WO2020095537A1 - Driving assistance device, driving assistance system, driving assistance method, and program - Google Patents

Driving assistance device, driving assistance system, driving assistance method, and program Download PDF

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Publication number
WO2020095537A1
WO2020095537A1 PCT/JP2019/035993 JP2019035993W WO2020095537A1 WO 2020095537 A1 WO2020095537 A1 WO 2020095537A1 JP 2019035993 W JP2019035993 W JP 2019035993W WO 2020095537 A1 WO2020095537 A1 WO 2020095537A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
information
traveling
unit
lane
Prior art date
Application number
PCT/JP2019/035993
Other languages
French (fr)
Japanese (ja)
Inventor
覚 齋部
Original Assignee
株式会社Ｊｖｃケンウッド
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Publication date
Application filed by 株式会社Ｊｖｃケンウッド filed Critical 株式会社Ｊｖｃケンウッド
Publication of WO2020095537A1 publication Critical patent/WO2020095537A1/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
    • G08G1/0969—Systems involving transmission of navigation instructions to the vehicle having a display in the form of a map
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B29/00—Maps; Plans; Charts; Diagrams, e.g. route diagram
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B29/00—Maps; Plans; Charts; Diagrams, e.g. route diagram
    • G09B29/10—Map spot or coordinate position indicators; Map reading aids

Definitions

  • the present invention relates to a driving support device, a driving support system, a driving support method, and a program.
  • Patent Document 1 When driving with a driver who has little driving experience, or when driving on a strange land, it becomes easier to drive if there is a preceding vehicle ahead of your vehicle.
  • a technique of complementing a traveling locus of a preceding vehicle with a traveling locus of an own vehicle to set a target traveling route for the own vehicle to follow for example, refer to Patent Document 1).
  • the technique described in Patent Document 1 can set the target travel route only when the preceding vehicle exists.
  • some lanes may be restricted due to construction work, or vehicles may be concentrated in some lanes, which may take more time than other lanes.
  • the present embodiment has been made in view of the above, and it is an object of the present invention to support an appropriate driving by presenting an appropriate lane on a road having a plurality of lanes.
  • a driving assistance device is a vehicle information acquisition unit that acquires vehicle information including current vehicle position information and map information around the vehicle.
  • vehicle information acquisition unit that acquires vehicle information including current vehicle position information and map information around the vehicle.
  • the lane is appropriately selected from the traveling locus information acquired from the plurality of vehicles.
  • An excellent data acquisition unit that acquires excellent traveling locus information indicating a traveling locus to travel, and an excellent locus indicating a traveling locus to travel by appropriately selecting a lane based on the excellent traveling locus information acquired by the excellent data acquisition unit.
  • An image generation unit that generates an image and a display control unit that causes the display unit to display the excellent trajectory image generated by the image generation unit are provided.
  • the driving support device is based on a vehicle information acquisition unit that acquires vehicle information including current position information of a vehicle and map information around the vehicle, and the vehicle information acquired by the vehicle information acquisition unit. Therefore, when it is determined that the vehicle travels on a road having a plurality of lanes, excellent traveling locus information indicating a traveling locus in which a lane is appropriately selected to travel is obtained from traveling locus information obtained from a plurality of vehicles.
  • a data acquisition unit an image generation unit that generates an excellent locus image indicating a traveling locus in which a lane is appropriately selected based on the excellent traveling locus information acquired by the excellent data acquisition unit, and the projection unit,
  • a projection control unit that controls the projection of the excellent trajectory image so that a virtual image of the excellent trajectory image generated by the image generation unit is visually recognized in front of the vehicle.
  • the driving support device is based on a vehicle information acquisition unit that acquires vehicle information including current position information of a vehicle and map information around the vehicle, and the vehicle information acquired by the vehicle information acquisition unit. Therefore, when it is determined that the vehicle travels on a road having a plurality of lanes, excellent traveling locus information indicating a traveling locus in which a lane is appropriately selected to travel is obtained from traveling locus information obtained from a plurality of vehicles.
  • a data acquisition unit and a travel control unit that controls the travel of the vehicle so as to match the travel locus in which the lane is appropriately selected based on the excellent travel locus information acquired by the excellent data acquisition unit.
  • the driving support method is based on the vehicle information acquisition step of acquiring vehicle information including current position information of the vehicle and map information around the vehicle, and the vehicle information acquired in the vehicle information acquisition step. Therefore, when it is determined that the vehicle travels on a road having a plurality of lanes, excellent traveling locus information indicating a traveling locus in which a lane is appropriately selected to travel is obtained from traveling locus information obtained from a plurality of vehicles.
  • a display control step of displaying the generated excellent trajectory image on the display unit.
  • the program according to the present embodiment is a vehicle information acquisition step of acquiring vehicle information including current position information of the vehicle and map information around the vehicle, and based on the vehicle information acquired in the vehicle information acquisition step,
  • excellent data acquisition for obtaining excellent traveling locus information indicating a traveling locus of appropriately selecting a lane from traveling locus information acquired from a plurality of vehicles Step
  • an image generation step of generating an excellent locus image showing a traveling locus of appropriately selecting a lane based on the excellent traveling locus information acquired in the excellent data acquisition step, and generated in the image generation step.
  • a display control step of displaying an excellent trajectory image on the display unit, and a computer operating as a driving support device. To row.
  • FIG. 1 is a schematic diagram showing a configuration example of a driving support system including the driving support device according to the first embodiment.
  • FIG. 2 is a block diagram showing a configuration example of the management server according to the first embodiment.
  • FIG. 3 is a block diagram showing a configuration example of the driving support device according to the first embodiment.
  • FIG. 4 is a diagram showing an example of an excellent trajectory image displayed when the vehicle is traveling near the intersection.
  • FIG. 5 is a flowchart showing the flow of processing in the driving support device according to the first embodiment.
  • FIG. 6 is a block diagram showing a configuration example of the driving support device according to the second embodiment.
  • FIG. 7 is a figure which shows an example of the projection unit of the driving assistance device which concerns on 2nd embodiment.
  • FIG. 8 is a figure which shows an example of the virtual image of the virtual vehicle image which a driver visually recognizes, when the own vehicle drive
  • FIG. 9 is a flowchart showing the flow of processing in the driving support device according to the second embodiment.
  • FIG. 10 is a block diagram showing a configuration example of the driving support device according to the third embodiment.
  • FIG. 11 is a flowchart showing the flow of processing in the driving support device according to the third embodiment.
  • FIG. 1 is a schematic diagram showing a configuration example of a driving support system including the driving support device according to the first embodiment.
  • FIG. 2 is a block diagram showing a configuration example of the management server according to the first embodiment.
  • FIG. 3 is a block diagram showing a configuration example of the driving support device according to the first embodiment.
  • the driving support system 1 collects the traveling locus information indicating the traveling loci of the plurality of vehicles V as probe data, and displays the excellent locus information indicating the traveling locus in which the vehicle V can travel in an appropriate lane.
  • the driving support system 1 includes a management server 10 and a driving support device 20. In the following description, the vehicle on which the driving support device 20 is mounted will be referred to as the host vehicle V when the driving support device 20 is described.
  • Probe data is data that can recognize the traveling path of the vehicle V.
  • the probe data includes at least one of the current position information of the vehicle V and the vehicle direction information associated with the time.
  • the current position information is acquired with high accuracy so that the traveling lane of the vehicle V on the road having a plurality of lanes can be recognized.
  • the probe data may include information about the owner or driver of the vehicle V.
  • the information regarding the owner or the driver is, for example, information indicating the history of traffic violations or the history of accidents of the owner or the driver.
  • the information about the owner or the driver is, for example, information indicating the degree of driving skill of the owner or the driver.
  • the probe data may include information on the place where the vehicle V is mainly used, or information on the address of the owner or the driver of the vehicle V.
  • the probe data may include vehicle type information, size information, height information, or displacement information of the vehicle V.
  • the probe data may include information on the destination of the vehicle V or information on the traveling direction.
  • the probe data may include day of the week information when traveling, traveling time information, weather information when traveling, or road surface condition information when traveling.
  • the probe data may include information on traffic congestion around a predetermined section, or information on lane regulation due to an accident or construction, for example.
  • the management server 10 is a server device that stores and manages, as probe data, travel locus information indicating travel loci collected by the driving support devices 20 mounted on the plurality of vehicles V in the database (travel locus information storage unit) 13. .. More specifically, the management server 10 collects, for example, probe data collected by the driving support devices 20 mounted on the plurality of vehicles V. The management server 10 stores the collected probe data in the database 13.
  • the management server 10 has a communication unit 11, a control unit 12, and a database 13.
  • the communication unit 11 is a communication unit.
  • the communication unit 11 connects the driving support device 20 and an external device so that data can be transmitted and received.
  • the control unit 12 includes a probe data acquisition unit 121, a storage control unit 122, and an excellent data learning unit 123.
  • the management server 10 includes an internal memory (not shown), and the internal memory is used for temporary storage of data in the management server 10.
  • the management server 10 can transmit / receive data to / from the driving support device 20 and an external device via the communication unit 11.
  • the probe data acquisition unit 121 acquires the probe data received from the driving support device 20.
  • the probe data acquisition unit 121 outputs the acquired probe data to the storage control unit 122.
  • the storage control unit 122 stores the probe data acquired by the probe data acquisition unit 121 in the database 13.
  • the excellent data learning unit 123 learns the traveling locus of excellent traveling for each predetermined section with respect to the probe data stored in the database 13, and stores it in the excellent data storage unit 14 as excellent probe data (excellent traveling locus information).
  • the excellent data learning unit 123 learns the excellent probe data at predetermined time intervals such as every day.
  • Whether or not the vehicle is excellent is determined based on the traveling time required by selecting a lane on a road having multiple lanes. For example, when it is determined that the vehicle V has passed a predetermined section in a short time by appropriately selecting a lane and traveling when traveling on a road having a plurality of lanes, it may be determined as excellent traveling. .. Alternatively, for example, when it is determined that the vehicle V arrives at the destination in a short time by appropriately selecting the lanes when traveling on a road having a plurality of lanes, it is determined that the vehicle is excellent. Good.
  • the short time is equal to or less than the average required time or equal to or less than the maximum required time. In other words, good running is model driving.
  • the excellent probe data is selected by selecting a lane so that the vehicle V can travel through a predetermined section in a short time or reach a destination in a short time when traveling on a road having a plurality of lanes. It is probe data which shows a running locus at the time.
  • the excellent data learning unit 123 learns the traveling locus of excellent traveling for each section in which the vehicle V stays in a part of the lanes of the plurality of lanes with respect to the probe data stored in the database 13, and then outputs the excellent probe.
  • the data is stored in the excellent data storage unit 14 as data.
  • the section in which the vehicle V stays in a part of the lanes of the plurality of lanes is, for example, a predetermined section in the vicinity of a point where the lane decreases, a predetermined section in the vicinity of an intersection or a branch point or an entrance / exit of a store, or the lane is restricted. It is a predetermined section near the point.
  • the predetermined section is, for example, several tens of meters or more and several hundreds of meters or less.
  • the predetermined section is equal to or longer than the distance in which the vehicle V stays.
  • the excellent data learning unit 123 may use the average value of the probe data stored in the database 13 as the excellent probe data. More specifically, the excellent data learning unit 123 calculates the average value of the position information of the probe data and the average value of the vehicle orientation information at each point in the predetermined section. The calculated average value of the position information may deviate laterally from the center in the selected lane. Therefore, the average value of the calculated position information may be corrected to an appropriate traveling position in the selected lane, for example, a position in the center of the selected lane, to obtain excellent probe data. The excellent data learning unit 123 sets the data of the traveling locus represented by the average value of the position information and the average value of the vehicle direction information as the excellent probe data.
  • the excellent data learning unit 123 may set the maximum value of the probe data stored in the database 13 as the excellent probe data.
  • the maximum value of the probe data indicates the lane in which the number of vehicles traveling per unit time is large. More specifically, the excellent data learning unit 123 calculates the maximum value of the position information of the probe data and the maximum value of the vehicle orientation information at each point in the predetermined section. The excellent data learning unit 123 sets the data of the traveling locus indicated by the maximum value of the position information and the maximum value of the vehicle orientation information as the excellent probe data.
  • the excellent data learning unit 123 may learn the excellent probe data by excluding abnormal values that are significantly deviated from the average value from the probe data stored in the database 13. More specifically, the good data learning unit 123 may learn the good probe data by excluding the abnormal value of the position information of the probe data and the abnormal value of the vehicle direction information at each point in the predetermined section.
  • the good data learning unit 123 excludes probe data having a history of traffic violations or a history of accidents of the owner or the driver from the probe data stored in the database 13 and learns the good probe data. Good.
  • the good data learning unit 123 learns the good probe data by reducing the weight of the probe data in which the history of the traffic violation or the history of the accident of the owner or the driver exists in the probe data stored in the database 13. Good.
  • the excellent data learning unit 123 may learn the excellent probe data by weighting the probe data stored in the database 13 according to the driving skill of the owner or the driver. For example, the good data learning unit 123 learns good probe data by weighting probe data with a high degree of driving skill and reducing weight of probe data with a low degree of driving skill.
  • the excellent data learning unit 123 learns the excellent probe data for the probe data stored in the database 13 for each address of the owner or the driver or each address registered as the main use place of the vehicle V. Good.
  • the excellent data learning unit 123 may learn the excellent probe data for the probe data stored in the database 13 for each vehicle type, size, height, or displacement of the vehicle V.
  • the excellent data learning unit 123 may learn the excellent probe data for the probe data stored in the database 13 for each destination or each traveling direction.
  • the excellent data learning unit 123 may learn the excellent probe data for the probe data stored in the database 13 for each traveling time, day of the week, weather, or road surface condition.
  • the good data learning unit 123 In the probe data stored in the database 13, the good data learning unit 123, based on the probe data after the time when the traffic jam occurs, when the traffic information indicates that the traffic jam is generated in some lanes. , Good probe data may be learned.
  • the excellent data learning unit 123 determines the lane regulation.
  • the excellent probe data may be learned based on the probe data after the specified time.
  • the database 13 stores traveling locus information acquired from a plurality of vehicles V as probe data.
  • the database 13 stores the probe data acquired by the probe data acquisition unit 121.
  • the excellent data storage unit 14 stores the excellent probe data learned by the excellent data learning unit 123.
  • the driving support device 20 displays excellent locus information indicating a locus on which the vehicle V can travel in an appropriate lane.
  • the driving support device 20 generates probe data.
  • the driving support device 20 may be assembled in the own vehicle V or may be portable and brought into the own vehicle V.
  • the driving support device 20 loads a program stored in a storage unit (not shown) into the memory and executes the instructions included in the program.
  • the driving support device 20 includes an internal memory (not shown), and the internal memory is used for temporary storage of data in the driving support device 20.
  • the driving support device 20 includes a communication unit 21, a display unit 22, and a control unit 23.
  • the driving support device 20 can transmit the generated probe data to the management server 10 via the communication unit 21.
  • the communication unit 21 is a communication unit.
  • the communication unit 21 connects the management server 10 and an external device so that data can be transmitted and received.
  • the display unit 22 is a display including, for example, a liquid crystal display (LCD: Liquid Crystal Display) or an organic EL (Organic Electro-Luminescence) display.
  • the display unit 22 may be dedicated to the driving support device 20 or may be used together with another system including a navigation system, for example.
  • the display unit 22 displays the excellent trajectory image 300 based on the control signal output from the display control unit 238 of the control unit 23.
  • the control unit 23 is, for example, an arithmetic processing unit including a CPU and the like.
  • the control unit 23 includes an internal memory (not shown), and the internal memory is used for temporary storage of data in the control unit 23.
  • the control unit 23 loads the program stored in the storage unit (not shown) into the memory and executes the instructions included in the program.
  • the control unit 23 includes a vehicle information acquisition unit 230, a probe data generation unit 234, a transmission control unit 235, an excellent data acquisition unit 236, a video generation unit 237, a display control unit 238, and a travel evaluation unit 239. Have.
  • the vehicle information acquisition unit 230 acquires vehicle information including the current position information and vehicle direction information of the host vehicle V from a CAN (Controller Area Network) or various sensors that sense the state of the host vehicle V.
  • the vehicle information acquisition unit 230 acquires map information including road information and lane information around the vehicle V from the navigation system.
  • the vehicle information acquisition unit 230 outputs the acquired vehicle information to the probe data generation unit 234.
  • the probe data generation unit 234 generates probe data to be transmitted to the management server 10. More specifically, the probe data generation unit 234 generates probe data from the vehicle information acquired by the vehicle information acquisition unit 230.
