JP4631682B2 - Cooperative control data distribution method, driving support device, and distribution server - Google Patents

Description

  The present invention relates to a cooperative control data distribution method, a driving support device, and a distribution server.

In recent years, intelligent transport systems have been developed in order to solve traffic problems such as traffic jams and to make vehicles run smoothly. As part of this system, a system that supports safe driving has been developed. In this system, with regard to problems such as delays in finding sharp curves, misjudgment of road conditions, etc., it is possible to use road-to-vehicle communication, road-to-vehicle communication, or various devices installed in automobiles to relate to road conditions and other vehicles. Provide various information. Furthermore, according to the situation of the host vehicle or another vehicle, an alarm is issued by a display unit or a speaker mounted on the vehicle, and driving operation corresponding to the road situation is supported.

As such a device, a vehicle control device that performs driving control of an automobile in accordance with a road shape has been proposed (see, for example, Patent Document 1). The control device estimates a road shape ahead of the host vehicle based on a database included in the device, and controls a transmission ECU (electronic control device) and the like based on the estimation result. Then, after actually traveling on the road, the actual road shape traveled is compared with the estimated road shape. Further, when there is a large difference between the estimated road shape and the road shape in the database, the travel control based on the database is stopped the next time the road is traveled.
JP-A-11-311316

  However, after traveling control by the vehicle control device is stopped, when traveling on the road, traveling control is not always performed. For this reason, the follow with respect to the road which stopped traveling control is requested | required.

  The present invention has been made in view of the above problems, and an object thereof is to provide a cooperative control data distribution method, a driving support device, and a distribution server for resuming driving support at a point where driving support is stopped. There is.

In order to solve the above-described problems, the invention according to claim 1 is a cooperative control data storage unit that stores cooperative control data for driving support, and cooperation that performs vehicle travel control along the cooperative control data. A cooperative control data distribution method for updating the cooperative control data using a plurality of driving support devices including a control unit and a distribution server connected to the driving support device via a network, wherein each of the driving The support device detects a maintenance point where the cooperative control data and the traveling result of the vehicle do not match, and the driving support device that detects the maintenance point sends detection data related to the detected maintenance point to the distribution server. and transmitting, the distribution server, a step of collecting the detection data from the respective driving support device, the distribution server, collected Generating notification information for notifying the revision of the cooperative control data based on the detected data; the distribution server transmitting the notification information to each of the driving support devices; and the driving support device comprising: Outputting the notification information received from the distribution server to output means; the driving support device transmitting a data update request to the distribution server according to the notification information; and the distribution server based on the data update request received from the support device, the updated the coordinated control data which possess and transmitting to the driving support device, in the step of the distribution server generates notification information, it is mounted to the each vehicle The notification indicating the maintenance point or the number of roads including the maintenance point based on the detection data collected from the driving support devices And summarized in that to generate the distribution.

According to a second aspect of the present invention, in a driving support apparatus mounted on a vehicle, cooperative control data storage means for storing cooperative control data for driving support, and running control of the vehicle along the cooperative control data are performed. Cooperative control means; maintenance point detecting means for detecting a maintenance point where the cooperative control data and the traveling result of the vehicle do not match; transmission means for transmitting detection data relating to the detected maintenance point to a distribution server; and the distribution Notification information received from the server for notifying the revision of the cooperative control data, output control means for outputting to the output means, and update data acquisition means for acquiring the updated cooperative control data from the distribution server , The output control means receives the notification information indicating the number of maintenance points received from the distribution server. And it is required to output.

The invention according to claim 3 is the driving support device according to claim 2 , further comprising generating means for generating the cooperative control data for the maintenance point, wherein the transmitting means is calculated by the driving support apparatus. The gist is to transmit the detection data including cooperative control data to the distribution server.

According to a fourth aspect of the present invention, in the driving support device according to the second or third aspect , the point determination means for weighting the maintenance point based on the notification information and determining a maintenance point with high importance is further provided. And the output control means outputs a notification regarding a maintenance point having a high importance level to the output means.

According to a fifth aspect of the present invention, in the driving support device according to any one of the second to fourth aspects, the update data acquisition unit sends a data update request for the maintenance point having the high importance to the distribution server. The gist is to send.

The invention according to claim 6 is the driving support device according to any one of claims 2 to 5 , wherein the number of maintenance roads with high importance is calculated based on the notification information, and the number of maintenance roads is The gist of the present invention is that it further comprises a pattern selection means for changing the notification pattern.

According to a seventh aspect of the present invention, in the distribution server that distributes the cooperative control data for driving assistance to the driving assistance device mounted on the vehicle, the cooperative control data and the actual traveling result are transmitted from each of the driving assistance devices. Detection data receiving means for collecting detection data regarding maintenance points that do not match, notification information generating means for generating notification information for notifying revision of the cooperative control data based on the collected detection data, and the notification information Notification information transmitting means for transmitting to each driving support device, update request receiving means for receiving a data update request transmitted according to the notification information from each driving support device, and updating based on the received data update request is provided with a distribution means for transmitting the cooperative control data to the driving support device, the notification information transmitter unit is mounted to the each vehicle Based on the respective detection data the collected from the driving support device, and summarized in that to generate the notification information indicating the number of roads including the maintenance point or maintenance point.

  According to the first aspect of the present invention, when the driving support device detects a maintenance point where the cooperative control data and the traveling result of the vehicle do not match, the detection data is transmitted to the distribution server. The distribution server receives the detection data collected from each driving support device and collects the detection data. Then, the updated cooperative control data is transmitted to each driving support device. For this reason, the point which does not follow cooperative control can also enable cooperative control by updating cooperative control data.

Further, the distribution server generates notification information based on the detection data collected from each driving support device, and transmits the notification information to each driving support device. The driving support device outputs the received notification information to the output means, and requests update data according to the notification information. For this reason, prior to data update, notification is made in advance and the possibility of data update is asked, so that data update can be performed at a timing necessary for the driver.

Furthermore, the distribution server transmits notification information indicating the number of maintenance points or a road including the maintenance points to the driving support device based on the maintenance data collected from each driving support device. For this reason, the driving support device outputs the number of maintenance points that require data update to the output means, so the driver can confirm the number of maintenance points that require data update and determine whether or not data can be updated. it can.

According to the second aspect of the present invention, when the driving support device detects a maintenance point where the cooperative control data does not match the traveling result of the vehicle, the detection data is transmitted to the distribution server. And a driving assistance device receives the update data based on detection data from a delivery server. For this reason, the point which does not follow cooperative control can also enable cooperative control by updating cooperative control data.

The driving support device outputs the received notification information to the output unit, and requests update data according to the notification information. For this reason, prior to data update, notification is made in advance and the possibility of data update is asked, so that data update can be performed at a timing necessary for the driver.
Furthermore, since the driving support apparatus outputs the number of maintenance points that require data update to the output means, the driver can confirm the number of maintenance points that require data update and determine whether or not data can be updated. .

According to the invention described in claim 3 , the driving support device transmits the cooperative control data calculated by the driving support device. For this reason, the distribution server can statistic the cooperative control data collected from each driving support device. Therefore, the optimized cooperative control data can be distributed to each driving support device based on the statistics of each cooperative control data.

According to the invention described in claim 4 , the driving support device weights the maintenance points and outputs a notification regarding the maintenance points with high importance to the output means. For this reason, the driver can determine whether or not the data can be updated by obtaining information on a maintenance point with high importance.

According to the invention described in claim 5 , the driving support device transmits a data update request for a maintenance point with high importance to the distribution server. For this reason, the amount of data transmitted from the distribution server is reduced.

According to the sixth aspect of the invention, the number of maintenance roads with high importance is calculated based on the notification information, and the notification pattern is changed according to the number of maintenance roads. For this reason, for example, when the number of maintenance roads with high importance is large, the driver's attention can be alerted.

