Road surface information providing device and vehicle control device

Abstract

To predict the condition of each road surface in detail to assist driving operation according to the road surface condition, thereby providing appropriate vehicle control assistance.SOLUTION: A road surface information provision device is provided, comprising: an information acquisition unit configured to acquire vehicle information at least from vehicles that have detected wheel spin on their wheels while traveling, among a plurality of traveling vehicles, and weather information on the surroundings of the vehicles; a road surface condition prediction unit configured to generate road surface information obtained by predicting the road surface condition in a given area including the surroundings of the vehicles on the basis of the vehicle information and the weather information; a risk map generation unit configured to generate a risk map associating the road surface information with map information; and a transmission unit for transmitting the risk map to vehicles traveling in the given area.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a road surface information providing device and a vehicle control device. [Background technology]

[0002] Conventionally, there are known techniques for controlling a vehicle according to the state of the road surface. For example, Patent Document 1 discloses a vehicle speed control device that controls the vehicle speed so that the lower the road surface friction coefficient calculated by the vehicle itself or obtained from another vehicle, the lower the upper vehicle speed limit value during vehicle speed control is set. Patent Document 2 discloses a vehicle control system that distributes driving force to each wheel of the vehicle itself based on the position information of the vehicle itself, the road surface estimated μ by a laser radar, and the unevenness of the road surface based on the road surface information received from another vehicle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2002-19489 A [Patent Document 2] JP 2020-44939 A Summary of the Invention [Problem to be solved by the invention]

[0004] Meanwhile, road surface conditions change depending on environmental conditions including weather conditions, and for example, the road surface may become slippery due to rainfall or snowfall. In such cases, it is desirable to grasp in advance the detailed conditions of each road surface, such as slippery areas and lanes on the road surface, and the degree of slipperiness, and to perform appropriate vehicle control. Although it is possible to predict to some extent whether the road surface is slippery or not based on weather forecasts, etc., since weather forecasts are information for relatively large areas, it is not possible to predict the detailed conditions of each road surface as described above. Therefore, it is not possible for a vehicle traveling to accurately grasp the detailed conditions of the road surface, and it is not always possible to perform appropriate driving operations or vehicle control according to the road surface.

[0005] The present invention aims to deal with such a situation by predicting the detailed conditions of each road surface, supporting driving operations according to the road surface conditions, and supporting appropriate vehicle control. [Means for solving the problem]

[0006] In order to solve the above problems, a road surface information providing device according to the present invention has the following configuration. That is, one aspect of the present invention provides a road surface information providing device that includes an information acquisition unit that acquires vehicle information of at least one vehicle that detects wheel spin of the vehicle while traveling among a plurality of vehicles that are traveling, and acquires weather information about the surroundings of the vehicle, a road surface condition prediction unit that generates road surface information that predicts the condition of the road surface in a specified area including the surroundings of the vehicle based on the vehicle information and the weather information, a risk map generation unit that generates a risk map that corresponds the road surface information to map information, and a transmission unit that transmits the risk map to vehicles traveling in the specified area. Effect of the Invention

[0007] A road surface information providing device having such characteristics can predict detailed conditions for each road surface, and can support driving operations according to the road surface conditions, thereby supporting appropriate vehicle control. [Brief description of the drawings]

[0008] [Figure 1] 1 is an explanatory diagram showing a schematic configuration of a vehicle control assistance system including a road surface information providing device and a vehicle control device according to an embodiment of the present invention. [Diagram 2] 1 is an explanatory diagram showing a schematic configuration of a vehicle control assistance system including a road surface information providing device and a vehicle control device according to an embodiment of the present invention. [Diagram 3] An explanatory diagram showing the relationship between the hazard level, notification method, and driving assistance information defined in a vehicle control device according to an embodiment of the present invention, where (A) shows the notification method defined in accordance with the hazard level, and (B) shows the driving assistance information defined in accordance with the hazard level. [Figure 4] 5 is a flowchart showing a flow of a risk map generation process in the road surface information providing device according to the embodiment of the present invention. [Diagram 5] 4 is a flowchart showing a flow of a risk level determination process in the road surface information providing device according to the embodiment of the present invention. [Figure 6] In a vehicle control device 21 according to an embodiment of the present invention, (A) is a flowchart showing the flow of a vehicle information transmission process, and (B) is a flowchart showing the flow of processing after acquiring a risk map and a danger level. [Figure 7] 5 is a flowchart showing a flow of a process for notifying driving support information according to a risk level in the vehicle control device according to the embodiment of the present invention. [Figure 8] 5 is a flowchart showing a flow of a process for notifying driving support information according to a risk level in the vehicle control device according to the embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In the following description, the same reference numerals in different drawings indicate parts having the same function, and duplicated descriptions in each drawing will be omitted as appropriate.