  • the probe data generation unit 234 generates probe data capable of recognizing the current position information of the vehicle V and the vehicle direction information in time series.
  • the probe data generation unit 234 may generate probe data, which is stored in advance in the storage unit and includes information about the owner or driver of the own vehicle V.
  • the probe data generation unit 234 may generate probe data including information on the skill level of the driver evaluated by the travel evaluation unit 239.
  • the probe data generation unit 234 generates probe data which is stored in advance in the storage unit and includes information on the place where the host vehicle V is mainly used or information on the address of the owner or driver of the host vehicle V. May be.
  • the probe data generation unit 234 may generate probe data that is stored in advance in the storage unit and includes vehicle type information, size information, height information, or displacement information of the host vehicle V. ..
  • the probe data generation unit 234 may generate probe data including information on the destination of the vehicle V or information on the traveling direction acquired from the navigation system.
  • the probe data generation unit 234 includes probe data obtained from the control unit 23 or an external device, including traveling time information, traveling day of the week, traveling weather information, or road surface state information during traveling. May be generated.
  • the transmission control unit 235 transmits the probe data generated by the probe data generation unit 234 to the management server 10 via the communication unit 21.
  • the transmission control unit 235 may transmit the probe data to the management server 10 at predetermined time intervals, for example.
  • the transmission control unit 235 transmits the probe data to the management server 10 when the host vehicle V passes through a predetermined section, when the host vehicle V returns to the home, or when reaching the destination, for example. Good.
  • the excellent data acquisition unit 236 When it is determined that the vehicle travels on a road having a plurality of lanes based on the vehicle information acquired by the vehicle information acquisition unit 230, the excellent data acquisition unit 236 outputs the excellent probe data around the own vehicle V to the communication unit 21. Via the management server 10.
  • the excellent data acquisition unit 236 indicates that the vehicle V is located in front of the section where the vehicle V stays in a part of the lanes of the plurality of lanes
  • the excellent probe data in the vicinity of the vehicle V is stored in the management server 10. It is acquired from the database 13.
  • the excellent data acquisition unit 236, for example, when the current position information and the map information of the own vehicle V indicate that the own vehicle V is located before the point where the lane decreases, the excellent probe data around the own vehicle V. From the database 13 of the management server 10. For example, when the current position information and the map information of the own vehicle V indicate that the own vehicle V is located at an intersection, a branch point, or in front of the doorway of the store, the good data acquisition unit 236 determines the intersection or the branch point.
  • the excellent data acquisition unit 236 indicates the time after the lane is restricted. Get good probe data.
  • the excellent data acquisition unit 236 acquires excellent probe data whose traveling direction matches that of the host vehicle V.
  • the excellent data acquisition unit 236 may acquire the excellent probe data only when the driver of the vehicle V is highly skilled in driving. This is because it may be difficult to change lanes when the driver of the own vehicle V has low driving skill.
  • the excellent data acquisition unit 236 determines the excellent probe data of the local vehicle V, in other words, the address of the owner or the driver, or the address registered as the main place of use, around the current position information of the vehicle V. You may acquire the excellent probe data which is a region.
  • the excellent data acquisition unit 236 may acquire excellent probe data in which the vehicle type, size, height, or displacement of the host vehicle V matches.
  • the excellent data acquisition unit 236 may acquire excellent probe data in which the own vehicle V and the destination or the traveling direction match.
  • the excellent data acquisition unit 236 may acquire excellent probe data in which the current state and the traveling time, the day of the week, the weather, or the state of the road surface match.
  • the image generation unit 237 generates an excellent locus image 300 indicating an excellent running locus of appropriately selecting a lane and traveling based on the excellent probe data acquired by the excellent data acquisition unit 236. More specifically, the image generation unit 237 generates an excellent trajectory image 300 in which the excellent probe data acquired by the excellent data acquisition unit 236 is superimposed on the map image around the vehicle V. For example, the video generation unit 237 indicates that the host vehicle V is located in front of the point where the lane decreases, indicates that the host vehicle V is located in front of the start point of the right / left turn-only lane, or When the own vehicle V indicates that it is located before the point where the lane is restricted, the excellent trajectory image 300 is generated.
  • the image generation unit 237 may superimpose the probe data acquired when the vehicle V travels on the excellent trajectory image 300.
  • the video generation unit 237 indicates that the host vehicle V is located in front of the point where the lane decreases, indicates that the host vehicle V is located in front of the start point of the right / left turn-only lane, or
  • the excellent trajectory image 300 is generated by superimposing the probe data acquired during the traveling of the own vehicle V on the already generated excellent trajectory image 300. You may.
  • the excellent trajectory image 300 will be described with reference to FIG. FIG. 4 is a diagram showing an example of an excellent trajectory image displayed when the vehicle is traveling near the intersection.
  • the excellent trajectory image 300 includes a reference vehicle image 301 showing a virtual vehicle traveling along the excellent probe data and a traveling trajectory image 302 showing a traveling trajectory of the excellent probe data.
  • the probe data acquired when the vehicle V is traveling may be superimposed on the excellent trajectory image 300.
  • the excellent trajectory image 300 includes the own vehicle image 311 showing the own vehicle V.
  • the display control unit 238 controls the display unit 22 to display the excellent trajectory image 300 generated by the image generation unit 237. More specifically, the display control unit 238 outputs a video signal for displaying the excellent trajectory image 300 on the display unit 22.
  • the traveling evaluation unit 239 compares the excellent probe data acquired by the excellent data acquisition unit 236 with the probe data acquired when the vehicle V travels, and evaluates whether the vehicle is traveling in an appropriate lane. More specifically, the traveling evaluation unit 239 compares the position information and the vehicle direction with respect to the excellent probe data of the predetermined section and the probe data of the own vehicle V when the own vehicle V travels in the predetermined section. When the difference between the excellent probe data and the probe data of the host vehicle V is less than or equal to the threshold, the traveling evaluation unit 239 evaluates that the vehicle is traveling in an appropriate lane that is close to the excellent probe data.
  • the traveling evaluation unit 239 evaluates that the difference between the excellent probe data and the excellent probe data is large and the vehicle is not traveling in an appropriate lane.
  • the traveling evaluation unit 239 stores the evaluation result in the storage unit.
  • the evaluation result by the traveling evaluation unit 239 can be used as information indicating the degree of driving skill of the driver.
  • traveling evaluation unit 239 Whether the traveling evaluation unit 239 is traveling in an appropriate lane by comparing model probe data stored in advance in a predetermined section with probe data acquired when the vehicle V travels in the predetermined section May be evaluated.
  • the processing in the management server 10 is regularly executed.
  • the management server 10 uses the probe data acquisition unit 121 to acquire probe data from the driving support devices 20 mounted on the plurality of vehicles V. Then, the management server 10 causes the storage controller 122 to store the acquired probe data in the database 13.
  • the management server 10 causes the excellent data learning unit 123 to learn, from the probe data stored in the database 13, the excellent probe data indicating the traveling locus of excellent traveling for each predetermined section stored in advance.
  • the management server 10 stores the excellent probe data obtained by the excellent data learning unit 123 in the excellent data storage unit 14.
  • FIG. 5 is a flowchart showing the flow of processing in the driving support device according to the first embodiment.
  • the driving support device 20 operates while the host vehicle V in which the driving support device 20 is mounted is operating.
  • the fact that the host vehicle V equipped with the driving support device 20 is operating means that the drive source of the host vehicle V is operating, such as the engine being turned on or the power being turned on. Say that.
  • the host vehicle V is located in front of a point where the lane decreases will be described as an example.
  • the control unit 23 acquires the vehicle information of the own vehicle V (step S101). More specifically, the control unit 23 causes the vehicle information acquisition unit 230 to acquire the current position information of the host vehicle V and the map information around the host vehicle V from the navigation system. The control unit 23 proceeds to step S102.
  • the control unit 23 determines whether the host vehicle V is located before the point where the lane decreases (step S102). More specifically, the control unit 23, based on the current position information of the own vehicle V and the map information around the own vehicle V acquired by the vehicle information acquisition unit 230, a predetermined distance ahead of the own vehicle V in the traveling direction. It is determined whether or not the number of lanes will decrease. When the number of lanes decreases within a predetermined distance ahead of the vehicle V in the traveling direction (Yes in step S102), the control unit 23 proceeds to step S103. When the number of lanes has not decreased within a predetermined distance ahead of the vehicle V in the traveling direction (No in step S102), the control unit 23 proceeds to step S107.
  • the control unit 23 causes the excellent data acquisition unit 236 to acquire the excellent probe data of the predetermined section including the point where the own vehicle V decreases in lane (step S103). The control unit 23 proceeds to step S104.
  • the control unit 23 generates the excellent trajectory image 300 (step S104). More specifically, the control unit 23 causes the image generation unit 237 to generate an excellent trajectory image 300 in which the excellent probe data acquired by the excellent data acquisition unit 236 is superimposed on the map image around the vehicle V. When the vehicle V is traveling in a predetermined section including a point where the lane decreases, the control unit 23 causes the generated locus image 300 that has already been generated by the image generation unit 237 to acquire the probe acquired when the vehicle V travels. The excellent trajectory image 300 may be generated while overlapping the data. The control unit 23 proceeds to step S105.
  • the control unit 23 displays the excellent trajectory image 300 (step S105). More specifically, the control unit 23 causes the display control unit 238 to display the generated excellent trajectory image 300 on the display unit 22. The control unit 23 proceeds to step S106.
  • the control unit 23 evaluates the traveling of the vehicle V (step S106). More specifically, the control unit 23 causes the traveling evaluation unit 239 to compare the excellent probe data of the predetermined section with the probe data acquired when the host vehicle V travels in the predetermined section, and travel in an appropriate lane. Evaluate what you are doing. The control unit 23 proceeds to step S107.
  • the control unit 23 causes the probe data generation unit 234 to generate probe data (step S107). The control unit 23 proceeds to step S108.
  • the control unit 23 causes the transmission control unit 235 to transmit the generated probe data to the management server 10 (step S108). The control unit 23 proceeds to step S109.
  • the control unit 23 determines whether there is an end trigger (step S109).
  • the end trigger is a trigger for stopping the processing by the control unit 23. For example, terminating the operation of the vehicle serves as a termination trigger. For example, a combination of the engine being off, the gear being parked, the side brake being operated, and the like is a termination trigger.
  • the control unit 23 determines that there is an end trigger (Yes in step S109)
  • the process ends.
  • determining that there is no end trigger No in step S109
  • the control unit 23 proceeds to step S101.
  • the management server 10 stores the traveling locus information indicating the traveling loci collected by the driving support devices 20 mounted on the plurality of vehicles V in the database 13 as probe data.
  • the management server 10 learns a traveling locus of excellent traveling for each predetermined section with respect to the probe data stored in the database 13, and stores it in the superior data storage unit 14 as excellent probe data.
  • the driving support device 20 causes the display unit 22 to display the excellent trajectory image 300 in which a proper lane is selected based on the excellent probe data and the vehicle travels on a road having a plurality of lanes.
  • the traveling locus information indicating the traveling loci collected by the driving support devices 20 mounted on the plurality of vehicles V is stored as probe data.
  • probe data an appropriate lane is selected for each predetermined section, a traveling locus of traveling is learned, and excellent probe data is stored.
  • the excellent trajectory image 300 based on the excellent probe data can be displayed on the display unit 22 on the road having a plurality of lanes.
  • the driver can select an appropriate lane on a road having a plurality of lanes and drive by visually recognizing the excellent trajectory image 300 displayed on the display unit 22.
  • the present embodiment when traveling on a road with multiple lanes, when passing through a point where the lane decreases, when passing through a road including a point where the right and left turn lanes are congested, or due to an accident or construction, etc.
  • the present embodiment can shorten the time required to pass through the predetermined section or reach the destination. In this way, the present embodiment can support appropriate driving.
  • the present embodiment uses the excellent probe data generated from the probe data when the plurality of vehicles V actually travel, it is possible to display the excellent locus image 300 showing the lane that should be selected more appropriately. Since the present embodiment uses the excellent probe data generated from the probe data collected by the plurality of vehicles V, it is appropriate to select even when a temporary lane regulation not included in the map information is set, for example. An excellent trajectory image 300 showing various lanes can be displayed.
  • the excellent trajectory image 300 can be displayed based on the excellent probe data of the local vehicle V. According to the present embodiment, it is possible to select and drive a more appropriate lane by visually recognizing the excellent trajectory image 300 that shows the excellent traveling trajectory of the local vehicle V that is accustomed to driving on the road.
  • the excellent trajectory image 300 can be displayed based on the own vehicle V and the destination or the excellent probe data whose traveling direction matches.
  • the right-turn lane is avoided and the lane is not congested. Can travel.
  • the excellent trajectory image 300 can be displayed based on the day of the week information at the time of traveling or the excellent probe data with which the information at the traveling time matches.
  • the excellent trajectory image 300 can be displayed based on the day of the week information at the time of traveling or the excellent probe data with which the information at the traveling time matches.
  • the excellent trajectory image 300 can be displayed based on the weather information during traveling or the excellent probe data with which the condition of the road surface during traveling matches. Accordingly, in the present embodiment, for example, in rainy weather, or in snow, etc., it is possible to drive in a lane that is easy to travel while avoiding a lane in which a manhole is installed and slippery, or a lane in which water is likely to accumulate. it can.
  • the excellent trajectory image 300 can be displayed based on the excellent probe data in which the vehicle type, size, height, or displacement is the same as the own vehicle V. According to this embodiment, for example, it is possible to appropriately select a lane regulated by the vehicle type, size, height, or displacement to travel. According to this embodiment, for example, it is possible to appropriately select a lane that is easy to travel for each vehicle type and travel.
  • FIG. 6 is a block diagram showing a configuration example of the driving support device according to the second embodiment.
  • FIG. 7 is a figure which shows an example of the projection unit of the driving assistance device which concerns on 2nd embodiment.
  • FIG. 8 is a figure which shows an example of the virtual image of the virtual vehicle image which a driver visually recognizes when the own vehicle drive
  • FIG. 9 is a flowchart showing the flow of processing in the driving support device according to the second embodiment.
  • the driving support device 20A has the same basic configuration as the driving support device 20 of the first embodiment. In the following description, the same components as those of the driving support device 20 are designated by the same or corresponding symbols, and detailed description thereof will be omitted.
  • the driving support device 20A causes the driver to visually recognize an excellent trajectory as a virtual image 300A in front of the driver's line of sight.
  • the projection unit 22A has a projection unit 221A and a combiner 222A.
  • the projection unit 22A causes the combiner 222A to reflect the display image projected on the projection unit 221A so that the driver can visually recognize it as a virtual image 300A.
  • the projection unit 221A is a display including, for example, a liquid crystal display (LCD: Liquid Crystal Display) or an organic EL (Organic Electro-Luminescence) display.
  • the projection unit 221A is arranged below the dashboard D.
  • the projection unit 221A displays the display image on the display surface based on the image signal from the projection control unit 238A.
  • the image display light of the display image displayed on the display surface of the projection unit 221A is projected on the combiner 222A.
  • the combiner 222A reflects the image display light projected from the projection unit 221A to make the driver recognize it as a virtual image 300A.
  • the combiner 222A is a plate-shaped member that is disposed so as to be curved in a convex shape forward in the traveling direction. In the present embodiment, the combiner 222A is arranged above the dashboard D.
  • the combiner 222A has a front surface facing the windshield S of the vehicle V and a rear surface facing the driver.
  • the camera 24A takes a picture around the vehicle V.
  • a plurality of cameras 24A may be arranged.
  • the camera 24A is a front video camera.
  • the camera 24A is arranged in front of the host vehicle V and captures an image around the front of the host vehicle V.
  • the forward video data is, for example, a moving image composed of 30 frames per second.
  • the camera 24A outputs the captured front video data to the video data acquisition unit 240A.
  • the video data acquisition unit 240A acquires peripheral video data of the surroundings of the vehicle V. More specifically, the video data acquisition unit 240A acquires the video data output by the camera 24A. The video data acquisition unit 240A outputs the acquired video data to the video generation unit 237A.
  • the image generation unit 237A generates a projection image for visually recognizing the virtual image 300A of the excellent trajectory projected by the projection unit 22A.
  • the projected image includes a reference vehicle image showing a virtual vehicle traveling in front of the own vehicle V along the excellent probe data and an excellent trajectory image showing an excellent trajectory.
  • the projection control unit 238A visually recognizes the virtual image 301A of the virtual vehicle image generated by the image generation unit 237A and the virtual image 302A of the traveling locus image in front of the vehicle V by the projection unit 22A.
