JPH0670837B2 - Advance notice method - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION <Industrial field of application> The present invention, in a driving guidance instruction device, prevents the traveling direction switching point from going too far by displaying advance notice of the traveling direction switching in the basic travel locus. Regarding advance notice method for changing direction.

<Prior Art> Data for indicating a basic driving travel locus is stored in a memory in advance, and a driving guidance instructing device for a vehicle that displays on a display a steering wheel correction rotation amount for performing driving that follows the basic travel locus. There is.

In such a driving guidance instructing device, a sensor for detecting a traveling locus of the vehicle is mounted on the vehicle, for example, a sensor for detecting a traveling distance or a position of the vehicle is mounted on a position related to a wheel, and a steering wheel rotation direction and a steering wheel rotation angle A sensor to detect the vehicle is attached to the steering wheel, and a sensor to detect the traveling direction (forward / reverse) of the vehicle is attached to the shift lever or the backlight, and a good driver drives the vehicle to move it to the intended place. Then, in parallel with the driving, the steering wheel rotation angle and the traveling direction according to the traveling distance or the position of the vehicle are read from the respective sensors and stored in the memory as a basic traveling locus.

FIG. 7 shows the basic traveling locus 1 → 2 → ・ ・ ・ ・ ・ → 19) when guiding the car CAR to the garage PRK (putting in the garage), and moves forward to the point 10, and then, It shows the case where the vehicle goes backward and completes garage entry.

FIG. 8 is an explanatory view of basic traveling locus data stored in the memory and corresponds to FIG. 7. Initial position 0 (7th
From the figure), one pulse is generated from the distance sensor each time the vehicle moves and reaches each of the points 1 to 19, and each time the pulse is generated, the memory address is changed from A ₀ to A ₁ , A ₂ , ...・ Stepping with A ₁₉ (Fig. 8), the steering wheel rotation amount H _B at each point 0 to ₁₉ and the data D _B (F: forward, R: backward) indicating the traveling direction are stored at memory addresses A _{0 to} A ₁₉ , respectively. In addition to storing in the storage area designated by, the “GO” data (“101”) indicating “with data” is stored in each storage area, and further storage designated by the next address A ₂₀ upon completion of registration of the basic traveling locus. D _B = 0, H _B = 0, GO in the area
= 000 is stored and the basic travel locus data is generated in the memory. Specifically, at address A ₀ of the initial position 0 of the vehicle, “F” data indicating that the vehicle is moving forward and the steering wheel rotation amount at that time (straight running and steering wheel rotation amount 0) are stored. At address A ₁ , the forward F and +0.2 (rotation) data indicating that the steering wheel is turned slightly to the right are stored. Similarly, at addresses A ₂ , ... A ₉ , the traveling direction and steering wheel are stored. The rotation amount is stored. Also, from point 9 to point
Assuming that the steering wheel is fully turned to the right (+1.5 rotations) to 10 and moves forward, “F” and the steering wheel rotation amount +1.5 are stored in the address A ₁₀ corresponding to the point 10. Then, from this point, if the direction of travel of the vehicle is switched to reverse and the steering wheel is switched to full, the address A ₁₁
The traveling direction data “R” and the steering wheel rotation amount −1.5 are stored in. After that, the address A ₁₂ , ... A ₁₈ and the data are similarly stored, and when the car is stopped at the point 19, the traveling direction data “F” and the steering wheel rotation amount at that time (in the case of the straight traveling position, are stored in the address A _19). 0) is stored. Then, when the end of the basic traveling operation is keyed in thereafter, D _B = 0, H _B = 0, GO = 000 is stored in the storage area designated by the address A ₂₀ . In general, when the vehicle is stopped, the shift lever is once released from reverse, so the traveling direction data stored in the address ₁₉ at the stop 19 is "F". As described above, the basic travel locus data is generated in the memory.

In this way, when the basic traveling locus data is stored in the memory, when an amateur drives based on the basic traveling locus, the vehicle moves from the initial position 0 (called follow-up driving) and a pulse is generated from the distance sensor. The basic handle rotation angle H _B traveling direction data D _B is read from the storage area designated by the address and the traveling direction is displayed by the traveling direction data D _B , and the basic steering wheel rotation angle is displayed. H _B is compared with the actual steering wheel rotation angle H _A, and the comparison result is transmitted to the driver via the display provided in the passenger compartment, the driver corrects the steering wheel rotation, and the actual travel path is used as the basic travel path. Approximate the trajectory. Then, thereafter, similar driving guidance is performed until the “GO” data becomes “000”, and the vehicle follows the basic traveling locus and moves.

