JP6601072B2 - Expressway judgment device - Google Patents

Description

  The present invention relates to a highway determination device that determines whether a road on which a vehicle is traveling is a highway or a general road.

  Patent Document 1 discloses whether a road on which a vehicle is traveling is a highway based on entrance information and exit information communicated between an ETC on-board device and an ETC roadside device installed at a toll gate. A configuration for determining whether or not is described. However, in this configuration, when passing through the entrance and exit of the highway for distance adjustment, it can be accurately determined whether or not it is a highway. When traveling on a route with a mixture of highways with uniform charges, it may not be possible to correctly determine whether the road is a highway.

  Further, Patent Document 2 discloses that, based on the map data used in the navigation device, the current position of the vehicle is map-matched on the road of the map, and the road on which the vehicle is traveling is a general road or a highway. A configuration for determining whether or not is described. However, with this configuration, when traveling on a newly opened highway that does not exist in the map data, it has not been possible to correctly determine whether the road is a highway.

JP 2008-90348 A JP 2000-146608 A

  When the vehicle is traveling on a highway, it is wrong to determine whether it is a highway, and if it is determined to be a general road, the maximum speed of the general road is set as the overspeed determination value while the vehicle is traveling at high speed. As a result, the problem of frequent overspeed warning occurs. In addition, the operation management system for vehicles such as trucks and taxis is equipped with a dangerous driving alarm function such as an overspeed warning and a notification and a function for recording operation information for each road type. In such an operation management system, when an erroneous determination as to whether the road type is a highway or not occurs, there are problems such as false alarms and false notifications, and incorrect operation information being recorded. Had occurred. In order to avoid such a problem, it is necessary for the driver to manually execute an operation for correcting an erroneous determination as to whether or not the road is an expressway. However, manual operation for correcting the erroneous determination by the driver is considerably difficult while the vehicle is running.

  An object of the present invention is to provide a highway determination device that can accurately determine whether or not a highway when traveling on a newly opened highway.

The invention according to claim 1 is a position detection unit that detects a current position of a vehicle, a map matching unit that arranges the current position of the vehicle on a road of a map based on map data , A data collection unit that collects the braking frequency or speed change rate, and data for judging the running behavior of a vehicle traveling on a highway, judgment data for straightness of the vehicle, judgment of curve curvature of the road Data, vehicle vertical vibration determination data, or road gradient change determination data , a storage unit for storing a large number of road feature determination data created corresponding to the travel area, and the vehicle While the vehicle is running, when the map matching unit generates an arrangement switching process that places the current position of the vehicle on a general road on the map, the vehicle running data and the road characteristics And a high speed determination unit that determines whether or not the road on which the vehicle is traveling is a highway based on the determination data, wherein the high speed determination unit has a rate of change in the travel data of the vehicle from a determination value And when it is not larger than the determination value, it is determined that the road on which the vehicle is traveling is an expressway. When the road is larger than the determination value, the road traveling on the road is determined. It is determined whether or not the traveling behavior of the vehicle is an expressway behavior by comparing information on the traveling behavior of the vehicle and the road feature determination data of the traveling area corresponding to the current position of the vehicle, When the traveling behavior of the vehicle is an expressway behavior, the road on which the vehicle is traveling is configured to be determined to be an expressway, and the road on which the vehicle is traveling is an expressway by the high speed determination unit. Size The when the even arrangement switching process occurs, and the road type to be set and motorways.

The block diagram of the whole schematic structure of the vehicle-mounted apparatus which shows 1st Embodiment of this invention. Highway determination control flowchart Flowchart of road feature determination data update control showing the second embodiment of the present invention Block diagram of a system that updates road feature determination data

  Hereinafter, a first embodiment in which the present invention is applied to an in-vehicle device of a vehicle operation management system will be described with reference to FIGS. 1 and 2. As shown in FIG. 1, the in-vehicle device 1 of the present embodiment includes a map data storage unit 2, a sensor group 3, an input signal group 4, a road feature determination data storage unit 5, and a vehicle travel data storage unit 6. , A display device 7, an audio output device 8, an operation data storage unit 9, and a control device 10.

  The map data storage unit 2 stores map data. As the storage medium of the map data storage unit 2, a DVD, a hard disk, a memory, or the like can be used. The sensor group 3 includes a GPS receiver 11, a gyro sensor 12, an acceleration sensor 13, a vehicle speed sensor 14, and the like, and detection signals from each sensor are output to the control device 10. The current position of the vehicle can be detected while complementing each other using detection signals from a plurality of sensors in the sensor group 3. In this case, the sensor group 3 constitutes a position detection unit.

