JP5874397B2 - Driving diagnostic device - Google Patents

Description

  The present invention relates to a driving diagnosis device that diagnoses the behavior of a vehicle when traveling in a driving diagnosis section.

  Conventionally, as disclosed in Patent Document 1, for example, a driving diagnosis technique for diagnosing the behavior of a vehicle is known. In this type of diagnostic technology, it is considered to diagnose the behavior of a vehicle in a preset driving diagnosis section, for example, a section including an intersection, and to provide various driving advices according to the diagnosis result.

Japanese Patent No. 3593502

  An object of the present invention is to provide a driving diagnosis apparatus that can accurately set a driving diagnosis section in a driving diagnosis apparatus that diagnoses the behavior of a vehicle when traveling in a preset driving diagnosis section.

According to the present invention, the information accumulating means indicates the road connection relation information indicating the connection relation between the traveling road on which the vehicle has traveled and other roads connected to the traveling road, and the behavior when the vehicle travels on the traveling road. The candidate section extraction unit extracts candidate sections of the driving diagnosis section based on the road connection relation information stored by the information storage unit, and the behavior information extraction unit extracts the candidate information extracted by the candidate section extraction unit. The behavior information representing the behavior exhibited by the vehicle in the section is extracted from the behavior information accumulated by the information storage means, and the driving diagnosis section specifying means is used when the behavior represented by the behavior information extracted by the behavior information extraction means satisfies a predetermined condition. The candidate section extracted by the candidate section extracting means is specified as the driving diagnosis section.
That is, the driving diagnosis apparatus according to the present invention includes a primary step of extracting candidate sections of the driving diagnosis section based on the accumulated road connection relation information, and a behavior indicated by the vehicle in the extracted candidate section satisfies a predetermined condition. Since the configuration is such that the driving diagnosis section is specified through the secondary step of evaluating whether or not, the driving diagnosis section can be set with high accuracy.

1 is a functional block diagram schematically showing a driving diagnosis apparatus according to an embodiment of the present invention. The figure which shows an example of driving road environment / vehicle behavior database The figure for explaining an example of driving diagnosis processing Flow chart showing the contents of the database construction process The figure which shows an example of the connection relation of a traveling road and the other traveling road connected to the said traveling road Flow chart showing contents of candidate section specifying process Flow chart showing the contents of the driving diagnosis section specifying process Diagram showing an example of curvature curve The figure which shows an example of the turning angle curve

Hereinafter, an embodiment of the present invention will be described with reference to the drawings. As shown in FIG. 1, the driving diagnosis device 10 includes a vehicle device mounted on a vehicle such as a navigation device that performs vehicle route guidance, and includes a driving diagnosis function. Unit 12, storage unit 13, communication unit 14, output unit 15, operation input unit 16, and the like.
The control unit 11 is mainly configured by a microcomputer having a CPU, a RAM, a ROM, an I / O bus, and the like (not shown). The control unit 11 controls the overall operation of the driving diagnosis device 10 according to a computer program stored in a storage medium such as a ROM or the storage unit 13.

In addition, the control unit 11 executes a computer program to thereby execute a traveling road identification processing unit 21, an information accumulation processing unit 22, a candidate section extraction processing unit 23, a behavior information extraction processing unit 24, and a driving diagnosis section identification processing unit 25. The driving diagnosis processing unit 26 is virtually realized by software. The information storage processing unit 22 corresponds to the information storage means described in the claims, and the candidate section extraction processing unit 23 corresponds to the candidate section extraction means described in the claims, and the behavior information extraction process The unit 24 corresponds to behavior information extraction means described in the claims, and the driving diagnosis section specifying processing section 25 corresponds to driving diagnosis section specifying means described in the claims.
The vehicle behavior detection unit 12 detects various behaviors of the vehicle on which the driving diagnosis device 10 is mounted, that is, the host vehicle. The vehicle behavior detection unit 12 includes an orientation sensor 12a, a gyro sensor 12b, a distance sensor 12c, a satellite radio receiver 12d, a speed sensor 12e, an acceleration sensor 12f, a wheel speed sensor 12g, a steering sensor 12h, an accelerator sensor 12i, and a brake sensor 12j. , A turn signal sensor 12k, an angular velocity sensor, and other sensors for detecting various vehicle behaviors.