According to the invention described in claim 7 , the distribution server receives the detection data collected from each driving support device and collects the detection data. And based on detection data, update data are transmitted to each driving assistance device. For this reason, the point which does not follow cooperative control can also enable cooperative control by updating cooperative control data.

Hereinafter, an embodiment embodying the present invention will be described with reference to FIGS. FIG. 1 is a schematic diagram of a distribution system 1 in the present embodiment.
As shown in FIG. 1, the distribution system 1 has a distribution server 2. The distribution server 2 is connected to each driving support device 10 mounted on each vehicle C via a network N composed of a general communication line network / dedicated communication line network, satellite line, base station 3 and the like. The distribution server 2 collects probe information Pr regarding the state of the road on which each vehicle C traveled from the driving support device 10 of each vehicle C. And based on the collected probe information Pr, various data are produced | generated and the data are delivered to each driving assistance apparatus 10. FIG.

Next, the structure of the driving assistance apparatus 10 is demonstrated according to FIG. The driving support device 10 includes a cooperative control means, a maintenance point detection means, a transmission means, an update data acquisition means, a generation means, a point determination means, a pattern selection means, a CPU 11, a RAM 12, a ROM 13, a GPS reception unit 14, a sensor side I / O. An F unit 15 and a communication unit 16 are provided. The CPU 11 inputs a position detection signal indicating coordinates such as latitude and longitude received by the GPS receiver 14 from a GPS (Global Positioning System) satellite. Further, a vehicle speed pulse and an angular velocity ω are input from the vehicle speed sensor 50 and the gyro sensor 51 provided in the vehicle C via the sensor side I / F unit 15. Based on these signals, the CPU 11 detects the vehicle position by combining radio navigation and autonomous navigation.

  Further, the CPU 11 inputs various electrical signals from the G sensor 52, the vertical acceleration sensor 53, and the vehicle weight sensor 54 via the sensor side I / F unit 15. The G sensor 52 detects the acceleration / deceleration α in the vehicle traveling direction, and outputs an electrical signal corresponding to the acceleration / deceleration α to the sensor-side I / F unit 15. The vertical acceleration sensor 53 is attached to the vehicle body on the suspension spring, detects the vertical acceleration β on the spring, and outputs an electrical signal corresponding to the vertical acceleration β to the sensor-side I / F unit 15. The vehicle weight sensor 54 detects the total weight W of the vehicle C and transmits an electric signal corresponding to the total weight W to the sensor side I / F unit 15. For example, the vehicle weight sensor 54 is disposed below the seat and the like, and detects the total weight W obtained by adding the weight increased by the occupant to the weight of only the vehicle C.

  The driving support device 10 also includes a geographic data storage unit 20 as cooperative control data storage means and an image processor 21 as output control means. The geographic data storage unit 20 is an external storage medium such as a hard disk or an optical disk. In this geographic data storage unit 20, each route network data (hereinafter referred to as route data 22) for searching for a route to the destination, and each map for outputting a map screen 25a to the display 25 as an output means. Drawing data 23 is stored.

As shown in FIG. 3, the route data 22 is data for each region that divides the whole country into regions, and includes a header 22a, node data 22b, link data 22c, link cost 22d, coordinate data 22e, and version 22f. is doing. The header 22 a has data for managing each path data 22. The node data 22b includes identification data such as numbers of nodes indicating intersections, road end points, and the like, identification data of adjacent nodes, and the like. The link data 22c includes a link ID, each link ID indicating a connection node, data indicating traffic regulation, and the like. The link cost 22d is a data group composed of a link length, an average travel time, and the like. The coordinate data 22e indicates the absolute coordinates of each node. The version 22f indicates the version of the route data 22.

  The CPU 11 uses the route data 22 to search for a recommended route that connects the destination and the current vehicle position. At this time, using the link length of the link cost 22d, the average travel time, etc., a plurality of routes such as a recommended route with the shortest distance, a recommended route with the shortest travel time, a recommended route with a reduced cost, etc. Explore. When the CPU 11 searches for each recommended route once, the search history data stored in the history data 24 includes node data 22b, link data 22c, link cost 22d, version 22f, and the like indicating the node / link representing the route. 24a is stored in the RAM 12.

  Further, the CPU 11 stores the road on which the vehicle C has traveled once in the RAM 12 as the travel history data 24 b in the history data 24. The travel history data 24b indicates the road on which the vehicle C travels regardless of whether or not a route search is performed, and node data 22b, link data 22c, link cost 22d, version 22f, and the like are stored.

  Further, as shown in FIG. 4A, the map drawing data 23 is stored for each area obtained by dividing a map of the whole country, and is divided for each layer from a wide area map to a narrow area map. Each map drawing data 23 includes a header 23a, road data 23b as cooperative control data, background data 23c, and a version 23d. The header 23a indicates the hierarchy, area, etc. of the map drawing data 23, and is management purpose data. The road data 23b is data indicating the shape of the road displayed on the map. The background data 23c is drawing data for drawing roads, urban areas, rivers, and the like.

  Furthermore, as shown in FIG. 4B, the road data 23b includes road attribute data 23g, control parameters 23h, link shape data 23i, and connection data 23j. The road attribute data 23g includes a road name, a road number assigned to each road, a road direction, a road width, and the number of lanes. The control parameter 23h is data indicating the road surface condition / shape of the road, and includes a curvature radius Ra of the curve, a gradient (inclination angle) Da, a wavelength λa indicating the roughness or fineness of the unevenness of the road, and the vertical direction of the unevenness. It has an amplitude level La indicating the magnitude of the amplitude.

  The link shape data 23i is data for indicating the shape of the road, and has coordinate data 23m and shape complement data 23n. The coordinate data 23m has the coordinates of each link and each node. The shape complement data 23n is data relating to a shape interpolation point set in the middle of the link and set to indicate the curve shape of the road. The shape complement data 23n includes data such as the coordinates of the shape complement points and the orientations of the connecting portions (links) of the shape complement points.

  Based on the CPU 11, the image processor 21 of the driving support device 10 reads map drawing data 23 within a predetermined distance from the vehicle position from the geographic data storage unit 20. Then, drawing data for drawing a road having a shape based on the link shape data 23i, an urban area based on the background data 23c, and the like is generated, and temporarily stored in a built-in image memory. Then, a video signal based on the drawing data is output to the display 25. An index 25b is superimposed on the map screen 25a to indicate the vehicle position.

When the vehicle C is in the traveling state, the CPU 11 performs map matching by comparing the position data received from the GPS receiver 14, the angular velocity ω received from the gyro sensor 51, and the road data 23 b. For example, the CPU 11 calculates the travel locus of the vehicle C based on the position data and the angular displacement amount, and compares the travel locus with the road shape based on the road data 23b. Then, it is determined that the road with high similarity is the road on which the vehicle C is currently traveling. As a result of the map matching, if a road with high similarity is not detected, the CPU 11 recognizes the road or point where the map matching has failed as a maintenance point, and stores the detection data 30 regarding the maintenance point in the RAM 12. As shown in FIG. 5A, the detection data 30 includes a version 23d of the map drawing data 23, a link ID 30a based on the route data 22 or the map drawing data 23, coordinates 30b based on the coordinate data 23m, and the attribute 30c. ing. The attribute 30c is a traveling locus of the vehicle C when the map matching fails.

  Moreover, the driving assistance apparatus 10 is provided with the audio | voice processor 17, as shown in FIG. The audio processor 17 reads an audio file from an audio file database (not shown) under the control of the CPU 11 and outputs an audio signal to the speaker 26 serving as output means. Thereby, a guidance voice or the like for guiding the route is output.