  The input signal group 4 is configured to input a brake signal 15 and a blinker signal 16 via an in-vehicle network (for example, CAN), a signal line, and the like, and output them to the control device 10. The road feature determination data storage unit 5 stores road feature determination data, that is, data for determining the characteristics of the traveling behavior of a vehicle traveling on an expressway. Examples of data for determining the characteristics of the driving behavior of the highway vehicle include, for example, highway straightness determination data, highway curve curvature determination data, and vertical vibrations of the vehicle running on the highway. Determination data, determination data on the gradient change amount of the expressway, and the like are stored. As a storage medium of the road feature determination data storage unit 5, a memory or the like can be used.

  The road feature determination data is data created based on traveling data of vehicles traveling on a highway collected from a large number of vehicles in the external information center 17. The road feature determination data is configured to be received from the information center 17 by the communication unit 19 via the network 18 such as a mobile phone network and stored in the road feature determination data storage unit 5. When the road feature determination data is updated in the information center 17, the update data is received by the communication unit 19 via the network 18, so that the road feature determination data in the road feature determination data storage unit 5 is received. The data is updated. The details of the road feature determination data update process will be described later.

  The vehicle travel data storage unit 6 stores vehicle travel data, that is, data on travel behavior of a vehicle traveling on a road, in particular, whether the vehicle travel behavior is the travel behavior of a vehicle traveling on a highway. Data necessary to determine whether or not is collected and stored. Here, the vehicle travel data collected and stored include, for example, data on the average speed of the vehicle, data on the brake frequency (that is, the number of times of brake operation per unit time), data on the rate of change in vehicle speed, , Data on the number of times of acceleration / deceleration of the vehicle, data on the adjustment amount of the steering (that is, the amount of rotation operation and direction of rotation), data on the number of times of lane change of the vehicle, and the travel trajectory of the vehicle (for example, straight travel trajectory and curve travel Trajectory) data, vertical vibration data of the vehicle, gradient change data of the road on which the vehicle travels, and the like are collected and stored. As a storage medium of the vehicle travel data storage unit 6, a hard disk, a memory, or the like can be used. The collected vehicle travel data is configured to be transmitted to the information center 17 via the communication unit 19.

  The display device 7 is composed of a liquid crystal display, for example, and can perform color display. The display device 7 displays a map, a mark indicating the current position of the vehicle, a guidance route to the destination, symbol data and names of various facilities, messages, and the like superimposed on the map. The audio output device 8 is composed of an amplifier and a speaker, and outputs various messages (for example, warning messages, road guidance messages, etc.) as audio.

  The operation data storage unit 9 stores vehicle operation data, for example, average vehicle speed data, brake frequency data, vehicle speed change rate data, vehicle acceleration / deceleration frequency data, steering speed data, Adjustment amount data, vehicle lane change count data, vehicle travel trajectory data, vehicle vertical vibration data, vehicle slope change data, road type data, danger Driving alarm data and the like (that is, data obtained by adding various kinds of information to vehicle running data) are stored. As the storage medium of the operation data storage unit 9, a removable memory card such as an SD card is used.

  The control device 10 has a function of controlling the entire in-vehicle device 1 and is configured around a known microcomputer including a CPU, a ROM, a RAM, an I / O, a bus line connecting these components, and the like. The control device 10 includes a map matching unit 21, a travel data collection unit 22, a high speed determination unit 23, a dangerous driving alarm unit 24, a system control unit 25, and a recording unit 26.

  The map matching unit 21 inputs map data from the map data storage unit 2, inputs information on the current position of the vehicle from the sensor group 3, and map-matches the current position of the vehicle on the map.

  The traveling data collection unit 22 includes information on the current position of the vehicle from the sensor group 3, detection signals from the gyro sensor 12, acceleration sensor 13, and vehicle speed sensor 14 of the sensor group 3, brake signal 15 from the input signal group 4, and A blinker signal 16 is input, and traveling data of a vehicle traveling on a highway is collected based on the various information and signals input. In this case, data characteristic of the traveling behavior of the vehicle traveling on the highway is collected as the traveling data of the vehicle. For example, average vehicle speed data, brake frequency data, vehicle speed change rate data, vehicle acceleration / deceleration frequency data, steering adjustment amount data, and vehicle lane change frequency data In addition, data on the travel locus of the vehicle, data on the vertical vibration of the vehicle, data on the amount of change in the gradient of the road on which the vehicle travels, and the like are collected as the travel data of the vehicle. The collected travel data is sequentially stored and accumulated in the vehicle travel data storage unit 6 in time series, for example.

