It may be at a relatively short distance to the extent of being hung up and approaching. In this way, by appropriately setting the criteria that are determined to be "approaching" in S7, an emphasis is placed on accuracy and an alarm is issued when the vehicle position approaches the roadside machine position, or safety is emphasized. Thus, an alarm can be issued when the vehicle position approaches the roadside position even a little.

[1-3. effect]
According to the DSRC vehicle-mounted device 1 of the first embodiment described in detail above, the following effects can be obtained.
[1A]
For example, it is assumed that the vehicle C1 entering the service area SA through the approach route SR shown in FIG. 3 reverses the approach route SR and travels to the main line MR. In that case, as shown in FIG. 4 (A), the vehicle C1 passing in the vicinity of the roadside machine SP1 in the forward direction travels to approach the roadside machine SP1 as shown in FIG. 4 (B) . In this case, the position of the host vehicle is approaching the roadside device position of the roadside device SP1 stored by the processing of S3 in the state shown in FIG. 4A (that is, the vehicle C1 is running backward). And a reverse run warning is issued (S9). Therefore, it is possible to suppress the occurrence of an accident due to the reverse travel of the vehicle C1.

[1B]
Further, in the present embodiment, it is not necessary to refer to the map data in order to determine and warn against reverse travel. Therefore, the cost for performing the reverse travel judgment and the reverse travel warning can be favorably reduced. Moreover, in the case where map data is used, it is difficult to accurately detect reverse travel when map data is old and the position of service area SA is not on the map, etc., but map data is not used in this embodiment. Because, such a problem does not occur.

[1C]
Since the roadside device position is stored in the NVRAM 10D at S3, the same roadside device position is held in the NVRAM 10D even when the DSRC in-vehicle device 1 is powered off and then on again. For this reason, even after the driver turns off the switch of the vehicle C and takes a break in the service area SA, it is possible to determine the reverse travel of the vehicle C and issue a reverse travel warning as described above.

[1D]
The roadside device that receives radio waves in S1 may be a roadside device for charging in the ETC, and the same processing can be performed. Further, the process of being judged as "approaching" in S7 and the reverse running warning (S9) is made can be executed when the vehicle C approaches the roadside machine even at a position where radio waves from the roadside machine do not reach . For this reason, the following effects occur when the above-described process is performed on the charging roadside device in the ETC.

  In JP-A-2010-79509, when the previous communication partner is not a roadside device installed at the entrance of the expressway, the on-vehicle unit receives radio waves from the roadside device installed at the exit of the expressway, An arrangement for providing a reverse run warning is disclosed. However, in this case, the reverse travel warning can not be performed until the in-vehicle device enters the communication range of the roadside device installed at the exit, and as a result, the reverse travel warning can be performed only at the timing at which the toll booth attendant needs assistance. .

  On the other hand, in the present embodiment, even when the radio waves from the roadside machine do not reach, the vehicle C is judged to be "approaching" at S7 when the vehicle C approaches the roadside machine. It is also possible to give a reverse run warning (S9) at a timing when the assistance is not required. Further, in the configuration described in JP-A-2010-79509, a table is used to determine whether a roadside device that receives radio waves is a roadside device installed at an exit or a roadside device installed at an entrance. Although it is necessary for the on-board unit side, such a table is not necessary in the present embodiment.

[2. Second embodiment]
Next, a second embodiment will be described. The DSRC car-mounted device 1 as the reverse travel judging device of the second embodiment has the same configuration as that of the first embodiment, but the reverse travel warning process executed by the control unit 10 is different in the following points .

[2-1. processing]
As shown in FIG. 5, the reverse travel warning process in the second embodiment is different in that the following process S2 is inserted between the above-described S1 and S3. At S2, it is determined whether the roadside device SP that received the radio wave at S1 is a pushside information distribution roadside device, that is, whether it is a roadside device that is not compatible with IP communication or credit settlement. Is judged.

