JP5895815B2 - Remaining distance calculation device, remaining distance calculation method, and driving support device - Google Patents

Description

  The present invention relates to a remaining distance calculation device, a remaining distance calculation method, and a driving support device.

  2. Description of the Related Art Conventionally, a technique for performing deceleration control by calculating a remaining distance from a vehicle to a predetermined position based on GPS information has been developed. For example, in Patent Document 1, based on GPS information, when the vehicle reaches the position of the remaining distance where deceleration should be started with respect to the target stop position, deceleration control is started, and GPS information is obtained from a predetermined distance before the target stop position. A technique is disclosed in which deceleration control is performed by calculating the remaining distance based on the accumulated travel distance without using it.

JP 2009-196487 A

  However, in the prior art, when calculating the remaining distance from a running vehicle to a predetermined position based on discrete position information such as latitude and longitude by GPS, the actual speed depends on the moving speed of the vehicle and its sampling period. There was a positional deviation (distance error) between the position where the remaining distance is notified and the position used as a reference when calculating the remaining distance. As described above, the prior art has room for improvement in that the remaining distance between the traveling vehicle and the predetermined position is accurately calculated.

  The present invention has been made in view of the above circumstances, and is a remaining distance calculation device, a remaining distance calculation method, and an operation capable of accurately calculating a remaining distance from a traveling vehicle to a predetermined position. An object is to provide a support device.

The remaining distance calculation device of the present invention is based on GPS information, a storage unit that stores at least coordinates of a reference point, a traveling direction of a vehicle at the reference point, and a road distance from the reference point to the target point. a resulting portion preparative you get the position information of the vehicle at the time, and the coordinates of the reference point stored in the storage unit, the traveling direction of the vehicle at the reference point, are obtained by pre Quito obtain unit and the point indicated by the position information, based on the traveling direction of the vehicle at the point indicated by the previous SL positional information, the reference point and the previous SL position information in the traveling direction of the vehicle at the point indicated by the previous SL location a distance calculation unit that calculates a distance between the point indicated, from the drive distance stored in the storage unit, by subtracting or adding the distance calculated by the pre-Symbol distance calculation unit, the vehicle Characterized by comprising the remaining distance calculation unit that calculates a remaining distance al to the target point, the.

In the above-described remaining distance calculation device, the separation distance calculation unit is configured to determine the reference point based on the coordinates of the reference point stored in the storage unit and the traveling direction of the vehicle at the reference point. generating a first virtual running line is a straight line along the traveling direction of the vehicle, perpendicular to the first virtual running line and generates the reference line is a straight line passing through the reference point, before obtaining the Quito obtain unit and the point indicated by the position information, pre-Symbol position information based on the traveling direction of the vehicle at the point indicated, the second is a straight line along said direction of travel of the vehicle at the point indicated by the previous SL location generates a virtual running line, to determine the virtual reference point is the intersection between the reference line and the second virtual traveling line, the separation of the linear distance between the point indicated by the previous SL positional information and the virtual reference point Calculate as distance It is preferred.

In remaining distance calculating device described above, the predetermined time is shown before out from the reference point by Quito obtained portions of the plurality of position information acquired within a predetermined range, the distance most have perigee from the reference point It is preferable that the position information is obtained.

  In addition, the driving support device according to the present invention performs driving support related to the target point based on the remaining distance calculated by the remaining distance calculating device described above.

The remaining distance calculation method of the present invention includes a storage unit that stores at least coordinates of a reference point, a traveling direction of a vehicle at the reference point, and a distance from the reference point to the target point, a control unit, a remaining distance calculating method executed in the remaining distance calculating device equipped with, is executed in the control unit, and the resulting step preparative you get the position information of the vehicle at a given point in time based on the GPS information, the storage unit of said stored reference point in coordinates, the traveling direction of the vehicle at the reference point, and the point indicated by the acquired position information in the previous Quito obtained step, at the point indicated by the previous SL location wherein based on the traveling direction of the vehicle, and distance calculating step of calculating the distance between the point indicated by the reference point and the previous SL position information in the traveling direction of the vehicle at the point indicated by the previous SL location Wherein from said drive distance stored in the storage unit, by subtracting or adding the distance calculated by the pre-Symbol distance calculation step, remaining distance calculation to calculate a remaining distance from the vehicle to the target point And a step.

  The remaining distance calculation device, the remaining distance calculation method, and the driving support device according to the present invention have an effect that the remaining distance from the traveling vehicle to the predetermined position can be calculated with high accuracy.

FIG. 1 is a block diagram illustrating an example of a configuration of a remaining distance calculation system according to the embodiment. FIG. 2 is a diagram illustrating an example of a remaining distance calculation situation. FIG. 3 is a diagram illustrating an example of the first virtual travel line and the reference line. FIG. 4 is a diagram illustrating an example of the second virtual travel line. FIG. 5 is a diagram illustrating an example of the separation distance. FIG. 6 is a diagram illustrating an example of selecting a predetermined time point. FIG. 7 is a diagram showing another example of the point-in-time selection. FIG. 8 is a flowchart illustrating an example of processing of the remaining distance calculation system according to the embodiment.