Incidentally, FIG. 9 is an external view of the display device 100, which is a symmetrical optical index pattern 10 with a substantially circular shape and a part of the lower part missing.
1 and display 102,1 showing forward (FWD) and backward (REV) of the vehicle
03 is provided, the steering wheel correction rotation amount zero position is indicated by the circular index SI ₀ of the index pattern 101, and the left side of the handle is indicated by the indexes SL _{1 to} SL ₁₀ arranged at equal intervals in the clockwise direction from the _zero index SI _0. The correction rotation amount is indicated non-linearly and the zero index SI ₀
The steering wheel right correction rotation amount is also non-linearly indicated by the indexes SR _{1 to} SR ₁₀ arranged more counterclockwise at equal intervals.

Then, in parallel with the following operation process, the actual traveling direction is compared with the basic traveling direction read from the memory. If they match, nothing is done, but if they are different, the traveling direction switching point is passed. The driver gives a warning by stopping the car in a hurry and sounding a buzzer to move the shift lever backward.

After that, the above-described processing and operations are performed to follow the basic traveling and the garage entry of the vehicle is completed.

<Problems to be Solved by the Invention> As described above, if the driving operation is accurately performed as guided by the conventional driving guidance instructing device, the following traveling locus almost coincides with the basic traveling locus, and there is no problem. Absent.

However, there is no problem as long as the basic traveling locus is straight or only backward, but if the basic traveling locus becomes complicated and one or more traveling direction switching points are included, the traveling direction switching points will be included. Overrun occurs. And even if you overrun even a little, in most cases at the traveling direction switching point it is necessary to turn the steering wheel to the other side from the state where the steering wheel is fully turned to one side, so after that the vehicle will be accurately set to the basic travel path. It becomes impossible to follow and move. In particular, in the conventional method, the switching operation of the traveling direction is delayed and the overrun is considerably large as shown in Fig. 10, so that the follow-up operation according to the basic traveling locus (Fig. 7) cannot be performed and a contact accident with the building occurs. To do.

Incidentally, when the cause of the operation that cannot follow the basic traveling locus in the conventional follow-up operation is investigated, it is often due to a malfunction at the traveling direction switching point. This point will be explained with reference to FIG. 10. From the start point (initial position 0) to the traveling direction switching point 10, carefully follow the guidance instruction of the driving guidance instruction device to drive the vehicle along the basic traveling path. Can be made. However, when reaching the direction switching point (circle), the guidance instruction suddenly advances (FWD display)
The reverse display (REW display) appears, and at the same time, the buzzer for switching the shift lever sounds. Until now, drivers who focused on steering wheel display and concentrated on steering wheel corrections were unable to stop the vehicle by immediately pressing the brake to switch the shift lever to reverse in response to this sudden direction switching instruction. Therefore, the position at which the vehicle stops is at a position far away from the traveling direction switching point. That is,
From the point where the direction of travel was changed, the car would move forward at that position, and would overrun to the point indicated by 12 in Fig. 10.
In many cases, when the vehicle is operated in reverse after the vehicle is stopped, the steering wheel instruction is changed and the steering wheel is switched only when there is enough room. In this case, the driving guidance instruction device has already read the basic data (basic steering wheel rotation amount, traveling direction data) corresponding to the overrun points 11 and 12, and is included in the address near the most important switching point. The data of switching the maximum steering wheel will be lost, and as a result, even if the vehicle is guided accurately, the vehicle will tilt in a direction different from the basic travel path and collide with the building as shown in Fig. 10. is there.

From the above, when it is necessary to change the traveling direction many times due to a narrow road in front of the garage, it is necessary to reduce the amount of overrun as much as possible.

Therefore, an object of the present invention is to provide a traveling direction switching advance notice method that can reduce the amount of overrunning the traveling point even if the basic traveling locus includes the traveling direction switching point, and thus can perform follow-up operation accurately following the basic traveling locus. Is to provide.

Another object of the present invention is to identify a traveling direction switching point before reaching the traveling point, and when the vehicle approaches the switching point, the traveling direction switching point can be shortened by notifying that the traveling direction switching point is near. It is to provide a switching notice method.

<Means for Solving Problems> FIG. 1 is a block diagram of a driving guidance instructing device according to the present invention.