  This determination is made based on data attached to the roadside device ID as described above and representing the service type of the roadside device SP. That is, in the reception process of radio waves from the roadside machine SP, when radio waves are detected, reception of the roadside machine ID and reception of the service identifier are executed, and the type of service is determined in the control unit 10 based on the service identifier. It is possible. Such processing is performed, for example, by using the application type defined in “ITS FORUM RC 004” in the case of ITS. Then, if the roadside unit for push-type information distribution is not (S2: N), the process proceeds to S1 described above, and if it is a push-side information distribution roadside unit (S2: Y), the process is the above-described Move to S3.

[2-2. effect]
In the reverse travel warning process of the present embodiment, when the roadside device SP that received the radio wave in S1 is not a push side information distribution roadside device (S2: N), storage of the roadside device position (S3) is also reversed. Neither the running warning (S9) is made. Therefore, in the present embodiment, in addition to the effects of the first embodiment, the following effects occur.

[2A]
For example, in the case of the example of FIG. 3, even if radio waves of the roadside device SP2 are received by the DSRC vehicle unit 1 of the vehicle C3 in the parking section P2, the roadside device position of the roadside device SP2 is not stored (S2: N) . Therefore, even when the vehicle C3 travels backward on the approach road SR and returns to the vicinity of the push-type information distribution roadside device SP1, the position of the roadside device SP1 is stored without being overwritten as the roadside device position. Therefore, it is possible to judge the reverse run favorably (S7: approach) and issue a reverse run warning (S9).

[2B]
Further, since the roadside position of the roadside device SP2 is not stored (S2: N), even if the vehicle C3 moves away from the roadside device SP2 once in the service area SA, it is erroneously assumed that the vehicle C3 runs backward. It can suppress being judged.

[3. Third embodiment]
Next, a third embodiment will be described. The DSRC car-mounted device 1 as the reverse travel judging device of the third embodiment has the same configuration as that of the first embodiment, but the reverse travel warning process executed by the control unit 10 is different in the following points .

[3-1. processing]
As shown in FIG. 6, in the reverse travel warning process in the third embodiment, the traveling direction of the vehicle C at that point (hereinafter simply referred to as traveling direction) is S3A instead of S3 as the traveling direction at reception. Are stored in the NVRAM 10D together with the roadside position of the vehicle. Further, in the reverse travel warning process in the third embodiment, the traveling direction at that point is acquired together with the vehicle position in S5A instead of S5. In addition, acquisition of the traveling direction in S3A and S5A may be acquired based on the change of a self-vehicle position, and when the positioning part 17 is equipped with the azimuth sensor etc., it is acquired based on the detection signal of the said azimuth sensor May be

  Further, in the reverse travel warning process in the third embodiment, the following process of S8 is inserted between the above-described S7 and S9. When the host vehicle position acquired in S5A is approaching the roadside machine position (S7: approach), the process proceeds to S8. At S8, the traveling direction acquired at S5A is compared with the traveling direction at reception stored in the NVRAM 10D at S3A. Then, if the traveling direction is forward with respect to the traveling direction at reception (S8: forward), the process proceeds to S5A described above, and if the traveling direction is reverse to the traveling direction at reception (S8: reverse direction), the process proceeds to S9 described above. Here, “forward direction” and “reverse direction” may have a width of about ± 90 ° or may have a narrower width than that.

[3-2. effect]
As described above, in the present embodiment, even when the own vehicle position approaches the roadside machine position (S7: approach), the traveling direction when the traveling direction of the vehicle C passes in the vicinity of the roadside machine SP If it is not reverse to (traveling direction at reception) (S8: forward direction), no reverse travel warning is given. Therefore, in the present embodiment, in addition to the effects of the first embodiment, the following effects occur.