[0010] The vehicle control device 21 and the road surface information providing device 3 mounted on the vehicle 2 according to the embodiment of the present invention function as a part of the vehicle control assistance system 1. In other words, the vehicle control assistance system 1 includes the vehicle control device 21 mounted on the vehicle 2, and the road surface information providing device 3 that transmits and receives various information to and from the vehicle control device 21.

[0011] 1 and 2, the road surface information providing device 3 communicates with vehicle control devices 21 mounted on a plurality of traveling vehicles 2A, 2B, 2C, etc. (hereinafter, when it is not necessary to distinguish between the vehicles, they will simply be referred to as "vehicles 2") and acquires vehicle information from each of the vehicle control devices 21 mounted on the plurality of vehicles 2. In addition, the road surface information providing device 3 generates information indicating the state of the road surface based on the vehicle information acquired from the vehicle control devices 21, and provides the generated information to the vehicle control devices 21.

[0012] As shown in FIG. 1, the road surface information providing device 3 includes a communication unit 31, an information acquisition unit 32, a road surface condition prediction unit 33, a risk map generation unit , and a risk level determination unit . The communication unit 31 communicates with multiple vehicles 2 in motion, a weather information providing server (not shown) managed by a private or public institution, and other predetermined information providing servers, etc., to send and receive various types of information.

[0013] The information acquisition unit 32 acquires, via the communication unit 31, vehicle information from at least one vehicle 2 that has detected wheel spin of its own vehicle, among the multiple vehicles 2. The vehicle information includes position information indicating the traveling position when the wheel slip was detected in the vehicle 2, and traveling information indicating the traveling state. The traveling information includes, for example, the vehicle speed, information about the wheel slip, the road surface μ value which is the friction coefficient of the road surface where the wheel slip was detected, the steering amount, the operation state of the wipers, the traveling mode, and information about the traveling route (such as a set destination). The vehicle information may also include information about the surrounding environment, such as the outside temperature, acquired by the vehicle 2.

[0014] In addition, the information acquisition unit 32 acquires, via the communication unit 31, from the vehicle 2 or a weather information providing server, current weather information on the area including the driving position of the vehicle 2, and observation information including outside temperature, precipitation amount, snowfall amount, etc.

[0015] The road surface condition prediction unit 33 generates road surface information that predicts the condition of the road surface in a predetermined area including the periphery of the vehicle 2 while it is traveling, based on the vehicle information and weather information acquired by the information acquisition unit 32.

[0016] For example, the road surface condition prediction unit 33 predicts the position on a map of a roadway including a slippery area based on the position information of the vehicle 2. The road surface condition prediction unit 33 also grasps the position of the spinning wheel (front wheel, rear wheel, right side or left side in the traveling direction) based on information regarding the wheel spin of the vehicle 2, and predicts a slippery position on the roadway. The road surface condition prediction unit 33 also predicts the degree of slipperiness at the slippery position based on the road surface μ value of the position on the roadway where the vehicle 2 detects wheel spin.

[0017] Furthermore, by acquiring vehicle information from each of the multiple vehicles 2, the road surface condition prediction unit 33 can identify slippery areas on the road (for example, the entire width of the road, only specific lanes, only the right or left side of a specific lane in the direction of travel, etc.), the range of the slippery areas, the number of vehicles that have slipped in the slippery areas, etc. from the slippery positions identified from each vehicle, and can accurately predict the road surface conditions.