  Hereinafter, embodiments of a remaining distance calculation device, a remaining distance calculation method, and a driving support device according to the present invention will be described in detail with reference to the drawings. In addition, this invention is not limited by this embodiment. In addition, constituent elements in the following embodiments include those that can be easily assumed by those skilled in the art or those that are substantially the same.

Embodiment
The configuration of the remaining distance calculation system according to the present invention will be described with reference to FIGS. Here, FIG. 1 is a block diagram illustrating an example of the configuration of the remaining distance calculation system according to the embodiment.

  In FIG. 1, an ECU 11 is an electronic control unit as a control unit mounted on the vehicle 10, and is predetermined from the vehicle 10 based on various data obtained from the GPS receiver 12, the vehicle information network 13, the storage unit 16, and the like. It has a function to calculate the remaining distance to the point. Here, the ECU 11 includes a predetermined time point acquisition unit 11a, a separation distance calculation unit 11b, a remaining distance calculation unit 11g, and a driving support execution unit 11h. The separation distance calculation unit 11b further includes a first virtual travel line generation unit 11c, a reference line generation unit 11d, a second virtual travel line generation unit 11e, and a separation distance determination unit 11f. In the present embodiment, the remaining distance calculation device includes an ECU 11, a GPS receiver 12, and a storage unit 16.

  In the present embodiment, as shown in FIG. 2, the remaining distance calculation device is configured to travel from a predetermined time point N (Xn, Yn) to a target point T (Xt, Yt) of the vehicle 10 traveling on a travel route searched in advance. The remaining distance Lnt is calculated. FIG. 2 is a diagram illustrating an example of a remaining distance calculation situation. In FIG. 2, the ECU 11 of the remaining distance calculation device of the vehicle 10 determines the reference point from the road distance Lst between the reference point S (Xs, Ys) and the target point T (Xt, Yt) stored in the storage unit 16. The GPS received by the GPS receiver 12 in consideration of a positional deviation amount (corresponding to a separation distance Lsn described later) between S (Xs, Ys) and a predetermined time point N (Xn, Yn) of the traveling vehicle 10 A remaining distance corresponding to the road distance Lnt between the predetermined time point N (Xn, Yn) of the vehicle 10 based on the information and the target point T (Xt, Yt) stored in the storage unit 16 is calculated.

  Returning to FIG. 1, in the ECU 11, the predetermined time point acquisition unit 11 a is a predetermined time point acquisition unit that acquires a predetermined time point that is the position of the vehicle 10 that is traveling on the travel route at a predetermined time point based on the GPS information. . Specifically, the predetermined time point acquisition unit 11a receives GPS information (GPS signal) transmitted from the GPS satellite 20 via the GPS receiver 12, and performs a positioning calculation using the GPS information, so that the vehicle 10 position information is detected, and a point indicated by the position information is acquired as a predetermined point. That is, the predetermined time point acquisition unit 11 a acquires position information (latitude, longitude, direction) from the GPS satellite 20 as the current position of the vehicle 10.

  The separation distance calculation unit 11b includes the coordinates of the reference point stored in the storage unit 16, the traveling direction of the vehicle 10 at the reference point, the predetermined time point acquired by the predetermined time point acquisition unit 11a, and the predetermined time point. This is a separation distance calculation means for calculating a separation distance between the reference point and the predetermined time point in the traveling direction of the vehicle 10 at a predetermined time point based on the traveling direction of the vehicle 10.

  Here, the traveling direction of the vehicle 10 at the reference point is determined based on learning data 16a stored in the storage unit 16 described later. In the present embodiment, the learning data 16a is determined based on at least two different predetermined time points acquired by the predetermined time point acquisition unit 11a when the vehicle 10 has traveled the target travel route in the past. The traveling direction of the vehicle 10 at the reference point is stored. That is, in the learning data 16a, the predetermined time point acquired by the predetermined time point acquisition unit 11a used as the reference for calculating the remaining distance when the vehicle 10 has traveled the target travel route in the past is registered as the reference point. Has been. Further, in the learning data 16a, the direction in which the predetermined time point acquired next to the reference point when the reference point is the starting point is registered as the traveling direction of the vehicle 10 at the reference point. Therefore, the traveling direction of the vehicle 10 at the reference point indicates the extending direction of the travel route at the reference point when the vehicle 10 travels the target travel route in the past.

  In addition, the traveling direction of the vehicle 10 at the reference point may be determined based on network data included in map data 16b stored in the storage unit 16 described later. In this case, when the node corresponding to the reference point is a starting point, the separation distance calculation unit 11b determines the direction of the link extending from the node (that is, the extending direction of the travel route) of the vehicle 10 at the reference point. Determine the direction of travel.