  The high speed determination unit 23 inputs the map matching result from the map matching unit 21, the vehicle travel data from the vehicle travel data storage unit 6, and the road feature determination data from the road feature determination data storage unit 5. Determine if you are driving on the road. Specific control for determining whether or not the vehicle is traveling on an expressway will be described later.

  The dangerous driving warning unit 24 inputs the determination result from the high speed determination unit 23 (that is, the current road type information) and the vehicle speed detection signal from the vehicle speed sensor 14 of the sensor group 3, and the road on which the vehicle speed is traveling. It is determined whether or not a set speed (for example, 10 km / h or 20 km / h) has become higher than the maximum speed. Then, when the vehicle speed becomes higher than the maximum speed of the road by the set speed, the dangerous driving warning unit 24 outputs a dangerous driving warning message warning the vehicle speed excess to the display device 7 and displays it on the screen. At the same time, the voice output device 8 outputs a warning drive warning message that warns of excess vehicle speed.

  The system control unit 25 includes vehicle travel data from the vehicle travel data storage unit 6, a determination result from the high speed determination unit 23, a dangerous driving alarm from the dangerous driving alarm unit 24, and a vehicle operation from the position detection unit 3. Information on the current position and the like are input, and these pieces of information are stored as operation data in the operation data storage unit 9 via the recording unit 26. In this case, the operation data is stored and accumulated in the operation data storage unit 9 sequentially, for example, in time series.

  Next, the operation of the above configuration, in particular, the content of the highway determination control of the high speed determination unit 23 will be described with reference to the flowchart of FIG. Note that the flowchart of FIG. 2 shows the contents of control of the control device 10. First, in step S10 of FIG. 2, it is determined whether or not the current road type state is “highway”. Here, if the current road type state is not “highway” (that is, “general road”), the determination in step S10 is repeated.

  When the current road type state is “highway” in step S10, the process proceeds to step S20, and travel data of vehicles traveling on the highway is collected. The travel data collection process is executed by the travel data collection unit 22 of the control device 10, and the collected travel data is stored in the vehicle travel data storage unit 6.

  Subsequently, the process proceeds to step S30, and it is determined whether or not the road type has been switched to a general road based on the current position of the vehicle and the map data. The process of switching the road type to the general road is executed by the map matching unit 21 of the control device 10. For example, when the vehicle starts to travel on a new highway that does not exist in the map data, the switching process may occur. In step S30, when the road type is not switched to a general road, the process returns to step S20 and the above-described processing is repeatedly executed.

  In step S30, when the road type is switched to a general road, the process proceeds to step S40. In this step S40, the difference between the average value of the traveling data of the vehicle when traveling on the highway and the traveling data of the vehicle after the road type is switched to the general road, that is, the travel data change rate. Is calculated. In this case, the travel data change rate is calculated for, for example, three travel data (for example, vehicle speed, brake frequency, speed change rate) from the travel data described above. In addition, you may calculate a driving | running | working data change rate about four or more driving | running | working data.

  And it progresses to step S50 and it is judged whether the calculated driving | running | working data change rate is larger than the predetermined judgment value. In this case, it is determined whether or not the travel data change rates of the three travel data are larger than the corresponding determination values. Here, when not all the travel data change rates are larger than the respective determination values, the travel behavior of the vehicle remains unchanged and the highway behavior remains unchanged, so the process returns to step S20 and the travel data collection is continued.

  In step S50, for example, when at least one travel data change rate is larger than the determination value, the process proceeds to step S60, and road information of the road on which the vehicle is currently traveling (that is, the travel behavior of the vehicle traveling on the road). Information) and the road feature determination data in the road feature determination data storage unit 5 are compared. In this case, as the road information of the road on which the vehicle is currently traveling, traveling data for comparison with the road feature determination data from the collected traveling data (for example, straightness data of the vehicle, road curve, etc.) Curvature data, vehicle vertical vibration data, road gradient change data, etc.) are extracted, and the extracted data are compared with the road feature determination data.

  Then, it progresses to step S70 and it is judged whether the driving | running | working behavior of a vehicle is a highway behavior based on the said comparison result. Here, if it is determined that the driving behavior of the vehicle is an expressway behavior, there is no need to change the road type, so the process returns to step S20 to continue collecting driving data.

  If it is determined in step S70 that the vehicle traveling behavior is not highway behavior, the process proceeds to step S80, and the road type is changed to "general road". Thereafter, the process returns to step S10, and it is determined whether or not the current road type is “highway”. When the road type is “general road” (that is, when the vehicle is traveling on a general road), the vehicle enters the highway, and the current position of the vehicle is placed on the highway by map matching. When the switching is made, the road type is changed to “highway” at the time of switching.