[0018] The road surface condition prediction unit 33 includes the above-mentioned prediction results, i.e., prediction results regarding a road including slippery areas (slip points), the range of slippery areas on the road, and the degree of slipperiness, in the road surface information as slip information. In addition, the road surface condition prediction unit 33 can estimate the environment around the vehicle 2 from, for example, weather information and observation information. Therefore, the road surface condition prediction unit 33 can predict the state of the road surface several tens of minutes or several hours from now from the estimated surrounding environment, and can also include information regarding the predicted future road surface state as part of the road surface information.

[0019] The risk map generating unit 34 generates a risk map in which road surface information is associated with map information. That is, the risk map generating unit 34 generates a risk map by, for example, overlaying road surface information including the same position information as the position information of the map information on the map information. When overlaying, letters, numbers, images, etc. can be appropriately selected.

[0020] By generating such a risk map, it is possible to provide a map that allows the driver or the like to intuitively grasp the road surface condition. In the vehicle 2 that has received the risk map, the risk map is displayed on a display provided in the vehicle 2, and when there is a slippery area on the road surface during driving or nearby, the slippery area is displayed on the map, and the driver or the like can be notified.

[0021] The map information can be stored in advance in a storage device (not shown) provided in the road surface information providing device 3, or can be sequentially acquired from an external map information management server via the communication unit 31. Furthermore, by using high-precision three-dimensional map information such as a dynamic map as the map information, a more detailed risk map can be generated. The generated risk map is transmitted to the vehicle 2 by the communication unit 31.

[0022] The risk level determination unit 35 identifies the vehicle 2 on the risk map, and determines the risk level indicating the degree of risk in the traveling direction of the vehicle 2 traveling on the risk map for each vehicle. The risk level can be determined, for example, in multiple stages (for example, three stages such as large, medium, and small) based on whether or not there is a slippery area (slip spot) in the traveling direction of the vehicle 2 traveling on the risk map, and if there is a slip spot, the range of the slip spot, the distance from the vehicle 2 to the slip spot, the number of slipping vehicles at the slip spot, etc. The risk level for each vehicle, which is the determination result, is transmitted to each vehicle via the communication unit 31.

[0023] The risk level does not necessarily have to be determined by the road surface information providing device 3, and the risk level of the vehicle itself may also be determined by the vehicle 2 that has received the risk map.

[0024] Next, an example of the vehicle control device 21 will be described. The vehicle control device 21 provided in the vehicle 2 is connected to various electronic devices (described later) necessary for driving the vehicle 2, and includes a plurality of on-board ECUs (Electronic Control Units) that control these electronic devices. These electronic devices and on-board ECUs are connected to each other so as to be able to communicate with each other via an on-board network such as a CAN (Controller Area Network) or a LIN (Local Interconnect Network).

[0025] Each vehicle-mounted ECU may be configured to include, for example, a processor such as a CPU (Central Processing Unit) or an MPU (Micro Processing Unit), an electric circuit, and a storage element such as a RAM (Random Access Memory) or a ROM (Read Only Memory). In addition, some or all of the operations executed by the vehicle-mounted ECU may be realized by hardware such as an ASIC (application specific integrated circuit), an FPGA (field-programmable gate array), or a GPU (Graphics Processing Unit). In the following description, explanations and illustrations of electronic devices and vehicle-mounted ECUs that are not directly involved in the control operation of the vehicle 2 by the vehicle control device 21 in this embodiment will be omitted.

[0026] As shown in FIG. 2, the vehicle control device 21 includes a vehicle drive system and electronic devices necessary for driving the vehicle 2, which are connected via an in-vehicle network, including a communication unit 41, a wiper operation unit 42, a vehicle drive unit 43 (powertrain system 431, brake stem 432, steering system 433, etc.), an alarm unit 44 (display unit 441, alarm sounding unit 442, vibrator 443), a memory unit 45, an outside air temperature sensor 51, a vehicle speed sensor 52, a wheel speed sensor 53, a steering angle sensor 54, an acceleration sensor 55, a gyro sensor 56, and a GPS sensor 57.

[0027] The communication unit 41 is an interface for transmitting and receiving various information to and from an external server such as the road surface information providing device 3, other vehicles, and the like. The wiper operating unit 42 detects, for example, the amount of rainfall, and operates the wipers at predetermined time intervals according to the detected amount of rainfall.