  In addition, the driving support device 10 includes an external input I / F unit 18 and an external output I / F unit 19. The external input I / F unit 18 outputs an electrical signal corresponding to the input operation to the CPU 11 when an operation switch 27 or the like provided adjacent to the display 25 of the driving support device 10 is operated. The display 25 is a touch panel. When the touch panel is input, the external input I / F unit 18 outputs an electric signal corresponding to the input operation to the CPU 11.

  Further, the CPU 11 performs determination processing based on the road data 23b (cooperative control data), and outputs a control signal to the vehicle ECU 55 via the external output I / F unit 19 to perform so-called vehicle cooperative control. The vehicle ECU 55 includes, for example, a transmission ECU, a suspension ECU, etc., but the illustration is omitted here. The vehicle cooperative control is a control of the vehicle C performed by the driving support device 10 according to the estimated road shape or road surface shape by estimating the road shape or road surface condition based on the road data 23b or the like. In the embodiment, acceleration / deceleration control / step difference control is performed.

  The acceleration / deceleration control is a control for adjusting the speed of the vehicle C by controlling the transmission ECU or the like according to the road shape. First, the CPU 11 of the driving support device 10 reads road data 23b corresponding to a road within a predetermined distance from the current position of the vehicle C while the recommended route is being searched. Based on the road data 23b, the curvature radius Ra of the road ahead in the traveling direction, the turning angle of the vehicle C when traveling on the road, and the distance of the curve section are acquired and calculated. When the route search is not performed and the area around the current position of the vehicle C is simply guided, the curvature radius Ra and the turning angle of the road are based on the road data 23b corresponding to the road within a predetermined distance from the current position of the vehicle C. And the distance of the curve section is calculated.

  Further, the CPU 11 determines whether or not the turning angle is greater than or equal to a threshold value, and performs corner control when the turn angle is equal to or greater than the threshold value. At this time, the CPU 11 reads a recommended speed map (not shown) from the ROM 13. The recommended speed map is a curve in which the radius of curvature Ra and the recommended speed Vr are associated with each other, and from this curve, the recommended speed Vr is small when the radius of curvature Ra is small, and relatively low when the radius of curvature Ra is large. A large recommended speed Vr is calculated. Based on the curvature radius Ra and the recommended speed map, the CPU 11 calculates a recommended speed Vr for turning the curve.

  When the vehicle C reaches a predetermined distance from the entrance of the curve, the CPU 11 calculates a recommended gear stage Tr based on the current speed V based on the vehicle speed sensor 50 and the recommended speed Vr. At this time, the CPU 11 reads the gradient Da in the road data 23b, and corrects the recommended shift stage Tr when determining that the gradient Da is large. That is, when the vehicle C is decelerated on the climbing road, a deceleration effect can be obtained without performing a downshift.

  Further, the CPU 11 corrects the recommended shift stage Tr according to the total weight W of the vehicle based on the vehicle weight sensor 54. Then, the vehicle ECU 55 (transmission ECU) is controlled based on the calculated recommended gear stage Tr. As a result, when the vehicle C enters the entrance of the sharp curve, it is shifted down based on the control of the vehicle ECU 55 and decelerated to the recommended speed Vr.

  While executing the curve control, the CPU 11 calculates the curvature radius R and the gradient D by itself. Specifically, the CPU 11 obtains vehicle information such as a speed V, an angular speed ω, an acceleration / deceleration α, a vertical acceleration β, a total weight W of the vehicle C, the vehicle speed sensor 50, a gyro sensor 51, a G sensor 52, and a vertical acceleration sensor 53. And from the vehicle weight sensor 54. Further, using the acceleration γ calculated from the differential value of the velocity V and the acceleration / deceleration α of the G sensor 52, the gradient D (inclination angle) is calculated based on the following equation.

D = arcsin {(γ−α) / g} (Equation 1)
Further, a curvature radius R (= V / ω) is calculated based on the velocity V and the angular velocity ω. Then, the gradient D and the radius of curvature R are stored in the RAM 12.

  In addition, if the CPU 11 of the driving support device 10 provides guidance for a recommended route, the CPU 11 is within the recommended route and is based on road data 23b corresponding to a road within a predetermined distance from the current position of the vehicle C. Detect road step shape. As described above, the road data 23b has the wavelength λa indicating the step shape and the amplitude level La. As shown in FIG. 6, the wavelength λa indicates the distance between peak points P that are the peak of shaking when traveling on the road.

  The CPU 11 calculates the amplitude level La using the amplitude level map 60 (see FIG. 18) stored in the ROM 13 based on the road data 23b. The amplitude level map 60 is a table in which the vertical acceleration β and the frequency Na (= speed V / wavelength λa) are associated with the level value of the shake. When the vehicle C reaches a position where a level difference is generated, the CPU 11 determines that the suspension is hard when the level value is high, and that the suspension needs to be soft when the level value is low. Is output to the vehicle ECU 55 (suspension ECU). The vehicle ECU 55 controls the damping force of the shock absorber of the suspension so that the damping force becomes relatively small as the amplitude level La increases.

  Further, during the step control, the CPU 11 calculates the wavelength λ and the amplitude level L by itself based on the vehicle information and stores it in the RAM 12. Specifically, vehicle information such as speed V, vertical acceleration β, total weight W, and the like is acquired from the vehicle speed sensor 50, the vertical acceleration sensor 53, and the vehicle weight sensor 54. Further, the change of the vertical acceleration β is tracked, the inflection point of the vertical acceleration β is detected, and the peak point P of the convex portion of the road surface is detected. Then, a time T1 when the inflection point is detected and a time T2 when the next inflection point is detected are obtained. Also, the wavelength λ indicating the distance between the peak points P is calculated by multiplying the peak interval ΔT (= T2−T1) in which the peak points P are detected by the velocity V. Further, based on the wavelength λ and the velocity V, the frequency N (= V / λ) is calculated. Then, the calculated wavelength λ and frequency N are stored in the RAM 12.

  Thus, when acceleration / deceleration control and level difference control are performed by the CPU 11 and various parameters such as the curvature radius R are generated, the CPU 11 compares the data with the road data 23b. If there is data different from the curvature radius Ra, the gradient Da, the wavelength λa, and the amplitude level La in the road data 23b among the curvature radius R, the gradient D, the wavelength λ, and the amplitude level L, the difference is less than the threshold value. It is determined whether or not. In the present embodiment, the difference between the parameters (for example, the gradients D and Da) is expressed as a ratio (for example, ΔD / Da) to the value of each parameter, and the threshold is set to 10%.

  For example, when the calculated gradient D is different from the gradient Da in the road data 23 b by 10% or more, the point is recognized as a maintenance point and stored in the RAM 12 as the detection data 30. As described above, the detection data 30 includes the version 23d, the link ID 30a, the coordinates 30b, and the attribute 30c (see FIG. 5A). The attribute 30c is calculated by the driving support device 10. A parameter (for example, gradient D) in which the difference is 10% or more is stored.

  As described above, the driving assistance device 10 recognizes a point where the map matching has failed and a point where the vehicle cooperative control is not properly executed as a maintenance point. Since it is assumed that the road where the map matching has failed is a new road or has been repaired, the road data 23b does not exist in the first place, and it is determined that the vehicle cooperative control cannot be executed. Then, the CPU 11 determines whether or not the detection data 30 is stored in the RAM 12 at a predetermined timing. If the detection data 30 is stored, the CPU 11 sets the detection data 30 as probe information Pr and performs communication. 16 to the distribution server 2.

  As illustrated in FIG. 7, the distribution server 2 includes a reception unit, a notification unit, a CPU 40 as a distribution unit, a RAM 41, a ROM 42, and a communication unit 43. Furthermore, the distribution server 2 includes a server-side geographic data storage unit 45. The CPU 40 performs various processes for data update according to the data update program stored in the ROM 42.