  • the projection control unit 238A projects a virtual vehicle image and a good trajectory image so that the virtual image 301A of the virtual vehicle image and the virtual image 302A of the traveling locus image are visually recognized in front of the own vehicle V.
  • the projection unit 22A projects a virtual vehicle image and a good trajectory image so that the virtual image 301A of the virtual vehicle image and the virtual image 302A of the traveling locus image are visually recognized in front of the own vehicle V.
  • steps S111 to S113 and steps S116 to S119 of the flowchart shown in FIG. 9 is the same as the processing of steps S101 to S103 and steps S106 to S109 of the flowchart shown in FIG.
  • the control unit 23A causes the image generation unit 237A to generate a projection image for visually recognizing the virtual image 300A of the excellent trajectory (step S114).
  • the control unit 23A proceeds to step S115.
  • the control unit 23A projects an excellent trajectory image in front of the host vehicle V so that the virtual image 300A of the excellent trajectory is visually recognized (step S115). More specifically, the control unit 23A uses the projection control unit 238A so that the virtual vehicle image and the excellent trajectory image are displayed such that the virtual image 301A of the virtual vehicle image and the virtual image 302A of the traveling trajectory image are visually recognized in front of the own vehicle V. A video signal for projecting is output to the projection unit 22A. The control unit 23A proceeds to step S116.
  • the virtual image 300A of the excellent trajectory is visually recognized in front of the vehicle V on the road having a plurality of lanes.
  • the driver can follow the virtual image 301A of the virtual vehicle image traveling in front of the vehicle V along the excellent probe data and select an appropriate lane to drive.
  • This embodiment can support appropriate driving.
  • FIG. 10 is a block diagram showing a configuration example of the driving support device according to the third embodiment.
  • FIG. 11 is a flowchart showing the flow of processing in the driving support device according to the third embodiment.
  • the driving support device 20B has the same basic configuration as the driving support device 20 of the first embodiment.
  • the traveling control unit 241B controls the speed and the steering angle so that the host vehicle V selects an appropriate lane along an excellent trajectory and travels.
  • the traveling control unit 241B has a speed control unit 242B and a steering control unit 243B.
  • the speed control unit 242B outputs a control signal for controlling the speed of the own vehicle V so as to match the excellent probe data acquired by the excellent data acquisition unit 236.
  • the steering control unit 243B outputs a control signal for controlling the steering angle of the own vehicle V so as to match the excellent probe data acquired by the excellent data acquisition unit 236.
  • steps S121 to S123 and S125 of the flowchart shown in FIG. 11 is the same as the processing of steps S101 to S103 and step S109 of the flowchart shown in FIG.
  • the control unit 23B controls the automatic traveling of the vehicle V by the traveling control unit 241B so as to match the excellent trajectory (step S124). More specifically, the control unit 23B controls the speed of the vehicle V so that the speed control unit 242B matches the excellent probe data acquired by the excellent data acquisition unit 236. The control unit 23B controls the steering angle of the host vehicle V so that the steering control unit 243B matches the excellent probe data acquired by the excellent data acquisition unit 236. The control unit 23B proceeds to step S125.
  • the traveling of the host vehicle V can be controlled so as to match the excellent probe data on the road having multiple lanes.
  • This embodiment can support more appropriate driving.
  • the driving support apparatus 20 according to the present embodiment has been described so far, but it may be implemented in various different forms other than the above-described embodiment.
  • Each component of the illustrated driving support device 20 is functionally conceptual, and does not necessarily have to be physically configured as illustrated. That is, the specific form of each device is not limited to the one shown in the figure, and all or part of the device may be functionally or physically dispersed or integrated in arbitrary units according to the processing load and usage of each device. May be.
  • the configuration of the driving support device 20 is realized, for example, as software by a program loaded in a memory.
  • the functional blocks are described as the functional blocks realized by the cooperation of these hardware or software. That is, these functional blocks can be realized in various forms by only hardware, only software, or a combination thereof.
  • the driving support device 20 has been described as acquiring the current position information of the vehicle from the navigation system, but the present invention is not limited to this.
  • the driving support device 20 may include a current position information acquisition unit that acquires current position information of the vehicle acquired by a GPS (Global Positioning System) receiver mounted on the vehicle.
  • GPS Global Positioning System
  • a warning sound may be output from a speaker (not shown). More specifically, on a road having a plurality of lanes, a warning sound may be output from the speaker when an appropriate lane is not selected.
  • the projection unit 22A may reflect the display image projected on the projection unit 221A by the windshield S without using a combiner so that the driver recognizes it as the virtual image 300A.
  • the driving support device, the driving support system, the driving support method, and the program according to the present embodiment can be used, for example, in a driving support system that presents an appropriate lane.

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Abstract

The present invention is provided with: a vehicle information acquisition unit 230 for acquiring vehicle information including current position information of a vehicle and map information of the surroundings of the vehicle; a superior-data acquisition unit 236 for acquiring superior travel path information indicating a travel path in which a traffic lane is appropriately selected and traveled, from travel path information acquired from a plurality of vehicles when it is determined that the vehicle is traveling on a road having a plurality of traffic lanes; an image generating unit 237 for generating a superior-path image indicating the travel path in which a traffic lane is appropriately selected and traveled, on the basis of the superior travel path information acquired by the superior-data acquisition unit 236; and a display control unit 238 for causing a display unit 22 to display the superior-path image generated by the image generating unit 237.

Description

運転支援装置、運転支援システム、運転支援方法およびプログラムDriving support device, driving support system, driving support method and program
　本発明は、運転支援装置、運転支援システム、運転支援方法およびプログラムに関する。 The present invention relates to a driving support device, a driving support system, a driving support method, and a program.
　運転経験が少ない運転者が運転する場合、または、見知らぬ土地で運転する場合、自車両の前方に先行車両が存在すると運転しやすくなる。先行車両の走行軌跡を自車両の走行軌跡で補完して、自車両が追従走行するための目標走行経路を設定する技術が知られている（例えば、特許文献１参照）。特許文献１に記載の技術は、先行車両が存在するときに限って目標走行経路を設定可能である。 When driving with a driver who has little driving experience, or when driving on a strange land, it becomes easier to drive if there is a preceding vehicle ahead of your vehicle. There is known a technique of complementing a traveling locus of a preceding vehicle with a traveling locus of an own vehicle to set a target traveling route for the own vehicle to follow (for example, refer to Patent Document 1). The technique described in Patent Document 1 can set the target travel route only when the preceding vehicle exists.
特開２０１７－０７６２３４号公報Japanese Patent Laid-Open No. 2017-076234
　複数車線を有する道路において、例えば、工事などで一部の車線が規制されていたり、一部の車線に車両が集中して、他の車線より通過に時間を要することがある。複数車線を有する道路において、適切な車線を提示することによって、適切な運転を支援することが望まれる。 On roads with multiple lanes, for example, some lanes may be restricted due to construction work, or vehicles may be concentrated in some lanes, which may take more time than other lanes. On roads with multiple lanes, it is desirable to support appropriate driving by presenting appropriate lanes.
　本実施形態は、上記に鑑みてなされたものであって、複数車線を有する道路において、適切な車線を提示することによって、適切な運転を支援することを目的とする。 The present embodiment has been made in view of the above, and it is an object of the present invention to support an appropriate driving by presenting an appropriate lane on a road having a plurality of lanes.
　上述した課題を解決し、目的を達成するために、本実施形態に係る運転支援装置は、車両の現在位置情報と前記車両の周辺の地図情報とを含む車両情報を取得する車両情報取得部と、前記車両情報取得部が取得した前記車両情報に基づいて、前記車両が複数車線を有する道路を走行すると判定される場合、複数の車両から取得した走行軌跡情報から、車線を適切に選択して走行する走行軌跡を示す優良走行軌跡情報を取得する優良データ取得部と、前記優良データ取得部が取得した優良走行軌跡情報に基づいて、車線を適切に選択して走行する走行軌跡を示す優良軌跡映像を生成する映像生成部と、前記映像生成部が生成した優良軌跡映像を表示部に表示させる表示制御部と、を備える。 In order to solve the above-mentioned problems and achieve an object, a driving assistance device according to the present embodiment is a vehicle information acquisition unit that acquires vehicle information including current vehicle position information and map information around the vehicle. When it is determined that the vehicle travels on a road having a plurality of lanes based on the vehicle information acquired by the vehicle information acquisition unit, the lane is appropriately selected from the traveling locus information acquired from the plurality of vehicles. An excellent data acquisition unit that acquires excellent traveling locus information indicating a traveling locus to travel, and an excellent locus indicating a traveling locus to travel by appropriately selecting a lane based on the excellent traveling locus information acquired by the excellent data acquisition unit. An image generation unit that generates an image and a display control unit that causes the display unit to display the excellent trajectory image generated by the image generation unit are provided.
　本実施形態に係る運転支援装置は、車両の現在位置情報と前記車両の周辺の地図情報とを含む車両情報を取得する車両情報取得部と、前記車両情報取得部が取得した前記車両情報に基づいて、前記車両が複数車線を有する道路を走行すると判定される場合、複数の車両から取得した走行軌跡情報から、車線を適切に選択して走行する走行軌跡を示す優良走行軌跡情報を取得する優良データ取得部と、前記優良データ取得部が取得した優良走行軌跡情報に基づいて、車線を適切に選択して走行する走行軌跡を示す優良軌跡映像を生成する映像生成部と、投影ユニットによって、前記車両の前方に、前記映像生成部が生成した優良軌跡映像の虚像が視認されるように、前記優良軌跡映像の投影を制御する投影制御部と、を備える。 The driving support device according to the present embodiment is based on a vehicle information acquisition unit that acquires vehicle information including current position information of a vehicle and map information around the vehicle, and the vehicle information acquired by the vehicle information acquisition unit. Therefore, when it is determined that the vehicle travels on a road having a plurality of lanes, excellent traveling locus information indicating a traveling locus in which a lane is appropriately selected to travel is obtained from traveling locus information obtained from a plurality of vehicles. A data acquisition unit, an image generation unit that generates an excellent locus image indicating a traveling locus in which a lane is appropriately selected based on the excellent traveling locus information acquired by the excellent data acquisition unit, and the projection unit, A projection control unit that controls the projection of the excellent trajectory image so that a virtual image of the excellent trajectory image generated by the image generation unit is visually recognized in front of the vehicle.
　本実施形態に係る運転支援装置は、車両の現在位置情報と前記車両の周辺の地図情報とを含む車両情報を取得する車両情報取得部と、前記車両情報取得部が取得した前記車両情報に基づいて、前記車両が複数車線を有する道路を走行すると判定される場合、複数の車両から取得した走行軌跡情報から、車線を適切に選択して走行する走行軌跡を示す優良走行軌跡情報を取得する優良データ取得部と、前記優良データ取得部が取得した優良走行軌跡情報に基づいて、車線を適切に選択して走行する走行軌跡に一致するように前記車両の走行を制御する走行制御部と、を備える。 The driving support device according to the present embodiment is based on a vehicle information acquisition unit that acquires vehicle information including current position information of a vehicle and map information around the vehicle, and the vehicle information acquired by the vehicle information acquisition unit. Therefore, when it is determined that the vehicle travels on a road having a plurality of lanes, excellent traveling locus information indicating a traveling locus in which a lane is appropriately selected to travel is obtained from traveling locus information obtained from a plurality of vehicles. A data acquisition unit and a travel control unit that controls the travel of the vehicle so as to match the travel locus in which the lane is appropriately selected based on the excellent travel locus information acquired by the excellent data acquisition unit. Prepare
　本実施形態に係る運転支援方法は、車両の現在位置情報と前記車両の周辺の地図情報とを含む車両情報を取得する車両情報取得ステップと、前記車両情報取得ステップにおいて取得した前記車両情報に基づいて、前記車両が複数車線を有する道路を走行すると判定される場合、複数の車両から取得した走行軌跡情報から、車線を適切に選択して走行する走行軌跡を示す優良走行軌跡情報を取得する優良データ取得ステップと、前記優良データ取得ステップにおいて取得した優良走行軌跡情報に基づいて、車線を適切に選択して走行する走行軌跡を示す優良軌跡映像を生成する映像生成ステップと、前記映像生成ステップにおいて生成した優良軌跡映像を表示部に表示させる表示制御ステップと、を含む。 The driving support method according to the present embodiment is based on the vehicle information acquisition step of acquiring vehicle information including current position information of the vehicle and map information around the vehicle, and the vehicle information acquired in the vehicle information acquisition step. Therefore, when it is determined that the vehicle travels on a road having a plurality of lanes, excellent traveling locus information indicating a traveling locus in which a lane is appropriately selected to travel is obtained from traveling locus information obtained from a plurality of vehicles. A data acquisition step, an image generation step of generating an excellent trajectory image showing a traveling trajectory in which a lane is appropriately selected to travel on the basis of the excellent traveling trajectory information acquired in the excellent data acquisition step; A display control step of displaying the generated excellent trajectory image on the display unit.
　本実施形態に係るプログラムは、車両の現在位置情報と前記車両の周辺の地図情報とを含む車両情報を取得する車両情報取得ステップと、前記車両情報取得ステップにおいて取得した前記車両情報に基づいて、前記車両が複数車線を有する道路を走行すると判定される場合、複数の車両から取得した走行軌跡情報から、車線を適切に選択して走行する走行軌跡を示す優良走行軌跡情報を取得する優良データ取得ステップと、前記優良データ取得ステップにおいて取得した優良走行軌跡情報に基づいて、車線を適切に選択して走行する走行軌跡を示す優良軌跡映像を生成する映像生成ステップと、前記映像生成ステップにおいて生成した優良軌跡映像を表示部に表示させる表示制御ステップと、を運転支援装置として動作するコンピュータに実行させる。 The program according to the present embodiment is a vehicle information acquisition step of acquiring vehicle information including current position information of the vehicle and map information around the vehicle, and based on the vehicle information acquired in the vehicle information acquisition step, When it is determined that the vehicle is traveling on a road having a plurality of lanes, excellent data acquisition for obtaining excellent traveling locus information indicating a traveling locus of appropriately selecting a lane from traveling locus information acquired from a plurality of vehicles Step, an image generation step of generating an excellent locus image showing a traveling locus of appropriately selecting a lane based on the excellent traveling locus information acquired in the excellent data acquisition step, and generated in the image generation step. A display control step of displaying an excellent trajectory image on the display unit, and a computer operating as a driving support device. To row.
　本実施形態によれば、複数車線を有する道路において、適切な車線を提示することによって、適切な運転を支援することができるという効果を奏する。 According to the present embodiment, by presenting an appropriate lane on a road having a plurality of lanes, it is possible to support appropriate driving.
図１は、第一実施形態に係る運転支援装置を含む運転支援システムの構成例を示す概略図である。FIG. 1 is a schematic diagram showing a configuration example of a driving support system including the driving support device according to the first embodiment. 図２は、第一実施形態に係る管理サーバの構成例を示すブロック図である。FIG. 2 is a block diagram showing a configuration example of the management server according to the first embodiment. 図３は、第一実施形態に係る運転支援装置の構成例を示すブロック図である。FIG. 3 is a block diagram showing a configuration example of the driving support device according to the first embodiment. 図４は、自車両が交差点の近傍を走行時、表示される優良軌跡映像の一例を示す図である。FIG. 4 is a diagram showing an example of an excellent trajectory image displayed when the vehicle is traveling near the intersection. 図５は、第一実施形態に係る運転支援装置における処理の流れを示すフローチャートである。FIG. 5 is a flowchart showing the flow of processing in the driving support device according to the first embodiment. 図６は、第二実施形態に係る運転支援装置の構成例を示すブロック図である。FIG. 6 is a block diagram showing a configuration example of the driving support device according to the second embodiment. 図７は、第二実施形態に係る運転支援装置の投影ユニットの一例を示す図である。FIG. 7: is a figure which shows an example of the projection unit of the driving assistance device which concerns on 2nd embodiment. 図８は、自車両が交差点の近傍を走行時、運転者が視認する仮想車両映像の虚像の一例を示す図である。FIG. 8: is a figure which shows an example of the virtual image of the virtual vehicle image which a driver visually recognizes, when the own vehicle drive | works near the intersection. 図９は、第二実施形態に係る運転支援装置における処理の流れを示すフローチャートである。FIG. 9 is a flowchart showing the flow of processing in the driving support device according to the second embodiment. 図１０は、第三実施形態に係る運転支援装置の構成例を示すブロック図である。FIG. 10 is a block diagram showing a configuration example of the driving support device according to the third embodiment. 図１１は、第三実施形態に係る運転支援装置における処理の流れを示すフローチャートである。FIG. 11 is a flowchart showing the flow of processing in the driving support device according to the third embodiment.