11 is a processor, 12 is a non-volatile memory (for example, RAM for battery backup), 13 is an operation panel, 14 is a handle sensor that is mounted on a handle column and detects the rotation angle of the handle, and 15 is a wheel sensor that detects the rotation of the wheels. , 16 is a traveling direction sensor for detecting forward / reverse traveling (traveling direction) of the vehicle, 17 is a display driver, 18 is a buzzer, and 19 is an indicator.

<Function> During basic driving, the address of the memory 12 is stepped up according to the distance traveled by the vehicle, the data indicating the steering wheel rotation amount and the traveling direction at that time, and the traveling direction changes at a point after a predetermined distance from the local point. The change point information indicating whether to perform is stored in the storage area indicated by the address. Then, the basic steering wheel rotation amount, the traveling direction data and the change point information are read from the storage area designated by the memory address which is stepped according to the traveling distance of the vehicle during the following driving, and the driving following the traveling direction and the basic traveling locus is performed. The steering wheel correction rotation amount for performing the operation is displayed on the display device 19, and when the change point information indicates that the traveling direction changes, the buzzer 18 gives a notice of switching the traveling direction.

<Embodiment> FIG. 1 is a block diagram of a driving guidance instructing device according to the present invention. 11 is a processor for performing processing for driving guidance instruction and other processing, 12 is (i) basic traveling locus and (ii) )
A non-volatile memory (for example, a battery backup RAM) that stores a correspondence table showing the relationship between the steering wheel correction rotation amount and an index (to be described later) to be turned on, and 13 is a switch for starting / stopping the registration of the basic travel locus. 13a, 13
b or an operation panel equipped with an inductive driving start switch 13c for performing driving according to the basic travel locus, 14 is a steering wheel sensor mounted on the steering wheel column to detect the rotation angle of the steering wheel, and 15 is the rotation of the wheels. A wheel sensor that detects the distance and generates one distance pulse for each predetermined rotation of the wheel, 16
Is the reverse / forward movement of the vehicle (R
/ F) to detect the traveling direction sensor, 17 is a display driver,
Reference numeral 18 is a buzzer for instructing switching of the traveling direction, and 19 is a display device for displaying the corrected rotation amount of the steering wheel, displaying the traveling direction, displaying a notice for switching the traveling direction and the like.

The display unit 19 has a symmetrical optical index pattern 19a in which the graduation portion is substantially a circle and a part of which is cut off below, and display units 19b and 19c indicating forward (FWD) and backward (REV) of the vehicle. . Each index of index pattern 19a SI ₀ , SR ₁ ~ SR ₁₀ , SL ₁ ~ SL ₁₀
Are made up of LEDs (light emitting diodes),
Only the index SI _{0 in the} upper center part is circular, and the other indices are rectangular. Indicator SI ₀ is green and indicators SR _{1 to} SR
₆ and SL _{1 to} SL ₆ are yellow and have indicators SR _{7 to} SR ₁₀ and SL _{7 to} SL _10.
Is displayed in red. In addition, the index SI ₀ indicates the steering wheel correction rotation amount zero position, the left correction rotation amount of the huddle is non-linearly indicated by the indexes SL _{1 to} SL ₁₀ arranged at equal intervals in the clockwise direction from the _zero index SI ₀ , and Similarly, the steering wheel right correction rotation amount is non-linearly indicated by the indexes SR _{1 to} SR ₁₀ arranged at equal intervals in the counterclockwise direction from the zero index SI ₀ . That is, when the correction rotation amount of the handle is small, the change of the scale of each index (handle correction amount) is small, and when the rotation amount of the handle is large, the change of the scale of each index is large.

FIG. 2 is a correspondence diagram between the index NO. And the steering wheel correction rotation amount. The index SI ₀ is NO. ₀ , the indexes SR _{1 to} SR ₁₀ are NO. 1 to NO.
The indexes SL _{1 to} SL ₁₀ are shown as NO.1 ′ to NO.10 ′. That is, the index NO.0 indicates a corrected rotation amount of 0 to ± 0.03 rotations (+ sign indicates a right rotation, the one sign indicates a left rotation), and the index NO.1 indicates a correction rotation amount of 0.03 to 0.14 rotations.
The corrected rotation amount -0.03 to -0.14 is indicated by the index NO.1 ', and the corrected rotation amount 0.14 to 0.29, respectively by the index NO.2, NO.2'.
-0.14 to -0.29 is indicated, and in the same manner, the corrected rotation amount is 2.5 to,-, respectively, using the indexes NO.10 and NO.10 '.
2.5- is instructed, and the correspondence between the steering wheel correction rotation amount and the index to be turned on is stored in the non-volatile memory 12 in advance.