  The direction sensor 12a detects the direction of the vehicle. The gyro sensor 12b detects the rotation angle of the vehicle, in other words, the turning angle of the vehicle. The distance sensor 12c detects the travel distance of the vehicle. The satellite radio wave receiver 12d receives radio waves transmitted from a positioning satellite (not shown) and measures the current position of the vehicle. The speed sensor 12e detects the speed of the vehicle. The acceleration sensor 12f detects acceleration in the front-rear direction and / or the left-right direction of the vehicle. The wheel speed sensor 12g detects the rotational speed of the wheel. The steering sensor 12h detects the rotation speed and / or rotation amount of the steering, and the accelerator sensor 12i detects the operation speed and / or operation amount of the accelerator. The brake sensor 12j detects the operation speed and / or the operation amount of the brake. The turn signal sensor 12k detects the operation start timing of the left and right turn signals and / or the operation end timing of the turn signal. The vehicle behavior detection unit 12 outputs detection data obtained from these various sensors to the control unit 11 as behavior information representing the behavior of the vehicle. The angular velocity sensor detects an angular velocity accompanying the rotation of the vehicle.

  The storage unit 13 is composed of a storage medium such as a hard disk drive or a memory card, for example, and includes a map database 13a for storing map data, and a traveling road environment / vehicle behavior database 13b for storing traveling road environment information and behavior information. Is provided. The map data stored in the map database 13a is used to convert road data, landmark data, map matching data, destination data, and traffic information formed by a plurality of nodes and links connecting the nodes into road data. It contains various data such as table data. The map data includes node ID information uniquely assigned to each node, connection link number information indicating the number of links connected to each node, link ID information uniquely assigned to each link, and direction of each link. Link direction information representing the road type, road type information representing the type of road corresponding to each link, and road number information representing the road number corresponding to each link. In this case, the azimuth of each link is set as an absolute azimuth with the east as 0 °. In this case, the road type information is set as code information indicating the road type of each link. For example, the code indicating “general road” is set as “2” as the road type. In this case, the road number is a number assigned to the name of each road. For example, “1” is set for National Route 1 and “23” is set for National Route 23.

  The communication unit 14 is a communication interface that executes various types of information communication with an external information center via a communication device (not shown). In this case, the output unit 15 includes an audio output unit 15a configured by, for example, a speaker, and a display output unit 15b configured by, for example, a liquid crystal display or an organic EL display. The operation input unit 16 includes various switch groups such as a mechanical switch provided near the screen of the display output unit 15b or a touch panel switch provided on the screen of the display output unit 15b. The user can perform various setting operations using the switches of the operation input unit 16.

  The traveling road identification processing unit 21 executes traveling road identification processing in response to a command signal from the control unit 11. The travel road specifying process is a process of detecting the current position of the vehicle based on an input signal from the satellite radio wave receiver 12d and specifying the road on which the vehicle is traveling at that time as the travel road. In this case, the traveling road identification processing unit 21 complements the input signal from the satellite radio wave receiver 12d using the input signals from other sensors included in the vehicle behavior detection unit 12 in this traveling road identification process, A map matching process is performed to match the current position of the vehicle on the road in the map with high accuracy.

  The information storage processing unit 22 executes information storage processing in response to a command signal from the control unit 11. This information accumulation processing is processing for accumulating traveling road environment information and behavior information in the traveling road environment / vehicle behavior database 13b. The traveling road environment information is information including road connection relation information described in the claims, and is information representing a connection relation between a traveling road on which the vehicle has traveled and another road connected to the traveling road. The road connection information indicates how the travel road and other roads connected to the travel road are connected, that is, at least what road is connected to the travel road at what angle. Information necessary to identify whether or not As will be described in detail later, the information accumulation processing unit 22 receives the traveling road environment information related to the traveling road specified by the traveling road specifying process and the vehicle behavior detection unit 12 at the time when the traveling road is specified. The obtained behavior information is accumulated in time series in the traveling road environment / vehicle behavior database 13b as shown in FIG.