[3A]
If the approach road SR in the service area SA has a complicated shape, the vehicle C1 passing near the roadside machine SP1 may enter the service area SA through a course temporarily approaching the roadside machine SP1. . Also in such a case, in the present embodiment, if the traveling direction is the forward direction with respect to the traveling direction at reception (S8: forward direction), the reverse traveling warning is not issued. In addition, even when one round on a ringed expressway, the traveling direction is forward with respect to the traveling direction at reception (S8: forward direction), no warning of reverse traveling is given. As described above, according to the present embodiment, it is possible to better suppress that the vehicle C is misjudged as being reverse traveling, and an erroneous reverse traveling warning is issued.

[4. Fourth embodiment]
Next, a fourth embodiment will be described. The DSRC in-vehicle device 1 as the reverse travel judging device of the fourth embodiment has the same configuration as that of the first embodiment, but the reverse travel warning process executed by the control unit 10 is different in the following points .

[4-1. processing]
As shown in FIG. 7, in the reverse travel warning process in the fourth embodiment, the following process is executed when it is determined that “approach” is made in S <b> 7. That is, when it is determined in S7 that the vehicle is "approaching", the process proceeds to S11, and it is determined whether the distance between the vehicle position and the roadside device position is short. Here, the threshold of the distance determined to be "close" is smaller than the threshold of the distance determined to be "sufficiently separated" in S7 described above, or the threshold of the distance determined to be "close" in S7. .

  Then, when the distance is short (S11: Y), after the reverse travel warning similar to S9 is issued in S12, the process proceeds to S5 described above. On the other hand, if the distance between the host vehicle position and the roadside position is not short (S11: N), after the backward travel caution is made in S13, the process proceeds to S5 described above.

  Similar to the reverse travel warning performed in S12 or the above-described S9, the reverse travel warning performed in S13 may be made by driving at least one of the speaker 14 or the display unit 15, and the vehicle audio and navigation It may be done by driving a device or the like. However, the display or the sound is expressed in a more conservative manner than the reverse run warning.

[4-2. effect]
Thus, in the present embodiment, when the vehicle position is approaching the roadside vehicle position (S7: approach), when the distance between the vehicle position and the roadside vehicle position is not close (S11: N), reverse A run caution is made (S13), and when the distance is short (S11: Y), a reverse run warning is made (S12).

[4A]
In the present embodiment, even when reverse travel is suspected as described above, reverse travel caution (S13) and reverse travel warning (S12) are sequentially executed as the vehicle C approaches the roadside machine SP. Therefore, the driver of the vehicle C can be urged to change the traveling direction of the vehicle C more smoothly.

[5. Fifth embodiment]
Next, a fifth embodiment will be described. The DSRC car-mounted device 1 as the reverse travel judging device of the fifth embodiment has the same configuration as that of the first embodiment, but the reverse travel warning process executed by the control unit 10 is different in the following points. .

[5-1. processing]
As shown in FIG. 8, in the reverse travel warning process in the fifth embodiment, the following processes in S21 to S25 are executed instead of the process in S1 in the first embodiment. In the present embodiment, when the process is started, first, at S21, it is determined whether a radio wave from the roadside device SP (hereinafter, referred to as a roadside device radio wave) has been received. In addition, the roadside machine that transmits the road traffic information according to VICS (registered trademark) etc. mentioned above in the same way to the roadside machine radio wave mentioned here, and the roadside machine that can perform IP communication (or credit settlement) Besides the radio waves from, the following are also included. For example, the roadside machine radio wave includes a roadside machine at the entrance or exit of the expressway (for example, a roadside machine for charging in ETC) and a radio wave from an ETC roadside machine provided at the entrance or exit of the service area SA. Be

  When the roadside machine radio wave is not received (S21: N), the process proceeds to S5 described above, and the position of the vehicle is determined. On the other hand, when the roadside machine radio wave is received (S21: Y), the process proceeds to S23. In S23, it is determined whether the roadside device SP determined to have received the radio wave in S21 is a roadside device at the entrance or exit of the expressway. If not the entrance or exit roadside machine SP (S23: N), the process proceeds to S3 described above, the roadside machine position is stored, and thereafter, the same processes (S3 to S9) as the first embodiment are executed. Ru. In addition, in this process, when it is judged in S7 that "a sufficient detachment | leave" is carried out, a process transfers to S21.