　以下に添付図面を参照して、本実施形態に係る運転支援装置、運転支援システム、運転支援方法およびプログラムの実施形態を詳細に説明する。なお、以下の実施形態により本発明が限定されるものではない。 Embodiments of a driving support device, a driving support system, a driving support method, and a program according to the present embodiment will be described in detail below with reference to the accompanying drawings. The present invention is not limited to the embodiments described below.
［第一実施形態］
　図１は、第一実施形態に係る運転支援装置を含む運転支援システムの構成例を示す概略図である。図２は、第一実施形態に係る管理サーバの構成例を示すブロック図である。図３は、第一実施形態に係る運転支援装置の構成例を示すブロック図である。運転支援システム１は、複数の車両Ｖの走行軌跡を示す走行軌跡情報をプローブデータとして収集して、車両Ｖが適切な車線を走行可能な走行軌跡を示す優良軌跡情報を表示させる。運転支援システム１は、管理サーバ１０と、運転支援装置２０とを含む。以下の説明において、運転支援装置２０の説明時、運転支援装置２０が搭載された車両を自車両Ｖと記載する。 [First embodiment]
FIG. 1 is a schematic diagram showing a configuration example of a driving support system including the driving support device according to the first embodiment. FIG. 2 is a block diagram showing a configuration example of the management server according to the first embodiment. FIG. 3 is a block diagram showing a configuration example of the driving support device according to the first embodiment. The driving support system 1 collects the traveling locus information indicating the traveling loci of the plurality of vehicles V as probe data, and displays the excellent locus information indicating the traveling locus in which the vehicle V can travel in an appropriate lane. The driving support system 1 includes a management server 10 and a driving support device 20. In the following description, the vehicle on which the driving support device 20 is mounted will be referred to as the host vehicle V when the driving support device 20 is described.
　プローブデータとは、車両Ｖの走行軌跡を認識可能なデータである。プローブデータは、時刻に対応付けた、車両Ｖの現在位置情報と車両向き情報との少なくともどちらかを含む。現在位置情報は、複数の車線を有する道路における車両Ｖの走行車線を認識可能な程度に高精度に取得される。 ▽ Probe data is data that can recognize the traveling path of the vehicle V. The probe data includes at least one of the current position information of the vehicle V and the vehicle direction information associated with the time. The current position information is acquired with high accuracy so that the traveling lane of the vehicle V on the road having a plurality of lanes can be recognized.
　プローブデータは、車両Ｖの所有者または運転者に関する情報を含んでもよい。所有者または運転者に関する情報は、例えば、所有者または運転者の、交通違反の履歴を示す情報、または、事故の履歴を示す情報である。所有者または運転者に関する情報は、例えば、所有者または運転者の運転の熟練度を示す情報である。 The probe data may include information about the owner or driver of the vehicle V. The information regarding the owner or the driver is, for example, information indicating the history of traffic violations or the history of accidents of the owner or the driver. The information about the owner or the driver is, for example, information indicating the degree of driving skill of the owner or the driver.
　プローブデータは、車両Ｖを主に使用する場所の情報、または、車両Ｖの所有者または運転者の住所の情報を含んでもよい。 The probe data may include information on the place where the vehicle V is mainly used, or information on the address of the owner or the driver of the vehicle V.
　プローブデータは、車両Ｖの車種の情報、大きさの情報、高さの情報、または、排気量の情報を含んでもよい。 The probe data may include vehicle type information, size information, height information, or displacement information of the vehicle V.
　プローブデータは、車両Ｖの目的地の情報、または、進行方向の情報を含んでもよい。 The probe data may include information on the destination of the vehicle V or information on the traveling direction.
　プローブデータは、走行時の曜日の情報、走行時刻の情報、走行時の天候の情報、または、走行時の路面の状態の情報を含んでもよい。プローブデータは、所定区間の周辺の渋滞の情報、または、例えば、事故または工事による車線規制の情報を含んでもよい。 The probe data may include day of the week information when traveling, traveling time information, weather information when traveling, or road surface condition information when traveling. The probe data may include information on traffic congestion around a predetermined section, or information on lane regulation due to an accident or construction, for example.
　管理サーバ１０は、複数の車両Ｖに搭載された運転支援装置２０が収集した走行軌跡を示す走行軌跡情報をプローブデータとしてデータベース（走行軌跡情報記憶部）１３に記憶して管理するサーバ装置である。より詳しくは、管理サーバ１０は、例えば、複数の車両Ｖに搭載された運転支援装置２０が収集したプローブデータを収集する。管理サーバ１０は、収集したプローブデータをデータベース１３に格納する。管理サーバ１０は、通信部１１と、制御部１２と、データベース１３とを有する。 The management server 10 is a server device that stores and manages, as probe data, travel locus information indicating travel loci collected by the driving support devices 20 mounted on the plurality of vehicles V in the database (travel locus information storage unit) 13. .. More specifically, the management server 10 collects, for example, probe data collected by the driving support devices 20 mounted on the plurality of vehicles V. The management server 10 stores the collected probe data in the database 13. The management server 10 has a communication unit 11, a control unit 12, and a database 13.
　通信部１１は、通信ユニットである。通信部１１は、運転支援装置２０及び外部の装置とデータを送受信可能に接続する。 The communication unit 11 is a communication unit. The communication unit 11 connects the driving support device 20 and an external device so that data can be transmitted and received.
　制御部１２は、プローブデータ取得部１２１と、記憶制御部１２２と、優良データ学習部１２３とを有する。管理サーバ１０には図示しない内部メモリが含まれ、内部メモリは管理サーバ１０におけるデータの一時記憶などに用いられる。管理サーバ１０は、通信部１１を介して運転支援装置２０及び外部の装置とデータを送受信可能である。 The control unit 12 includes a probe data acquisition unit 121, a storage control unit 122, and an excellent data learning unit 123. The management server 10 includes an internal memory (not shown), and the internal memory is used for temporary storage of data in the management server 10. The management server 10 can transmit / receive data to / from the driving support device 20 and an external device via the communication unit 11.
　プローブデータ取得部１２１は、運転支援装置２０から受信したプローブデータを取得する。プローブデータ取得部１２１は、取得したプローブデータを記憶制御部１２２に出力する。 The probe data acquisition unit 121 acquires the probe data received from the driving support device 20. The probe data acquisition unit 121 outputs the acquired probe data to the storage control unit 122.
　記憶制御部１２２は、プローブデータ取得部１２１が取得したプローブデータをデータベース１３に記憶させる。 The storage control unit 122 stores the probe data acquired by the probe data acquisition unit 121 in the database 13.
　優良データ学習部１２３は、データベース１３が記憶したプローブデータについて、所定区間ごとの優良な走行の走行軌跡を学習して、優良プローブデータ（優良走行軌跡情報）として優良データ記憶部１４に記憶する。優良データ学習部１２３は、例えば、１日ごとのような所定期間間隔で、優良プローブデータを学習する。 The excellent data learning unit 123 learns the traveling locus of excellent traveling for each predetermined section with respect to the probe data stored in the database 13, and stores it in the excellent data storage unit 14 as excellent probe data (excellent traveling locus information). The excellent data learning unit 123 learns the excellent probe data at predetermined time intervals such as every day.
　優良な走行であるかは、複数車線を有する道路の車線選択による走行所要時間に基づいて判定する。例えば、複数車線を有する道路を走行する際に、車線を適切に選択して走行することによって、車両Ｖが短時間で所定区間を通過したと判定した場合、優良な走行と判定してもよい。または、例えば、複数車線を有する道路を走行する際に、車線を適切に選択して走行することによって、車両Ｖが短時間で目的地に到着したと判定した場合、優良な走行と判定してもよい。本実施形態では、短時間とは、平均の所要時間以下、または、最多の所要時間以下の時間とする。優良な走行とは、言い換えると、模範となる走行である。  Whether or not the vehicle is excellent is determined based on the traveling time required by selecting a lane on a road having multiple lanes. For example, when it is determined that the vehicle V has passed a predetermined section in a short time by appropriately selecting a lane and traveling when traveling on a road having a plurality of lanes, it may be determined as excellent traveling. .. Alternatively, for example, when it is determined that the vehicle V arrives at the destination in a short time by appropriately selecting the lanes when traveling on a road having a plurality of lanes, it is determined that the vehicle is excellent. Good. In the present embodiment, the short time is equal to or less than the average required time or equal to or less than the maximum required time. In other words, good running is model driving.
　優良プローブデータは、複数車線を有する道路を走行する際に、車両Ｖが短時間で所定区間を通行可能、または、短時間で目的地に到着可能となるように、車線を選択して走行した際の走行軌跡を示すプローブデータである。 The excellent probe data is selected by selecting a lane so that the vehicle V can travel through a predetermined section in a short time or reach a destination in a short time when traveling on a road having a plurality of lanes. It is probe data which shows a running locus at the time.
　本実施形態では、優良データ学習部１２３は、データベース１３が記憶したプローブデータについて複数車線の一部の車線に車両Ｖが滞留する区間ごとの、優良な走行の走行軌跡を学習して、優良プローブデータとして優良データ記憶部１４に記憶する。複数車線の一部の車線に車両Ｖが滞留する区間とは、例えば、車線が減少する地点の近傍の所定区間、交差点または分岐点または店舗の出入口の近傍の所定区間、または、車線が規制される地点の近傍の所定区間である。所定区間とは、例えば、数１０ｍ以上、数１００ｍ以下である。所定区間とは、車両Ｖが滞留する距離以上である。 In the present embodiment, the excellent data learning unit 123 learns the traveling locus of excellent traveling for each section in which the vehicle V stays in a part of the lanes of the plurality of lanes with respect to the probe data stored in the database 13, and then outputs the excellent probe. The data is stored in the excellent data storage unit 14 as data. The section in which the vehicle V stays in a part of the lanes of the plurality of lanes is, for example, a predetermined section in the vicinity of a point where the lane decreases, a predetermined section in the vicinity of an intersection or a branch point or an entrance / exit of a store, or the lane is restricted. It is a predetermined section near the point. The predetermined section is, for example, several tens of meters or more and several hundreds of meters or less. The predetermined section is equal to or longer than the distance in which the vehicle V stays.
　例えば、優良データ学習部１２３は、データベース１３が記憶したプローブデータの平均値を優良プローブデータとしてもよい。より詳しくは、優良データ学習部１２３は、所定区間内の各地点における、プローブデータの位置情報の平均値と車両向き情報の平均値とを算出する。算出された位置情報の平均値は、選択車線において中央より側方にずれることがある。そこで、算出された位置情報の平均値を、選択車線における適切な走行位置、例えば、選択車線の中央の位置に補正して優良プローブデータとしてもよい。優良データ学習部１２３は、位置情報の平均値と車両向き情報の平均値とで示される走行軌跡のデータを優良プローブデータとする。 For example, the excellent data learning unit 123 may use the average value of the probe data stored in the database 13 as the excellent probe data. More specifically, the excellent data learning unit 123 calculates the average value of the position information of the probe data and the average value of the vehicle orientation information at each point in the predetermined section. The calculated average value of the position information may deviate laterally from the center in the selected lane. Therefore, the average value of the calculated position information may be corrected to an appropriate traveling position in the selected lane, for example, a position in the center of the selected lane, to obtain excellent probe data. The excellent data learning unit 123 sets the data of the traveling locus represented by the average value of the position information and the average value of the vehicle direction information as the excellent probe data.
　例えば、優良データ学習部１２３は、データベース１３が記憶したプローブデータの最多値を優良プローブデータとしてもよい。プローブデータの最多値は、単位時間当たりの走行台数が多い車線を示す。より詳しくは、優良データ学習部１２３は、所定区間内の各地点における、プローブデータの位置情報の最多値と車両向き情報の最多値とを算出する。優良データ学習部１２３は、位置情報の最多値と車両向き情報の最多値とで示される走行軌跡のデータを優良プローブデータとする。 For example, the excellent data learning unit 123 may set the maximum value of the probe data stored in the database 13 as the excellent probe data. The maximum value of the probe data indicates the lane in which the number of vehicles traveling per unit time is large. More specifically, the excellent data learning unit 123 calculates the maximum value of the position information of the probe data and the maximum value of the vehicle orientation information at each point in the predetermined section. The excellent data learning unit 123 sets the data of the traveling locus indicated by the maximum value of the position information and the maximum value of the vehicle orientation information as the excellent probe data.
　優良データ学習部１２３は、データベース１３が記憶したプローブデータのうち、平均値から著しくはずれた異常値を除外して、優良プローブデータを学習してもよい。より詳しくは、優良データ学習部１２３は、所定区間内の各地点における、プローブデータの位置情報の異常値と車両向き情報の異常値とを除いて優良プローブデータを学習してもよい。 The excellent data learning unit 123 may learn the excellent probe data by excluding abnormal values that are significantly deviated from the average value from the probe data stored in the database 13. More specifically, the good data learning unit 123 may learn the good probe data by excluding the abnormal value of the position information of the probe data and the abnormal value of the vehicle direction information at each point in the predetermined section.
　また、優良データ学習部１２３は、データベース１３が記憶したプローブデータのうち、所有者または運転者の交通違反の履歴または事故の履歴が存在するプローブデータを除外して、優良プローブデータを学習してもよい。優良データ学習部１２３は、データベース１３が記憶したプローブデータについて、所有者または運転者の交通違反の履歴または事故の履歴が存在するプローブデータの重みづけを小さくして、優良プローブデータを学習してもよい。 Further, the good data learning unit 123 excludes probe data having a history of traffic violations or a history of accidents of the owner or the driver from the probe data stored in the database 13 and learns the good probe data. Good. The good data learning unit 123 learns the good probe data by reducing the weight of the probe data in which the history of the traffic violation or the history of the accident of the owner or the driver exists in the probe data stored in the database 13. Good.
　また、優良データ学習部１２３は、データベース１３が記憶したプローブデータについて、所有者または運転者の運転の熟練度に応じた重み付けをして、優良プローブデータを学習してもよい。例えば、優良データ学習部１２３は、運転の熟練度が高いプローブデータの重み付けを大きく、運転の熟練度が低いプローブデータの重み付けを小さく、優良プローブデータを学習する。 Further, the excellent data learning unit 123 may learn the excellent probe data by weighting the probe data stored in the database 13 according to the driving skill of the owner or the driver. For example, the good data learning unit 123 learns good probe data by weighting probe data with a high degree of driving skill and reducing weight of probe data with a low degree of driving skill.
　また、優良データ学習部１２３は、データベース１３が記憶したプローブデータについて、所有者または運転者の住所、または、車両Ｖの主な使用場所として登録された住所ごとに、優良プローブデータを学習してもよい。 Further, the excellent data learning unit 123 learns the excellent probe data for the probe data stored in the database 13 for each address of the owner or the driver or each address registered as the main use place of the vehicle V. Good.
　また、優良データ学習部１２３は、データベース１３が記憶したプローブデータについて、車両Ｖの車種、大きさ、高さ、または、排気量ごとに、優良プローブデータを学習してもよい。 Further, the excellent data learning unit 123 may learn the excellent probe data for the probe data stored in the database 13 for each vehicle type, size, height, or displacement of the vehicle V.
　また、優良データ学習部１２３は、データベース１３が記憶したプローブデータについて、目的地、または、進行方向ごとに、優良プローブデータを学習してもよい。 Further, the excellent data learning unit 123 may learn the excellent probe data for the probe data stored in the database 13 for each destination or each traveling direction.
　優良データ学習部１２３は、データベース１３が記憶したプローブデータについて、走行時刻、曜日、天候、または、路面の状態ごとに、優良プローブデータを学習してもよい。 The excellent data learning unit 123 may learn the excellent probe data for the probe data stored in the database 13 for each traveling time, day of the week, weather, or road surface condition.
　優良データ学習部１２３は、データベース１３が記憶したプローブデータのうち、交通情報によって、一部の車線で渋滞が発生していることが示される場合、渋滞が発生した時刻以降のプローブデータに基づいて、優良プローブデータを学習してもよい。 In the probe data stored in the database 13, the good data learning unit 123, based on the probe data after the time when the traffic jam occurs, when the traffic information indicates that the traffic jam is generated in some lanes. , Good probe data may be learned.