FIG. 3 is a flowchart of the basic traveling locus registration processing, and FIG. 4 is a flowchart of the follow-up driving processing. 1st according to each flow chart
The overall operation of the figure will be described.

(A) Basic traveling locus registration processing The basic traveling locus registration switch 13a (Fig. 1) is operated to enter the registration mode, and a good driver drives the vehicle toward the intended place (for example, a garage). To move.

In parallel with this basic operation, the processor 11
The outputs 14 to 16 (handle rotation amount H _B , distance pulse W, traveling direction D _B ) are read (step 101), and it is checked whether the address pointed to by the built-in address pointer is the initial address A ₀ (step 102). ), The address is initialized to the address A _{0 of the} address pointer at the initial stage.

If the initial address is A _0, it indicates the steering wheel rotation amount H _B and the traveling direction D _B read from the sensor, and the existence of data.
The GO data (“101”) is stored in the memory 12 (step 107), the address designated by the address pointer is incremented (step 108), and the processing from step 101 onward is repeated thereafter.

On the other hand, in step 102, if the address pointed to by the address pointer is not the initial address, the traveling direction stored in the storage area designated by the immediately preceding address is compared with the current traveling direction to check whether the traveling direction has changed. If it has not changed, the process jumps to step 105 to check whether the registration process is completed. It should be noted that, for example, when the registration end switch 13b is pressed, it is considered that the basic traveling locus registration processing is completed.

If the advancing direction has changed, the processor 11 stores the current address (the address indicated by the address pointer) as the advancing direction change point address A _D (step 104), and then checks in step 105 whether the registration processing has ended.

If the basic traveling locus registration process is not completed in the check of step 105, it is checked whether a distance pulse is generated from the wheel sensor 15 (step 106), and if it is generated, it is read from the sensors 14 and 16 (i ) The handle rotation amount H _B , (ii) traveling direction D _B, and (iii) “GO” data (“101”) indicating “with data” are stored in the storage area of the memory 12 designated by the address pointer (step 10
7) Then, the address of the address pointer is incremented (step 108) and thereafter the processing from step 101 onward is repeated.

As described above, assuming that a garage is put in as shown in FIG. 7, for example, the basic traveling locus data shown in FIG. 5 is registered in the non-volatile memory 12, and the address A _{11 is set} as the advancing direction change point address A _D. And A ₁₉ are memorized.

After the garage has been put in, for example, the registration end switch 13
When b is pressed, "YES" is set in step 105, and the processor 11 sends the next address (address A in the example of FIG. 5).
₂₀ ) stores H _B = 0, D _B = 0, GO = 000 in the storage area, and sets the address pointed to by the address pointer to A ₀ (A ₀ → A), and edits the basic travel locus data thereafter. Processing is performed (step 109).

Then, the processor 11 selects the registration data D _B , H _B , from the storage area of the memory 12 designated by the address pointer (address A).
While reading the GO data (step 110), it is checked whether the current address A designated by the address pointer is an address 1 to S before the advancing direction change point address _AD (step 111).

Here, S is a number that is set in advance, the point A S before the address from the traveling direction change point addresses A _D, spaced a distance corresponding to the S distance pulse to the start point side of the movement direction change point Is the address of. In the example of FIG. 5, since S = 2 and A _D = A ₁₁ and A ₁₉ , the address indicated by the address pointer in step 111 is A ₉ (= A ₁₁ −
2) or A ₁₀ (= A ₁₁ -1) or A ₁₇ , A ₁₈ is checked.

In step 111, the current address is not an address 1 to S before the advancing direction change point address _AD , step 113
Then, it is checked whether the GO data is "000" indicating the end of the data (step 113).

On the other hand, the current address A is one of the advancing direction change point addresses A _D
If it is the address before S, the GO data of the current address is changed from "101" to "010", and D _B , H _B , GO data ("010")
Is stored in the storage area designated by the current address A (step 11
2) Then, in step 113, it is checked whether it is the data end.

If it is the data end, the editing process is terminated, and if it is not the data end, the address A pointed to by the address pointer is incremented (step 114), and the processes after step 110 are repeated to change point addresses A ₁₁ , A ₁₉ The GO data before 1 to S is changed to "010" (see FIG. 5 (b)).