  The traveling direction of the vehicle 10 at the predetermined time point is determined based on at least two different predetermined time points acquired by the predetermined time point acquisition unit 11a of the vehicle 10 currently traveling on the target travel route. That is, when the first predetermined time point acquired first is used as the starting point, the separation distance calculation unit 11b determines the direction in which the second predetermined time point acquired next to the first predetermined time point exists. Determine the direction of travel to the vehicle. Therefore, the traveling direction of the vehicle 10 at the predetermined time point indicates the extending direction of the travel route at the predetermined time point in the vehicle 10 currently traveling on the target travel route.

  In the present embodiment, the separation distance calculation unit 11b specifically includes the vehicle 10 at the reference point based on the coordinates of the reference point stored in the storage unit 16 and the traveling direction of the vehicle 10 at the reference point. A first virtual travel line that is a straight line along the traveling direction is generated, a reference line that is orthogonal to the first virtual travel line and passes through the reference point is generated, and is acquired by the predetermined time point acquisition unit 11a. A second virtual travel line that is a straight line along the traveling direction of the vehicle 10 at the predetermined time point is generated based on the predetermined time point and the traveling direction of the vehicle 10 at the predetermined time point, 2 A virtual reference point that is an intersection with the virtual travel line is determined, and a straight-line distance between the predetermined time point and the virtual reference point is determined based on the reference point in the traveling direction of the vehicle 10 at the predetermined time point and the predetermined time point. Calculate as separation distance It is between distance calculating means.

  Hereinafter, with reference to FIG. 3 to FIG. 5, with respect to the details of the processing of the separation distance calculation unit 11b, the first virtual travel line generation unit 11c, the reference line generation unit 11d, and the second virtual travel further provided in the separation distance calculation unit 11b Description will be made in the order of processing of the line generation unit 11e and the separation distance determination unit 11f. FIG. 3 is a diagram illustrating an example of the first virtual travel line and the reference line. FIG. 4 is a diagram illustrating an example of the second virtual travel line. FIG. 5 is a diagram illustrating an example of the separation distance.

数式１において、「９０°」の値は、θｓが「０°≦θｓ≦１８０°」の場合の値である。θｓが「１８０°≦θｓ≦３６０°」の場合は、数式１の「９０°」の値は、「２７０°」に置換されるものとする。 The first virtual travel line generation unit 11c is a straight line along the traveling direction of the vehicle 10 at the reference point based on the coordinates of the reference point stored in the storage unit 16 and the traveling direction of the vehicle 10 at the reference point. It is the 1st virtual travel line production | generation means which produces | generates the 1st virtual travel line which is. As shown in FIG. 3, the first virtual travel line generation unit 11 c includes the coordinates (Xs, Ys) of the reference point S stored in the storage unit 16 and the traveling direction of the vehicle 10 at the reference point S (in FIG. 3). , A straight line along the traveling direction of the vehicle 10 at the reference point S (a dotted line passing through the reference point S (Xs, Ys) in FIG. 3). Generate. In the present embodiment, the azimuth θs indicating the traveling direction of the vehicle 10 at the reference point S has a y-axis extending northward from the reference point S and a straight line along the traveling direction of the vehicle 10 at the reference point S. Shown as the angle to make. Based on the information thus obtained, the first virtual travel line generation unit 11c expresses a straight line along the traveling direction of the vehicle 10 at the reference point S as represented by the following formula (1). One virtual travel line is generated.

In Equation 1, the value “90 °” is a value when θs is “0 ° ≦ θs ≦ 180 °”. When θs is “180 ° ≦ θs ≦ 360 °”, the value of “90 °” in Equation 1 is replaced with “270 °”.

数式２において、「９０°」の値は、θｓが「０°≦θｓ≦１８０°」の場合の値である。θｓが「１８０°≦θｓ≦３６０°」の場合は、数式２の「９０°」の値は、「２７０°」に置換されるものとする。 Subsequently, as illustrated in FIG. 3, the reference line generation unit 11 d is orthogonal to the first virtual travel line generated by the first virtual travel line generation unit 11 c and passes through the reference point S (Xs, Ys). Reference line generating means for generating a reference line that is a straight line. The reference line is expressed as the following formula (2) as a straight line orthogonal to the first virtual travel line shown by the formula (1).

In Equation 2, the value “90 °” is a value when θs is “0 ° ≦ θs ≦ 180 °”. When θs is “180 ° ≦ θs ≦ 360 °”, the value of “90 °” in Equation 2 is replaced with “270 °”.

  Subsequently, the second virtual travel line generation unit 11e determines the vehicle 10 at the predetermined time point based on the predetermined time point acquired by the predetermined time point acquisition unit 11a and the traveling direction of the vehicle 10 at the predetermined time point. It is the 2nd virtual travel line production | generation means which produces | generates the 2nd virtual travel line which is a straight line along the advancing direction. As illustrated in FIG. 4, the second virtual travel line generation unit 11 e includes the coordinates (Xn, Yn) of the predetermined time point N acquired by the predetermined time point acquisition unit 11 a and the progression of the vehicle 10 at the predetermined time point N. Based on the direction (the arrow direction extending in the direction indicated by the azimuth θn in FIG. 4), the straight line along the traveling direction of the vehicle 10 at the predetermined time point N (in FIG. 4, the predetermined time point N (Xn, Yn) is generated. In the present embodiment, the azimuth θn indicating the traveling direction of the vehicle 10 at the predetermined time point N is along the y axis extending northward from the predetermined time point N and the traveling direction of the vehicle 10 at the predetermined time point N. It is shown as the angle formed by the straight line.