  The traveling road environment information includes the node ID information of the node connected to the end of the traveling road, in this case, the end existing in the forward direction of the vehicle, the total number of links connected to the node, that is, the traveling connected to the node. Connected link number information representing the sum of the number of roads and other roads, link ID information of each link connected to the node, link orientation information of each link connected to the node, road type of each link connected to the node Information and road number information of each link connected to the node are included. A travel flag is added to a road on which a vehicle travels among other roads connected to the travel road via nodes. That is, a numerical value “1” is input as a travel flag to a road on which a vehicle travels among other roads connected to the travel road.

  Further, in this traveling road environment / vehicle behavior database 13b, additional information such as time information, position information, and counter value information is associated with a set of traveling road environment information and behavior information stored in the record. Is stored. The time information is the time when the traveling road environment information and the behavior information are accumulated in the traveling road environment / vehicle behavior database 13b, in other words, when the information accumulation processing executed by the information accumulation processing unit 22 at a predetermined cycle is completed. It is the information showing the time. The position information is information representing the current position of the vehicle at the time represented by the time information, and in this case, is composed of latitude information and longitude information. The counter value information is information representing a counter value described later in detail.

The candidate section extraction processing unit 23 executes candidate section extraction processing in response to a command signal from the control unit 11. As will be described in detail later, this candidate section extraction process is a process of extracting candidate sections of the driving diagnosis section based on the traveling road environment information accumulated in the traveling road environment / vehicle behavior database 13b by the information accumulation process. is there.
The behavior information extraction processing unit 24 executes behavior information extraction processing in response to a command signal from the control unit 11. As will be described in detail later, this behavior information extraction process is a process of extracting behavior information representing the behavior exhibited by the vehicle in the candidate section extracted by the candidate section extraction process from the traveling road environment / vehicle behavior database 13b. is there.
The driving diagnosis section specifying processing unit 25 executes a driving diagnosis section specifying process in response to a command signal from the control unit 11. As will be described in detail later, the driving diagnosis section specifying process is performed by the candidate section extracted by the candidate section extraction process when the behavior represented by the behavior information extracted by the behavior information extraction process satisfies a predetermined condition. Is a process for identifying as a driving diagnosis section.

  The driving diagnosis processing unit 26 performs driving diagnosis processing in response to a command signal from the control unit 11. This driving diagnosis process is a process for diagnosing the behavior exhibited by the vehicle when the vehicle travels in the driving diagnosis section specified by the driving diagnosis section specifying process. More specifically, as shown in FIG. 3, for example, the driving diagnosis processing unit 26 starts from the previous driving advice provision timing T every time it reaches the driving advice provision timing T set every predetermined time, for example, five minutes. The behavior information indicating the behavior of the vehicle in the driving diagnosis section S passed by the current driving advice provision timing T is extracted from the traveling road environment / vehicle behavior database 13b, and the driving diagnosis processing is executed based on the extracted behavior information. To do. In this driving diagnosis process, the driving diagnosis processing unit 26, based on the extracted behavior information, for example, vehicle speed, turn signal operation start timing, brake operation speed and operation amount, steering operation speed and operation amount, etc. It is determined whether or not the behavior related to the vehicle satisfies a predetermined criterion, and, for example, “the vehicle speed at the intersection is too fast” or “the blinker starts operating when entering the intersection” The timing is too late. ”,“ Let's avoid sudden braking at the intersection. ”,“ Let ’s avoid sudden steering at the intersection. ”Voice output from the output unit 15 and / or Provide to the user by display output.

Next, the operation content of the driving diagnosis apparatus 10 having the above configuration will be described. In addition, although the process demonstrated below demonstrates on the basis of the "driving diagnosis apparatus 10" for convenience of explanation, it is actually the process which the "control part 11 of the driving diagnosis apparatus 10" performs.
(Driving road environment / vehicle behavior database construction process)
As shown in FIG. 4, in the construction processing of the traveling road environment / vehicle behavior database (hereinafter referred to as database construction processing), the driving diagnosis device 10 first performs traveling road identification processing (steps) by the traveling road identification processing unit 21. A1) is executed, and the traveling road on which the vehicle is currently traveling is specified. Then, the driving diagnosis device 10 extracts travel road environment information related to the specified travel road from the map database 13a (step A2). In this case, when the vehicle is traveling on the link L1 as shown in FIG. 5, for example, the driving diagnosis apparatus 10 identifies the link L1 as a traveling road and connects the end of the link L1 in the traveling direction. Node ID information of N1, number of connected links indicating the number of links L1, L2, L3, L4 connected to the node N1, link ID information of these links L1, L2, L3, L4, link direction information, road type information , And road number information is extracted from the map database 13a as travel road environment information.