　優良データ学習部１２３は、データベース１３が記憶したプローブデータについて、ナビゲーションシステムから取得した車線規制情報によって、例えば、事故または工事によって一時的な車線規制が実施されていることが示される場合、車線規制された時刻以降のプローブデータに基づいて、優良プローブデータを学習してもよい。 When the lane regulation information acquired from the navigation system indicates that temporary lane regulation is being performed for the probe data stored in the database 13 by the lane regulation, for example, due to an accident or construction, the excellent data learning unit 123 determines the lane regulation. The excellent probe data may be learned based on the probe data after the specified time.
　データベース１３は、複数の車両Ｖから取得した走行軌跡情報をプローブデータとして記憶する。データベース１３は、プローブデータ取得部１２１が取得したプローブデータを記憶する。 The database 13 stores traveling locus information acquired from a plurality of vehicles V as probe data. The database 13 stores the probe data acquired by the probe data acquisition unit 121.
　優良データ記憶部１４は、優良データ学習部１２３が学習した優良プローブデータを記憶する。 The excellent data storage unit 14 stores the excellent probe data learned by the excellent data learning unit 123.
　運転支援装置２０は、自車両Ｖが適切な車線を走行可能な走行軌跡を示す優良軌跡情報を表示する。運転支援装置２０は、プローブデータを生成する。運転支援装置２０は、自車両Ｖに組み付けられていても、可搬型で自車両Ｖに持ち込まれたものであってもよい。運転支援装置２０は、図示しない記憶部に記憶されているプログラムをメモリにロードして、プログラムに含まれる命令を実行する。運転支援装置２０には図示しない内部メモリが含まれ、内部メモリは運転支援装置２０におけるデータの一時記憶などに用いられる。運転支援装置２０は、通信部２１と、表示部２２と、制御部２３とを有する。運転支援装置２０は、通信部２１を介して管理サーバ１０に、生成したプローブデータを送信可能である。 The driving support device 20 displays excellent locus information indicating a locus on which the vehicle V can travel in an appropriate lane. The driving support device 20 generates probe data. The driving support device 20 may be assembled in the own vehicle V or may be portable and brought into the own vehicle V. The driving support device 20 loads a program stored in a storage unit (not shown) into the memory and executes the instructions included in the program. The driving support device 20 includes an internal memory (not shown), and the internal memory is used for temporary storage of data in the driving support device 20. The driving support device 20 includes a communication unit 21, a display unit 22, and a control unit 23. The driving support device 20 can transmit the generated probe data to the management server 10 via the communication unit 21.
　通信部２１は、通信ユニットである。通信部２１は、管理サーバ１０及び外部の装置とデータを送受信可能に接続する。 The communication unit 21 is a communication unit. The communication unit 21 connects the management server 10 and an external device so that data can be transmitted and received.
　表示部２２は、例えば、液晶ディスプレイ（ＬＣＤ：Ｌｉｑｕｉｄ　Ｃｒｙｓｔａｌ　Ｄｉｓｐｌａｙ）または有機ＥＬ（Ｏｒｇａｎｉｃ　Ｅｌｅｃｔｒｏ－Ｌｕｍｉｎｅｓｃｅｎｃｅ）ディスプレイを含むディスプレイである。表示部２２は、運転支援装置２０に専用のものであっても、例えば、ナビゲーションシステムを含む他のシステムと共同で使用するものであってもよい。表示部２２は、制御部２３の表示制御部２３８から出力された制御信号に基づいて、優良軌跡映像３００を表示する。 The display unit 22 is a display including, for example, a liquid crystal display (LCD: Liquid Crystal Display) or an organic EL (Organic Electro-Luminescence) display. The display unit 22 may be dedicated to the driving support device 20 or may be used together with another system including a navigation system, for example. The display unit 22 displays the excellent trajectory image 300 based on the control signal output from the display control unit 238 of the control unit 23.
　制御部２３は、例えば、ＣＰＵなどで構成された演算処理装置である。制御部２３には図示しない内部メモリが含まれ、内部メモリは制御部２３におけるデータの一時記憶などに用いられる。制御部２３は、図示しない記憶部に記憶されているプログラムをメモリにロードして、プログラムに含まれる命令を実行する。制御部２３は、車両情報取得部２３０と、プローブデータ生成部２３４と、送信制御部２３５と、優良データ取得部２３６と、映像生成部２３７と、表示制御部２３８と、走行評価部２３９とを有する。 The control unit 23 is, for example, an arithmetic processing unit including a CPU and the like. The control unit 23 includes an internal memory (not shown), and the internal memory is used for temporary storage of data in the control unit 23. The control unit 23 loads the program stored in the storage unit (not shown) into the memory and executes the instructions included in the program. The control unit 23 includes a vehicle information acquisition unit 230, a probe data generation unit 234, a transmission control unit 235, an excellent data acquisition unit 236, a video generation unit 237, a display control unit 238, and a travel evaluation unit 239. Have.
　車両情報取得部２３０は、自車両Ｖの現在位置情報と車両向き情報とを含む車両情報を、ＣＡＮ（Ｃｏｎｔｒｏｌｌｅｒ　Ａｒｅａ　Ｎｅｔｗｏｒｋ）や自車両Ｖの状態をセンシングする各種センサなどから取得する。車両情報取得部２３０は、ナビゲーションシステムから、自車両Ｖの周辺の道路の情報と車線の情報とを含む地図情報を取得する。車両情報取得部２３０は、取得した車両情報をプローブデータ生成部２３４に出力する。 The vehicle information acquisition unit 230 acquires vehicle information including the current position information and vehicle direction information of the host vehicle V from a CAN (Controller Area Network) or various sensors that sense the state of the host vehicle V. The vehicle information acquisition unit 230 acquires map information including road information and lane information around the vehicle V from the navigation system. The vehicle information acquisition unit 230 outputs the acquired vehicle information to the probe data generation unit 234.
　プローブデータ生成部２３４は、管理サーバ１０に送信するプローブデータを生成する。より詳しくは、プローブデータ生成部２３４は、車両情報取得部２３０が取得した車両情報から、プローブデータを生成する。 The probe data generation unit 234 generates probe data to be transmitted to the management server 10. More specifically, the probe data generation unit 234 generates probe data from the vehicle information acquired by the vehicle information acquisition unit 230.
　プローブデータ生成部２３４は、時系列に、自車両Ｖの現在位置情報と車両向き情報とを認識可能なプローブデータを生成する。 The probe data generation unit 234 generates probe data capable of recognizing the current position information of the vehicle V and the vehicle direction information in time series.
　プローブデータ生成部２３４は、あらかじめ記憶部に記憶された、自車両Ｖの所有者または運転者に関する情報を含んだプローブデータを生成してもよい。プローブデータ生成部２３４は、走行評価部２３９が評価した運転者の熟練度の情報を含んだプローブデータを生成してもよい。 The probe data generation unit 234 may generate probe data, which is stored in advance in the storage unit and includes information about the owner or driver of the own vehicle V. The probe data generation unit 234 may generate probe data including information on the skill level of the driver evaluated by the travel evaluation unit 239.
　プローブデータ生成部２３４は、あらかじめ記憶部に記憶された、自車両Ｖを主に使用する場所の情報、または、自車両Ｖの所有者または運転者の住所の情報を含んだプローブデータを生成してもよい。 The probe data generation unit 234 generates probe data which is stored in advance in the storage unit and includes information on the place where the host vehicle V is mainly used or information on the address of the owner or driver of the host vehicle V. May be.
　プローブデータ生成部２３４は、あらかじめ記憶部に記憶された、自車両Ｖの車種の情報、大きさの情報、高さの情報、または、排気量の情報を含んだプローブデータを生成してもよい。 The probe data generation unit 234 may generate probe data that is stored in advance in the storage unit and includes vehicle type information, size information, height information, or displacement information of the host vehicle V. ..
　プローブデータ生成部２３４は、ナビゲーションシステムから取得した、自車両Ｖの目的地の情報、または、進行方向の情報を含んだプローブデータを生成してもよい。 The probe data generation unit 234 may generate probe data including information on the destination of the vehicle V or information on the traveling direction acquired from the navigation system.
　プローブデータ生成部２３４は、制御部２３または外部の装置から取得した、走行時刻の情報、走行時の曜日、走行時の天候の情報、または、走行時の路面の状態の情報を含んだプローブデータを生成してもよい。 The probe data generation unit 234 includes probe data obtained from the control unit 23 or an external device, including traveling time information, traveling day of the week, traveling weather information, or road surface state information during traveling. May be generated.
　送信制御部２３５は、プローブデータ生成部２３４が生成したプローブデータを、通信部２１を介して、管理サーバ１０に送信する。送信制御部２３５は、例えば、所定時間間隔で、プローブデータを管理サーバ１０に送信してもよい。送信制御部２３５は、例えば、自車両Ｖが所定区間を通り抜けたとき、自車両Ｖが自宅に戻ったとき、または、目的地に着いたときなどに、プローブデータを管理サーバ１０に送信してもよい。 The transmission control unit 235 transmits the probe data generated by the probe data generation unit 234 to the management server 10 via the communication unit 21. The transmission control unit 235 may transmit the probe data to the management server 10 at predetermined time intervals, for example. The transmission control unit 235 transmits the probe data to the management server 10 when the host vehicle V passes through a predetermined section, when the host vehicle V returns to the home, or when reaching the destination, for example. Good.
　優良データ取得部２３６は、車両情報取得部２３０が取得した車両情報に基づいて、車両が複数車線を有する道路を走行すると判定される場合、自車両Ｖの周辺の優良プローブデータを、通信部２１を介して、管理サーバ１０から取得する。 When it is determined that the vehicle travels on a road having a plurality of lanes based on the vehicle information acquired by the vehicle information acquisition unit 230, the excellent data acquisition unit 236 outputs the excellent probe data around the own vehicle V to the communication unit 21. Via the management server 10.
　優良データ取得部２３６は、自車両Ｖが複数車線の一部の車線に車両Ｖが滞留する区間の手前に位置することを示す場合、自車両Ｖの周辺の優良プローブデータを、管理サーバ１０のデータベース１３から取得する。優良データ取得部２３６は、例えば、自車両Ｖの現在位置情報と地図情報とが、自車両Ｖが車線が減少する地点の手前に位置することを示す場合、自車両Ｖの周辺の優良プローブデータを、管理サーバ１０のデータベース１３から取得する。優良データ取得部２３６は、例えば、自車両Ｖの現在位置情報と地図情報とが、自車両Ｖが交差点、分岐点、または、店舗の出入口の手前に位置することを示す場合、当該交差点または分岐点の優良プローブデータを取得する。優良データ取得部２３６は、例えば、自車両Ｖの現在位置情報と地図情報とが、自車両Ｖが車線が規制される地点の手前に位置することを示す場合、車線が規制された時刻以降の優良プローブデータを取得する。 If the excellent data acquisition unit 236 indicates that the vehicle V is located in front of the section where the vehicle V stays in a part of the lanes of the plurality of lanes, the excellent probe data in the vicinity of the vehicle V is stored in the management server 10. It is acquired from the database 13. The excellent data acquisition unit 236, for example, when the current position information and the map information of the own vehicle V indicate that the own vehicle V is located before the point where the lane decreases, the excellent probe data around the own vehicle V. From the database 13 of the management server 10. For example, when the current position information and the map information of the own vehicle V indicate that the own vehicle V is located at an intersection, a branch point, or in front of the doorway of the store, the good data acquisition unit 236 determines the intersection or the branch point. Obtain good point probe data. For example, when the current position information and the map information of the own vehicle V indicate that the own vehicle V is located before the point where the lane is restricted, the excellent data acquisition unit 236 indicates the time after the lane is restricted. Get good probe data.
　また、本実施形態では、優良データ取得部２３６は、自車両Ｖと進行方向が一致する優良プローブデータを取得する。 Further, in the present embodiment, the excellent data acquisition unit 236 acquires excellent probe data whose traveling direction matches that of the host vehicle V.
　優良データ取得部２３６は、自車両Ｖの運転者の運転の熟練度が高い場合に限って、優良プローブデータを取得するようにしてもよい。自車両Ｖの運転者の運転の熟練度が低い場合、車線変更をすることが難しいことがあるためである。 The excellent data acquisition unit 236 may acquire the excellent probe data only when the driver of the vehicle V is highly skilled in driving. This is because it may be difficult to change lanes when the driver of the own vehicle V has low driving skill.
　さらに、優良データ取得部２３６は、地元の車両Ｖの優良プローブデータ、言い換えると、所有者または運転者の住所、または、主な使用場所として登録された住所が自車両Ｖの現在位置情報の周辺地域である優良プローブデータを取得してもよい。優良データ取得部２３６は、自車両Ｖと車種、大きさ、高さ、または、排気量が一致する優良プローブデータを取得してもよい。優良データ取得部２３６は、自車両Ｖと目的地、または、進行方向が一致する優良プローブデータを取得してもよい。優良データ取得部２３６は、現在の状態と走行時刻、曜日、天候、または、路面の状態が一致する優良プローブデータを取得してもよい。 Furthermore, the excellent data acquisition unit 236 determines the excellent probe data of the local vehicle V, in other words, the address of the owner or the driver, or the address registered as the main place of use, around the current position information of the vehicle V. You may acquire the excellent probe data which is a region. The excellent data acquisition unit 236 may acquire excellent probe data in which the vehicle type, size, height, or displacement of the host vehicle V matches. The excellent data acquisition unit 236 may acquire excellent probe data in which the own vehicle V and the destination or the traveling direction match. The excellent data acquisition unit 236 may acquire excellent probe data in which the current state and the traveling time, the day of the week, the weather, or the state of the road surface match.
　映像生成部２３７は、優良データ取得部２３６が取得した優良プローブデータに基づいて、車線を適切に選択して走行する優良な走行の走行軌跡を示す優良軌跡映像３００を生成する。より詳しくは、映像生成部２３７は、自車両Ｖの周辺の地図映像に、優良データ取得部２３６が取得した優良プローブデータを重ね合わせた優良軌跡映像３００を生成する。例えば、映像生成部２３７は、自車両Ｖが車線が減少する地点の手前に位置することを示す場合、自車両Ｖが右左折専用車線の開始地点の手前に位置することを示す場合、または、自車両Ｖが車線が規制される地点の手前に位置することを示す場合、優良軌跡映像３００を生成する。 The image generation unit 237 generates an excellent locus image 300 indicating an excellent running locus of appropriately selecting a lane and traveling based on the excellent probe data acquired by the excellent data acquisition unit 236. More specifically, the image generation unit 237 generates an excellent trajectory image 300 in which the excellent probe data acquired by the excellent data acquisition unit 236 is superimposed on the map image around the vehicle V. For example, the video generation unit 237 indicates that the host vehicle V is located in front of the point where the lane decreases, indicates that the host vehicle V is located in front of the start point of the right / left turn-only lane, or When the own vehicle V indicates that it is located before the point where the lane is restricted, the excellent trajectory image 300 is generated.
　また、映像生成部２３７は、優良軌跡映像３００に、自車両Ｖの走行時に取得されたプローブデータを重ね合わせてもよい。例えば、映像生成部２３７は、自車両Ｖが車線が減少する地点の手前に位置することを示す場合、自車両Ｖが右左折専用車線の開始地点の手前に位置することを示す場合、または、自車両Ｖが車線が規制される地点の手前に位置することを示す場合、すでに生成した優良軌跡映像３００に、自車両Ｖの走行時に取得されたプローブデータを重ね合わせながら優良軌跡映像３００を生成してもよい。 Further, the image generation unit 237 may superimpose the probe data acquired when the vehicle V travels on the excellent trajectory image 300. For example, the video generation unit 237 indicates that the host vehicle V is located in front of the point where the lane decreases, indicates that the host vehicle V is located in front of the start point of the right / left turn-only lane, or When the own vehicle V indicates that it is located in front of the point where the lane is restricted, the excellent trajectory image 300 is generated by superimposing the probe data acquired during the traveling of the own vehicle V on the already generated excellent trajectory image 300. You may.
　図４を用いて、優良軌跡映像３００について説明する。図４は、自車両が交差点の近傍を走行時、表示される優良軌跡映像の一例を示す図である。優良軌跡映像３００は、優良プローブデータに沿って走行する仮想の車両を示す参考車両映像３０１と、優良プローブデータの走行軌跡を示す走行軌跡映像３０２とを含む。 The excellent trajectory image 300 will be described with reference to FIG. FIG. 4 is a diagram showing an example of an excellent trajectory image displayed when the vehicle is traveling near the intersection. The excellent trajectory image 300 includes a reference vehicle image 301 showing a virtual vehicle traveling along the excellent probe data and a traveling trajectory image 302 showing a traveling trajectory of the excellent probe data.