[0028] The vehicle drive unit 43 includes drive units such as a power train system 431, a brake stem 432, and a steering system 433, and is driven (steered, accelerated, decelerated, stopped, etc.) and controlled according to control signals from the drive control unit 260.

[0029] The notification unit 44 includes a display unit 441, an alarm sounding unit 442, and a vibrator 443, and, under the control of the notification control unit 250, notifies the driver of the vehicle 2 of driving assistance information for avoiding danger in a manner according to the degree of danger.

[0030] The display unit 441 is composed of, for example, a display panel provided on a dashboard or a HUD (Head-Up Display) projected onto the windshield, and displays an image that can be seen by the occupants. When the display unit 441 is a HUD, it can display a speed display, a navigation image, etc. on the windshield of the vehicle 2, and present various information to the occupants of the vehicle 2, particularly the driver.

[0031] In addition, the display unit 441 can display slip information in the direction of travel of the vehicle 2 and driving assistance information regarding danger avoidance operations in a manner that is visible to the driver, etc., in accordance with notification instructions from the notification control unit 250 of the vehicle control device 21, to encourage danger avoidance.

[0032] The alarm sounding unit 442 can be, for example, a general speaker, and can output voice or a predetermined ringing sound to notify the presence of slip information or danger information in the traveling direction in accordance with a notification command from the notification control unit 250. The alarm sounding unit 442 does not necessarily have to be provided exclusively for notification purposes, and can also be used as, for example, a speaker of an in-vehicle audio device or a navigation system.

[0033] The vibrator 443 includes a seat vibrator that vibrates the driver's seat on which the driver sits, and a steering vibrator that vibrates the steering wheel. By vibrating the seat vibrator or the steering vibrator, the driver can be notified of driving support information and be prompted to perform a danger avoidance operation.

[0034] The memory unit 45 stores information necessary for the operation of the vehicle control device 21, information sent and received by the communication unit 41, driving assistance information according to the hazard level described below, and notification methods reported according to the hazard level (see Figure 3).

[0035] The group of sensors (outside air temperature sensor 51, vehicle speed sensor 52, wheel speed sensor 53, steering angle sensor 54, acceleration sensor 55, gyro sensor 56, and GPS sensor 57) detects the running state of the vehicle 2 according to the characteristics of each sensor.

[0036] The vehicle control device 21 realizes each of the following sections using each on-board ECU included in the vehicle control device 21: a vehicle information collection unit 210, a spin detection unit 220, a risk map acquisition unit 230, a danger level acquisition unit 240, an alarm control unit 250, and a drive control unit 260, and controls the drive system and electronic devices connected to the vehicle control device 21 described above.

[0037] The vehicle information collection unit 210 acquires vehicle information of the vehicle 2, such as vehicle speed, position information, wheel spin information, road surface μ value, steering amount, outside temperature, wiper operation state, driving route (destination setting), and driving mode.

[0038] The vehicle speed is information about the traveling speed of the vehicle 2 obtained by periodically monitoring the output of the vehicle speed sensor 52. The position information is information about the position of the vehicle, including the latitude and longitude obtained based on the output of the gyro sensor 56 and radio waves received by the GPS sensor 57 from artificial satellites constituting the GPS (Global Positioning System).

[0039] The wheel spin information is information related to the rotation speed or number of revolutions of each wheel based on the output of the wheel speed sensor 53 provided on each wheel when a spin is detected by a spin detection unit 220 described later.

[0040] The road surface μ value is the friction coefficient of the road surface on which the vehicle 2 is traveling, and can be obtained, for example, by calculating the road surface μ value while traveling at a predetermined period based on the vehicle speed obtained from the vehicle speed sensor 52 of the vehicle 2, the wheel rotation speed obtained from the wheel speed sensor 53, and the steering angle obtained from the steering angle sensor 54.

[0041] The steering amount is information obtained based on, for example, the output of the steering angle sensor 54 or a steering torque sensor (not shown) provided in the steering system 433. The outside air temperature is the current outside air temperature in the area where the vehicle 2 is traveling, and is obtained by monitoring the output of the outside air temperature sensor 51 at regular intervals.