  Then, the driving diagnosis device 10 executes the information accumulation process (step A3) by the information accumulation processing unit 22, and detects the vehicle behavior at the time when the traveling road environment information extracted in step A2 and the current time, that is, the traveling road is specified. Various behavior information obtained from the unit 12 is stored in the traveling road environment / vehicle behavior database 13b. The driving diagnosis apparatus 10 is configured to perform this database construction processing at a predetermined cycle, for example, every 200 msec. Accordingly, in the traveling road environment / vehicle behavior database 13b, the traveling road on which the vehicle has actually traveled is displayed. Such travel road environment information and behavior information representing the behavior of the vehicle on the travel road are accumulated in time series.

(Specification processing of candidate section of driving diagnosis section)
In the present embodiment, the driving diagnosis device 10 is configured to identify a section including an intersection (hereinafter referred to as an intersection section) as the driving diagnosis section. Therefore, in this candidate section specifying process (hereinafter referred to as candidate section specifying process), the driving diagnosis apparatus 10 specifies a section that is a candidate for an intersection section, that is, a section that is estimated to include an intersection as a candidate section. To do.
That is, as shown in FIG. 6, in this candidate section specifying process, the driving diagnosis apparatus 10 first executes a traveling road environment information extraction process (step B1). In this travel road environment information extraction process, the driving diagnosis device 10 extracts travel road environment information (for one record) accumulated in the travel road environment / vehicle behavior database 13b. In this case, the driving diagnosis device 10 is one in which the candidate section specifying process is not performed among the traveling road environment information accumulated in the traveling road environment / vehicle behavior database 13b, and the information storage time, that is, the time Get the one with the old time indicated by the information. And the driving diagnosis apparatus 10 performs the following four determination processes (step B2-B5) about the extracted traveling road environment information in this case.

  In the connection link number determination process shown in step B2, the driving diagnosis apparatus 10 determines the travel road and other roads connected to the travel road based on the connection link number information included in the travel road environment information extracted in step B1. Whether the number of roads (the sum of the number of roads and other roads connected to the roads and the total number of roads including the roads connected to the same node) is a predetermined number, in this case “3” or more. Determine. A feature of the intersection is that the traveling road and other roads connected to the traveling road form a road structure of three or more intersections. Therefore, in this connection link number determination process, the driving diagnosis device 10 determines whether or not the number of other roads connected to the traveling road is equal to or greater than a predetermined number.

  The predetermined number is preferably set to a value of “3” or more. If the sum of the number of traveling roads and other roads connected to the traveling road is “3” or more, these traveling roads and other roads connected to the traveling road have characteristics of intersections such as road structures of three or more roads. It is because it can be estimated that it has. On the other hand, if the number of traveling roads and other roads connected to the traveling road is less than “3”, these traveling roads and other roads connected to the traveling road are two different roads in series. It can be presumed that a straight road connected to is formed, and is excluded from the candidate sections of the intersection section.

  The driving diagnosis device 10 executes the link connection angle determination process shown in step B3 when the number of the roads and other roads connected to the roads is greater than or equal to a predetermined number (step B2: YES). In this link connection angle determination process, the driving diagnosis device 10 is based on the travel flag included in the travel road environment information extracted in step B1, and the road on which the vehicle traveled (hereinafter referred to as the road on which the vehicle traveled) is connected. It is determined whether there is no other traveling road). In this case, when there is a road for which the numerical value “1” is input to the travel flag, the driving diagnosis apparatus 10 identifies the road as another travel road.