  On the other hand, if the roadside device SP determined in S21 that the radio wave has been received is the entrance or exit roadside device SP (S23: Y), the process proceeds to S25. In S25, after the roadside device position stored in the NVRAM 10D is erased, the process proceeds to S21 described above.

5-2. effect]
Thus, in the present embodiment, when the vehicle C passes through an entrance or exit (for example, an entrance gate or exit gate of an ETC) of a freeway, the roadside position stored in the NVRAM 10D is erased. Therefore, in the present embodiment, in addition to the effects of the first embodiment, the following effects occur.

[5A]
For example, if the vehicle C leaves the expressway once and then travels in the opposite direction (through a regular lane) in the opposite route, the possibility of approaching the roadside machine SP which has passed the vicinity on the outbound route There is. In that case, it may be misjudged that the vehicle C is traveling in the reverse direction, and a warning of reverse traveling may be issued. However, in the present embodiment, when the vehicle C enters and leaves the expressway (S23: Y), the position of the front circuit unit stored in the NVRAM 10D is erased, so that the erroneous judgment as described above is suppressed. be able to. In addition, when the vehicle C leaves the expressway (S23: Y) and when the vehicle C enters the freeway (S23: Y), the front circuit position stored in the NVRAM 10D is erased (S25). For this reason, when the roadside machine SP exists only at the inlet, the roadside machine SP exists only at the outlet, and also when the roadside machine SP exists at the inlet and the outlet, the erroneous determination is favorably suppressed. Can.

  In each of the above embodiments, the wireless unit 11 is a radio wave detection unit, the positioning unit 17 is a position detection unit, the NVRAM 10D is a storage unit, and the control unit 10 (especially stores the CPU 10A that executes the processing and its processing program The ROM 10B) corresponds to the reverse running judging means, the roadside machine judging means and the memory erasing means. Further, among the processes in the control unit 10, the process of S7 corresponds to the reverse running judging means, the process of S2 to the roadside device judging means, and the process of S25 to the memory erasing means.

[6. Sixth embodiment]
Next, a sixth embodiment will be described. The reverse travel determination device of the sixth embodiment is configured as a vehicle-mounted system 100 including a DSRC vehicle-mounted device 1A configured substantially the same as the DSRC vehicle-mounted device 1 of the first embodiment, and a navigation device 50.

[6-1. Constitution]
As shown in FIG. 9, the DSRC in-vehicle device 1A differs from the DSRC in-vehicle device 1 in that the DSRC in-vehicle device 1A includes the USB unit 19 instead of the positioning unit 17. The USB unit 19 is an interface for communicating with the navigation device 50 when the DSRC in-vehicle device 1A is used in conjunction with the navigation device 50 and the like.

  The navigation device 50 is a device for guiding the moving path of the vehicle C, and is configured around the navigation control unit 51. The navigation control unit 51 is configured as a microcomputer including a CPU 51A, a ROM 51B, a RAM 51C, and an NVRAM 51D. The navigation control unit 51 includes a geomagnetic sensor 52, a gyroscope 53, a distance sensor 54, a GPS receiver 55, a map data input unit 56, an operation switch group 57, a navigation USB unit 58, an external memory 59, and a guiding unit 60. Is connected.

  The geomagnetic sensor 52 is configured to detect the direction of the vehicle by geomagnetism. The gyroscope 53 outputs a detection signal according to the angular velocity of the rotational motion applied to the vehicle. The distance sensor 54 outputs the traveling distance of the vehicle. The GPS receiver 55 receives a transmission signal from an artificial satellite for GPS, and detects a position coordinate and an altitude of the vehicle. With this configuration, the navigation control unit 51 can calculate the current location, the direction, the speed, and the like of the vehicle C. The GPS receiver 55 may be replaced with a receiver related to GNSS other than GPS.