[0042] The wiper operation state is, for example, information about the wiper operation interval. The travel route is information about a travel route from a starting point to a destination point that is input by an occupant of the vehicle 2 from a predetermined input unit (not shown) or that is proposed by an external server in response to the occupant inputting the destination.

[0043] The driving mode as vehicle information is information for identifying the driving mode selected by the occupant from a plurality of driving modes previously set in the vehicle control device 21 and currently used for driving. As the driving mode, for example, the responsiveness to input operations is determined in advance according to the occupant's preference, the environment and condition of the road, the weather, etc., and there are, for example, a mode that emphasizes comfort, a mode that is optimal for sports driving, a mode that emphasizes energy saving, etc., and usually, a plurality of types are set for each vehicle.

[0044] Such vehicle information is temporarily stored in the memory unit 45, and when wheel spin is detected by the wheel spin detection unit 220 described below, it is transmitted to the road surface information providing device 3 by the communication unit 41. As described above, the road surface information providing device 3 collects information on slippery areas on the road surface from the position on the road surface where the vehicle 2 has spun and the road surface μ value, based on the vehicle information transmitted from the vehicle 2, and generates a risk map.

[0045] The spin detection unit 220 monitors the rotation speed or number of rotations of all rotating wheels based on the output from the wheel speed sensors 53 attached to each wheel of the vehicle 2 and detecting the rotation of the wheels, and detects the spin of any wheel when the rotation speed or number of any wheel becomes extremely high compared to the other wheels.

[0046] The risk map acquisition unit 230 acquires a risk map from the road surface information providing device 3 via the communication unit 41. As described above, the risk map is made to correspond to road surface information that predicts the road surface condition of a predetermined area including the periphery of the vehicle and map information. In the vehicle control device 21, by displaying the risk map on the display unit 441, the driver can intuitively grasp the road surface condition, such as whether there is a slippery area on the road surface in the traveling direction, on the displayed map.

[0047] The risk level acquisition unit 240 receives and acquires a risk level for the vehicle 2 together with the risk map from the road surface information providing device 3. When the risk level acquisition unit 240 does not receive a risk level from the road surface information providing device 3, it evaluates a risk level indicating the degree of danger of the road surface in the traveling direction of the host vehicle based on the risk map.

[0048] Specifically, the risk level acquisition unit 240 refers to the risk map to identify slippery areas (slip points) that exist in the traveling direction of the vehicle 2, predicts the range and degree of slipperiness of the identified slip points, and evaluates the risk level in multiple stages (for example, three stages). The evaluation of the risk level by the risk level acquisition unit 240 can be performed in the same manner as the determination of the risk level by the road surface information providing device 3 described above.

[0049] A description will be given of an example of the evaluation of the risk level by the risk level acquisition unit 240. That is, the risk level acquisition unit 240 refers to the risk map to determine whether or not there is a slip point in the traveling direction of the vehicle 2, and if there is no slip point, evaluates the risk level as "low".

[0050] The risk level acquisition unit 240 determines whether there is a slip point and the distance of the vehicle to the slip point is less than a predetermined distance, or whether the time it will take for vehicle 2 to reach the slip point when traveling at the current vehicle speed is less than a predetermined time, and if the distance is equal to or greater than the predetermined distance or the time is equal to or greater than the predetermined time, it evaluates the risk level to be "medium."

[0051] Furthermore, when the distance to the slip point is less than a predetermined distance or the time to reach the slip point is less than a predetermined time, and the number of slipped vehicles at the slip point is less than a predetermined number, the risk level acquisition unit 240 evaluates the risk level to be "medium." Furthermore, when the distance to the slip point is less than a predetermined distance or the time to reach the slip point is less than a predetermined time, and the number of slipped vehicles at the slip point is equal to or greater than a predetermined number, the risk level acquisition unit 240 evaluates the risk level to be "high."