数式３において、「９０°」の値は、θｎが「０°≦θｎ≦１８０°」の場合の値である。θｎが「１８０°≦θｎ≦３６０°」の場合は、数式２の「９０°」の値は、「２７０°」に置換されるものとする。 Then, the second virtual travel line generation unit 11e acquires the distance “Yn−Ys” in the y-axis direction between the reference point S and the predetermined time point N on the y-axis extending southward from the reference point S. Then, the second virtual travel line generation unit 11e generates a straight line along the traveling direction of the vehicle 10 at the predetermined time point N (a dotted line passing through the predetermined time point N (Xn, Yn) in FIG. 4) and the reference point S. To get the intersection with the y-axis extending southward from. Then, on the y-axis extending southward from the reference point S, the second virtual travel line generation unit 11e has a distance “−tan (90 ° −θn) (y) in the y-axis direction between this intersection and the predetermined time point N. Xn-Xs) ". Based on the information obtained in this way, the second virtual travel line generation unit 11e expresses a straight line along the traveling direction of the vehicle 10 at the predetermined time point N as the following formula (3). Generate as a second virtual travel line.

In Equation 3, the value “90 °” is a value when θn is “0 ° ≦ θn ≦ 180 °”. When θn is “180 ° ≦ θn ≦ 360 °”, the value of “90 °” in Equation 2 is replaced with “270 °”.

  In FIG. 4, when the value of the azimuth θs at the reference point S is a value that can be relied upon by measurement or learning a plurality of times in the past, the azimuth at the predetermined time point N may be θn = θs.

Subsequently, as illustrated in FIG. 5, the separation distance determination unit 11 f determines a virtual reference point S ′ (Xs ′, Ys ′) that is an intersection of the reference line and the second virtual travel line, and a predetermined time point N This is a separation distance determination means for determining a linear distance between (Xn, Yn) and the virtual reference point S ′ (Xs ′, Ys ′) as the separation distance Lsn. The separation distance Lsn is expressed as the following equation (4) as a linear distance between the predetermined time point N (Xn, Yn) and the virtual reference point S ′ (Xs ′, Ys ′).

  Thus, in the present embodiment, the separation distance determination unit 11f determines the predetermined time point N in the traveling direction of the vehicle 10 at the predetermined time point N (the arrow direction extending in the direction indicated by the azimuth θn in FIG. 5). A separation distance Lsn that is a linear distance between the reference point S ′ and the virtual reference point S ′ is determined as a separation distance between the reference point S and the predetermined time point N. In other words, the separation distance Lsn is distance information indicating how far the reference point S and the predetermined time point N are separated when they are replaced along the traveling direction of the vehicle 10 at the reference point S. That is, the distance information is information indicating the amount of deviation between the reference point S and the predetermined time point N. Thereby, in this embodiment, in the following remaining distance calculation processing, since the amount of deviation between the reference point S and the predetermined time point N can be grasped and corrected, the remaining distance can be calculated with high accuracy. It becomes possible.

  Returning to FIG. 1, the remaining distance calculation unit 11 g is separated from the distance obtained by subtracting the accumulated travel distance of the vehicle 10 after a predetermined time from the distance from the reference point to the target point stored in the storage unit 16. It is a remaining distance calculating means for calculating the remaining distance from the vehicle 10 to the target point by subtracting or adding the separation distance calculated by the distance calculating unit 11b.

In the present embodiment, for example, the remaining distance calculation unit 11g calculates the accumulated travel distance of the vehicle 10 after a predetermined time point based on the vehicle speed acquired from the vehicle speed sensor 17 described later via the vehicle information network (CAN) 13. . Then, the remaining distance calculation unit 11g subtracts the accumulated travel distance from the road distance Lst from the reference point S to the target point T, and then, from this road distance Lst, as shown in the following formula (5), The remaining distance Lnt from the vehicle 10 to the target point T is calculated by subtracting the separation distance Lsn (see FIG. 5) calculated by the separation distance calculation unit 11b.

  As described above, when the predetermined time point N is on the downstream side of the travel route with respect to the reference point S (that is, the direction approaching the target point T), the separation distance Lsn is subtracted from the road distance Lst as described above. The remaining distance Lnt can be calculated. Here, for example, when the predetermined time point N is on the upstream side of the travel route from the reference point S (that is, in the direction away from the target point T), the remaining distance Lsn is added to the road distance Lst to obtain the remaining distance. The distance Lnt may be calculated. In this way, the remaining distance calculation unit 11g calculates the remaining distance Lnt from the vehicle 10 traveling on the travel route searched in advance to the target point T. Thus, in the present embodiment, the separation distance Lsn corresponding to the positional deviation (distance error) between the reference point S and the predetermined time point N, which occurs every time when the remaining distance is notified in the prior art, is considered. Thus, the remaining distance from the traveling vehicle 10 to the target point can be accurately calculated.

