JPH08115500A - Device for preventing drive with arousal degree reduced and device for preventing abnormal running - Google Patents

Abstract

PURPOSE: To add an additional value to a guide function and to surely detect arousal degree reduction and abnormal running by providing an arousal degree reduction detecting means which monitors the vehicle running state from the output of a present position estimating means and outputs a control signal at the time of detecting abnormal running. CONSTITUTION: A microprocessor 17 detects the present position (estimated) of vehicle by collating the running locus of the vehicle obtained from the measurement result of a bearing sensor 11 and a distance sensor 12 with a road map and temporarily stores it in RAM. Then, the microprocessor 17 judges whether or not the characteristic of the running locus which is accumulatively stored in RAM coincides with the characteristic of abnormal running. When the judgement result of 'abnormal running character' is obtained, a voice output device 18 is activated, information is guided and the arousal of the driver is urged. When the running of the vehicle on a highway is recognized, the microprocessor 17 refers to map information so as to detect a facility for averting arousal degree reduction. Moreover, it generates a new running route with the facility as a target with the present vehicle position as a starting point so as to execute guide.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an awakening degree lowering driving prevention device which is mounted on a vehicle and which prevents a driver's awakening degree lowering driving, and an abnormal traveling prevention device which prevents an abnormal driving of the driver.

[0002]

2. Description of the Related Art Conventionally, a route guidance device guides a route to a destination in association with a passage map displayed on a display screen. When the user specifies a departure point, a waypoint, and a destination point in advance to the route guidance device, the route guidance device creates a plurality of route candidates from the destination to the departure place based on the built-in map information and uses them for evaluation. , Calculate distance or time, for example. The route with the highest score in the evaluation criteria is displayed on the display screen as the recommended route. Recently, a route guidance device has been put into practical use, which provides guidance on a changed road along a recommended guidance route, for example, "leftward" when a vehicle is located near a route change point on the display screen, for example, an intersection.

[0003]

With the higher functionality of the guidance function, it is desired for the route guidance device to add value to the guidance function.

Therefore, an object of the present invention is to provide a route guidance device with a new additional function and to provide an awakening level lowering driving prevention device and an abnormal running prevention device which can be used alone.

[0005]

In order to achieve such an object, the invention of claim 1 is a reduced awakening driving preventive device for preventing a driver from lowering the awakening level. The present invention is characterized by having a current position estimating means for estimating, and a wakefulness lowering detecting means for outputting a control signal for preventing lowering of the wakefulness when the running state of the vehicle is monitored from the output of the current position estimating means to detect an abnormal running And

The invention according to claim 2 further comprises map information storage means for storing map information including road position data and position data of facilities or the like for resolving the decrease in awakening degree, and the control signal for preventing the decrease in awakening degree. Is output, the direction and / or the distance of the nearest facility for eliminating the awakening degree reduction starting from the current position of the vehicle is guided.

According to a third aspect of the present invention, map information storage means for storing map information including road position data and position data for facilities for eliminating a decline in arousal level, and a current position estimating means for estimating the current position of the vehicle. And a route calculation means for calculating a route and / or a distance from the current position of the vehicle to an arbitrary position, and displaying or audibly guiding the map information or the current position of the vehicle or the route to the arbitrary position. Or a guide means for guiding a route at a branch point, and when the control signal for preventing the decrease in arousal level is output, the current position of the vehicle leads to the nearest facility for eliminating the decrease in arousal level. It is characterized by guiding a route and / or a distance.

According to a fourth aspect of the present invention, the route and / or the distance from the current position of the vehicle to the nearest highway exit when the vehicle is traveling on the highway when the control signal for preventing the decrease in awakening level is output. Characterized by giving guidance.

According to a fifth aspect of the present invention, there is provided an abnormal running prevention device for preventing an abnormal running of a driver, the current position estimating means for estimating the current position of the vehicle, and the vehicle running based on the output of the current position estimating means. An abnormal traveling detecting means for outputting a control signal for preventing the abnormal traveling when the state is monitored and the abnormal traveling is detected.

According to a sixth aspect of the present invention, there is further provided map information storage means for storing map information including road position data and position data of facilities or the like for eliminating abnormal running, and the control signal for preventing the abnormal running is output. When this is done, the direction and / or the distance of the nearest facility for eliminating the abnormal travel, which starts from the current position of the vehicle, is guided.