  In the present embodiment having such a configuration, when the vehicle is traveling on the highway, the map matching unit 21 generates a vehicle travel data when the map switching unit 21 arranges the current position of the vehicle on the general road on the map. And the road feature determination data, it is determined whether the road on which the vehicle is traveling is an expressway. In this determination, when it is determined that the road on which the vehicle is traveling is an expressway, the road type is set to be an expressway even if the arrangement switching process occurs. As a result, when a vehicle travels on a highway that exists in the map data, and then starts traveling on a new highway that does not exist in the map data, Since it is possible to accurately determine whether the road is a road, it is possible to almost certainly prevent the road type from being erroneously changed to “general road”. As a result, it is possible to prevent a false alarm of excessive speed and to accurately set the road type in the operation management system, so that it is possible to prevent false alarms and false notifications and to record accurate operation information.

  3 and 4 show a second embodiment of the present invention. In addition, the same code | symbol is attached | subjected to the same structure as 1st Embodiment. In the second embodiment, an example of control for updating the road feature determination data in the road feature determination data storage unit 5 in the in-vehicle device 1 is shown. Note that the flowchart of FIG. 3 shows the content of the control for updating the road feature determination data in the control of the control device 10.

  First, in step S110 of the flowchart of FIG. 3, the current position of the vehicle is detected by the sensor group 3, and the detected current position of the vehicle is stored in a memory inside the control device 10. Then, it progresses to step S120 and it is determined whether the state of the present road classification is "highway". If the current road type is not “highway”, the process returns to step S110 to repeat detection of the current position of the vehicle.

  If the current road type is “highway” in step S120, the process proceeds to step S130, and an inquiry is made to the information center 17 as to whether or not the road feature determination data needs to be updated. . In this case, the above-mentioned inquiry is added to the information center 17 by adding the version information of the road feature determination data in the road feature determination data storage unit 5, the update date / time information and the like, and the current position information of the vehicle. The control on the information center 17 side for the inquiry will be described later.

  Subsequently, the process proceeds to step S140, and an answer transmitted from the information center 17 is received in response to the inquiry. The process proceeds to step S150, and it is determined whether there is update data of road feature determination data based on the answer. To do. Here, when there is no update data, the process returns to step S110 and the detection of the current position of the vehicle is repeated.

  If there is update data in step S150, the process proceeds to step S160 where the update data of the road feature determination data is downloaded from the information center 17, and the road in the road feature determination data storage unit 5 is downloaded based on the downloaded update data. Update feature determination data. Thereafter, the process returns to step S110, and detection of the current position of the vehicle is repeated.

  Next, update control on the information center 17 side will be described with reference to FIG. As shown in FIG. 4, the information center 17 communicates with the in-vehicle devices 1 of a large number of vehicles via the network 18 so that the vehicle travel data collected by each vehicle (that is, the vehicle travels on the highway). Time travel data).

  In addition, the driving data of the vehicle is stored in the driving data storage unit 9 in a form included in the driving data, and since the driving data storage unit 9 is an SD card, it is removed from the in-vehicle device 1 by the driver. It can be carried around. And a driver | operator connects the said SD card to the card reading part of the office personal computer 27 which comprises an operation management system, and stores the driving | operation data (namely, including driving | running | working data) of a vehicle in the memory | storage part of the office personal computer 27 (For example, a memory or a hard disk)). Note that the office personal computer 27 is configured to perform data collection processing and analysis processing of the operation data of each captured vehicle.

  Furthermore, the information center 17 communicates with the office personal computer 27 via a network 28 such as the Internet, thereby receiving operation data (that is, including travel data) of each vehicle in the storage unit of the office personal computer 27. Can be collected.

  The information center 17 creates road feature determination data for the expressway based on the traveling data of a large number of vehicles collected as described above. In this case, even if the same expressway is used, the driving behavior (for example, speed distribution) of the vehicle traveling on the expressway is statistically different due to differences in road structure and traffic flow between the city center and rural areas. It has been found that a significant difference occurs. Therefore, a large number of road feature determination data 29, 30, 31,... Are created in correspondence with the travel area. Furthermore, when there are a plurality of highways in the travel area, it is preferable that a plurality of road feature determination data is created corresponding to the plurality of highways.