　さらに、優良軌跡映像３００に、自車両Ｖの走行時に取得されたプローブデータを重ね合わせてもよい。優良軌跡映像３００は、自車両Ｖを示す自車両映像３１１を含む。 Furthermore, the probe data acquired when the vehicle V is traveling may be superimposed on the excellent trajectory image 300. The excellent trajectory image 300 includes the own vehicle image 311 showing the own vehicle V.
　表示制御部２３８は、映像生成部２３７が生成した優良軌跡映像３００を表示部２２に表示させる制御を行う。より詳しくは、表示制御部２３８は、優良軌跡映像３００を表示部２２に表示させる映像信号を出力する。 The display control unit 238 controls the display unit 22 to display the excellent trajectory image 300 generated by the image generation unit 237. More specifically, the display control unit 238 outputs a video signal for displaying the excellent trajectory image 300 on the display unit 22.
　走行評価部２３９は、優良データ取得部２３６が取得した優良プローブデータと、自車両Ｖが走行した際に取得されたプローブデータとを比較して、適切な車線を走行しているかを評価する。より詳しくは、走行評価部２３９は、所定区間の優良プローブデータと、所定区間を自車両Ｖが走行した際の自車両Ｖのプローブデータとについて、位置情報と車両向きとを比較する。走行評価部２３９は、優良プローブデータと自車両Ｖのプローブデータとの差異が閾値以下である場合、優良プローブデータに近い、適切な車線を走行していると評価する。走行評価部２３９は、優良プローブデータと自車両Ｖのプローブデータとの差異が閾値より大きい場合、優良プローブデータとの差異が大きく、適切な車線を走行していないと評価する。走行評価部２３９は、評価結果を記憶部に記憶する。走行評価部２３９による評価結果は、運転者の運転の熟練度を示す情報として使用可能である。 The traveling evaluation unit 239 compares the excellent probe data acquired by the excellent data acquisition unit 236 with the probe data acquired when the vehicle V travels, and evaluates whether the vehicle is traveling in an appropriate lane. More specifically, the traveling evaluation unit 239 compares the position information and the vehicle direction with respect to the excellent probe data of the predetermined section and the probe data of the own vehicle V when the own vehicle V travels in the predetermined section. When the difference between the excellent probe data and the probe data of the host vehicle V is less than or equal to the threshold, the traveling evaluation unit 239 evaluates that the vehicle is traveling in an appropriate lane that is close to the excellent probe data. When the difference between the excellent probe data and the probe data of the own vehicle V is larger than the threshold value, the traveling evaluation unit 239 evaluates that the difference between the excellent probe data and the excellent probe data is large and the vehicle is not traveling in an appropriate lane. The traveling evaluation unit 239 stores the evaluation result in the storage unit. The evaluation result by the traveling evaluation unit 239 can be used as information indicating the degree of driving skill of the driver.
　走行評価部２３９は、あらかじめ記憶された所定区間の模範的なプローブデータと、所定区間を自車両Ｖが走行した際に取得されたプローブデータとを比較して、適切な車線を走行しているかを評価してもよい。 Whether the traveling evaluation unit 239 is traveling in an appropriate lane by comparing model probe data stored in advance in a predetermined section with probe data acquired when the vehicle V travels in the predetermined section May be evaluated.
　次に、管理サーバ１０における処理の流れについて説明する。管理サーバ１０における処理は、定期的に実行される。 Next, the flow of processing in the management server 10 will be described. The processing in the management server 10 is regularly executed.
　管理サーバ１０におけるプローブデータの記憶処理の流れについて説明する。管理サーバ１０は、プローブデータ取得部１２１によって、複数の車両Ｖに搭載された運転支援装置２０からプローブデータを取得する。そして、管理サーバ１０は、記憶制御部１２２によって、取得したプローブデータをデータベース１３に記憶させる。 The flow of probe data storage processing in the management server 10 will be described. The management server 10 uses the probe data acquisition unit 121 to acquire probe data from the driving support devices 20 mounted on the plurality of vehicles V. Then, the management server 10 causes the storage controller 122 to store the acquired probe data in the database 13.
　管理サーバ１０における優良データの学習処理の流れについて説明する。管理サーバ１０は、優良データ学習部１２３によって、データベース１３に記憶したプローブデータから、あらかじめ記憶された所定区間ごとに、優良な走行の走行軌跡を示す優良プローブデータを学習する。管理サーバ１０は、優良データ学習部１２３によって得られた優良プローブデータを、優良データ記憶部１４に記憶させる。 A flow of learning processing of excellent data in the management server 10 will be described. The management server 10 causes the excellent data learning unit 123 to learn, from the probe data stored in the database 13, the excellent probe data indicating the traveling locus of excellent traveling for each predetermined section stored in advance. The management server 10 stores the excellent probe data obtained by the excellent data learning unit 123 in the excellent data storage unit 14.
　次に、図５を用いて、運転支援装置２０における処理の流れについて説明する。図５は、第一実施形態に係る運転支援装置における処理の流れを示すフローチャートである。運転支援装置２０が搭載された自車両Ｖが動作している間、運転支援装置２０が動作する。運転支援装置２０が搭載された自車両Ｖが動作しているとは、例えば、エンジンがＯＮされている、または、電源がＯＮされている、など、自車両Ｖの駆動源が動作していることをいう。ここでは、優良な走行の走行軌跡を示した方がよいと判定される場合として、自車両Ｖが車線が減少する地点の手前に位置する場合を一例として説明する。 Next, the flow of processing in the driving support device 20 will be described with reference to FIG. FIG. 5 is a flowchart showing the flow of processing in the driving support device according to the first embodiment. The driving support device 20 operates while the host vehicle V in which the driving support device 20 is mounted is operating. The fact that the host vehicle V equipped with the driving support device 20 is operating means that the drive source of the host vehicle V is operating, such as the engine being turned on or the power being turned on. Say that. Here, as a case where it is determined that it is better to show a traveling locus of excellent traveling, a case where the host vehicle V is located in front of a point where the lane decreases will be described as an example.
　制御部２３は、自車両Ｖの車両情報を取得する（ステップＳ１０１）。より詳しくは、制御部２３は、車両情報取得部２３０によって、自車両Ｖの現在位置情報と自車両Ｖの周辺の地図情報とをナビゲーションシステムから取得する。制御部２３は、ステップＳ１０２に進む。 The control unit 23 acquires the vehicle information of the own vehicle V (step S101). More specifically, the control unit 23 causes the vehicle information acquisition unit 230 to acquire the current position information of the host vehicle V and the map information around the host vehicle V from the navigation system. The control unit 23 proceeds to step S102.
　制御部２３は、自車両Ｖが車線が減少する地点の手前に位置するかを判定する（ステップＳ１０２）。より詳しくは、制御部２３は、車両情報取得部２３０が取得した、自車両Ｖの現在位置情報と、自車両Ｖの周辺の地図情報とに基づいて、自車両Ｖの進行方向前方の所定距離内において車線が減少するかを判定する。制御部２３は、自車両Ｖの進行方向前方の所定距離内において車線が減少する場合（ステップＳ１０２でＹｅｓ）、ステップＳ１０３に進む。制御部２３は、自車両Ｖの進行方向前方の所定距離内において車線が減少しない場合（ステップＳ１０２でＮｏ）、ステップＳ１０７に進む。 The control unit 23 determines whether the host vehicle V is located before the point where the lane decreases (step S102). More specifically, the control unit 23, based on the current position information of the own vehicle V and the map information around the own vehicle V acquired by the vehicle information acquisition unit 230, a predetermined distance ahead of the own vehicle V in the traveling direction. It is determined whether or not the number of lanes will decrease. When the number of lanes decreases within a predetermined distance ahead of the vehicle V in the traveling direction (Yes in step S102), the control unit 23 proceeds to step S103. When the number of lanes has not decreased within a predetermined distance ahead of the vehicle V in the traveling direction (No in step S102), the control unit 23 proceeds to step S107.
　制御部２３は、優良データ取得部２３６によって、自車両Ｖが車線が減少する地点を含む所定区間の優良プローブデータを取得する（ステップＳ１０３）。制御部２３は、ステップＳ１０４に進む。 The control unit 23 causes the excellent data acquisition unit 236 to acquire the excellent probe data of the predetermined section including the point where the own vehicle V decreases in lane (step S103). The control unit 23 proceeds to step S104.
　制御部２３は、優良軌跡映像３００を生成する（ステップＳ１０４）。より詳しくは、制御部２３は、映像生成部２３７によって、自車両Ｖの周辺の地図映像に、優良データ取得部２３６が取得した優良プローブデータを重ね合わせた優良軌跡映像３００を生成する。制御部２３は、映像生成部２３７によって、自車両Ｖが車線が減少する地点を含む所定区間を走行している場合、すでに生成した優良軌跡映像３００に、自車両Ｖの走行時に取得されたプローブデータを重ね合わせながら優良軌跡映像３００を生成してもよい。制御部２３は、ステップＳ１０５に進む。 The control unit 23 generates the excellent trajectory image 300 (step S104). More specifically, the control unit 23 causes the image generation unit 237 to generate an excellent trajectory image 300 in which the excellent probe data acquired by the excellent data acquisition unit 236 is superimposed on the map image around the vehicle V. When the vehicle V is traveling in a predetermined section including a point where the lane decreases, the control unit 23 causes the generated locus image 300 that has already been generated by the image generation unit 237 to acquire the probe acquired when the vehicle V travels. The excellent trajectory image 300 may be generated while overlapping the data. The control unit 23 proceeds to step S105.
　制御部２３は、優良軌跡映像３００を表示する（ステップＳ１０５）。より詳しくは、制御部２３は、表示制御部２３８によって、生成した優良軌跡映像３００を表示部２２に表示させる。制御部２３は、ステップＳ１０６に進む。 The control unit 23 displays the excellent trajectory image 300 (step S105). More specifically, the control unit 23 causes the display control unit 238 to display the generated excellent trajectory image 300 on the display unit 22. The control unit 23 proceeds to step S106.
　制御部２３は、自車両Ｖの走行を評価する（ステップＳ１０６）。より詳しくは、制御部２３は、走行評価部２３９によって、所定区間の優良プローブデータと、所定区間を自車両Ｖが走行した際に取得されたプローブデータとを比較して、適切な車線を走行しているかを評価する。制御部２３は、ステップＳ１０７に進む。 The control unit 23 evaluates the traveling of the vehicle V (step S106). More specifically, the control unit 23 causes the traveling evaluation unit 239 to compare the excellent probe data of the predetermined section with the probe data acquired when the host vehicle V travels in the predetermined section, and travel in an appropriate lane. Evaluate what you are doing. The control unit 23 proceeds to step S107.
　制御部２３は、プローブデータ生成部２３４によって、プローブデータを生成する（ステップＳ１０７）。制御部２３は、ステップＳ１０８に進む。 The control unit 23 causes the probe data generation unit 234 to generate probe data (step S107). The control unit 23 proceeds to step S108.
　制御部２３は、送信制御部２３５によって、生成したプローブデータを管理サーバ１０に送信する（ステップＳ１０８）。制御部２３は、ステップＳ１０９に進む。 The control unit 23 causes the transmission control unit 235 to transmit the generated probe data to the management server 10 (step S108). The control unit 23 proceeds to step S109.
　制御部２３は、終了トリガがあるかを判定する（ステップＳ１０９）。終了トリガは、制御部２３による処理を停止するトリガである。例えば、車両の動作を終了することで終了トリガとなる。例えば、エンジンオフ、ギヤをパーキングに入れた、サイドブレーキを動作させたなどの組合せで終了トリガとなる。制御部２３は、終了トリガがあると判定した場合（ステップＳ１０９でＹｅｓ）、処理を終了する。制御部２３は、終了トリガがないと判定した場合（ステップＳ１０９でＮｏ）、ステップＳ１０１に進む。 The control unit 23 determines whether there is an end trigger (step S109). The end trigger is a trigger for stopping the processing by the control unit 23. For example, terminating the operation of the vehicle serves as a termination trigger. For example, a combination of the engine being off, the gear being parked, the side brake being operated, and the like is a termination trigger. When the control unit 23 determines that there is an end trigger (Yes in step S109), the process ends. When determining that there is no end trigger (No in step S109), the control unit 23 proceeds to step S101.
　このようにして、管理サーバ１０は、複数の車両Ｖに搭載された運転支援装置２０が収集した走行軌跡を示す走行軌跡情報をプローブデータとしてデータベース１３に記憶する。管理サーバ１０は、データベース１３が記憶したプローブデータについて、所定区間ごとの優良な走行の走行軌跡を学習して、優良プローブデータとして優良データ記憶部１４に記憶する。運転支援装置２０は、複数車線を有する道路において、優良プローブデータに基づいて適切な車線を選択して走行する優良軌跡映像３００を表示部２２に表示させる。 In this way, the management server 10 stores the traveling locus information indicating the traveling loci collected by the driving support devices 20 mounted on the plurality of vehicles V in the database 13 as probe data. The management server 10 learns a traveling locus of excellent traveling for each predetermined section with respect to the probe data stored in the database 13, and stores it in the superior data storage unit 14 as excellent probe data. The driving support device 20 causes the display unit 22 to display the excellent trajectory image 300 in which a proper lane is selected based on the excellent probe data and the vehicle travels on a road having a plurality of lanes.
　上述したように、本実施形態は、複数の車両Ｖに搭載された運転支援装置２０が収集した走行軌跡を示す走行軌跡情報をプローブデータとして記憶する。本実施形態は、プローブデータについて、所定区間ごとに適切な車線を選択して走行する走行軌跡を学習して、優良プローブデータを記憶する。これらにより、本実施形態は、複数車線を有する道路において、優良プローブデータに基づいた優良軌跡映像３００を表示部２２に表示させることができる。 As described above, in the present embodiment, the traveling locus information indicating the traveling loci collected by the driving support devices 20 mounted on the plurality of vehicles V is stored as probe data. In the present embodiment, with respect to probe data, an appropriate lane is selected for each predetermined section, a traveling locus of traveling is learned, and excellent probe data is stored. As a result, in the present embodiment, the excellent trajectory image 300 based on the excellent probe data can be displayed on the display unit 22 on the road having a plurality of lanes.
　本実施形態によれば、運転者は、表示部２２に表示された優良軌跡映像３００を視認することによって、複数車線を有する道路において、適切な車線を選択して走行することができる。本実施形態によれば、複数車線の道路の走行時、車線が減少する地点を通過する場合、右左折専用車線で混雑する地点を含む道路を通過する場合、または、車線が事故または工事などによって規制される地点を通過する場合、適切な車線を選択して走行することができる。この結果として、本実施形態は、所定区間を通過したり、目的地に到達するのに要する時間を短縮することができる。このようにして、本実施形態は、適切な運転を支援することができる。 According to the present embodiment, the driver can select an appropriate lane on a road having a plurality of lanes and drive by visually recognizing the excellent trajectory image 300 displayed on the display unit 22. According to the present embodiment, when traveling on a road with multiple lanes, when passing through a point where the lane decreases, when passing through a road including a point where the right and left turn lanes are congested, or due to an accident or construction, etc. When passing a regulated point, it is possible to select an appropriate lane and drive. As a result, the present embodiment can shorten the time required to pass through the predetermined section or reach the destination. In this way, the present embodiment can support appropriate driving.
　本実施形態は、複数の車両Ｖが実際に走行した際のプローブデータから生成した優良プローブデータを使用するので、より適切に選択すべき車線を示す優良軌跡映像３００を表示させることができる。本実施形態は、複数の車両Ｖが収集したプローブデータから生成した優良プローブデータを使用するので、例えば、地図情報に含まれていない一時的な車線規制が設定されたときでも、選択すべき適切な車線を示す優良軌跡映像３００を表示させることができる。 Since the present embodiment uses the excellent probe data generated from the probe data when the plurality of vehicles V actually travel, it is possible to display the excellent locus image 300 showing the lane that should be selected more appropriately. Since the present embodiment uses the excellent probe data generated from the probe data collected by the plurality of vehicles V, it is appropriate to select even when a temporary lane regulation not included in the map information is set, for example. An excellent trajectory image 300 showing various lanes can be displayed.
　本実施形態によれば、運転経験が少ない運転者が運転する場合、または、見知らぬ土地で運転する場合であっても、表示部２２に表示された優良軌跡映像３００を視認することによって、適切な車線を選択して走行することができる。 According to the present embodiment, even when the driver who has little driving experience drives, or even when driving on a strange land, by visually recognizing the excellent trajectory image 300 displayed on the display unit 22, it is possible to appropriately You can select a lane and drive.