[0052] The notification control unit 250 controls the notification unit 44 to notify the driver of the vehicle of driving operations for avoiding danger at slip points, i.e., driving support information including risk avoidance operations, in a manner according to the risk level. In other words, the notification control unit 250 controls the notification unit 44 to vary the notification method of the driving support information according to the risk level, so that the higher the risk level, the stronger the notification of the driving support information to the driver. This makes it possible to urge the driver to perform driving operations for avoiding danger, with the strength of the notification varying according to the risk level.

[0053] For example, when the danger level is "low", the display unit 441 is controlled to display driving assistance information, and when the danger level is "medium", the driving assistance information is displayed on the display unit 441 and an alert is given by voice or alarm from the alarm sounding unit 442, and when the danger level is "high", the display on the display unit 441 is enlarged and the volume of the voice or alarm from the alarm sounding unit 442 is increased, and the seat vibrator or steering vibrator is vibrated by the vibrator 443, etc.

[0054] Such different notification methods according to the danger level can be stored in advance in the storage unit 45 in association with the danger level, as shown in FIG. 3(A).

[0055] The driving assistance information includes at least a risk avoidance maneuver for a slippery area, and may further include slip information such as the location of the slip point, the distance from the vehicle to the slip point, the arrival time, and the range.

[0056] The risk avoidance operation includes, for example, information regarding lane change. In this case, the notification control unit 250 can control the notification unit 44 to notify the driver of a recommendation to change lane, the recommended driving path to change to, etc. In addition, the driving support information is not limited to lane change, and the driving support information presented to the driver can be different depending on the risk level.

[0057] That is, the notification control unit 250 can control the notification unit 44 to select driving assistance information including a risk avoidance operation corresponding to the risk level of the vehicle 2 and notify the driver of the selected driving assistance information.

[0058] The notification control unit 250 controls the notification unit 44 to notify the driver of driving assistance information according to the danger level, for example, as follows. In other words, when the risk level is "low," no driving operation to be taken to avoid the risk is specified, but the notification unit 44 is controlled to notify the driver of the existence of a slip area and the location of the slip area on the map as slip information.

[0059] If the danger level is "medium," the system urges the driver to decelerate as a risk avoidance maneuver, and also controls the notification unit 44 to notify the driver of the presence of a slip point, as well as the distance to and time to reach the slip point, as slip information.

[0060] If the danger level is "high," the controller 44 is controlled to prompt the driver to change course (including changing lanes) as a risk avoidance maneuver, and to notify the driver of the location of the slip as well as the distance to the slip location and the time required to reach the slip location as slip information.

[0061] In this way, the vehicle control device 21 can determine the risk avoidance operation according to the risk level and the slip information to be notified. The risk avoidance operation according to the risk level and the slip information to be notified may be stored in advance in the storage unit 45 in association with the risk level as shown in Fig. 3(B), for example, or may be determined each time by the risk level acquisition unit 240. In addition, the risk avoidance operation, etc. may be received from the road surface information providing device 3.

[0062] The drive control unit 260 controls the driving of the vehicle 2 by controlling the steering, acceleration / deceleration, stopping, etc. of the vehicle drive unit 43 .

[0063] (Processing in the road surface information providing device and vehicle control device) The processes in the road surface information providing device 3 and the vehicle control device 21 will be described below.

[0064] First, the flow of the risk map generation process in the road surface information providing device 3 will be described with reference to the flowchart in FIG. In the road surface information providing device 3, the information acquiring unit 32 acquires vehicle information of the vehicle 2 from the vehicle control device 21 provided in the vehicle 2 that has detected wheel spinning of the vehicle among a plurality of vehicles 2 currently traveling, via the communication unit 31 (step S101). In addition, the information acquiring unit 32 acquires real-time weather information for a predetermined area including the periphery of the vehicle 2 from the vehicle 2 or a weather information providing server (step S102).

[0065] Next, a risk map is generated by the risk map generating unit 34 (step S103). Prior to generating the risk map, the road surface condition predicting unit 33 generates road surface information including slip information and the like that predicts the road surface condition of a predetermined area including the periphery of the traveling vehicle 2 based on the vehicle information and weather information respectively acquired from the multiple vehicles 2. The risk map generating unit 34 associates the road surface information with the map information and generates a risk map by overlaying the road surface information on the map information (step S103).