  When the information center 17 receives an inquiry from the in-vehicle device 1 of the vehicle regarding whether or not the road feature determination data shown in step S130 of FIG. 2 needs to be updated, the vehicle information included in the received inquiry is received. Based on the current position information, the version information of the road feature determination data, the update date / time information, and the like, it is determined whether or not the road feature determination data of the travel area corresponding to the current position of the vehicle has been updated. And it is comprised so that the determination result (namely with update or without update) of an update may be transmitted to the vehicle-mounted apparatus 1 as a reply with respect to an inquiry.

  In addition, when the in-vehicle device 1 downloads the update data from the information center 17 in step S160 of FIG. 2, the update data of the road feature determination data of the travel area corresponding to the current position of the vehicle is downloaded. ing.

  Note that the control in FIG. 3 and the control in FIG. 2 of the first embodiment are configured to be executed in parallel by the control device 10. Further, other controls of the control device 10 (that is, various controls for controlling the in-vehicle device 1 of the operation management system) are configured to be executed in parallel with the controls of FIGS. 2 and 3 as necessary. ing.

  The configuration of the second embodiment other than that described above is the same as the configuration of the first embodiment. Therefore, in the second embodiment, substantially the same operational effects as in the first embodiment can be obtained. In particular, according to the second embodiment, a large number of road feature determination data 29, 30, 31,... Are created in correspondence with the travel area, and the road in the travel area corresponding to the current position of the vehicle. Since it is configured to determine whether or not it is an expressway based on the feature determination data, it is possible to further improve the accuracy of determining whether or not it is an expressway.

  In each of the above embodiments, the operation data storage unit 9 is configured with a removable SD card. However, the present invention is not limited to this, and the operation data storage unit 9 is configured with a hard disk or a memory. You may comprise so that the operation data memorize | stored in the inside may be regularly transmitted to the information center 17 via the communication part 19 and the network 18, for example.

  Moreover, you may comprise so that the function as a car navigation apparatus may be provided in the vehicle-mounted apparatus 1 of said each embodiment. That is, the in-vehicle device 1 is provided with an operation switch group for setting the destination, and the control device 10 functions as a route search unit for searching for a route from the current position to the destination, or along the searched route. It is preferable to provide a function as a route guidance unit for route guidance.

  In the drawings, 1 is an in-vehicle device (highway determination device), 2 is a map data storage unit, 3 is a sensor group (position detection unit), 4 is an input signal group, 5 is a road feature determination data storage unit, and 6 is a vehicle running. Data storage unit, 10 is a control device, 17 is an information center, 18 is a network, 21 is a map matching unit, 22 is a travel data collection unit, 23 is a high-speed determination unit, 24 is a dangerous driving alarm unit, 29, 30 and 31 are This is road feature determination data.

Claims (3)

A position detector (3) for detecting the current position of the vehicle;
A map matching unit (21) for arranging the current position of the vehicle on the road of the map based on map data;
A travel data collection unit (22) that collects vehicle speed, brake frequency, or speed change rate as travel data of the vehicle ;
Data for determining the driving behavior of a vehicle traveling on an expressway , including vehicle straightness determination data, road curve curvature determination data, vehicle vertical vibration determination data, or road gradient change amount A storage unit (5) for storing road feature determination data created in correspondence with a travel area ,
When the vehicle is traveling on an expressway and the map matching unit (21) generates a layout switching process for placing the current position of the vehicle on a general road on the map, the vehicle travel data and the road feature determination data And a high speed determination unit (23) for determining whether or not the road on which the vehicle is traveling is a highway,
The high speed determination unit (23) determines whether or not the rate of change of the travel data of the vehicle is greater than a determination value. If the change rate is not greater than the determination value, the road on which the vehicle is traveling is a highway. And when it is larger than the determination value, the information on the traveling behavior of the vehicle traveling on the road is compared with the road feature determination data of the traveling area corresponding to the current position of the vehicle. Determining whether the driving behavior of the vehicle is an expressway behavior, and determining that the road on which the vehicle is driving is an expressway when the driving behavior of the vehicle is an expressway behavior Configured,
When the high-speed determination unit (23) determines that the road on which the vehicle is traveling is a highway, a highway determination is made such that the road type is set to a highway even if the placement switching process occurs. apparatus. An inquiry unit (10) for inquiring whether or not the road feature determination data has been updated in the information center (17);
When a response indicating that the road feature determination data has been updated is received from the information center, update data of the road feature determination data is downloaded from the information center (17), and the road is updated based on the downloaded update data. data updating unit for updating the characteristic judgment data (10) and motorways determining apparatus according to claim 1, further comprising a. The inquiry unit (10) sends information on the current position of the vehicle to the information center (17), and inquires whether road feature determination data for an expressway around the current position of the vehicle has been updated. The highway determination device according to claim 2, which is configured as follows.

Images