  The driving support execution unit 11h is driving support execution means for executing driving support related to the target point based on the remaining distance calculated by the remaining distance calculation unit 11g. For example, the driving support execution unit 11h calculates a target speed for stopping at the target point based on the remaining distance calculated by the remaining distance calculation unit 11g, and can control a brake or the like according to the target speed. Deceleration control may be executed as driving assistance by controlling the control device 18. In addition, the driving support execution unit 11h may execute driving support by providing information for notifying the driver of the remaining distance calculated by the remaining distance calculating unit 11g via the display 14 or the speaker 15. The driving support execution unit 11h calculates a target speed for stopping at the target point based on the remaining distance calculated by the remaining distance calculation unit 11g, and displays the target speed and the remaining distance on the display 14 and the speaker 15. Driving assistance that is notified to the driver may be executed. In the present embodiment, the display 14, the speaker 15, and the vehicle control device 18 are configured as a driving support device together with the ECU 11.

  In addition, the ECU 11 searches for the travel route of the vehicle 10 from the departure point to the destination using the map data 16b including the network data based on the route search condition including at least the departure point and the destination. May be provided.

  Here, in order to further improve the accuracy of the remaining distance calculation, it is desirable to calculate the separation distance based on the predetermined time point closest to the reference point, and to calculate the remaining distance using this separation distance. Therefore, in the present embodiment, the predetermined time point acquisition unit 11a described above selects a predetermined time point closest to the reference point among a plurality of predetermined time points acquired within a predetermined range from the reference point. Is acquired as a predetermined time point of the traveling vehicle 10 at. That is, the predetermined time point in the present embodiment refers to a predetermined time point that is closest to the reference point among a plurality of predetermined time points acquired within a predetermined range from the reference point by the predetermined time point acquisition unit 11a. It is the time.

  Hereinafter, with reference to FIG. 6 and FIG. 7, the detail of the process which selects the predetermined time point with the shortest distance from the reference | standard point by the predetermined time point acquisition part 11a is demonstrated. FIG. 6 is a diagram illustrating an example of selecting a predetermined time point. FIG. 7 is a diagram showing another example of the point-in-time selection.

そして、所定時地点取得部１１ａは、所定時地点Ｎ１（Ｘｎ_１，Ｙｎ_１）と基準地点Ｓ（Ｘｓ，Ｙｓ）との直線距離Ｌ１、所定時地点Ｎ２（Ｘｎ_２，Ｙｎ_２）と基準地点Ｓ（Ｘｓ，Ｙｓ）との直線距離Ｌ２、および、所定時地点Ｎ３（Ｘｎ_３，Ｙｎ_３）と基準地点Ｓ（Ｘｓ，Ｙｓ）との直線距離Ｌ３の長さを比較して、最も短い直線距離を選択する。例えば、所定時地点取得部１１ａは、先に取得した所定時地点Ｎから順番に直線距離の長さを比較して、前回値＜今回値となった場合、前回値の所定時地点（Ｘｎ，Ｙｎ）を選択する。図６の例では、最初に所定時地点取得部１１ａは、直線距離Ｌ１（前回値）と直線距離Ｌ２（今回値）の長さを比較する。この場合、Ｌ１＞Ｌ２となり、前回値＞今回値となるため、次の比較処理を行う。次に、所定時地点取得部１１ａは、直線距離Ｌ２（前回値）と直線距離Ｌ３（今回値）の長さを比較する。この場合、Ｌ２＜Ｌ３となり、前回値＜今回値となるため、前回値の所定時地点Ｎ（Ｘｎ_２，Ｙｎ_２）を選択する。そして、所定時地点取得部１１ａは、このようにして選択した基準地点Ｓとの距離が最も近い所定時地点Ｎ２（Ｘｎ_２，Ｙｎ_２）を、所定時点における走行中の車両１０の所定時地点として取得する。 As illustrated in FIG. 6, the predetermined time point acquisition unit 11 a selects a predetermined time point N that has the shortest straight line distance L from the reference point S. Specifically, the predetermined time point acquisition unit 11a includes a plurality of predetermined time points N1 (Xn ₁ , Yn ₁ ), a predetermined time point N2 (Xn ₂ , Yn ₂ ), and a predetermined time point N3 (Xn ₃ ) within a predetermined range. , Yn ₃ ). And the predetermined time point acquisition part 11a calculates the linear distance L of each predetermined time point N (Xn, Yn) and the reference | standard point S (Xs, Ys) by the following Numerical formula (6).