  Further, the map data input unit 56 is configured to input map data to the navigation control unit 51. The map data is stored in a DVD-ROM or the like, and is input to the navigation control unit 51 via the map data input unit 56. Of course, an HDD, a CD-ROM, etc. may be used other than the DVD-ROM. The map data includes road data, drawing data, data for map matching, data for route guidance, and the like.

  The operation switch group 57 is configured to input various instructions, and is configured by a physical push button switch or the like. The operation switch group 57 may be configured as a touch panel integrally formed with a display of the guide unit 60 described later.

  The navigation USB unit 58 is an interface for communicating with the DSRC in-vehicle device 1A. By connecting the USB unit 19 in the DSRC vehicle-mounted device 1A and the navigation USB unit 58, the vehicle-mounted system 100 of the present embodiment is configured. The navigation USB unit 58 includes a buffer 58A that stores data transmitted from the USB unit 19.

  The external memory 59 is configured of, for example, an HDD or the like. The external memory 59 stores data read from the buffer 58A, and temporarily stores data read from the buffer 58A.

  The guide unit 60 is configured to provide route guidance based on the searched route and guidance based on information such as VICS provided from the DSRC on-vehicle unit 1A. Therefore, the guiding unit 60 is configured of a speaker and a display.

6-2. processing]
Next, reverse travel warning processing in the on-vehicle system 100 will be described. The control unit 10 in the DSRC in-vehicle unit 1A executes the process shown in FIG. 10 when the DSRC in-vehicle unit 1A is powered on. As shown in FIG. 10, in this process, first, at S31, the radio wave from the roadside device SP is received via the wireless unit 11 and the control unit 10 as in S1 of the first embodiment. In S31, when the radio unit 11 does not receive the radio wave from the roadside device SP, the process stands by at S31, and when the radio wave is received from the roadside device SP, the process proceeds to S33. In S33, the roadside device information indicating that the radio wave from the roadside device is received in S31 is transmitted to the navigation device 50 (navigation) via the USB unit 19, and the process proceeds to S31 described above.

  The navigation control unit 51 in the navigation device 50 executes the process shown in FIG. This process is also started when the navigation device 50 is powered on. The power supply of the navigation device 50 and the power supply of the DSRC in-vehicle unit 1A are turned on / off substantially simultaneously with the power supply operation of the vehicle C.

  In this process, first, at S41, roadside device information from the DSRC in-vehicle device 1A is received via the navigation USB unit 58. In S41, when the roadside device information is not received from the DSRC in-vehicle device 1A, the process stands by in S41, and when the radio wave is received from the roadside device SP, the process proceeds to S43. In S43 to S49, the processing corresponding to S3 to S9 in the first embodiment is performed as follows.

  At S43, position coordinates detected at that time via the geomagnetic sensor 52, gyroscope 53, distance sensor 54, and GPS receiver 55 (hereinafter referred to as GPS receiver 55 etc.) It is memorized. In the subsequent S45, the vehicle position is measured via the GPS receiver 55 and the like. In the subsequent S47, the vehicle position determined in S45 is compared with the roadside position stored in S43. Then, when the vehicle position is leaving the roadside position (S47: departure), the processing proceeds to S45 described above, and when the vehicle position is sufficiently leaving the roadside position (S47: departure sufficiently) The process proceeds to S41 described above, and when the vehicle position approaches the roadside vehicle position (S47: approach), the process proceeds to S49. In S49, a reverse run warning is issued as in S9, and the process proceeds to S45 described above.

6-3. effect]
According to the in-vehicle system 100 of the sixth embodiment described above, in addition to the same effects as the effects according to the first embodiment, the following effects occur.

[6A]
In the present embodiment, since the processing by the navigation control unit 51 in the navigation device 50 includes the processing of the reverse travel warning (S49), the guidance unit 60 provided in the navigation device 50 is driven to give a warning by voice or image. Becomes easier. In addition, since the reverse travel warning is issued through the guide unit 60 provided in the navigation device 50 in this manner, the driver can be clearly warned of the reverse travel.