  The server-side geographic data storage unit 45 stores the latest version of server-side route data 46 and server-side drawing data 47 corresponding to the national map. Similarly to the route data 22 of the driving support device 10, the server side route data 46 includes a header 46a, node data 46b, link data 46c, link cost 46d, coordinate data 46e, and version 46f. The server-side drawing data 47 includes a header 47a, road data 47b, and background data 47c, like the map drawing data 23 of the driving support device 10.

  Furthermore, the distribution server 2 includes a user data storage unit 48. The user data storage unit 48 stores user data 48 a corresponding to each driving support device 10. The user data 48a includes various data for charging the user when an ID such as an IP address assigned to each driving support apparatus 10 and the user purchases the route data 22 for updating. Stored.

Hereinafter, an embodiment embodying the present invention will be described with reference to FIGS.
First, the maintenance point registration process will be described with reference to FIGS. The driving support device 10 detects a maintenance point while performing map matching and vehicle cooperative control (acceleration / deceleration control, step difference control) while the vehicle is running.

  First, the CPU 11 of the driving assistance device 10 detects the current position of the vehicle C based on the GPS receiver 14, the vehicle speed sensor 50, and the gyro sensor 51 (step S1-1). Further, map matching is performed by positioning the vehicle position on a road in the road data 23b.

And CPU11 judges whether the own vehicle position has been located on the road by map matching (step S1-2). For example, if the road shape based on the road data 23b is a curve even though the travel locus is linear, it is determined that map matching has failed (NO in step S1-2). In this case, the CPU 11 registers the point where the map matching has failed as a maintenance point (step S1-3). At this time, the version 23d of the map drawing data 23, the link ID in the road data 23b, and the coordinate data 23m are stored in the detection data 30. Further, identification data indicating a failure of map matching, coordinate data indicating a travel locus, and the like are stored in the detection data 30 as attributes 30c. Further, the CPU 11 increments the value of the maintenance point counter C1 stored in the RAM 12. The maintenance point counter C1 is a counter that accumulates the number of detection data 30 stored in the RAM 12.

If the vehicle position can be positioned on the road (YES in step S1-2), the process proceeds to step S2-1.
Next, as shown in FIG. 9, the CPU 11 acquires the angular velocity ω from the gyro sensor 51 and acquires the speed V from the vehicle speed sensor 50 (step S2-1). Further, the radius of curvature R (= V / ω) is calculated by dividing the velocity V by the angular velocity ω (step S2-2). Further, the CPU 11 reads the curvature radius Ra of the road on which the vehicle C is currently traveling from the road data 23b (step S2-3). Note that the radius of curvature R may be calculated when the vehicle C reaches a point associated with a flag indicating “steep curve” or the like.

  Then, the CPU 11 compares the curvature radius R calculated based on the angular velocity ω and the velocity V with the curvature radius Ra of the road data 23b, and determines whether or not the difference is less than a threshold value (10%) (step). S2-4). If it is determined that the difference between the curvature radii R and Ra is 10% or more (NO in step S2-4), a point where the curvature radii R and Ra are different is registered as a maintenance point (step S2-5). At this time, the CPU 11 stores, in the detection data 30, the version 23d of the map drawing data 23, the link ID in the road data 23b, and the coordinate data 23m. Further, identification data indicating that the curvature radii R and Ra are different and an attribute 30 c including the newly calculated curvature radius R are stored in the detection data 30. Then, the detection data 30 is stored in the RAM 12. Further, the CPU 11 increments the value of the maintenance point counter C1 stored in the RAM 12. If it is determined that the difference is less than 10% (YES in step S2-4), the process proceeds to step S3-1.

  As shown in FIG. 10, in step S <b> 3-1, the CPU 11 acquires the vertical acceleration β from the G sensor 52. Further, the speed V acquired from the vehicle speed sensor 50 is differentiated to calculate the acceleration γ in the traveling direction (step S3-2). Further, the gradient D is calculated based on the acquired vertical acceleration β and acceleration γ and the above-described mathematical expression (1) (step S3-3). Further, the CPU 11 reads the gradient Da from the road data 23b (step S3-4). Then, it is determined whether or not the difference between the gradient D calculated based on the vertical acceleration β and the acceleration γ and the gradient Da of the road data 23b is less than a threshold value (step S3-5). In the present embodiment, this threshold is set to 10%, and if the difference between the gradients D and Da is less than 10% (YES in step S3-5), the process proceeds to step S4-1.

  When the difference between the gradients D and Da is 10% or more (NO in step S3-5), a point where the difference between the gradients D and Da is 10% or more is registered as a maintenance point (step S3-6). . Specifically, the CPU 11 stores, in the detection data 30, the version 23d of the map drawing data 23, the link ID in the road data 23b, and the coordinate data 23m. Further, the newly calculated gradient D and identification data indicating that the gradient is different are stored in the detection data 30 as the attribute 30c. Then, the detection data 30 is stored in the RAM 12. At this time, the value of the maintenance point counter C1 stored in the RAM 12 is incremented.

Next, the CPU 11 detects a maintenance point whose wavelength or amplitude level is different from that of the road data 23b. As shown in FIG. 11, the CPU 11 acquires the vertical acceleration β from the vertical acceleration sensor 53 (step S4-1). Further, the change of the vertical acceleration β is tracked, the inflection point of the vertical acceleration β is detected, and the time T1 when the inflection point is detected and the time T2 when the next inflection point is detected are obtained. In addition, the peak interval ΔT (= T2−T1) of the time when each inflection point is detected is calculated, and the wavelength λ indicating the uneven shape of the road surface is calculated by multiplying the velocity V by the peak interval ΔT (step) S4-2).

  Further, the CPU 11 calculates the frequency N (= 1 / ΔT) based on the peak interval ΔT (step S4-3). Furthermore, the CPU 11 acquires the total weight W of the vehicle C at that time from the vehicle weight sensor 54 (step S4-4).

Then, the CPU 11 determines the amplitude level L based on the vertical acceleration β, the vibration frequency N, and the amplitude level map 60 shown in FIG. 18 (step S4-5). The amplitude level map 60 includes three levels of vertical acceleration β (small), vertical acceleration β (middle), vertical acceleration β (large), columnar frequency N (large), frequency N (medium), and frequency. The amplitude level L can be calculated from N (small). At this time, if the total weight W of the vehicle C is greater than or equal to the first predetermined value, it is determined that the vehicle weight is “large”, and the absolute value of the vertical acceleration β (small) is 0.05 to 0. The range is set to 15 m / s ² . The absolute value of the vertical acceleration beta (medium) in the range of 0.15~0.25m / ^{s 2,} the absolute value of the vertical acceleration beta (large) is set 0.25 m / ^{s 2} ~ to.

When it is determined that the total weight W is equal to or greater than the second predetermined value and less than the first predetermined value and is “medium”, the absolute value of the vertical acceleration β (small) is 0.1 to 0.2 m / is set in a range of s ^2, the absolute value of the vertical acceleration beta (middle), in the range of 0.2 to 0.3 m / ^{s 2,} the absolute value of the vertical acceleration beta (large), 0.3 m / ^{s 2} It is set in the range of ~.

If it is determined that the total weight W is less than the second predetermined value and is “small”, the absolute value of the vertical acceleration β (small) is set in a range of 0.15 to 0.25 m / s ^2. , the absolute value of the vertical acceleration beta (middle), in the range of 0.25~0.35m / ^{s 2,} the absolute value of the vertical acceleration beta (large), is set in the range of ~ 0.35 m / ^{s 2} . That is, as the total weight W of the vehicle C increases, a lower amplitude level L is calculated even with a relatively large vertical acceleration β. As the total weight W decreases, a higher amplitude level L is calculated even with a relatively small vertical acceleration β. The

  When calculating the amplitude level L based on the amplitude level map 60, the CPU 11 compares the wavelength λ calculated in step S4-2 with the wavelength λa stored in the road data 23b, and the difference is less than the threshold value. Judge whether there is. In the present embodiment, this threshold is set to 10%. Further, it is determined whether or not the amplitude level L calculated in step S4-5 is different from the amplitude level La stored in the road data 23b (step S4-6). If it is determined that the difference between the wavelength λ and the wavelength λa of the road data 23b is less than the threshold value and the amplitude levels L and La are the same (YES in step 4-6), the process proceeds to step S4-8.