　本実施形態は、地元の車両Ｖの優良プローブデータに基づいて、優良軌跡映像３００を表示させることができる。本実施形態によれば、当該道路の運転に慣れた地元の車両Ｖの優良な走行軌跡を示す優良軌跡映像３００を視認することによって、より適切な車線を選択して走行することができる。 In the present embodiment, the excellent trajectory image 300 can be displayed based on the excellent probe data of the local vehicle V. According to the present embodiment, it is possible to select and drive a more appropriate lane by visually recognizing the excellent trajectory image 300 that shows the excellent traveling trajectory of the local vehicle V that is accustomed to driving on the road.
　本実施形態は、自車両Ｖと目的地、または、進行方向が一致する優良プローブデータに基づいて、優良軌跡映像３００を表示させることができる。これにより、本実施形態は、例えば、右折専用車線のように、特定の方向へ向かう車線のみが混雑している地点を直進して通過する場合、右折専用車線を避けて、混雑していない車線を走行することができる。 In the present embodiment, the excellent trajectory image 300 can be displayed based on the own vehicle V and the destination or the excellent probe data whose traveling direction matches. Thus, in the present embodiment, when passing straight through a point where only the lane heading for a specific direction is congested, such as the right-turn lane, the right-turn lane is avoided and the lane is not congested. Can travel.
　本実施形態は、走行時の曜日の情報、または、走行時刻の情報が一致する優良プローブデータに基づいて、優良軌跡映像３００を表示させることができる。これにより、本実施形態は、例えば、特定の曜日、または、特定の時間帯に限って、一部の車線が混雑する場合、混雑する車線を避けて、混雑していない車線を走行することができる。 In the present embodiment, the excellent trajectory image 300 can be displayed based on the day of the week information at the time of traveling or the excellent probe data with which the information at the traveling time matches. As a result, in the present embodiment, for example, when a part of the lanes is congested only on a specific day of the week or a specific time period, it is possible to avoid a congested lane and drive in a non-congested lane. it can.
　本実施形態は、走行時の天候の情報、または、走行時の路面の状態が一致する優良プローブデータに基づいて、優良軌跡映像３００を表示させることができる。これにより、本実施形態は、例えば、雨天時、または、積雪時などに、マンホールが設置されて滑り易い車線、または、水溜りができやすい車線を避けて、走行しやすい車線を走行することができる。 In the present embodiment, the excellent trajectory image 300 can be displayed based on the weather information during traveling or the excellent probe data with which the condition of the road surface during traveling matches. Accordingly, in the present embodiment, for example, in rainy weather, or in snow, etc., it is possible to drive in a lane that is easy to travel while avoiding a lane in which a manhole is installed and slippery, or a lane in which water is likely to accumulate. it can.
　本実施形態は、自車両Ｖと車種、大きさ、高さ、または、排気量が一致する優良プローブデータに基づいて、優良軌跡映像３００を表示させることができる。本実施形態によれば、例えば、車種、大きさ、高さ、または、排気量によって規制された車線を適切に選択して走行することができる。本実施形態によれば、例えば、車種ごとに走行しやすい車線を適切に選択して走行することができる。 In the present embodiment, the excellent trajectory image 300 can be displayed based on the excellent probe data in which the vehicle type, size, height, or displacement is the same as the own vehicle V. According to this embodiment, for example, it is possible to appropriately select a lane regulated by the vehicle type, size, height, or displacement to travel. According to this embodiment, for example, it is possible to appropriately select a lane that is easy to travel for each vehicle type and travel.
［第二実施形態］
　図６ないし図９を参照しながら、本実施形態に係る運転支援装置２０Ａについて説明する。図６は、第二実施形態に係る運転支援装置の構成例を示すブロック図である。図７は、第二実施形態に係る運転支援装置の投影ユニットの一例を示す図である。図８は、自車両が交差点の近傍を走行時、運転者が視認する仮想車両映像の虚像の一例を示す図である。図９は、第二実施形態に係る運転支援装置における処理の流れを示すフローチャートである。運転支援装置２０Ａは、基本的な構成は第一実施形態の運転支援装置２０と同様である。以下の説明においては、運転支援装置２０と同様の構成要素には、同一の符号または対応する符号を付し、その詳細な説明は省略する。 [Second embodiment]
The driving support device 20A according to the present embodiment will be described with reference to FIGS. 6 to 9. FIG. 6 is a block diagram showing a configuration example of the driving support device according to the second embodiment. FIG. 7: is a figure which shows an example of the projection unit of the driving assistance device which concerns on 2nd embodiment. FIG. 8: is a figure which shows an example of the virtual image of the virtual vehicle image which a driver visually recognizes when the own vehicle drive | works near the intersection. FIG. 9 is a flowchart showing the flow of processing in the driving support device according to the second embodiment. The driving support device 20A has the same basic configuration as the driving support device 20 of the first embodiment. In the following description, the same components as those of the driving support device 20 are designated by the same or corresponding symbols, and detailed description thereof will be omitted.
　運転支援装置２０Ａは、運転者の視線の前方に、優良軌跡を虚像３００Ａとして運転者に視認させる。 The driving support device 20A causes the driver to visually recognize an excellent trajectory as a virtual image 300A in front of the driver's line of sight.
　図７に示すように、投影ユニット２２Ａは、投影部２２１Ａと、コンバイナ２２２Ａとを有する。投影ユニット２２Ａは、投影部２２１Ａに投影された表示映像を、コンバイナ２２２Ａで反射させ運転者に虚像３００Ａとして視認させる。 As shown in FIG. 7, the projection unit 22A has a projection unit 221A and a combiner 222A. The projection unit 22A causes the combiner 222A to reflect the display image projected on the projection unit 221A so that the driver can visually recognize it as a virtual image 300A.
　投影部２２１Ａは、例えば、液晶ディスプレイ（ＬＣＤ：Ｌｉｑｕｉｄ　Ｃｒｙｓｔａｌ　Ｄｉｓｐｌａｙ）または有機ＥＬ（Ｏｒｇａｎｉｃ　Ｅｌｅｃｔｒｏ‐Ｌｕｍｉｎｅｓｃｅｎｃｅ）ディスプレイなどを含むディスプレイである。本実施形態では、投影部２２１Ａは、ダッシュボードＤの下側に配置されている。投影部２２１Ａは、投影制御部２３８Ａからの映像信号に基づいて表示面に表示映像を表示する。投影部２２１Ａの表示面に表示された表示映像の映像表示光は、コンバイナ２２２Ａに投影される。 The projection unit 221A is a display including, for example, a liquid crystal display (LCD: Liquid Crystal Display) or an organic EL (Organic Electro-Luminescence) display. In the present embodiment, the projection unit 221A is arranged below the dashboard D. The projection unit 221A displays the display image on the display surface based on the image signal from the projection control unit 238A. The image display light of the display image displayed on the display surface of the projection unit 221A is projected on the combiner 222A.
　コンバイナ２２２Ａは、投影部２２１Ａから投影された映像表示光を反射させ運転者に虚像３００Ａとして認識させる。コンバイナ２２２Ａは、進行方向前方に凸状に湾曲して配置される板状材である。本実施形態では、コンバイナ２２２Ａは、ダッシュボードＤの上側に配置されている。コンバイナ２２２Ａは、自車両ＶのウィンドシールドＳに面した前面と、運転者に面した後面とを有する。 The combiner 222A reflects the image display light projected from the projection unit 221A to make the driver recognize it as a virtual image 300A. The combiner 222A is a plate-shaped member that is disposed so as to be curved in a convex shape forward in the traveling direction. In the present embodiment, the combiner 222A is arranged above the dashboard D. The combiner 222A has a front surface facing the windshield S of the vehicle V and a rear surface facing the driver.
　カメラ２４Ａは、自車両Ｖの周囲を撮影する。カメラ２４Ａは、複数配置されていてもよい。本実施形態では、カメラ２４Ａは、前方映像用カメラである。カメラ２４Ａは、自車両Ｖの前方に配置され、自車両Ｖの前方を中心とした周辺を撮影する。前方映像データは、例えば毎秒３０フレームの画像から構成される動画像である。カメラ２４Ａは、撮影した前方映像データを映像データ取得部２４０Ａへ出力する。 The camera 24A takes a picture around the vehicle V. A plurality of cameras 24A may be arranged. In the present embodiment, the camera 24A is a front video camera. The camera 24A is arranged in front of the host vehicle V and captures an image around the front of the host vehicle V. The forward video data is, for example, a moving image composed of 30 frames per second. The camera 24A outputs the captured front video data to the video data acquisition unit 240A.
　映像データ取得部２４０Ａは、自車両Ｖの周辺を撮影した周辺映像データを取得する。より詳しくは、映像データ取得部２４０Ａは、カメラ２４Ａが出力した映像データを取得する。映像データ取得部２４０Ａは、取得した映像データを映像生成部２３７Ａに出力する。 The video data acquisition unit 240A acquires peripheral video data of the surroundings of the vehicle V. More specifically, the video data acquisition unit 240A acquires the video data output by the camera 24A. The video data acquisition unit 240A outputs the acquired video data to the video generation unit 237A.
　映像生成部２３７Ａは、投影ユニット２２Ａによって投影される、優良軌跡の虚像３００Ａを視認させるための投影映像を生成する。投影映像は、優良プローブデータに沿って自車両Ｖの前方を走行する仮想の車両を示す参考車両映像と、優良軌跡を示す優良軌跡映像とを含む。 The image generation unit 237A generates a projection image for visually recognizing the virtual image 300A of the excellent trajectory projected by the projection unit 22A. The projected image includes a reference vehicle image showing a virtual vehicle traveling in front of the own vehicle V along the excellent probe data and an excellent trajectory image showing an excellent trajectory.
　図８に示すように、投影制御部２３８Ａは、投影ユニット２２Ａによって、自車両Ｖの前方に、映像生成部２３７Ａが生成した仮想車両映像の虚像３０１Ａと、走行軌跡映像の虚像３０２Ａとが視認されるように、投影映像の投影を制御する。より詳しくは、投影制御部２３８Ａは、自車両Ｖの前方に仮想車両映像の虚像３０１Ａと走行軌跡映像の虚像３０２Ａとが視認されるように、仮想車両映像と優良軌跡映像とを投影する映像信号を投影ユニット２２Ａに出力する。 As shown in FIG. 8, the projection control unit 238A visually recognizes the virtual image 301A of the virtual vehicle image generated by the image generation unit 237A and the virtual image 302A of the traveling locus image in front of the vehicle V by the projection unit 22A. To control the projection of the projected image. More specifically, the projection control unit 238A projects a virtual vehicle image and a good trajectory image so that the virtual image 301A of the virtual vehicle image and the virtual image 302A of the traveling locus image are visually recognized in front of the own vehicle V. To the projection unit 22A.
　次に、図９を用いて、運転支援装置２０Ａにおける処理の流れについて説明する。図９に示すフローチャートのステップＳ１１１ないしステップＳ１１３、ステップＳ１１６ないしステップＳ１１９の処理は、図５に示すフローチャートのステップＳ１０１ないしステップＳ１０３、ステップＳ１０６ないしステップＳ１０９の処理と同様の処理を行う。 Next, the flow of processing in the driving support device 20A will be described with reference to FIG. The processing of steps S111 to S113 and steps S116 to S119 of the flowchart shown in FIG. 9 is the same as the processing of steps S101 to S103 and steps S106 to S109 of the flowchart shown in FIG.
　制御部２３Ａは、映像生成部２３７Ａによって、優良軌跡の虚像３００Ａを視認させるための投影映像を生成する(ステップＳ１１４)。制御部２３Ａは、ステップＳ１１５に進む。 The control unit 23A causes the image generation unit 237A to generate a projection image for visually recognizing the virtual image 300A of the excellent trajectory (step S114). The control unit 23A proceeds to step S115.
　制御部２３Ａは、自車両Ｖの前方に、優良軌跡の虚像３００Ａが視認されるように優良軌跡映像を投影する（ステップＳ１１５）。より詳しくは、制御部２３Ａは、投影制御部２３８Ａによって、自車両Ｖの前方に仮想車両映像の虚像３０１Ａと走行軌跡映像の虚像３０２Ａとが視認されるように、仮想車両映像と優良軌跡映像とを投影する映像信号を投影ユニット２２Ａに出力する。制御部２３Ａは、ステップＳ１１６に進む。 The control unit 23A projects an excellent trajectory image in front of the host vehicle V so that the virtual image 300A of the excellent trajectory is visually recognized (step S115). More specifically, the control unit 23A uses the projection control unit 238A so that the virtual vehicle image and the excellent trajectory image are displayed such that the virtual image 301A of the virtual vehicle image and the virtual image 302A of the traveling trajectory image are visually recognized in front of the own vehicle V. A video signal for projecting is output to the projection unit 22A. The control unit 23A proceeds to step S116.
　上述したように、本実施形態は、複数車線を有する道路において、自車両Ｖの前方に、優良軌跡の虚像３００Ａを視認させる。本実施形態によれば、運転者は、優良プローブデータに沿って自車両Ｖの前方を走行する仮想車両映像の虚像３０１Ａに追従して、適切な車線を選択して走行することができる。本実施形態は、適切な運転を支援することができる。 As described above, in the present embodiment, the virtual image 300A of the excellent trajectory is visually recognized in front of the vehicle V on the road having a plurality of lanes. According to this embodiment, the driver can follow the virtual image 301A of the virtual vehicle image traveling in front of the vehicle V along the excellent probe data and select an appropriate lane to drive. This embodiment can support appropriate driving.
［第三実施形態］
　図１０、図１１を参照しながら、本実施形態に係る運転支援装置２０Ｂについて説明する。図１０は、第三実施形態に係る運転支援装置の構成例を示すブロック図である。図１１は、第三実施形態に係る運転支援装置における処理の流れを示すフローチャートである。運転支援装置２０Ｂは、基本的な構成は第一実施形態の運転支援装置２０と同様である。 [Third embodiment]
The driving support device 20B according to the present embodiment will be described with reference to FIGS. FIG. 10 is a block diagram showing a configuration example of the driving support device according to the third embodiment. FIG. 11 is a flowchart showing the flow of processing in the driving support device according to the third embodiment. The driving support device 20B has the same basic configuration as the driving support device 20 of the first embodiment.
　走行制御部２４１Ｂは、自車両Ｖが優良軌跡に沿って適切な車線を選択して走行するように、速度と操舵角とを制御する。走行制御部２４１Ｂは、速度制御部２４２Ｂと操舵制御部２４３Ｂとを有する。 The traveling control unit 241B controls the speed and the steering angle so that the host vehicle V selects an appropriate lane along an excellent trajectory and travels. The traveling control unit 241B has a speed control unit 242B and a steering control unit 243B.
　速度制御部２４２Ｂは、優良データ取得部２３６が取得した優良プローブデータに一致するように、自車両Ｖの速度を制御する制御信号を出力する。 The speed control unit 242B outputs a control signal for controlling the speed of the own vehicle V so as to match the excellent probe data acquired by the excellent data acquisition unit 236.
　操舵制御部２４３Ｂは、優良データ取得部２３６が取得した優良プローブデータに一致するように、自車両Ｖの操舵角を制御する制御信号を出力する。 The steering control unit 243B outputs a control signal for controlling the steering angle of the own vehicle V so as to match the excellent probe data acquired by the excellent data acquisition unit 236.
　次に、図１１を用いて、運転支援装置２０Ｂにおける処理の流れについて説明する。図１１に示すフローチャートのステップＳ１２１ないしステップＳ１２３、ステップＳ１２５の処理は、図５に示すフローチャートのステップＳ１０１ないしステップＳ１０３、ステップＳ１０９の処理と同様の処理を行う。 Next, the flow of processing in the driving support device 20B will be described with reference to FIG. The processing of steps S121 to S123 and S125 of the flowchart shown in FIG. 11 is the same as the processing of steps S101 to S103 and step S109 of the flowchart shown in FIG.
　制御部２３Ｂは、走行制御部２４１Ｂによって、優良軌跡に一致するように、自車両Ｖの自動走行を制御する（ステップＳ１２４）。より詳しくは、制御部２３Ｂは、速度制御部２４２Ｂによって、優良データ取得部２３６が取得した優良プローブデータに一致するように、自車両Ｖの速度を制御する。制御部２３Ｂは、操舵制御部２４３Ｂによって、優良データ取得部２３６が取得した優良プローブデータに一致するように、自車両Ｖの操舵角を制御する。制御部２３Ｂは、ステップＳ１２５に進む。 The control unit 23B controls the automatic traveling of the vehicle V by the traveling control unit 241B so as to match the excellent trajectory (step S124). More specifically, the control unit 23B controls the speed of the vehicle V so that the speed control unit 242B matches the excellent probe data acquired by the excellent data acquisition unit 236. The control unit 23B controls the steering angle of the host vehicle V so that the steering control unit 243B matches the excellent probe data acquired by the excellent data acquisition unit 236. The control unit 23B proceeds to step S125.