[6B]
Further, in the present embodiment, since the roadside device position and the vehicle position are detected via the GPS receiver 55 and the like provided in the navigation device 50, the roadside device position and the vehicle position can be detected more accurately. The cost for its detection can also be reduced.

[6C]
In the present embodiment, since the processing is shared between the DSRC in-vehicle unit 1A and the navigation device 50, the processing load of the DSRC in-vehicle unit 1A can be reduced. Therefore, when the DSRC vehicle-mounted device 1A performs high performance and various other processes, the processing speed of the other processes can be improved.

  In the sixth embodiment, the radio unit 11 serves as a radio wave detection means, the NVRAM 51D serves as a storage means, the geomagnetic sensor 52, the gyroscope 53, the distance sensor 54, and the GPS receiver 55 serve as position detection means, and navigation control. The section 51 (in particular, the CPU 51A for executing the process of S47 and the ROM 51B storing the program of the process) respectively corresponds to the reverse running judging means.

[7. Other embodiments]
As mentioned above, although embodiment of this invention was described, this invention can take various forms, without being limited to the said embodiment.

  [7A] In each of the above embodiments, only the most recently detected roadside machine position may be stored in the NVRAM 10D or 51D, or a plurality of roadside machine positions including the most recent one may be stored. Further, the distance between the host vehicle position and the roadside device position in each of the above embodiments may be a distance on a plane, or may be a distance in consideration of the altitude. When the distance including the altitude is used as in the latter case, it is possible to make the reverse travel judgment accurately in good correspondence with the three-dimensional road structure. Furthermore, if the traveling speed of the vehicle C is also taken into consideration, it is possible to suppress the reverse traveling warning being issued to the vehicle C traveling at a low speed in a parking lot or the like of the service area SA.

  [7B] When the power is turned on, the positioning unit 17 or the GPS receiver 55 in each embodiment refers to the information related to the vehicle position detection that was being performed when the power was turned off last time. Vehicle position may be detected. Such processing is called hot start, and the detailed orbit information etc. included in the data transmitted from the satellite for position detection is stored in NVRAM 10D or 51D, and the power source uses the detailed orbit information etc. It is processing to perform position detection when it is turned on. In that case, it is possible to shorten the time until the reverse run warning can be implemented. In addition, the same position can be obtained by storing the position of the vehicle detected when the power is turned off in the NVRAM 10D or 51D and performing control using that position. Also, the positioning unit 17 or the GPS receiver 55 may continue the operation even when the power of the vehicle C is turned off. Also in this case, it is possible to shorten the time until the reverse run warning can be implemented. Furthermore, when the power is turned off while the distance between the host vehicle position and the roadside position is relatively short, the driver is warned about reverse travel until the host vehicle position is detected and the reverse travel warning can be implemented. Processing such as display and voice output may be executed to evoke the problem.

  [7C] In each of the above embodiments, the radio wave detection unit is configured by the wireless unit 11 capable of receiving road traffic information and the like, but the present invention is not limited to this. For example, the radio circuit of the ETC in-vehicle unit may be diverted as a radio wave detection unit as long as the presence or absence of the radio wave used by the roadside unit SP can be determined.

  [7D] The function of one component in each of the above embodiments may be distributed as a plurality of components, or the function of a plurality of components may be integrated into one component. In addition, at least a part of the configuration of each of the embodiments may be replaced with a known configuration having the same function. Further, part of the configuration of each of the embodiments may be omitted. In addition, at least a part of the configuration of each of the embodiments may be added to or replaced with the configuration of the other embodiments. For example, processing similar to the processing in the second to fifth embodiments may be executed as the processing of the navigation device 50 in the sixth embodiment. In addition, all the aspects contained in the technical thought specified only by the words described in the claim are an embodiment of the present invention.