  When the CPU 11 determines that the difference between the wavelengths λ and λa is equal to or greater than the threshold value or the amplitude levels L and La are different (NO in step S4-6), the point is registered as a maintenance point (step S4- 7). At this time, the CPU 11 generates detection data 30 in which the version 23d, the link ID, and the coordinate data 23m are stored. In addition, a flag indicating that the newly calculated wavelength λ is different from the wavelength is stored in the detection data 30 as the attribute 30c. Then, the detection data 30 is stored in the RAM 12. Further, the CPU 11 increments the value of the maintenance point counter C1 stored in the RAM 12.

In step S4-8, the CPU 11 determines whether or not an end trigger is input. In this embodiment, the end trigger is an off signal of the ignition module or an off signal of the main power source of the driving support device 10. If an end trigger is input (YES in step S4-8), the process ends. At this time, the detection data 30 stored in the RAM 12 is not erased but is stored until a start trigger (ignition module on signal, main power on signal) is input. If the end trigger is not input (NO in step S4-8), the process returns to step S1-1, and the vehicle cooperative control and the maintenance point registration are repeated while the vehicle C is traveling. In this way, maintenance point detection data 30 is accumulated while the vehicle is traveling. In addition, as described above, the maintenance point includes the point where the control parameter 23h such as the curvature radius Ra and the link shape data 23i are not provided due to the new construction or renovation of the road and the vehicle cooperative control cannot be performed, and the curvature radius, gradient, wavelength A point where the vehicle cooperative control cannot be executed because the amplitude level is different from the control parameter 23h is included.

  Next, processing related to data update will be described with reference to FIGS. First, when the driving support device 10 is in the sleep state, the CPU 11 waits for an input of a start trigger (step S5-1). In this embodiment, the start trigger is an ON signal of the ignition module or an ON signal of the main power source of the driving support device 10.

  If it is determined that a start trigger has been input (YES in step S5-1), normal navigation processing is started and the vehicle position is detected. Moreover, CPU11 acquires the value of the maintenance point counter C1 memorize | stored in RAM12, and acquires the number of unregistered maintenance points (step S5-2).

  Further, the CPU 11 determines whether there is an unregistered maintenance point that has not been transmitted to the distribution server 2 based on the number of maintenance points (step S5-3). That is, when the value of the maintenance point counter C1 is an initial value such as “0” and it is determined that there is no unregistered maintenance point (NO in step S5-3), the number of update data that is the next process The process proceeds to the collection process (step S6-1).

  If the value of the maintenance point counter C1 is “0” or more and it is determined that there is an unregistered maintenance point (YES in step S5-3), the detection data 30 stored in the RAM 12 is stored in the version 22f, 23d is transmitted to the distribution server 2 (step S5-4). When the detection data 30 is transmitted to the distribution server 2, the CPU 11 initializes the value of the maintenance point counter C1 to “0” (step S5-5).

  The distribution server 2 stores each detection data 30 as probe information Pr collected from the driving support device 10 of each vehicle C traveling in each region in the RAM 41 in this way. And each detection data 30 collected from each driving assistance device 10 is statistically processed. For example, the CPU 40 of the distribution server 2 determines a road including the maintenance point indicated by each detection data 30. Further, the CPU 40 determines, based on the attribute 30c of the detection data 30, whether the road including the maintenance point is a new road, a modified road, or a road on which vehicle cooperative control has not been properly executed. Perform the process. For example, when identification data indicating a map matching failure is stored in the attribute 30c, it is determined whether the road is a new road or a repaired road by referring to the latest road data 47b and the traveling locus of the vehicle C. to decide. If the attribute 30c stores identification data indicating that the radius of curvature R, Ra, the gradient D, Da, the wavelength λ, λa, or the difference between the amplitude levels L, La is greater than or equal to the threshold value, vehicle coordination is not possible. Judge as a road. Further, when an update point of the latest version of the server side route data 46 or the server side drawing data 47 is detected, the node data 46b, the link data 46c, the coordinate data 46e, etc. are updated. Alternatively, the radius of curvature R, gradient D, wavelength λ, or amplitude level L included in the attribute 30 c is stored in the road data 47 b of the server-side drawing data 47 and updated. Then, the updated region versions 46f and 47d are updated.

Further, when the CPU 40 of the distribution server 2 determines that the road (maintenance road) including the maintenance point is a new road or a repair road, the new road number counter C2 or the repair road number counter C3 stored in the RAM 41 is stored. And are incremented. The new road number counter C2 is a counter that counts newly established roads in the course of transition of each version. For example, a first new road number counter C2a that counts new roads between the version "1" and the latest version "5", and a new road between the version "2" and the latest version "5" A second new road number counter C2b to be counted is set. CPU11 is
The received versions 22f and 23d are referred to, and the new road number counter C2 and the improved road number counter C3 in the transition period starting from the versions 22f and 23d are incremented.

When it is determined that the road including the maintenance point is a road for which the vehicle cooperative control has not been properly executed, the uncontrollable road number counter C4 stored in the RAM 41 is incremented. Similarly to the new road number counter C2, the uncontrollable road number counter C4 is also set with respective counters for accumulating roads that cannot be coordinated with the vehicle and that have occurred during the transition process of each version.

  Further, the CPU 40 of the distribution server 2 generates maintenance notification data 65 and detailed notification data 66 as notification information based on the detection data 30 and the counters C2 to C4. As shown in FIG. 5B, the maintenance notification data 65 is generated for each old version, and the number of new roads 65a, the number of repaired roads 65b, and the number of uncontrollable roads 65c counted by the counters C2 to C4 are as follows. include. As the version becomes newer, the number of roads 65a to 65c of the maintenance notification data 65 corresponding to the version decreases.

  As illustrated in FIG. 5C, the detailed notification data 66 stores a road number 66 a and an attribute 66 b based on the server-side drawing data 47. The attribute 66b stores identification data indicating whether the road is a new road, a repaired road, or a road that cannot be coordinated. In addition, when the server-side route data 46 and the server-side drawing data 47 reflect a new road, a repaired road, and a road that cannot be coordinated based on the detection data 30, a new road, a repaired road, and a road that cannot be cooperatively controlled. The link cost and the road type (national road, prefectural road, highway, etc.) are stored in the attribute 66b. The data composed of the road number 66a and the attribute 66b is stored for the number of new roads, repaired roads, and roads that cannot be coordinated. Further, the detailed notification data 66 is generated as many as the number of old versions.

  Next, the process in which the driving assistance apparatus 10 acquires the number of update data will be described with reference to FIG. When the detection data 30 is transmitted, the CPU 11 of the driving support apparatus 10 requests the distribution server 2 to acquire the number of new roads, the number of modified roads, the number of points that cannot be coordinated, and the route data indicating the roads that require data update. 22 version 22f and map drawing data 23 version 23d are transmitted (step S6-1). When a plurality of versions 22f and 23d are mixed, the versions 22f and 23d and the headers 22a and 23a are transmitted.

  Upon receiving this request, the distribution server 2 reads the maintenance notification data 65 indicating the difference between the received versions 22f and 23d and the latest version from the RAM 41, and transmits it to the driving support device 10 (step S6-). 2).