According to a seventh aspect of the present invention, there is provided map information storing means for storing map information including road position data and position data for facilities or the like for eliminating abnormal driving, and current position estimating means for estimating the current position of the vehicle. , Route calculation means for calculating a route and / or distance from the current position of the vehicle to an arbitrary position, and display or voice guidance of the map information or the current position of the vehicle or the route to the arbitrary position A route from the current position of the vehicle to the nearest facility for eliminating the abnormal travel when the control signal for preventing the abnormal travel is output, Alternatively, it is characterized by showing the distance.

According to an eighth aspect of the present invention, the abnormal running detection means preliminarily learns a plurality of types of abnormal running patterns, and the running pattern indicated by the output of the current position estimating means and the multiple types of abnormal running patterns are calculated. It is characterized in that the kind of abnormal traveling is determined by comparison.

According to a ninth aspect of the present invention, if the vehicle is traveling on a highway when the control signal for preventing abnormal driving is output, the route and / or the distance from the current position of the vehicle to the nearest highway exit is guided. It is characterized by doing.

[0014]

According to the first and fifth aspects of the present invention, the awakening lowering operation and the abnormal running are detected from the running state such as the running locus of the vehicle.

According to the second and sixth aspects of the present invention, the awakening degree lowering operation,
When abnormal traveling is detected, the facility for reducing the arousal level and eliminating abnormal traveling is guided by direction and / or distance.

[0016] The inventions of claims 3 and 7 are,
When abnormal traveling is detected, the facility for awakening reduction and abnormal traveling elimination is guided by a route and / or a distance.

According to the fourth and ninth aspects of the invention, when the vehicle is traveling on a highway, when a low awakening operation or abnormal traveling is detected, the nearest highway exit is guided.

According to the eighth aspect of the present invention, it is possible to further determine the type of abnormal traveling.

[0019]

Embodiments of the present invention will be described below in detail with reference to the drawings.

(First Embodiment) FIG. 1 shows a system configuration of a route guidance device to which the present invention is applied.

In FIG. 1, a gyro is used as the direction sensor 11 to measure the traveling direction of the vehicle. As the distance sensor 12, a sensor that measures the rotation speed of the wheel and converts it into a distance is used.

The microprocessor 17 is a CPU, RO
The CPU has M and RAM, and the CPU executes the processing program stored in the ROM to execute the guidance processing.

The following processing programs are prepared in this embodiment. That is, (1) a position detection program that detects the current position of the vehicle by collating the traveling locus obtained from the measurement results of the sensor groups 11 to 14 with a road map, and further ensures the detected position by GPS or the like. ) A route calculation program that creates a recommended route from the departure point, the waypoint, the destination given by the user and the map information stored in the CD 16 and also creates a new recommended route when an abnormal running of the vehicle is detected. (3) A route guidance program for displaying the above map information in a graphical form on the display device 19 and for guiding and displaying a new recommended route created when an abnormal running of the vehicle is detected according to the present invention, ( 4) An abnormality detection program for detecting an abnormal running of the vehicle is prepared.

The memory drive is equipped with a CD (storage means according to claims 2 and 3) and reads out predetermined map information according to an instruction from the microprocessor 17. Audio output device 18
Outputs the information to be guided by voice. The display device 19 has a transparent touch panel 20 on the display screen and visually displays various information sent from the microprocessor 17. In this embodiment, a menu screen for displaying an instruction given to the microprocessor 17, a map for guiding a route, an arrow indicating a traveling direction, and other guidance messages in character form are displayed.

The touch panel 20 is a pressure-sensitive touch panel, and the position where the user's finger touches is determined by the microprocessor 1.
By sending to the microprocessor 7, the operation instruction and various information assigned to the position are given to the microprocessor 17. G
The PS receiver 21 receives radio waves from the satellite and detects the position of the vehicle.

The map information stored in the CD 16 can be almost the same as the conventional one, but it will be briefly described because it relates to the present invention.

The map information is stored in the form of a route network table as shown in FIG. 2, and mainly comprises link data and arc data.

A node generally means a coordinate position for identifying a road intersection or a bending point. A link means a road in a specific section connecting a start point node and an end point node.