From the above, in the memory storage area designated by the address corresponding to the traveling distance, (i) the steering wheel rotation amount H _B at that time, (i
i) so that the traveling direction D _B and the (iii) change point information indicating that the traveling direction is changed at a point after a predetermined distance (distance pulses corresponding to 1~S number) than the current point are stored.

(B) Follow-up operation process With the basic travel locus registered in the non-volatile memory 12 by the above operation, the vehicle is moved to the initial position 0 (see FIG. 7), and then the follow-up operation start switch 13c is operated. Then, the following operation is started and the following operation is started.

When the follow-up operation is activated, the processor 11 initializes various values (for example, the address is initialized to A ₀ ), reads the outputs of the steering wheel sensor 14 and the traveling direction sensor 16 at the initial position 0 of the vehicle, and rotates the current steering wheel. The amount H _A and the traveling direction (forward / reverse) D _A are set (step 201).

Then, the processor 11 reads the basic handle rotation amount H _B indicated by the initial address A ₀ , the traveling direction D _B , and the GO data from the nonvolatile memory 12 (step 202).

After that, the processor checks whether D _A = D _B , in other words, whether the actual traveling direction and the basic traveling direction match (step 203), and if they match, the GO data is “101”. Check (step 204). That is, it is checked whether or not the current traveling direction and the basic traveling direction at the point after the distance corresponding to the S (= 2) address are the same.

Then, if the GO data is “101”, it is determined that the basic traveling direction D _{B at the} current position is the forward traveling direction (F) on the assumption that the vehicle has not reached the vicinity of the traveling direction switching point (step 205) and the forward traveling is performed. If so, the display driver 17 is used to turn on the "FWD" portion 19b of the display device 19 (step 206), and if the vehicle is in reverse, the "REV" portion 19b of the display device 19 is also turned on (step 207).

The processor then checks if the actual handle rotation amount H _A is equal to the basic handle rotation amount H _B (step 20
8) If they are equal, the index SI ₀ indicating the corrected rotation amount of zero in the index pattern 19a on the display 19 is turned on (step 20).
9).

However, if H _A ≠ H _B , H = H _B −H _A corrected rotation amount H is calculated by the following equation, and an index corresponding to the corrected rotation amount H is stored in the non-volatile memory 12. All indexes from 0 to H are turned on by obtaining from the index table (step 21
0). That is, if H is positive, the index SR ₁ on the left side of FIG.
SRi is turned on to indicate the right steering wheel correction rotation amount, and if H is negative, the right-hand indexes SL _{1 to} SLi are turned on to indicate the left steering wheel correction rotation amount. As a result, when the handle is rotated in a direction in which the handle correction rotation amount decreases, for example, when the handles are rotated counterclockwise while the indicators SL ₁ to SL ₅ are lit as shown in FIG. As the amount of rotation decreases, the indicator gradually turns off in the order of SL ₅ → SL ₄ → SL ₃ → SL ₂ → SL _1, and finally the corrected amount of rotation becomes zero and only the indicator SI ₀ lights up.

Then, the output of the distance pulse from the wheel sensor 15 is monitored (step 211), and if the distance pulse is generated, the address is incremented (step 212). After that, whether the GO data is “000”, in other words, If so, it is checked whether or not the memory data indicating the basic travel locus is completed (step 213), and if completed, the follow-up process is completed. However, if the memory data remains, the processing from step 201 onward is repeated.

The above process is repeated, and in step 204, GO
If the data becomes “010” (GO data becomes “010” at point 9 in FIG. 7), in other words, the current direction of travel and S (=
2) Processor 11 if the basic traveling direction after addressing is different
Announces that the vehicle has arrived near the direction switching point (step 214). The advance direction switching notice can be recognized by a sound such as a buzzer or the display device 19.

By the above-mentioned advance direction switching notice, the driver continues the follow-up operation while slowing down the speed, and in parallel with this, the processor 11 repeats the processing of step 205 and thereafter (the notice is continued).

When the vehicle further moves and reaches the traveling direction switching point (point 11 in FIG. 7), in step 203 D _A ≠ D _B , that is, the actual traveling direction and the basic traveling direction do not match. As a result, the processor 11 sounds the buzzer 18 to notify that the traveling direction switching point has been reached (step 21).
Five). Note that the notice of switching disappears when the vehicle reaches the traveling direction switching point.