  Based on the received maintenance notification data 65, the CPU 11 of the driving assistance device 10 determines whether there is data that has not been downloaded (step S6-3), and if there is undownloaded data (step S6-). 3), a download of the road number is requested (step S6-4). If there is no undownloaded data (NO in step S6-3), the process proceeds to cost calculation processing (step S7-1).

  When receiving the request for undownloaded data, the distribution server 2 reads the detailed notification data 66 including the requested road number and attribute from the RAM 41 and transmits it to the driving support device 10 (step S6-5). The driving support device 10 stores the received detailed notification data 66 in the RAM 41 (step S6-6).

  Next, the maintenance point cost calculation process will be described with reference to FIG. Based on the detailed notification data 66 received from the distribution server 2, the CPU 11 of the driving support device 10 determines whether or not the cost of the road that needs to be updated has not been calculated (step S7-1). For example, a cost calculation flag is stored in the RAM 12 of the driving support device 10, and when the cost calculation flag is “ON”, it is determined that the cost has been calculated (NO in step S7-1). The cost calculation process is terminated.

  If the cost calculation flag is “OFF”, it is determined that the cost has not been calculated (YES in step S7-1), and the cost is calculated based on the road number 66a of the detailed notification data 66 (step S7-1). S7-2). Specifically, the CPU 11 determines whether or not the road corresponding to the road number 66a corresponds to the road set in the cost determination map 61 shown in FIG. The cost determination map 61 is a map for weighting the maintenance road, and the condition items 61a to 61j are set, and the costs 61p to 61y are set to the condition items 61a to 61j.

  In the condition item 61a, the maintenance road “within a predetermined distance (50 km) from the vicinity of the home” is set. When the condition item 61a is satisfied, “5”, which is the cost 61p, is calculated as the cost of the maintenance road.

  The condition items 61b to 61d are “a road that can be the shortest distance route to the registered destination”, “a road that can be the shortest time route to the registered destination”, and “minimum to the registered destination”. “Road that can be a toll route”, and “5” costs 61q to 61s are set. When the attribute 66b of the detailed notification data 66 includes the maintenance road link cost, the CPU 11 reads the search history data 24a indicating the search history up to each destination from the RAM 12. Then, the recommended route to the destination is re-searched using the route data 22 reflecting the link cost of the maintenance road. Then, it is determined whether or not any of the distance, time, and fee is shortened or reduced. If the distance, time, or fee is shortened or reduced, “5” is added to the cost of the maintenance road. At this time, for example, when a plurality of distances, times, and charges are shortened or reduced, “5” is added by the number of the corresponding condition items 61b to 61d.

  The condition item 61e is whether the maintenance road is a main road, and a cost 61t of “2” is set. The CPU 11 determines whether the maintenance road is a main road based on the received attribute 66b. The condition item 61f is whether or not the maintenance road is in the same prefecture at home, and the cost 61u of “2” is associated therewith. The condition item 61g is “within a radius of 1 km from the travel history route” and is associated with the cost 61v of “2”. The CPU 11 determines whether or not the maintenance road is within 1 km from a road having a travel history, based on the travel history data 24b described above.

  In addition, the condition item 61h is “adjacent prefecture in home” and the cost 61w of “1” is set, and the condition item 61i is “within a radius of 10 km from the travel history route” and the cost of “1”. 61x is associated. Furthermore, the condition item 61j is another road, and the cost 61y of “1” is associated therewith.

  Based on this cost determination map 61, the CPU 11 determines whether there is a new road to be notified (step S7-3). Specifically, the CPU 11 determines whether the calculated cost is “5” or more and the identification data indicating “new road” is included in the attribute 66 b of the detailed notification data 66. If it is determined that there is no new road (NO in step S7-3), the process proceeds to step S7-5.

If it is determined that there is a new road (YES in step S7-3), CPU 11 increments the value of new road number counter C5 stored in RAM 12 (step S7).
-4).

  Further, the CPU 11 determines whether or not there is a repair road to be notified (step S7-5). Specifically, the CPU 11 determines whether or not the calculated cost is “5” or more and “renovated road” is stored in the attribute 66 b of the detailed notification data 66. If it is determined that there is no improved road (NO in step S7-5), the process proceeds to step S7-7.

When it is determined that there is a modified road (YES in step S7-5), the CPU 11 increments the value of the modified road number counter C6 stored in the RAM 12 (step S).
7-6).

  Further, the CPU 11 determines whether or not the calculated cost is “5” or more, and “cooperative control impossible road” is stored in the attribute 66b of the detailed notification data 66 (step S7-9). If it is determined that the road is not a cooperatively controlled road (NO in step S7-9), the process proceeds to a notification method determination process (step S8-1).

When it is determined that there is a road that cannot be cooperatively controlled (YES in step S7-9), the uncontrollable road number counter C7 is incremented (step S7-10), and the process proceeds to a notification method determination process (step S8-1).

As a result, the number of maintenance roads that are likely to pass by the vehicle C is calculated for each driving support device 10. That is, among the maintenance roads notified by the detailed notification data 66, roads that are highly necessary for the driver who operates the vehicle C are identified, and the number of the roads is the newly installed road number counter C5, the repaired road number counter C6, and the control is impossible. Stored in the road number counter C7.

  Next, the notification method determination process will be described with reference to FIG. The CPU 11 of the driving support apparatus 10 reads the notification pattern map 62 shown in FIG. 20 from the ROM 13 (step S8-1). The notification pattern map 62 associates the number of maintenance roads with various notification methods.

  The CPU 11 selects a notification method based on the notification pattern map 62 (step S8-2). More specifically, when the number of maintenance roads is “0 to 9” based on the notification pattern map 62, the CPU 11 “displays” a notification image when the driving support device 10 is activated, and the notification sound when activated. Judge that there is no notification. Further, when the vehicle C is traveling and approaches the maintenance road, it is determined that the drawing of the notification image is “none”.

  When the CPU 11 determines that the number of maintenance roads is “10 to 99”, the CPU 11 determines that a notification image at the time of activation is drawn and a sound recommending data update is output. Further, when approaching the maintenance road, it is determined that the notification image is drawn.

  Further, when the CPU 11 determines that the number of maintenance roads is “100-”, the CPU 11 draws a notification image at the time of start-up, outputs a voice warning of data update, and notifies when a maintenance road is approached. It is determined that the image is drawn.

Then, the CPU 11 determines whether or not the selected notification pattern is a pattern for displaying a notification image at startup (step S8-3). In the present embodiment, a pattern that does not display a notification image at startup is not set, but when a pattern that does not display a notification image at startup is selected (NO in step S8-3), step S8-5 is performed. Proceed to

  When it is determined that the drawing of the notification image is to be displayed (YES in step S8-3), the drawing data for image drawing is read from the ROM 13 or the like and the notification image is output (step S8-4). As a result, the notification image 70 shown in FIG. 21 is displayed on the display 25. In the notification image 70, a new road number display 70a, a repaired road number display 70b, and an uncontrollable road number display 70c are displayed. The new road number display 70a displays the number of new roads based on the number of new roads 65a in the maintenance notification data 65 and the number of new roads whose cost is “5” or more. Similarly, the number of repaired roads 70b displays the number of repaired roads based on the number of repaired roads 65b in the maintenance notification data 65 and the number of repaired roads whose cost is “5” or more. The number of uncontrollable roads display 70c displays the number of uncontrollable roads 65c in the maintenance notification data 65 and the number of uncontrollable roads with a cost of “5” or more.

  Next, the CPU 11 determines whether or not the selected pattern is a pattern for outputting sound (step S8-5). If it is a pattern for performing sound output (YES in step S8-5), it is determined whether the sound type is a recommended sound or a warning sound, and the sound processor 17 is controlled to output the sound ( Step S8-6). As a result, as shown in FIG. 21, the recommended sound 71 or the warning sound (not shown) is output, so that the driver can update the necessity based on the notification image 70 and the recommended sound 71 (or the warning sound). to decide.