  Then, the driving diagnosis device 10 determines that the angle between the traveling road and another traveling road is a predetermined angle, in this case, “120 °” or less, based on the link orientation information included in the traveling road environment information extracted in step B1. It is determined whether or not. For example, in FIG. 5, assuming that the traveling road is the link L1 and the other traveling road is the link L3, the driving diagnosis apparatus 10 determines whether or not the angle α formed by the link L1 and the link L3 is equal to or less than a predetermined angle. judge. A characteristic of the intersection is that the traveling road and another traveling road are connected so as to be bent. Therefore, in this link connection angle determination process, the driving diagnosis apparatus 10 determines whether or not the angle formed by the traveling road and another traveling road is equal to or smaller than a predetermined angle.

  The predetermined angle is preferably set to an angle of “120 °” or less. If the angle between the traveling road and another traveling road is “120 °” or less, these traveling roads and the other traveling roads connected to the traveling road are connected so that the two roads bend each other. This is because it can be estimated that the intersection has the characteristics of the intersection. On the other hand, if the angle between the traveling road and another traveling road exceeds “120 °”, these traveling roads and the other traveling roads connected to the traveling road are two different roads. It can be estimated that the intersections are connected so as not to form an intersection, and are excluded from the candidate sections of the intersection section. The determination process in step B3 is a process of narrowing down candidate sections of the intersection section based on the connection shape between the traveling road and another traveling road.

  When the angle between the traveling road and another traveling road connected to the traveling road is equal to or smaller than a predetermined angle (step B3: YES), the driving diagnosis device 10 performs the link ID / road number determination process shown in step B4. Execute. In this link ID / road number determination process, the driving diagnosis device 10 determines the link ID of the travel road and other travel roads based on the link ID information and the road number information included in the travel road environment information extracted in step B1. It is determined whether or not the difference from the link ID is a predetermined value, in this case “3” or more, or whether the road number of the traveling road is different from the road number of another traveling road.

  In the determination process of step B2 described above, that is, the determination process based on the connection shape between the travel road and other travel roads, for example, even if it is a sharp curve section on a mountain road, If the connection angle is equal to or smaller than the predetermined angle, the sharp curve section may be erroneously recognized as a candidate section of the intersection section. Here, the link ID is given a consecutive number, that is, a serial number, to each road that continues along the road, and a non-continuous number is assigned to each road that is connected so as to bend each other and forms an intersection or the like. Tend. For this reason, when the road on which the vehicle travels differs by making a right or left turn at an intersection or the like, the link ID of the road on which the vehicle travels before and after the right or left turn changes greatly. Therefore, in this link ID / road number determination process, the driving diagnosis apparatus 10 determines whether or not the difference between the link IDs of the two traveling roads is equal to or greater than a predetermined value.

  By the way, for example, when a road that is continuous with an existing road is newly established, a link ID that is not yet used for any link is attached to the newly established road. There is a case where the link ID assigned to an existing road and the link ID assigned to a new road are not serial numbers even though two roads are continuous along the road. Therefore, when it is not possible to determine whether or not these two traveling roads form a road that is continuous as a road only by the determination based on the difference between the link ID of the traveling road and the link ID of another traveling road. There is.

  Therefore, in this link ID / road number determination process, the driving diagnosis apparatus 10 further determines whether or not the road number of the traveling road is different from the road number of the other traveling road, and these two traveling roads are It is determined whether or not a continuous road is formed. That is, if the road number of the traveling road is different from the road numbers of the other traveling roads, it is highly likely that these two roads are not connected to each other and are connected to bend each other. As described above, according to the determination process of step B4 including the determination based on the difference between the link IDs of the traveling road and the determination based on the difference in the road number of the traveling road, the traveling road and the traveling road are connected to each other. It is possible to double-check whether or not a road that is continuous with the other road is forming a road, and the determination accuracy can be improved.

  When the difference between the link ID of the travel road and the link ID of the other travel road is equal to or greater than a predetermined value, or the road number of the travel road is different from the road number of the other travel road (step B4: YES), the road type determination process shown in step B5 is executed. In this road type determination process, the driving diagnosis device 10 determines that the road and other roads connected to the road are general roads based on the road type information included in the road environment information extracted in step B1. It is determined whether or not. That is, the intersection basically exists on a general road, not an expressway. Therefore, the driving diagnosis device 10 confirms that the traveling road and the other roads connected to the traveling road are both general roads by the road type determination processing, and thus, for example, the above three determinations on an expressway. Even if there is a section that completely clears the processing (steps B2 to B4), the section is excluded from the candidate sections of the intersection section.