  [7E] In addition to the reverse running judging device (DSRC in-vehicle device 1 or in-vehicle system 100) described above, a system having the reverse running judging device as a component, a program for causing a computer to function as the reverse running judging device, The present invention can also be realized in various forms such as a recording medium and a control method.

  [7F] In each of the above-described embodiments, the respective units constituting the reverse travel judging device of the present invention are mounted on the vehicle as the DSRC in-vehicle device 1 or the in-vehicle system 100, but the present invention is not limited thereto. For example, a part of the configuration for executing the processing and storage in each of the above embodiments may be realized by a cloud computer or the like outside the vehicle, including the position detection means.

  [7G] The reverse running judgment device of the present invention may judge the reverse running only and not warn. For example, when a predetermined application (application software) is installed on a smartphone, the smartphone detects a reverse running determination result in the on-board unit as the reverse running determination device, and the smartphone generates an alarm sound or the like. It is also good.

1, 1A: DSRC on-vehicle unit 10: control unit 10A, 51A: CPU
10B, 51B: ROM 10C, 51C: RAM 10D, 51D: NVRAM
11 Wireless section 14 Speaker 15 Display section 17 Positioning section 19 USB section 50 Navigation device 51 Navigation control section 52 Geomagnetic sensor 53 Gyroscope 54 Distance sensor 55 GPS receiver 58 Navi USB section DESCRIPTION OF SYMBOLS 60 ... Guidance part 100 ... Vehicle-mounted system C1, C2, C3, C4, C5, C6 ... Vehicle P1, P2 ... Parking division SA ... Service area SP1, SP2, SP3 ... Roadside machine SR ... Access road TR ... Exit road

Claims (8)

Radio wave detection means mounted on a vehicle for detecting radio waves from a roadside machine,
Position detection means for detecting the position of the vehicle;
Storage means for storing a roadside machine position which is a position detected by the position detection means when the radio wave detection means first detects a radio wave from the roadside machine ;
Distance measuring means for sequentially measuring the distance between the position of the vehicle detected by the position detecting means and the position of the roadside machine stored by the storage means as a roadside machine distance;
Reverse travel judging means for judging that the vehicle is traveling reversely when the roadside machine distance measured by the distance measuring means decreases;
A reverse run judgment device characterized by comprising. The reverse running judgment device according to claim 1, wherein
When the roadside machine distance measured by the distance measuring means is equal to or less than an approach distance which is a predetermined distance, and the roadside machine distance decreases, the vehicle is Reverse run judging device which judges that it is running backward. The reverse running judgment device according to claim 2, wherein
The roadside unit is installed at the entrance of the service area.
The reverse travel judgment device according to claim 1, wherein the approach distance is set to such an extent that the vehicle approaches the approach road with the roadside device. The reverse running judgment apparatus according to any one of claims 1 to 3, wherein
Memory erasing means for erasing the roadside machine position stored in the memory means from the memory when the roadside machine distance measured by the distance measuring means becomes equal to or greater than a predetermined separation distance; The reverse run judging device characterized by having further. The reverse running judgment apparatus according to claim 4, wherein
The reverse run judging device according to claim 1, wherein the departure distance is set to a distance corresponding to a distance from an approach road to an exit road in a service area. The reverse running judgment device according to any one of claims 1 to 5, wherein
The reverse running judging device, wherein the position of the vehicle detected by the position detecting means is an absolute position. The reverse running judgment apparatus according to claim 6, wherein
The said position detection means is a reverse running judgment apparatus comprised so that the position of the said vehicle might be acquired from the GNSS receiver mounted in the said vehicle. The reverse running judging device according to any one of claims 1 to 7, wherein
When the roadside machine distance falls below a first threshold which is a threshold of a predetermined distance, the reverse running judging means judges that the vehicle is in the alert state and is set to a distance smaller than the first threshold. When the roadside machine distance falls below the second threshold, it is determined that a warning state is established,
The reverse running judgment device according to claim 1, further comprising notification means configured to perform notification of different aspects in the warning state and the warning state.