In the route network table shown in FIG. 2, the identification number (link number) of each link, the link length (link distance), the road type such as a general highway, the coordinates of the start and end points of the link, and the intersection shape ( (Including information indicating a facility for resolving awakening degree reduction according to the present invention), arc cost to one or more exit links connected to the end point of the link (link cost that is a traveling time when passing through the link) , Plus the connection costs for exit links) and pointers to exit links.

This network data is not fixed to one value, but is different for each day, day of the week, and time zone. This is because the degree of traffic congestion and the traffic rules may change depending on the day (New Year, Bon Festival, Golde Week, etc.), the day of the week (Saturday, Sunday, etc.), and the time of day (return time in the evening, etc.). Further, the arc cost and the pointer to the exit link correspond to the case where the conditions for the route calculation (for example, whether to use the expressway, whether to minimize the number of right turns, etc .; called “selection option”) are specified. Because of this, each selection option has a different value.

With such a system configuration, the same route guidance processing as the conventional one is executed, the presence / absence of abnormal running of the vehicle is monitored on the high speed (paid) road, and when the abnormal running is detected, the nearest freeway is detected. Guide the exit, and
The feature of this embodiment is to guide a new route to the destination via the exit.

The system operation for executing such processing will be described below. First, a method for detecting an abnormal running caused by a decrease in driver's awakening level (awakening level driving) will be described.

The running locus of such an abnormally running vehicle has the dynamic characteristics shown in FIG. 3 when expressed by the relationship between the lateral displacement amount of the vehicle in the lateral direction of the road and time. In FIG. 3, (a) is the amount of lateral deviation, and (b) is the measurement data of the azimuth sensor when traveling as shown in (a). Therefore, by comparing the dynamic characteristics shown by the measurement results of the azimuth sensor 11 obtained within a fixed time with the dynamic characteristics of FIG.
Can detect abnormal running. For the matching comparison of dynamic characteristics, a pattern matching method, a statistical processing method, a frequency analysis (Fourier analysis) method, or the like can be used. In this embodiment, a method of calculating the dispersion value of the measurement result of the azimuth sensor by the following equation and comparing the dispersion value with the threshold value is used.

[0034]

[Equation 1]

Hi = sampling data at the sampling timing i of the azimuth sensor A = average value of the sampling data of the azimuth sensor n = sampling period (integer) When the dispersion value thus obtained is larger than the threshold value, The driver's alertness is considered reduced.

The guide processing of the present invention executed by using the above-described abnormal traveling detection method will be described with reference to FIGS. 4 and 5.

FIG. 4 shows the contents of the processing relating to the present invention in the route guidance program shown in FIG. 1, which is executed by the CPU in the microprocessor. Although this processing procedure is actually described in the form of a programming language, for the sake of explanation, it is decomposed into well-known processing contents and expressed functionally.

The microprocessor 17 activates the position detection program, and compares the running locus of the vehicle obtained from the measurement results of the direction sensor 11 and the distance sensor 12 with the road map to determine the (estimated) current position of the vehicle. It is detected (S10). At this time, the microprocessor 17 functions as the present position estimating means of claims 2 and 3.

The detected current position is temporarily stored in the RAM in the microprocessor (S20).

Next, the microprocessor 17 activates the abnormality detection program, and determines whether the characteristics of the running trajectory indicated by the measurement results of the direction sensor cumulatively stored in the RAM match the characteristics of the abnormal running. (S30). The microprocessor 17 at the time of executing this processing operates as the awakening degree reduction detecting means of claim 1.

When "no characteristic of abnormal running" is obtained as a result of the comparison performed using the above-mentioned variance value, the microprocessor 17 executes the recommended route guidance similar to the conventional one (S30 → S40 → S50).

On the other hand, when the determination result "corresponding to the control signal related to the prevention of the decrease in the awakening degree according to claim 1" is obtained, the microprocessor 17 operates the voice output device 18. , Guides the information and prompts the driver to awaken (S30 → S40 → S100).

Subsequently, when the microprocessor 17 confirms that the vehicle is traveling on the highway, it detects a facility for eliminating the decrease in arousal level by referring to the map information (S1).
20). In addition, a new travel route with the current location of the vehicle as a starting point and the above facility as a destination is created and guided (S1).
30).

FIG. 5 shows the guidance processing procedure according to the present invention.