  Next, the data update process will be described with reference to FIG. The CPU 11 of the driving support apparatus 10 waits for an update execution input operation (step S9-1). Specifically, the update execution unit 70d displayed in the notification image 70 is waited for an input operation.

  When the update execution unit 70d is input (YES in step S9-1), the CPU 11 of the driving support apparatus 10 requests the update and the road number and coordinates (or link ID) of the maintenance road whose calculation cost is “5” or more. ), The ID of the driving support device 10 is transmitted to the distribution server 2 (step S9-2).

  Upon receiving this request, the distribution server 2 reads the server-side route data 46 including the maintenance road and the server-side drawing data 47 from the server-side geographic data storage unit 45 based on the received road number. Then, the read server side route data 46 and server side drawing data 47 are transmitted to the driving support device 10 together with the versions 46f and 47d of the data based on the received ID (step S9-3). At this time, the amount of data communication is reduced by transmitting only maintenance road data that is highly important for the driving support device 10.

  The driving support device 10 stores the received update data in the geographic data storage unit 20 and updates the data (step S9-4). When updating, the CPU 11 updates the versions 22f and 23d of the route data 22 or the map drawing data 23 according to the version.

In addition, after transmitting the update data, the distribution server 2 may perform a charging process based on the user data 48a in the user data storage unit 48 according to the amount of data.
Next, screen display during traveling will be described with reference to FIG. The CPU 11 of the driving assistance apparatus 10 repeats the determination of whether or not the maintenance road having a cost of “5” or more is within a predetermined distance from the own vehicle position while detecting the own vehicle position (step S10-1). If it is determined that the maintenance road has entered within a predetermined distance from the vehicle position (YES in step S10-1), a running notification image 73 shown in FIG. 22 is displayed. In the traveling notification image 73, a road display 73a indicating an outline of the maintenance road and a maintenance point index 73b indicating, for example, a point where cooperative control is not possible are displayed.

  Subsequently, the CPU 11 controls the sound processor 17 to output a sound 74 that prompts updating. When the driver actually confirms the update point and determines that data update is necessary, the driver operates an update execution unit (not shown) to request data update. When data update is requested, the data update process described above is executed.

According to the above embodiment, the following effects can be obtained.
(1) In the above embodiment, the driving support device 10 includes the road data 23b having the shape of the road, the curvature radius Ra, the gradient Da, the wavelength λa, the amplitude level La, and the like, and the vehicle C along the road data 23b. Perform cooperative control. Further, the CPU 11 of the driving support device 10 detects a maintenance point that does not match the vehicle cooperative control, and transmits detection data 30 related to the maintenance point to the distribution server 2. The distribution server 2 collects the detection data 30 as the probe information Pr from each driving support device 10, generates maintenance notification data 65 and detailed notification data 66 regarding the number of maintenance points, and transmits these data to the driving support device 10. I tried to do it. Based on the received maintenance notification data 65 and detailed notification data 66, the driving support device 10 outputs a notification image 70 and the like indicating the number of maintenance points to the display 25, and outputs a recommended voice 71 and the like. Further, if there is a driver's operation based on the notification image 70 or the like, a data update request is transmitted to the distribution server 2, and the latest server side route data 46 and server side drawing data 47 including the maintenance point are transmitted. It is received and stored in the geographic data storage unit 20. For this reason, the point which does not follow cooperative control can also enable cooperative control by updating the route data 22 and the map drawing data 23 according to notification information.

  (2) In the above embodiment, the distribution server 2 generates the maintenance notification data 65 and the detailed notification data 66 for notifying the revision of the road data 23b based on the detection data 30 collected from each driving support device 10, and This data is transmitted to the driving support device 10. The driving support device 10 displays the notification image 70 and the running notification image 73 on the display 25 based on the received maintenance notification data 65 and detailed notification data 66, and outputs the recommended sound 71 and the like from the speaker 26. For this reason, prior to data update, notification is made in advance and the possibility of data update is asked, so that data update can be performed at a timing necessary for the driver.

  (3) In the above embodiment, when the driving assistance device 10 detects the maintenance point, the detection data 30 includes the curvature radius R, gradient D, wavelength λ, and amplitude level L calculated by the driving assistance device 10 as the attribute 30c. And sent to the distribution server 2. Therefore, the distribution server 2 can generate the optimized road data 23b by statistically detecting the detection data 30 collected from each driving support device 10. The driving support device 10 can update data with the optimized road data 23b, and can obtain data of roads on which the vehicle C on which the driving support device 10 is mounted has never traveled.

  (4) In the above-described embodiment, the distribution server 2 transmits the maintenance notification data 65 indicating the number of new roads, improved roads, and roads where cooperative control cannot be performed to the driving support device 10 based on the collected detection data 30. I made it. For this reason, since the driving support device 10 can output the number of maintenance roads that require data update to the display 25, the driver checks the number of maintenance roads that require data update and determines whether or not the data can be updated. Can be determined. Therefore, it is possible to suppress unnecessary data from being received and an increase in the processing amount of the driving support device 10 and an increase in communication cost.

  (5) In the above embodiment, the driving support device 10 performs weighting by calculating the cost of the maintenance road based on the detailed notification data 66 to indicate the number of maintenance roads that the driver is likely to travel in the notification image 70. To be displayed. Therefore, the driver can recognize the necessity of the update data by obtaining information on the maintenance road with high importance.

  (6) In the above embodiment, the driving support device 10 calculates the cost of the maintenance road, and selects the notification pattern according to the number of maintenance roads whose cost is “5” or more. For this reason, for example, when the number of maintenance roads with high importance is large, the notification image 70 is displayed, the recommended sound 71 or the warning sound is output, and the running notification image 73 is displayed, so that the vehicle cooperative control cannot be executed. This makes it possible for the driver to grasp this.

In addition, you may change this embodiment as follows.
In the above embodiment, the route data 22 and the map drawing data 23 have the data structures shown in FIGS. 3 and 4, but other data structures may be used.

  In the above embodiment, the acceleration / deceleration α, the vertical acceleration β, and the total weight W are measured based on the G sensor 52, the vertical acceleration sensor 53, and the vehicle weight sensor 54, and the wavelength λ, the amplitude level L, and the like are calculated. However, other sensors may be used. For example, an amplitude level due to road surface unevenness may be detected by a piezo pressure sensor incorporated in a piston rod of a shock absorber.

  In the above embodiment, the driving support device 10 calculates the radius of curvature R and the gradient D in the curve control, and calculates the wavelength λ and the amplitude level L in the step control. Other parameters such as the turning angle and the vibration frequency N may be calculated and stored in the RAM 12.

  In the above embodiment, the maintenance point is registered depending on whether or not the difference between the curvature radii R and Ra, the gradients D and Da, the wavelengths λ and λa, and the amplitude levels L and La is 10% or more. However, the threshold value may be a value other than 10%.

  The amplitude level map 60 is not limited to the map described above as long as it is a map in which the shape of the step and the amplitude level are associated with each other, such as the vertical acceleration β and the frequency Na. The cost determination map 61 may be a map that associates the attribute of the maintenance road with the cost, and is not limited to the map described above. The notification pattern map 62 is not limited to the map described above as long as it is a map in which the number of maintenance roads (or the number of maintenance points) is associated with the notification method.

  In the above embodiment, the driving support device 10 may display the number of roads or the number of points registered by the driving support device 10 as maintenance points together with the notification image 70 on the display 25.

  In the above embodiment, the driving support device 10 may be able to determine the point where the vehicle cooperative control is performed based on the route data 22 or the map drawing data 23. In this case, a link ID, coordinates, and the like, and a control execution flag indicating that the point is a point for executing the vehicle cooperative control are stored in the route data 22 or the map drawing data 23 in association with each other. If it does in this way, CPU11 will judge whether there exists a point whose control execution flag is ON ahead of the advancing direction of vehicles C, and when there is such a point, it will perform vehicle cooperation control. At the same time, it is determined whether it is a maintenance point.