  When the driving road and the other roads connected to the road are both general roads (step B5: YES), the driving diagnosis apparatus 10 performs the above four determination processes (steps B2 to B5). If all are cleared, the counter value in the traveling road environment / vehicle behavior database 13b is counted up, in this case, it is increased by 1 (step B6), and this candidate section specifying process is terminated. On the other hand, when any one of the above four determination processes is not cleared, that is, when the driving diagnosis apparatus 10 determines “NO” in any one of the determination processes in steps B2 to B5 described above, The candidate section specifying process is terminated without counting up the counter value.

  The driving diagnosis device 10 executes the candidate section specifying process in order from the oldest storage time among the traveling road environment information accumulated in the traveling road environment / vehicle behavior database 13b. Then, the driving diagnosis apparatus 10 determines a section where the vehicle has traveled from the time point when the count value is counted up (hereinafter referred to as the count-up time point) to a time point before the predetermined time until the count-up time point. As specified. Therefore, this candidate section includes roads on which the vehicle has traveled before the predetermined time from the count-up time, that is, travel roads, and roads on which the vehicle has traveled at the time of count-up, that is, other roads connected to the travel road. It is a section consisting of a road. The predetermined time in this case is set to, for example, one minute, that is, a sufficient time necessary for the vehicle to enter the intersection from the traveling road, pass through the intersection, and enter another traveling road.

(Specification processing of driving diagnosis section)
This driving diagnosis section specifying process (hereinafter referred to as driving diagnosis section specifying process) is a process of specifying an intersection section as a driving diagnosis section from the candidate sections of the intersection section specified by the candidate section specifying process. That is, as shown in FIG. 7, in this driving diagnosis section specifying process, the driving diagnosis device 10 monitors the counter value in the traveling road environment / vehicle behavior database 13b (step C1), and when the counter value is counted up. (Step C1: YES), behavior information extraction processing (Step C2) is executed. In this behavior information extraction process, the driving diagnosis device 10 determines the behavior information in the section specified as the candidate section of the intersection section among the behavior information accumulated in the traveling road environment / vehicle behavior database 13b, that is, before the count-up time point. Behavior information (behavior information stored in the section indicated by the symbol Z in FIG. 2) is extracted (step C2).

  Then, the driving diagnosis device 10 executes a travel locus determination process (step C3) based on the extracted behavior information. In the travel locus determination process, the driving diagnosis device 10 forms a curvature curve of the vehicle in the candidate section using the extracted behavior information. The curvature of the vehicle represents the degree of curvature of the trajectory traveled by the vehicle in the candidate section. In this case, the vehicle curvature is calculated using the speed information and the angular velocity information among the behavior information extracted in step C2. The curvature curve of the vehicle is a curve obtained by continuing the curvature of the travel locus shown by the vehicle at each time point in the candidate section in time series. In this case, the driving diagnosis device 10 calculates the curvature of the vehicle at each time while going back from the count-up time, and as shown in FIG. 8, the calculated curvature is going back from the count-up time P1 as shown by the arrow a. The curvature curve C1 is generated by plotting.

  Then, the driving diagnosis device 10 determines whether or not the generated curvature curve C1 satisfies a predetermined condition set in advance as a condition for determining a traveling locus. In this case, as the predetermined condition, “the value (peak value) of the vertex P of the curvature curve is equal to or higher than a preset upper limit value Ktop, and before the time of the vertex P in the curvature curve (the vertex P in FIG. 8). The value at the time of the left side) is set to be equal to or lower than a preset lower limit value Kend ”. The values of the upper limit value Ktop and the lower limit value Kend can be changed as appropriate. For example, the curvature when the vehicle travels in various intersection sections with different link connection configurations, various curve sections with different shapes, etc. Based on the measured experimental data, it is preferable to obtain and set a value effective for determining the traveling locus.