The recommended route can be represented by a data group in which link data L1, L2, ... Are arranged in the order of connection as shown in FIG. The arrows in the figure represent the traveling direction of the vehicle.

From the current position of the vehicle, the link number on the link number series indicating the recommended route can be obtained. Therefore, the microprocessor 17 acquires the link number on the recommended route corresponding to the current position of the vehicle (S200).

The microprocessor 17 refers to the route network of FIG. 2 and determines whether the intersection at the end of the link on which the vehicle is currently traveling is an interchange based on the acquired link number (S210). When a negative determination is obtained, the link number is acquired as the adjacent link number on the recommended route, and the determination process similar to the above is repeated (S2).
10 → S220 loop process).

For example, at present, the vehicle is the link L1 in FIG.
If the node P4 in FIG. 6 is an interchange, the negative determination is obtained in the first determination process of S210. The microprocessor 17 executes the execution procedure S2.
Then, the link to be judged is switched from the current link L2 to the adjacent link L3 along the traveling direction on the recommended route (S220). When this switching process is repeatedly executed thereafter, an interchange-related link number is detected.

Then, the execution procedure of FIG. 6 is S210 → S2.
By moving to 30 and repeating such processing, link data having intersection information indicating an interchange is detected (YES determination in S210).

Next, the microprocessor 17 refers to the map information, extracts the facility for resolving the decrease in arousal level, and detects the closest facility, ie, the facility having the shortest distance or the shortest time, from the extracted facilities. At this time, it goes without saying that the travel route to and from the facility is also created starting from the current position of the vehicle. Further, the microprocessor 17 at this time operates as the route calculating means of claim 3.

The new travel route (recommended route) and the distance (or required time) thus created are displayed or indicated by voice (S240). The microprocessor 17 and the voice output device 18 / display device 19 for executing this processing operate as the guiding means of claim 3. Incidentally, in association with the guidance of the traveling route, the microprocessor 17 guides the direction and distance of the facility.

(Second Embodiment) In the first embodiment, as an abnormal running state, the driver's awakening degree is lowered (awakening degree lowering operation).
Has been described as an example. Other causes of abnormal driving include unfavorable weather due to strong winds, heavy rain, breakdown of the steering wheel system, intentional rough driving of the driver, and unconscious driving due to poor psychological condition or physical condition. There are also cases. Also in the case of monitoring the traveling state of such a vehicle, the output waveform of the azimuth sensor (reference numeral 11 in FIG. 1) for estimating the current position is analyzed by the microprocessor (reference numeral 17 in FIG. 1) as in the first embodiment. Then, it is possible to identify not only the presence / absence of an abnormality but also the type content of the cause of the abnormal traveling.

FIG. 7 shows a change in relative azimuth with the lapse of time when the driver's arousal level decreases. FIG. 8 shows a change in relative azimuth when the driver corrects the posture during driving.

The period indicated by the symbol T in FIG. 8 is a portion where the posture is corrected during driving.

As shown in FIGS. 7 and 8, the patterns of relative azimuth change are different. Therefore, a pattern (data characteristics) during normal running, a pattern of decreased alertness, and various abnormal running patterns are acquired in advance, and the microprocessor is used. A pattern and its identification information are stored and learned in a memory in the memory 17. When the azimuth data during actual traveling is obtained, the microprocessor 17 compares the pattern indicated by the acquired data with a plurality of learned patterns, and detects the corresponding identification information from the matching pattern, thereby traveling It is possible to determine the type of abnormality.

In this way, the content of the running abnormality is detected,
For example, in case of bad weather, a node on which a vehicle on the highway can stop, for example, a node to a service area, an evacuation area, etc., is set as a new recommended route. In order to detect bad weather, the radio receiver receives traffic information (traffic information in which the traffic status is represented by an identification code), and the location indicated by the location identification code is within a certain range around the vehicle position of the current vehicle. Then, when the traffic condition code indicates bad weather, the microprocessor 17 creates a new recommended route to the service area. In addition, the configuration and the guidance method for guiding the facility for eliminating the abnormal traveling can be the same as those in the first embodiment.

Further, the abnormality of the steering system of the vehicle can be detected by various sensors installed in the steering system in addition to the analysis of the traveling pattern described above. Since a diagnostic device for diagnosing the details of the failure has also been proposed, when a vehicle failure that causes abnormal travel occurs, it is possible to provide a warning to the failure occurrence and also provide guidance to a service area where the vehicle can be repaired. In this case, it goes without saying that information indicating whether or not the vehicle can be repaired is added to the map information.