　上述したように、本実施形態は、複数車線を有する道路において、優良プローブデータに一致するように、自車両Ｖの走行を制御することができる。本実施形態は、より適切な運転を支援することができる。 As described above, in the present embodiment, the traveling of the host vehicle V can be controlled so as to match the excellent probe data on the road having multiple lanes. This embodiment can support more appropriate driving.
　さて、これまで本実施形態に係る運転支援装置２０について説明したが、上述した実施形態以外にも種々の異なる形態にて実施されてよいものである。 Now, the driving support apparatus 20 according to the present embodiment has been described so far, but it may be implemented in various different forms other than the above-described embodiment.
　図示した運転支援装置２０の各構成要素は、機能概念的なものであり、必ずしも物理的に図示の如く構成されていなくてもよい。すなわち、各装置の具体的形態は、図示のものに限られず、各装置の処理負担や使用状況などに応じて、その全部または一部を任意の単位で機能的または物理的に分散または統合してもよい。 Each component of the illustrated driving support device 20 is functionally conceptual, and does not necessarily have to be physically configured as illustrated. That is, the specific form of each device is not limited to the one shown in the figure, and all or part of the device may be functionally or physically dispersed or integrated in arbitrary units according to the processing load and usage of each device. May be.
　運転支援装置２０の構成は、例えば、ソフトウェアとして、メモリにロードされたプログラムなどによって実現される。上記実施形態では、これらのハードウェアまたはソフトウェアの連携によって実現される機能ブロックとして説明した。すなわち、これらの機能ブロックについては、ハードウェアのみ、ソフトウェアのみ、または、それらの組み合わせによって種々の形で実現できる。 The configuration of the driving support device 20 is realized, for example, as software by a program loaded in a memory. In the above embodiments, the functional blocks are described as the functional blocks realized by the cooperation of these hardware or software. That is, these functional blocks can be realized in various forms by only hardware, only software, or a combination thereof.
　上記した構成要素には、当業者が容易に想定できるもの、実質的に同一のものを含む。さらに、上記した構成は適宜組み合わせが可能である。また、本実施形態の要旨を逸脱しない範囲において構成の種々の省略、置換または変更が可能である。 The components described above include those that can be easily assumed by those skilled in the art and those that are substantially the same. Furthermore, the configurations described above can be appropriately combined. Further, various omissions, substitutions, or changes in the configuration can be made without departing from the scope of the present embodiment.
　運転支援装置２０は、車両の現在位置情報をナビゲーションシステムから取得するものとして説明したが、これに限定されない。運転支援装置２０は、車両に搭載されたＧＰＳ（Ｇｌｏｂａｌ　Ｐｏｓｉｔｉｏｎｉｎｇ　Ｓｙｓｔｅｍ）受信機によって取得した車両の現在位置情報を取得する現在位置情報取得部を備えていてもよい。 The driving support device 20 has been described as acquiring the current position information of the vehicle from the navigation system, but the present invention is not limited to this. The driving support device 20 may include a current position information acquisition unit that acquires current position information of the vehicle acquired by a GPS (Global Positioning System) receiver mounted on the vehicle.
　走行評価部２３９によって適切な運転がされていないと評価された場合、図示しないスピーカーから警告音を出力してもよい。より詳しくは、複数車線を有する道路において、適切な車線を選択していない場合、スピーカーから警告音を出力してもよい。 If the driving evaluation unit 239 evaluates that the driver is not driving properly, a warning sound may be output from a speaker (not shown). More specifically, on a road having a plurality of lanes, a warning sound may be output from the speaker when an appropriate lane is not selected.
　投影ユニット２２Ａは、コンバイナを用いずに、投影部２２１Ａに投影された表示映像を、ウィンドシールドＳで反射させ運転者に虚像３００Ａとして認識させるものでもよい。 The projection unit 22A may reflect the display image projected on the projection unit 221A by the windshield S without using a combiner so that the driver recognizes it as the virtual image 300A.
　本実施形態の運転支援装置、運転支援システム、運転支援方法およびプログラムは、例えば、適切な車線を提示する運転支援システムに利用することができる。 The driving support device, the driving support system, the driving support method, and the program according to the present embodiment can be used, for example, in a driving support system that presents an appropriate lane.
　１　　　　運転支援システム
　１０　　　管理サーバ
　１１　　　通信部
　１２　　　制御部
　１２１　　プローブデータ取得部
　１２２　　記憶制御部
　１２３　　優良データ学習部
　１３　　　データベース（走行軌跡情報記憶部）
　１４　　　優良データ記憶部
　２０　　　運転支援装置
　２１　　　通信部
　２２　　　表示部
　２３　　　制御部
　２３０　　車両情報取得部
　２３４　　プローブデータ生成部
　２３５　　送信制御部
　２３６　　優良データ取得部
　２３７　　映像生成部
　２３８　　表示制御部
　２３９　　走行評価部
　３００　　優良軌跡映像
　３０１　　参考車両映像
　３１１　　自車両映像
　Ｖ　　　　車両 DESCRIPTION OF SYMBOLS 1 Driving support system 10 Management server 11 Communication part 12 Control part 121 Probe data acquisition part 122 Storage control part 123 Excellent data learning part 13 Database (travel locus information storage part)
14 Excellent data storage unit 20 Driving support device 21 Communication unit 22 Display unit 23 Control unit 230 Vehicle information acquisition unit 234 Probe data generation unit 235 Transmission control unit 236 Excellent data acquisition unit 237 Video generation unit 238 Display control unit 239 Travel evaluation unit 300 Excellent trajectory image 301 Reference vehicle image 311 Own vehicle image V Vehicle

Claims (10)

  1. 　車両の現在位置情報と前記車両の周辺の地図情報とを含む車両情報を取得する車両情報取得部と、
    　前記車両情報取得部が取得した前記車両情報に基づいて、前記車両が複数車線を有する道路を走行すると判定される場合、複数の車両から取得した走行軌跡情報から、車線を適切に選択して走行する走行軌跡を示す優良走行軌跡情報を取得する優良データ取得部と、
    　前記優良データ取得部が取得した優良走行軌跡情報に基づいて、車線を適切に選択して走行する走行軌跡を示す優良軌跡映像を生成する映像生成部と、
    　前記映像生成部が生成した優良軌跡映像を表示部に表示させる表示制御部と、
    　を備えることを特徴とする運転支援装置。     A vehicle information acquisition unit that acquires vehicle information including current vehicle position information and map information around the vehicle;
    When it is determined that the vehicle travels on a road having a plurality of lanes based on the vehicle information acquired by the vehicle information acquisition unit, the lane is appropriately selected from the traveling locus information acquired from the plurality of vehicles to travel. An excellent data acquisition unit that acquires excellent traveling locus information indicating a traveling locus
    An image generation unit that generates an excellent trajectory image showing a traveling trajectory that is performed by appropriately selecting a lane based on the excellent traveling trajectory information acquired by the superior data acquisition unit,
    A display control unit for displaying the excellent trajectory image generated by the image generation unit on the display unit;
    A driving support device comprising:
  2. 　車両の現在位置情報と前記車両の周辺の地図情報とを含む車両情報を取得する車両情報取得部と、
    　前記車両情報取得部が取得した前記車両情報に基づいて、前記車両が複数車線を有する道路を走行すると判定される場合、複数の車両から取得した走行軌跡情報から、車線を適切に選択して走行する走行軌跡を示す優良走行軌跡情報を取得する優良データ取得部と、
    　前記優良データ取得部が取得した優良走行軌跡情報に基づいて、車線を適切に選択して走行する走行軌跡を示す優良軌跡映像を生成する映像生成部と、
    　投影ユニットによって、前記車両の前方に、前記映像生成部が生成した優良軌跡映像の虚像が視認されるように、前記優良軌跡映像の投影を制御する投影制御部と、
    　を備えることを特徴とする運転支援装置。     A vehicle information acquisition unit that acquires vehicle information including current vehicle position information and map information around the vehicle;
    When it is determined that the vehicle travels on a road having a plurality of lanes based on the vehicle information acquired by the vehicle information acquisition unit, the vehicle travels by appropriately selecting a lane from the travel locus information acquired from the plurality of vehicles. An excellent data acquisition unit that acquires excellent traveling locus information indicating a traveling locus
    An image generation unit that generates an excellent trajectory image showing a traveling trajectory in which a lane is appropriately selected based on the excellent traveling trajectory information acquired by the excellent data acquisition unit,
    A projection control unit that controls the projection of the excellent trajectory image so that a virtual image of the excellent trajectory image generated by the image generation unit is visually recognized in front of the vehicle by the projection unit.
    A driving support device comprising:
  3. 　車両の現在位置情報と前記車両の周辺の地図情報とを含む車両情報を取得する車両情報取得部と、
    　前記車両情報取得部が取得した前記車両情報に基づいて、前記車両が複数車線を有する道路を走行すると判定される場合、複数の車両から取得した走行軌跡情報から、車線を適切に選択して走行する走行軌跡を示す優良走行軌跡情報を取得する優良データ取得部と、
    　前記優良データ取得部が取得した優良走行軌跡情報に基づいて、車線を適切に選択して走行する走行軌跡に一致するように前記車両の走行を制御する走行制御部と、
    　を備えることを特徴とする運転支援装置。     A vehicle information acquisition unit that acquires vehicle information including current vehicle position information and map information around the vehicle;
    When it is determined that the vehicle travels on a road having a plurality of lanes based on the vehicle information acquired by the vehicle information acquisition unit, the vehicle travels by appropriately selecting a lane from the travel locus information acquired from the plurality of vehicles. An excellent data acquisition unit that acquires excellent traveling locus information indicating a traveling locus
    Based on the excellent traveling locus information acquired by the excellent data acquisition unit, a traveling control unit that controls traveling of the vehicle so as to match a traveling locus in which a lane is appropriately selected and travels,
    A driving support device comprising:
  4. 　前記走行軌跡情報は、前記複数の車両の位置情報と車両向き情報との少なくともどちらかを含む、
    　請求項１から３のいずれか一項に記載の運転支援装置。     The traveling locus information includes at least one of position information and vehicle direction information of the plurality of vehicles,
    The driving assistance device according to any one of claims 1 to 3.
  5. 　前記優良データ取得部は、複数の車両から取得した前記走行軌跡情報に基づいて、平均値、または、単位時間当たりの走行台数が多い車線を示す最多値を優良走行軌跡情報として取得する、
    　請求項１から４のいずれか一項に記載の運転支援装置。     The excellent data acquisition unit, based on the traveling locus information acquired from a plurality of vehicles, an average value, or, obtains the maximum value indicating the lane with many traveling units per unit time as excellent traveling locus information,
    The driving assistance device according to any one of claims 1 to 4.
  6. 　前記優良データ取得部は、複数の車両から取得した前記走行軌跡情報に対して、前記走行軌跡情報の所有者または運転者の交通違反の履歴、事故の履歴、または、運転の熟練度に応じた重み付けをして優良走行軌跡情報を取得する、
    　請求項１から５のいずれか一項に記載の運転支援装置。     The excellent data acquisition unit responds to the travel locus information acquired from a plurality of vehicles according to the history of traffic violations, the history of accidents, or the driving skill of the owner or driver of the travel locus information. Weighting is performed to obtain excellent driving trajectory information,
    The driving assistance device according to any one of claims 1 to 5.
  7. 　前記優良データ取得部は、複数の車両から取得した前記走行軌跡情報のうち、曜日、時間帯、天候、進行方向または目的地が一致する優良走行軌跡情報を取得する、
    　請求項１から６のいずれか一項に記載の運転支援装置。     The excellent data acquisition unit acquires, from the traveling locus information obtained from a plurality of vehicles, day of the week, time zone, weather, traveling direction or excellent traveling locus information in which the destination matches.
    The driving assistance device according to any one of claims 1 to 6.
  8. 　請求項１から７のいずれか一項に記載の運転支援装置と、
    　複数の車両から取得した走行軌跡情報を記憶した走行軌跡情報記憶部と、
    　を備える運転支援システム。     A driving assistance device according to any one of claims 1 to 7,
    A traveling locus information storage unit that stores traveling locus information acquired from a plurality of vehicles,
    Driving assistance system.
  9. 　車両の現在位置情報と前記車両の周辺の地図情報とを含む車両情報を取得する車両情報取得ステップと、
    　前記車両情報取得ステップにおいて取得した前記車両情報に基づいて、前記車両が複数車線を有する道路を走行すると判定される場合、複数の車両から取得した走行軌跡情報から、車線を適切に選択して走行する走行軌跡を示す優良走行軌跡情報を取得する優良データ取得ステップと、
    　前記優良データ取得ステップにおいて取得した優良走行軌跡情報に基づいて、車線を適切に選択して走行する走行軌跡を示す優良軌跡映像を生成する映像生成ステップと、
    　前記映像生成ステップにおいて生成した優良軌跡映像を表示部に表示させる表示制御ステップと、
    　を含む運転支援方法。     A vehicle information acquisition step of acquiring vehicle information including current vehicle position information and map information around the vehicle;
    When it is determined that the vehicle travels on a road having a plurality of lanes based on the vehicle information acquired in the vehicle information acquisition step, the vehicle travels by appropriately selecting a lane from the traveling locus information acquired from the plurality of vehicles. A superior data acquisition step of acquiring superior traveling locus information indicating a traveling locus,
    An image generation step of generating an excellent trajectory image showing a traveling trajectory in which the lane is appropriately selected and traveled based on the excellent traveling trajectory information acquired in the excellent data acquisition step,
    A display control step of displaying the excellent trajectory image generated in the image generation step on a display unit,
    Driving assistance method including.
  10. 　車両の現在位置情報と前記車両の周辺の地図情報とを含む車両情報を取得する車両情報取得ステップと、
    　前記車両情報取得ステップにおいて取得した前記車両情報に基づいて、前記車両が複数車線を有する道路を走行すると判定される場合、複数の車両から取得した走行軌跡情報から、車線を適切に選択して走行する走行軌跡を示す優良走行軌跡情報を取得する優良データ取得ステップと、
    　前記優良データ取得ステップにおいて取得した優良走行軌跡情報に基づいて、車線を適切に選択して走行する走行軌跡を示す優良軌跡映像を生成する映像生成ステップと、
    　前記映像生成ステップにおいて生成した優良軌跡映像を表示部に表示させる表示制御ステップと、
    　を運転支援装置として動作するコンピュータに実行させるためのプログラム。     A vehicle information acquisition step of acquiring vehicle information including current vehicle position information and map information around the vehicle;
    When it is determined that the vehicle travels on a road having a plurality of lanes based on the vehicle information acquired in the vehicle information acquisition step, the vehicle travels by appropriately selecting a lane from the traveling locus information acquired from the plurality of vehicles. A superior data acquisition step of acquiring superior traveling locus information indicating a traveling locus,
    An image generation step of generating an excellent trajectory image showing a traveling trajectory in which the lane is appropriately selected and traveled based on the excellent traveling trajectory information acquired in the excellent data acquisition step,
    A display control step of displaying the excellent trajectory image generated in the image generation step on a display unit,
    A program for causing a computer that operates as a driving support device to execute.
PCT/JP2019/035993 2018-11-09 2019-09-12 Driving assistance device, driving assistance system, driving assistance method, and program WO2020095537A1 (en)

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Citations (3)

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JP2006300903A (en) * 2005-04-25 2006-11-02 Fujitsu Ten Ltd Device and system for support operation
JP2017096963A (en) * 2016-12-22 2017-06-01 トムトム ベルギー ネムローゼ フエンノートシャップＴｏｍＴｏｍ Ｂｅｌｇｉｕｍ Ｎ．Ｖ． Navigation method and system
WO2017187882A1 (en) * 2016-04-28 2017-11-02 住友電気工業株式会社 Safe driving assistance system, server, vehicle and program

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Publication number Priority date Publication date Assignee Title
JP2006300903A (en) * 2005-04-25 2006-11-02 Fujitsu Ten Ltd Device and system for support operation
WO2017187882A1 (en) * 2016-04-28 2017-11-02 住友電気工業株式会社 Safe driving assistance system, server, vehicle and program
JP2017096963A (en) * 2016-12-22 2017-06-01 トムトム ベルギー ネムローゼ フエンノートシャップＴｏｍＴｏｍ Ｂｅｌｇｉｕｍ Ｎ．Ｖ． Navigation method and system

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