  In the process of generating the curvature curve C1 while going back from the count-up time P1, the driving diagnosis device 10 confirms the vertex P of the curvature curve C1, that is, the point at which the rising curvature curve C1 starts to fall, and the vertex P When it is confirmed that the curvature at is equal to or higher than the upper limit value Ktop, thereafter, it is monitored whether or not a curvature lower than the lower limit value Kend is confirmed while the generation of the curvature curve C1 is continued. When the curvature equal to or lower than the lower limit value Kend is calculated, it is determined that the curvature curve in the candidate section has cleared the predetermined condition (step C4: YES). In FIG. 8, the point in time when the curvature curve C1 shows a curvature equal to or lower than the lower limit value Kend is indicated by a symbol P2.

  If the curvature curve in the candidate section does not clear the predetermined condition (step C4: NO), the driving diagnosis apparatus 10 ends the driving diagnosis section specifying process. On the other hand, when the curvature curve in the candidate section clears the predetermined condition (step C4: YES), the driving diagnosis device 10 performs a turning angle determination process (step C5). In this turning angle determination process, the driving diagnosis device 10 forms a turning angle curve of the vehicle in the candidate section using the behavior information extracted in step C2. The turning angle of the vehicle represents the amount of change in the angle when the vehicle rotates at each time point when the vehicle travels in the candidate section. In this case, the turning angle information is calculated using the rotation angle information among the behavior information. The The turning angle curve of the vehicle is a curve obtained by integrating the turning angles indicated by the vehicle at each point in time in the candidate section. In this case, the driving diagnosis device 10 calculates the turning angle of the vehicle at each time point while going back from the count-up time point, and as shown in FIG. 9, the calculated turning angle is indicated by the arrow b from the count-up time point P1. The turning angle curve C2 is generated by integrating while going back. In addition, the driving diagnosis device 10 generates a turning angle curve C2 by integrating the turning angles from the count-up time P1 to the time P2 when the curvature curve C1 becomes equal to or lower than the lower limit value Kend in the travel locus determination process.

  Then, the driving diagnosis apparatus 10 determines whether or not the generated turning angle curve C2 satisfies a predetermined condition set in advance as a condition for turning angle determination. In this case, “the turning angle curve is converged between a preset upper limit value Dmax and lower limit value Dmin” is set as the predetermined condition. The values of the upper limit value Dmax and the lower limit value Dmin can be changed as appropriate. In the present embodiment, it is recommended that the connection angle of the roads constituting the intersection is approximately “90 °”. Therefore, the upper limit value Dmax is set to the recommended value “90 °”, a predetermined margin value, In this case, a value obtained by adding “20 °”, that is, “110 °” is set, and the lower limit value Dmin is a value obtained by adding a predetermined margin value to “90 °” as a recommended value, in this case, “20 °”. That is, it is set at “70 °”.

  If the turning angle curve C2 does not reach the lower limit value Dmin even if the turning angle up to the time point P2 is accumulated in the process of generating the turning angle curve C2 while going back from the count-up time point P1, the driving diagnosis device 10 is a candidate. It is determined that the turning angle curve in the section does not satisfy the predetermined condition (step C6: NO), and this turning angle determination process is terminated. In addition, the driving diagnosis device 10 determines the turning angle curve in the candidate section if the turning angle curve C2 obtained by integrating the turning angles up to the time point P2 exceeds the upper limit value Dmax even if the turning angle curve C2 exceeds the lower limit value Dmin. Determines that the predetermined condition is not cleared (step C6: NO), and the turning angle determination process is terminated. Therefore, when the turning angle curve obtained by integrating the turning angles up to the time point P2 exceeds the lower limit value Dmin and does not exceed the upper limit value Dmax, the driving diagnosis device 10 clears the predetermined condition for the turning angle curve in the candidate section. (Step C6: YES).

When the turning angle curve in the candidate section clears the predetermined condition (step C6: YES), the driving diagnosis apparatus 10 specifies the candidate section as an intersection section (step C7), and ends this driving diagnosis section specifying process. To do.
The driving diagnosis device 10 executes the database construction process, the candidate section specifying process, and the driving diagnosis section specifying process described above in parallel. That is, the driving diagnosis device 10 performs the candidate section specifying process on the constructed traveling road environment / vehicle behavior database 13b while constructing the traveling road environment / vehicle behavior database 13b by the database construction process, and the counter value is When the count is counted up, a driving diagnosis section specifying process is performed to specify a driving diagnosis section.