By detecting a plurality of types of abnormal traveling as described above, it is possible to diversify the guide information and execute effective guidance for the user.

1) Although the recommended route is created in the above embodiment, a new destination, for example, an exit of a highway,
You may guide the service area, parking area, etc. At this time, it is advisable to calculate the distance from the current position to the new destination and to guide the destination together with the name of the destination.

2) In the above embodiment, the microprocessor 17 creates the recommended route using the general passage. Regarding the guidance of the exit of the expressway, the guidance may be displayed on the display screen when the newly created entire recommended route is displayed, or the partial map screen that displays the route of the vehicle may be displayed. In addition, it goes without saying that these guide messages may be output by voice.

3) In the above-mentioned embodiment, the information about the exit of the expressway which is the starting point of the new recommended route is taken out directly from the CD 16 based on the link data.
The shortest high-speed exit may be detected from the current position of the vehicle by adding the intersection data to the RAM as map information regarding the recommended route and extracting the intersection data in advance in the RAM and searching the RAM for the intersection data.

4) In the above-mentioned embodiment, an example is shown in which, when the low awakening driving is detected, the travel route to the awakening low resolution facility on the general road is guided via the nearest highway exit. The microprocessor 17 may create a travel route starting from the current position of the vehicle, a new destination of the facility regardless of whether it is an expressway or an ordinary road.

When the route guidance function is not provided, the service area, parking area, etc. (distance or /
And (direction) may be displayed to the driver (voice or / and display).

In addition to the route guidance shown in the first embodiment, the service content of the facility for preventing the decrease in awakening degree, for example, a rest area (nap area) or the like may be provided.

5) In the second embodiment, the output of the azimuth sensor which constitutes a part of the current position estimating means is used to determine the type of abnormal travel. However, the history of the current position over time is used to determine the type of content. May be used for.

As described above, the present invention is a device that can be configured only with a route guidance device such as an azimuth sensor, a distance sensor, a GPS receiving device, or a sensor essential to a so-called navigation device.

However, as shown in FIG. 9, it does not hinder the parallel use with, for example, an inter-vehicle distance sensor or a steering system sensor.

It is also possible to measure the distance from the preceding vehicle with the inter-vehicle distance sensor, measure the correlation between the actual steering wheel operation and the lateral deviation amount with the rudder angle sensor, and further evaluate the cause of the abnormal running.

[0069]

As described above, according to the present invention, in the inventions of claims 1 and 5, the current position estimating means monitors the running state of the vehicle to reliably detect a decrease in awakening level and abnormal running. be able to. Since the sensor of the navigation system is used as it is, there is no cost in terms of hardware and it is possible to detect abnormal driving. In the inventions of claims 2 and 6, when a decrease in arousal level and abnormal running are detected, information on the position of the facility that is useful for eliminating drowsiness for a decreased awakening level and for eliminating that running for an abnormal running By providing the necessary information, the driver can quickly take necessary action. Further, since it is not a direct warning, the driver will not feel uncomfortable even if the driver's awakening level has not deteriorated or abnormal driving has occurred. Does not spoil the trust in the system. In the inventions of claims 3 and 7, compared with the inventions of claims 2 and 5, by guiding the route to the facility, the driver can be guided to a safer place more quickly. In the inventions of claims 4 and 9, since the awakening degree and the abnormal running are likely to decrease on a monotonous highway, for the time being, the driver is guided to a general road with a lot of stimulation to increase the tension.
It is possible to improve arousal level and enhance driving safety. If an accident occurs due to abnormal driving, the damage is often greater when driving on a highway. Therefore, it is possible to reduce the damage in the event of an accident by sharing the route from the highway to the general road. Further, if the cause of the abnormal driving is due to the physical condition of the driver, the general road is more suitable for the recovery.

In the invention of claim 8, safety measures can be taken according to the contents.

[Brief description of drawings]

FIG. 1 is a block diagram showing a system configuration of a route guidance device to which the present invention is applied.

FIG. 2 is an explanatory diagram showing the contents of link data and node data included in map information.

FIG. 3 is a characteristic diagram showing an abnormal traveling pattern.