Then, the predetermined time point acquisition unit 11a includes the linear distance L1 between the predetermined time point N1 (Xn ₁ , Yn ₁ ) and the reference point S (Xs, Ys), the predetermined time point N2 (Xn ₂ , Yn ₂ ), and the reference point. A straight line distance L2 with S (Xs, Ys) and a length of a straight line distance L3 between a predetermined time point N3 (Xn ₃ , Yn ₃ ) and a reference point S (Xs, Ys) are compared, and the shortest straight line Select a distance. For example, the predetermined time point acquisition unit 11a compares the lengths of the linear distances in order from the previously acquired predetermined time point N. When the previous value <current value, the predetermined time point (Xn, Yn) is selected. In the example of FIG. 6, the predetermined time point acquisition unit 11a first compares the lengths of the straight line distance L1 (previous value) and the straight line distance L2 (current value). In this case, since L1> L2 and the previous value> current value, the following comparison processing is performed. Next, the predetermined time point acquisition unit 11a compares the lengths of the straight line distance L2 (previous value) and the straight line distance L3 (current value). In this case, since L2 <L3 and the previous value <current value, the predetermined time point N (Xn ₂ , Yn ₂ ) of the previous value is selected. The predetermined time point acquisition unit 11a then sets the predetermined time point N2 (Xn ₂ , Yn ₂ ) closest to the reference point S selected in this way to the predetermined time point of the vehicle 10 that is traveling at the predetermined time point. Get as.

そして、所定時地点取得部１１ａは、所定時地点Ｎ１（Ｘｎ_１，Ｙｎ_１）と交点Ｐ１（Ｘｐ_１，Ｙｐ_１）との直線距離Ｌ１、所定時地点Ｎ２（Ｘｎ_２，Ｙｎ_２）と交点Ｐ２（Ｘｐ_２，Ｙｐ_２）との直線距離Ｌ２、および、所定時地点Ｎ３（Ｘｎ_３，Ｙｎ_３）と交点Ｐ３（Ｘｐ_３，Ｙｐ_３）との直線距離Ｌ３の長さを比較して、最も短い直線距離を選択する。例えば、所定時地点取得部１１ａは、先に取得した所定時地点Ｎから順番に直線距離の長さを比較して、前回値＜今回値となった場合、前回値の所定時地点（Ｘｎ，Ｙｎ）を選択する。図７の例においても、最初に所定時地点取得部１１ａは、直線距離Ｌ１（前回値）と直線距離Ｌ２（今回値）の長さを比較する。この場合、Ｌ１＞Ｌ２となり、前回値＞今回値となるため、次の比較処理を行う。次に、所定時地点取得部１１ａは、直線距離Ｌ２（前回値）と直線距離Ｌ３（今回値）の長さを比較する。この場合、Ｌ２＜Ｌ３となり、前回値＜今回値となるため、前回値の所定時地点Ｎ（Ｘｎ_２，Ｙｎ_２）を選択する。そして、所定時地点取得部１１ａは、このようにして選択した基準地点Ｓとの距離が最も近い所定時地点Ｎ２（Ｘｎ_２，Ｙｎ_２）を、所定時点における走行中の車両１０の所定時地点として取得する。 As shown in FIG. 7, the predetermined time point acquisition unit 11 a determines an intersection P between the reference line and each second virtual travel line based on each predetermined time point N, and a straight line between each predetermined time point N and each intersection P A predetermined time point N with the shortest distance L may be selected. Specifically, the predetermined time point acquisition unit 11a includes a plurality of predetermined time points N1 (Xn ₁ , Yn ₁ ), a predetermined time point N2 (Xn ₂ , Yn ₂ ), and a predetermined time point N3 (Xn ₃ ) within a predetermined range. , Yn ₃ ). And the predetermined time point acquisition part 11a calculates the linear distance L of each predetermined time point N (Xn, Yn) and each intersection P1 (Xp, Yp) by the following Numerical formula (7).

The predetermined time point acquisition unit 11a then intersects the predetermined time point N1 (Xn ₁ , Yn ₁ ) and the intersection point P1 (Xp ₁ , Yp ₁ ) with the linear distance L1, the predetermined time point N2 (Xn ₂ , Yn ₂ ). Compare the linear distance L2 with P2 (Xp ₂ , Yp ₂ ) and the linear distance L3 between the predetermined time point N3 (Xn ₃ , Yn ₃ ) and the intersection P3 (Xp ₃ , Yp ₃ ), Select the shortest straight line distance. For example, the predetermined time point acquisition unit 11a compares the lengths of the linear distances in order from the previously acquired predetermined time point N. When the previous value <current value, the predetermined time point (Xn, Yn) is selected. Also in the example of FIG. 7, the predetermined time point acquisition unit 11a first compares the lengths of the straight line distance L1 (previous value) and the straight line distance L2 (current value). In this case, since L1> L2 and the previous value> current value, the following comparison processing is performed. Next, the predetermined time point acquisition unit 11a compares the lengths of the straight line distance L2 (previous value) and the straight line distance L3 (current value). In this case, since L2 <L3 and the previous value <current value, the predetermined time point N (Xn ₂ , Yn ₂ ) of the previous value is selected. The predetermined time point acquisition unit 11a then sets the predetermined time point N2 (Xn ₂ , Yn ₂ ) closest to the reference point S selected in this way to the predetermined time point of the vehicle 10 that is traveling at the predetermined time point. Get as.