After that, the driver brakes and stops the car,
By operating the shift lever, the traveling direction of the vehicle is switched to continue the follow-up operation, and the processor performs the processing of FIG. 4 in parallel with this. The buzzer sound disappears when D _A = D _B by operating the shift lever.

Then, finally, the vehicle is accurately moved and stopped at the target point. It should be noted that the driver is notified that the garage entry is nearing completion by giving the advance direction switching notice immediately before the garage entry is completed.

In the above description, for the convenience of explanation, the distance of two addresses before the traveling direction switching point of the advance notice generating position is set to a distance of two addresses, but in actual traveling, it is in front of the traveling direction switching point in consideration of the driver's operation delay.
It is better to give a notice at a position of 50-60 cm. This allows the driver to concentrate on operating the steering wheel during normal operation,
You can drive carefully while holding down the speed with the brakes so that you can stop at any time from 50-60 cm before notice, and you can stop the car immediately when you come to the switching point (a buzzer sounds) and reduce overruns. It should be noted that, in the past, the speed was relatively high and suddenly stopped.
Although an overrun of cm or more has occurred, the present invention can reduce the overrun to 1/10 or less of the conventional value.

In the basic traveling locus registration processing of FIG. 3, the GO data before the predetermined distance is changed to “010” at the traveling direction switching point after the basic traveling operation is completed (after step 109) (fifth step).
However, the GO data shown in FIG. 5 (b) may be generated and stored during the basic traveling operation. FIG. 6 is an explanatory diagram of the registration process, in which the handle rotation amount H _B and the traveling direction D _B are the delay means DE.
At L, the S address is delayed and stored in the storage area of the memory 12, and the GO data indicating the presence or absence of data and the change in the traveling direction is stored without delay so that the editing process is not performed after the basic traveling operation. You can In the follow-up operation processing, the basic traveling data is read from the initial address A ₀ .

<Effects of the Invention> According to the present invention as described above, since the switching point can be recognized before reaching the traveling direction switching point, the driver can prepare for the next operation (stop operation), and therefore the traveling speed. The vehicle can be stopped immediately after reaching the switching point and the overrun can be reduced.

And, according to the present invention, since the overrun can be reduced,
Even if the basic running locus is a complicated running locus that includes a large number of traveling direction switching points, the tracking accuracy can be improved, and the stopping position and the inclination of the vehicle can be faithfully approximated to that of the basic running locus, resulting in a contact accident with a building. Can be eliminated.

[Brief description of drawings]

FIG. 1 is a block diagram of a driving guidance instructing device according to the present invention, FIG. 2 is a correspondence table of a steering wheel correction rotation amount and a lighting index, FIG. 3 is a flow chart of a basic traveling locus registration process, and FIG. FIG. 5 is a flow chart of processing, FIG. 5 is an explanatory diagram of basic traveling locus data, FIG. 6 is an explanatory diagram of another basic traveling locus registration processing, and FIGS. 7 to 10 are background explanatory diagrams of the present invention. FIG. 7 is an explanatory view of a basic traveling locus, FIG. 8 is a basic traveling locus data configuration diagram, FIG. 9 is an external view of a display, and FIG. 10 is a conventional defect explanatory diagram. 11 …… Processor, 12 …… Nonvolatile memory 14 …… Handle sensor, 15 …… Wheel sensor, 16 …… Travel direction sensor, 18 …… Display

Claims (1)

[Claims] 1. A basic travel locus is stored in a memory,
In a traveling direction switching advance notice method in a vehicle driving guidance instructing device that causes a vehicle to follow a basic traveling locus, in the basic driving traveling, the address of the memory is stepped according to the traveling distance of the vehicle, and the steering wheel at that time is operated. The data indicating the amount of rotation and the traveling direction and the change point information indicating whether the traveling direction changes at a point within a predetermined distance from the local point are stored in the storage area indicated by the address, and the actual traveling of the vehicle during the following operation. The basic handle rotation amount, the traveling direction data and the change point information are read from the storage area designated by the memory address which is stepped according to the distance,
In addition to displaying the direction of travel based on the direction of travel data, it also displays the amount of steering wheel correction rotation that allows the driver to follow the basic travel path from the basic amount of steering wheel rotation and the actual amount of steering wheel rotation. A traveling direction switching advance notice method characterized by performing advance traveling direction advance notice when it is instructed to change the direction.