FIG. 4 is a flowchart showing a processing procedure executed by a microprocessor 17;

FIG. 5 is a flowchart showing a processing procedure executed by a microprocessor 17;

FIG. 6 is an explanatory diagram for explaining a process for detecting the shortest high speed passage exit and a process for creating a new recommended route.

FIG. 7 is a waveform diagram showing a driving pattern of decreased awakening.

FIG. 8 is a waveform diagram showing a traveling pattern when the posture is changed during driving.

FIG. 9 is a block diagram showing another embodiment of the present invention.

[Explanation of symbols]

 1 Route Guidance Device 11 Direction Sensor 12 Distance Sensor 13 Inter-Vehicle Distance Sensor 14 Rudder Angle Sensor 15 Memory Drive 16 CD 17 Microprocessor 18 Audio Output Device 19 Display Device 20 (Transparent) Touch Panel

Claims (9)

[Claims] 1. A lowered alertness driving prevention device for preventing a driver's reduced alertness, comprising: a current position estimating means for estimating the current position of the vehicle; and a running state of the vehicle based on the output of the present position estimating means. A wakefulness lowering driving prevention apparatus, comprising: a wakefulness lowering detection means for outputting a control signal for preventing a lowering of the wakefulness when monitoring and detecting abnormal running. 2. A map information storage unit for storing map information including road position data and position data of facilities and the like for eliminating a decrease in arousal level, when a control signal for preventing the decrease in arousal level is output. The direction and / or the distance of the nearest facility for eliminating the decrease in the awakening degree starting from the current position of the vehicle as a starting point are guided.
The device for preventing driving with a decreased wakefulness according to. 3. A map information storage means for storing map information including road position data and position data for facilities for eliminating awakening deterioration, a current position estimating means for estimating a current position of the vehicle, and a current position estimating means for the vehicle. A route calculating means for calculating a route and / or a distance from the current position to an arbitrary position, and displaying or voice guiding the map information or the current position of the vehicle or the route to the arbitrary position, or at a branch point. A route and / or a distance from the current position of the vehicle to the nearest facility for eliminating the awakening degree when the control signal for preventing the awakening degree is output. The awakening degree lowering driving prevention device according to claim 1, which guides the driver. 4. The route and / or the distance from the current position of the vehicle to the nearest highway exit when the vehicle is traveling on the highway when the control signal for preventing the decrease in awakening level is output. Claim 2 or 3
The device for preventing driving with a decreased wakefulness according to. 5. An abnormal running prevention device for preventing an abnormal running of a driver, comprising: a current position estimating means for estimating a current position of the vehicle; and a running state of the vehicle monitored from an output of the current position estimating means. An abnormal traveling preventing device, comprising: an abnormal traveling detecting means for outputting a control signal for preventing the abnormal traveling when the abnormal traveling is detected. 6. The vehicle further comprises map information storage means for storing map information including road position data and position data of facilities and the like for eliminating abnormal traveling, and when the control signal for preventing abnormal traveling is output, Direction and / or direction of the nearest facility from the current position to eliminate the abnormal driving
Alternatively, the abnormal travel preventing device according to claim 5, which guides a distance. 7. A map information storage means for storing map information including road position data and position data for facilities or the like for eliminating abnormal driving, a current position estimating means for estimating a current position of a vehicle, and a current position of the vehicle. A route calculating means for calculating a route and / or a distance from a position to an arbitrary position, and displaying or audibly guiding the map information, the current position of the vehicle or the route to the arbitrary position, or a route at a branch point And a guide means for guiding the vehicle to guide the route and / or the distance from the current position of the vehicle to the nearest facility for eliminating the abnormal travel when the control signal for preventing the abnormal travel is output. The abnormal running prevention device according to claim 5, characterized in that. 8. The abnormal traveling detection means has learned in advance a plurality of types of abnormal traveling patterns, and compares the traveling pattern indicated by the output of the current position estimating means with the plurality of types of abnormal traveling patterns to detect abnormalities. The abnormal traveling prevention device according to claim 5, wherein the type of traveling is determined. 9. A route and / or a distance from the current position of the vehicle to the nearest highway exit when the vehicle is traveling on a highway when the control signal for preventing abnormal driving is output. The abnormal running prevention device according to claim 6 or 7.