  Returning to FIG. 1, the GPS receiver 12 is a communication unit that receives GPS information distributed from the GPS satellite 20. The GPS receiver 12 provides the received GPS information to the ECU 11.

  The vehicle information network (CAN: Control Area Network) 13 is an in-vehicle network configured by transmission paths connected to various sensors mounted on the vehicle 10. The vehicle information network 13 provides the ECU 11 with vehicle state information indicating the state of the vehicle 10 detected by various sensors. Here, the various sensors include, for example, a direction sensor, an accelerator opening sensor, a brake sensor, a peripheral monitoring sensor, a direction indication switch, and the like in addition to the vehicle speed sensor 17.

  The display 14 is a display unit that displays information provided by the ECU 11. For example, the display 14 may be a display that displays a device meter or navigation. The speaker 15 is sound output means for outputting information provided by the processing of the ECU 11 as sound.

  The storage unit 16 is a storage unit that stores various data necessary for the processing of the ECU 11. The storage unit 16 is, for example, a RAM (Random Access Memory), a ROM (Read Only Memory), or a hard disk. The storage unit 16 stores learning data 16a and map data 16b necessary for navigation, route search, and remaining distance calculation.

  The learning data 16a includes the coordinates of the reference point, the traveling direction of the vehicle 10 at the reference point, and the distance from the reference point to the target point acquired when the vehicle 10 has traveled the target travel route in the past. Including at least. The coordinates of the reference point are the coordinates of the predetermined time point used as a reference for calculating the remaining distance, learned when the vehicle 10 traveled on the target travel route in the past. The traveling direction of the vehicle 10 at the reference point is the predetermined time point acquired next to the reference point when the vehicle 10 has traveled the target travel route in the past and the reference point is the starting point. It is the direction that exists. The distance from the reference point to the target point is the accumulated travel distance from the reference point to the target point learned based on the vehicle speed acquired from the vehicle speed sensor 17 when the vehicle 10 has traveled the target travel route in the past. It is.

  The map data 16b includes network data composed of a plurality of nodes and links connecting the nodes as road alignment information indicating the lane shape of the road. In the present embodiment, the network data included in the map data 16b includes at least network data including a reference point node, a target point node, and a link from the reference point node to the target point node. That is, the network data included in the map data 16b stores at least the coordinates of the target point, the coordinates of the target point, and the road distance from the reference point to the target point.

  The GPS satellite 20 is an artificial satellite that delivers GPS information to the vehicle 10 every predetermined time or in response to a request from the vehicle 10.

  Hereinafter, with reference to FIG. 8, a remaining distance calculation process executed by the remaining distance calculation system having the above-described configuration will be described. FIG. 8 is a flowchart illustrating an example of processing of the remaining distance calculation system according to the embodiment.

  As shown in FIG. 8, the predetermined time point acquisition unit 11a acquires a predetermined time point of the traveling vehicle 10 at a predetermined time based on the GPS information (step S1). Here, in step S1, the predetermined time point acquisition unit 11a selects the predetermined time point N (Xn, Yn) that has the shortest straight line distance L from the reference point S (Xs, Ys).

  Next, the separation distance calculation unit 11b is acquired by the coordinates (Xs, Ys) of the reference point S stored in the learning data 16a, the traveling direction of the vehicle 10 at the reference point S, and the predetermined time point acquisition unit 11a. Based on the predetermined time point N (Xn, Yn) and the traveling direction of the vehicle 10 at the predetermined time point, the separation distance between the reference point S and the predetermined time point N in the traveling direction of the vehicle 10 at the predetermined time point N Lsn is calculated (steps S2 to S5).

  Specifically, the first virtual travel line generation unit 11c generates a reference based on the coordinates (Xs, Ys) of the reference point S stored in the learning data 16a and the traveling direction of the vehicle 10 at the reference point S. A first virtual travel line that is a straight line along the traveling direction of the vehicle 10 at the point S is generated (step S2). Then, the reference line generation unit 11d generates a reference line that is orthogonal to the first virtual travel line generated by the first virtual travel line generation unit 11c and is a straight line passing through the reference point S (Xs, Ys). (Step S3). The second virtual travel line generation unit 11e is predetermined based on the predetermined time point N (Xn, Yn) acquired by the predetermined time point acquisition unit 11a and the traveling direction of the vehicle 10 at the predetermined time point N. A second virtual travel line that is a straight line along the traveling direction of the vehicle 10 at the time point N is generated (step S4). Then, the separation distance determination unit 11f determines a virtual reference point S ′ (Xs ′, Ys ′) that is an intersection of the reference line and the second virtual travel line, and the predetermined time point N (Xn, Yn) and the virtual reference point A linear distance to the point S ′ (Xs ′, Ys ′) is determined as the separation distance Lsn (step S5).

  Next, the remaining distance calculation unit 11g integrates the travel of the vehicle 10 after a predetermined time from the road distance Lst from the reference point S (Xs, Ys) to the target point T (Xt, Yt) stored in the learning data 16a. The remaining distance Lnt from the vehicle 10 to the target point T (Xt, Yt) is calculated by subtracting or adding the separation distance Lsn calculated by the separation distance calculation unit 11b to the distance obtained by subtracting the distance (step) S6). Thereafter, this process is terminated.