  As described above, according to the present embodiment, the driving diagnosis apparatus 10 determines the driving diagnosis section, in this case, based on the traveling road environment information accumulated in the traveling road environment / vehicle behavior database 13b as the vehicle travels. It is configured to identify a driving diagnosis section through a primary step of extracting candidate sections of an intersection section and a secondary step of evaluating whether the behavior exhibited by the vehicle in the extracted candidate sections satisfies a predetermined condition. . Thereby, the driving diagnosis section for diagnosing the behavior of the vehicle can be set with high accuracy, and the subsequent driving diagnosis processing can be performed in an appropriate section.

  In addition, when the driving diagnosis device 10 determines that the connection relationship between the traveling road and another traveling road connected to the traveling road satisfies a predetermined condition, that is, when the counter value is counted up, A section in which the vehicle has traveled from the time before the predetermined time to the count-up time, that is, a section including the traveling road and another traveling road connected to the traveling road is extracted as a candidate section. Thus, since it comprised so that the area which satisfy | filled predetermined conditions could be extracted as a candidate area, the improvement of the extraction precision of a candidate area can be aimed at.

  In addition, the driving diagnosis device 10 calculates a traveling locus and a turning angle of the vehicle based on the behavior represented by the behavior information extracted by the behavior information extraction processing unit 24, and when the traveling locus and the turning angle satisfy a predetermined condition, The candidate section in which the travel locus and the turning angle are calculated is specified as the driving diagnosis section. As described above, when specifying the driving diagnosis section from the candidate sections extracted by the candidate section extraction processing unit 23, it is configured to perform the narrowing by the travel locus and the narrowing by the turning angle. Can be improved.

In addition, this invention is not limited only to one embodiment mentioned above, It can apply to various embodiment in the range which does not deviate from the summary, For example, it can deform | transform or expand as follows. .
In the link connection angle determination process shown in step B3, it may be configured to determine whether or not the angle formed by the extension line of the travel road and another travel road is equal to or greater than a predetermined angle. In this case, it is preferable to set an angle of “90 °” or less as the predetermined angle, for example, “30 °”. If the angle between the extended line of the road and the other road is “30 °” or more, it is highly likely that the road and the other road are connected so as to bend, indicating the characteristics of the intersection. It can be determined whether or not.
The driving diagnosis device 10 is not limited to one configured by providing a driving diagnosis function in a vehicle device mounted on a vehicle such as a navigation device, and can also be configured as a single driving diagnosis device.

  In the drawing, 10 is a driving diagnosis device, 22 is an information storage processing unit (information storage unit), 23 is a candidate section extraction processing unit (candidate section extraction unit), 24 is a behavior information extraction processing unit (behavior information extraction unit), 25 Indicates a driving diagnosis section specifying processing unit (driving diagnosis section specifying means).

Claims (2)

A driving diagnosis device for diagnosing the behavior of a vehicle when traveling in a driving diagnosis section,
Information storage means for storing road connection relation information representing a connection relation between a traveling road on which the vehicle has traveled and other roads connected to the traveling road and behavior information representing behavior when the vehicle travels on the traveling road;
Candidate section extraction means for extracting candidate sections of the driving diagnosis section based on the road connection relation information stored by the information storage means;
Behavior information extraction means for extracting the behavior information representing the behavior exhibited by the vehicle in the candidate section extracted by the candidate section extraction means;
Based on the behavior represented by the behavior information extracted by the behavior information extraction means, the vehicle trajectory is calculated, and the turning angle of the vehicle is calculated from a plurality of rotation angles indicated when the vehicle travels in the candidate section. A driving diagnosis section specifying means for specifying the candidate section extracted by the candidate section extracting means as the driving diagnosis section when the travel locus and the turning angle satisfy a predetermined condition ;
A driving diagnosis apparatus comprising: The candidate section extracting means, when the connection relationship between the traveling road and another road connected to the traveling road satisfies a predetermined condition, the candidate section extracting means selects a section composed of the traveling road and another road connected to the traveling road. The driving diagnosis apparatus according to claim 1, wherein the driving diagnosis device is extracted as the candidate section.

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