  In the above-described embodiment, the CPU 11 of the driving support device 10 selects the notification pattern according to the number of maintenance roads having a cost of “5” or more. .

  In the above embodiment, the driving support device 10 calculates the cost of the maintenance road based on the road number 66a, but this process may be omitted. Then, only the number of maintenance roads may be displayed on the display 25.

  In the above embodiment, the distribution server 2 transmits the maintenance notification data 65 and the detailed notification data 66 for notifying the number of maintenance roads to the driving support device 10, but data indicating the presence or absence of data that needs to be updated. Etc. may be transmitted.

  In the above embodiment, the driving support device 10 transmits cooperative control data such as the curvature radius R calculated by itself to the distribution server 2, but the identification data indicating that the maintenance point has been detected, and the link ID Only the coordinates may be transmitted to the distribution server 2. At this time, for example, the distribution server 2 sets a flag indicating detection of the maintenance point to “ON”. Then, the data of the road whose flag is set to “ON” may be manually updated by a data update person.

In the above embodiment, the driving support device 10 performs acceleration / deceleration control and step difference control as vehicle cooperative control, but may perform other travel control.
In the above embodiment, the driving support apparatus 10 receives the update data from the distribution server 2, but only displays the notification image 70, the running notification image 73, etc., or outputs the recommended voice 71, etc. Good. For example, the driver may go to a store such as a store based on these notifications, connect the driving support device 10 and a dedicated terminal possessed by the store with a cable or the like, and transmit update data. Alternatively, an optical disk storing new route data 22 and map drawing data 23 may be inserted into the driving support device 10.

  In the above embodiment, the driving support device 10 makes a data update request according to the presence / absence of an input operation after notifying the driver that data update is necessary. In addition to this, the distribution server 2 statistically processes the detection data 30 received from each driving support device 10 to generate update data, and automatically sends new update data to each driving support device without notification. 10 may be distributed. For example, when the amount of update data is small or when there is no billing process, the driver can update data without performing an input operation in this way, so that convenience can be improved.

  In the above embodiment, the driving support device 10 receives update data from the distribution server 2 via the network N. In addition, the geographic data storage unit 20 composed of an optical disk or a hard disk in which the old route data 22 and the map drawing data 23 are stored is replaced with a geographic data storage unit 20 in which new data is stored. May be.

Schematic which shows the system of this embodiment. The block diagram explaining the structure of the driving assistance device of this embodiment. Explanatory drawing of route data. (A) is map drawing data, (b) is road data, (c) is explanatory drawing of link shape data. (A) is detection data, (b) is maintenance notification data, (c) is explanatory drawing of detailed notification data. Explanatory drawing of the calculation method of a wavelength. The block diagram explaining the structure of a delivery server. Explanatory drawing which shows the process sequence of this embodiment. Explanatory drawing which shows the process sequence of this embodiment. Explanatory drawing which shows the process sequence of this embodiment. Explanatory drawing which shows the process sequence of this embodiment. Explanatory drawing which shows the process sequence of this embodiment. Explanatory drawing which shows the process sequence of this embodiment. Explanatory drawing which shows the process sequence of this embodiment. Explanatory drawing which shows the process sequence of this embodiment. Explanatory drawing which shows the process sequence of this embodiment. Explanatory drawing which shows the process sequence of this embodiment. Explanatory drawing of an amplitude level map. Explanatory drawing of a cost determination map. Explanatory drawing of a notification determination map. Explanatory drawing of a notification image. Explanatory drawing of a notification image during a driving | running | working.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Distribution system, 2 ... Distribution server, 10 ... Driving support apparatus, 11 ... Cooperation control means, Maintenance point detection means, Transmission means, Generation means, Update data acquisition means, Point discrimination means, CPU as pattern selection means, 17 ... Audio processor as output control means, 20. Geographic data storage section as cooperation control data storage means, 21... Image processor as output control means, 23 b. Road data as cooperation control data, 25. Display as output means. , 26 ... Speaker as output means, 30 ... Detection data, 30c ... Attribute as cooperative control data, 40 ... Receiving means, notification means, CPU as distribution means, 47 ... Maintenance notification data as notification information, 48 ... Notification Detailed notification data as information, C ... vehicle, N ... network.

Claims (7)

Cooperative control data storage means for storing cooperative control data for driving assistance, a plurality of driving assistance apparatuses provided with cooperative control means for performing vehicle running control along the cooperative control data, the driving assistance apparatus and the network A coordinated control data distribution method for updating the coordinated control data using a distribution server connected via
Each driving support device detects a maintenance point where the cooperative control data and the traveling result of the vehicle do not match; and
The driving support device that detects the maintenance point transmits detection data regarding the detected maintenance point to the distribution server,
The distribution server collects the detection data from each of the driving support devices;
The distribution server generates notification information for notifying the revision of the cooperative control data based on the collected detection data;
The distribution server transmitting the notification information to the driving support devices;
The driving support device outputs the notification information received from the distribution server to an output unit;
The driving support device transmits a data update request to the distribution server according to the notification information;
The distribution server, based on the data update request received from the driving support device, the updated the coordinated control data which possess and transmitting to the driving support device,
The notification information indicating the maintenance point or the number of roads including the maintenance point based on the detection data collected from the driving support devices mounted on the vehicles when the distribution server generates the notification information. A collaborative control data distribution method characterized by generating data. In a driving support device mounted on a vehicle,
Cooperative control data storage means storing cooperative control data for driving support;
Cooperative control means for controlling the running of the vehicle along the cooperative control data;
Maintenance point detecting means for detecting a maintenance point where the cooperative control data and the traveling result of the vehicle do not match;
Transmission means for transmitting detection data relating to the detected maintenance point to the distribution server;
Output control means for outputting notification information received from the distribution server to notify the revision of the cooperative control data to an output means;
Update data acquisition means for acquiring updated cooperative control data from the distribution server ,
The driving support apparatus , wherein the output control means outputs the notification information received from the distribution server and indicating the number of maintenance points to the output means . In the driving assistance device according to claim 2 ,
Further comprising generating means for generating the cooperative control data for the maintenance point;
The transmission means includes
The driving support apparatus, wherein the detection data including the cooperative control data calculated by the driving support apparatus is transmitted to the distribution server. In the driving assistance device according to claim 2 or 3 ,
Based on the notification information, the maintenance point is weighted, further comprising a point determination means for determining a maintenance point with high importance,
The output control means includes
A driving support device that outputs a notification regarding a maintenance point with high importance to the output means. The driving support device according to claim 4 ,
The update data acquisition means includes
A driving support apparatus that transmits a data update request of the maintenance point having the high importance level to the distribution server. In the driving assistance device according to any one of claims 2 to 5 ,
A driving support apparatus, further comprising a pattern selection unit that calculates the number of maintenance roads with high importance based on the notification information and changes a notification pattern according to the number of maintenance roads. In a distribution server that distributes cooperative control data for driving support to a driving support device mounted on a vehicle,
From each of the driving support devices, detection data receiving means for collecting detection data relating to maintenance points where the cooperative control data and the actual traveling result do not match,
Notification information generating means for generating notification information for notifying the revision of the cooperative control data based on the collected detection data;
Notification information transmitting means for transmitting the notification information to each of the driving support devices;
Update request receiving means for receiving a data update request transmitted according to the notification information from each of the driving support devices;
Based on the received data update request, comprising the distribution means for transmitting the updated cooperative control data to the driving support device ,
The notification information transmitting means generates the notification information indicating the maintenance point or the number of roads including the maintenance point based on the detection data collected from the driving support devices mounted on the vehicles. A featured distribution server.

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