  In addition, after the process of FIG. 8, the driving assistance execution part 11h may perform the driving assistance regarding a target point based on the remaining distance calculated by the remaining distance calculation part 11g.

  As described above, according to the present embodiment, the predetermined time point N which is the position of the vehicle 10 at the predetermined time point is acquired based on the GPS information, and the coordinates of the reference point S stored in the storage unit 16 and the reference point Based on the traveling direction of the vehicle 10 at the point S, the acquired predetermined time point N, and the traveling direction of the vehicle 10 at the predetermined time point N, a reference point in the traveling direction of the vehicle 10 at the predetermined time point N The separation distance between S and the predetermined time point N is calculated, and the calculated separation distance is calculated by subtracting the total travel distance of the vehicle after the predetermined time from the distance Lst from the reference point S to the target point T. Since the remaining distance Lnt from the vehicle 10 to the target point T is calculated by subtracting or adding Lsn, the remaining distance from the traveling vehicle to the predetermined position is calculated more accurately than in the conventional technique. Can Kill. In addition, according to the present embodiment, since the predetermined time point N that is the closest to the reference point S among the plurality of predetermined time points N acquired within the predetermined range from the reference point S is the point in time. The accuracy of the remaining distance calculation can be further improved. Furthermore, according to this embodiment, since driving assistance regarding the target point T is executed based on the calculated remaining distance Lnt, driving assistance based on the accurate remaining distance Lnt can be provided.

10 Vehicle 11 ECU
11a Predetermined time point acquisition unit
11b Separation distance calculation unit
11c 1st virtual travel line generation part
11d Reference line generator
11e 2nd virtual travel line generation part
11f Separation distance determination unit
11g remaining distance calculator
11h Driving support execution unit 12 GPS receiver 13 Vehicle information network 14 Display 15 Speaker 16 Storage unit
16a learning data
16b Map data 20 GPS satellite

Claims (5)

A storage unit for storing at least the coordinates of the reference point, the traveling direction of the vehicle at the reference point, and the road distance from the reference point to the target point;
A resulting portion preparative you get the position information of the vehicle at a given point in time based on the GPS information,
The coordinates of the reference point stored in the storage unit, the traveling direction of the vehicle at the reference point, before the point indicated by the position information acquired by the Quito resulting part, at the point indicated by the previous SL location based on the traveling direction of the vehicle, a distance calculation unit that calculates a distance between the point indicated by the reference point and the previous SL position information in the traveling direction of the vehicle at the point indicated by the previous SL position information,
From the stored said drive distance in the storage unit, by subtracting or adding the calculated the distance by prior Symbol distance calculation unit, remaining distance calculation unit that calculates a remaining distance from the vehicle to the target point And a remaining distance calculating device. The separation distance calculation unit
A first virtual travel line that is a straight line along the traveling direction of the vehicle at the reference point based on the coordinates of the reference point stored in the storage unit and the traveling direction of the vehicle at the reference point generate, the first perpendicular to the virtual traveling line and generates the reference line is a straight line passing through the reference point, and the point indicated by the position information acquired by the front Quito resulting part, a point indicated by the previous SL location wherein based on the traveling direction of the vehicle in to generate a second virtual traveling line the a straight line along the traveling direction of the vehicle at the point indicated by the previous SL position information, the second virtual travel and the reference line remaining of claim 1, determining the virtual reference point is the intersection of the line, the straight line distance between the virtual reference point and the point indicated by the previous SL position information and calculates, as the distance Distance calculation device. Wherein the predetermined point in time, before out from the reference point by Quito obtained portions of the plurality of position information acquired within a predetermined range, when the location information is obtained that indicates a distance most have perigee from the reference point The remaining distance calculation apparatus according to claim 1 or 2.   The driving assistance apparatus which performs the driving assistance regarding the said target point based on the said remaining distance calculated by the remaining distance calculation apparatus as described in any one of Claim 1 to 3. Executed in a remaining distance calculation device including a storage unit that stores at least coordinates of a reference point, a traveling direction of a vehicle at the reference point, and a road distance from the reference point to the target point, and a control unit. A remaining distance calculation method,
Executed in the control unit,
A resulting step preparative you get the position information of the vehicle at a given point in time based on the GPS information,
The storage unit of said stored reference point in coordinates, the traveling direction of the vehicle at the reference point, and the point indicated by the acquired position information in the previous Quito obtained step, at the point indicated by the previous SL location wherein based on the traveling direction of the vehicle, and distance calculating step of calculating the distance between the point indicated by the reference point and the previous SL position information in the traveling direction of the vehicle at the point indicated by the previous SL position information,
Wherein from said drive distance stored in the storage unit, by subtracting or adding the distance calculated by the pre-Symbol distance calculation step, remaining distance calculation to calculate a remaining distance from the vehicle to the target point Steps,
The remaining distance calculation method characterized by including.

Images