[0066] The risk level determination unit 35 identifies the vehicles 2 traveling on the generated risk map (step S104), and determines the risk level in the traveling direction of each vehicle 2 (step S105). The determination of the risk level will be described later. The communication unit 31 transmits the risk map generated by the risk map generation unit 34 and the risk level related to the determination result by the risk level determination unit 35 to each vehicle 2 (step S106).

[0067] Next, the risk level determination process by the risk level determining unit 35 will be described with reference to the flowchart of FIG. The risk level determination unit 35 determines whether or not there is a slip point in the traveling direction of the traveling vehicle 2 based on the risk map (step S201), and if there is no slip point, determines the risk level to be "low" (step S202).

[0068] When there is a slip point in the traveling direction of vehicle 2 (step S201), it is determined whether the distance from vehicle 2 to the slip point is less than a predetermined distance, or whether the time until vehicle 2 reaches the slip point is less than a predetermined time (step S203). When the distance between vehicle 2 and the slip point in the traveling direction of vehicle 2 is equal to or greater than the predetermined distance, or the time until vehicle 2 reaches the slip point is equal to or greater than the predetermined time, the risk level is determined to be "medium" (step S204).

[0069] If the distance between vehicle 2 and a slip point in the traveling direction of vehicle 2 is less than a predetermined distance, or if the time it takes vehicle 2 to reach the slip point is less than a predetermined time, it is determined whether the number of slipping vehicles at the slip point is equal to or greater than a predetermined number (step S205). If the number of slipping vehicles is less than the predetermined number, the risk level is determined to be "medium" (step S206), and if the number of slipping vehicles is equal to or greater than the predetermined number, the risk level is determined to be "high" (step S207).

[0070] The risk level evaluation by the risk level acquisition unit 240 of the vehicle control device 21 can be performed in the same manner as the risk level determination process in the road surface information providing device shown in FIG.

[0071] Next, the process flow in the vehicle control device 21 will be described with reference to the flowcharts of FIG. 5 and FIG. Figure 6(A) is a flowchart showing the process of transmitting vehicle information to the road surface information providing device 3 in the vehicle control device 21, and Figure 6(B) is a flowchart showing the process after receiving a risk map and danger level from the road surface information providing device 3.

[0072] 6(A), in the vehicle control device 21, when the spin detection unit 220 detects a spin of the wheels (step S301), the vehicle information collection unit 210 acquires vehicle information to be transmitted to the road surface information providing device 3 from the output of the sensor group, and stores the vehicle information in the storage unit 45 (step S302). The vehicle information collection unit 210 transmits the vehicle information collected from the sensor group and stored in the storage unit 45 to the road surface information providing device 3 via the communication unit 41 (step S303).

[0073] As shown in FIG. 6(B), the vehicle control device 21 receives a risk map and a danger level from the road surface information providing device 3 (step S401), and when there is a slippage point in the traveling direction of the vehicle by referring to the risk map (step S402), it notifies the driver of driving assistance information according to the danger level to encourage the driver to avoid the danger (step S403).

[0074] As shown in FIG. 7, the vehicle control device 21 can adjust the intensity of the notification of the driving support information depending on the risk level. That is, when the risk level is "low" (step S501), the notification control unit 250 controls the display unit 441 to display the slip points and highlight the slip points on the risk map (step S502).

[0075] If the risk level is "medium" (step S503), the slip point is displayed and the warning sounder 442 issues a warning or sound to inform the driver of the presence of the slip point, the distance to the slip point, etc. (step S504).

[0076] If the risk level is "high" (step S505), the slippage location is displayed, an alarm is sounded, and the driver's seat is vibrated (step S506). In addition to notifying the driver of the slippage, the system can also prompt the driver to take risk avoidance action according to the risk level.

[0077] Furthermore, the vehicle control device 21 can notify the driver of driving assistance information according to the risk level, as shown in FIG. That is, when the risk level is "low" (step S601), the notification control unit 250 notifies the driver that there is a slip point in the traveling direction (step S602). That is, the notification control unit 250 controls the display unit 441 to display the slip point and to highlight the slip point on the risk map.

[0078] If the risk level is "medium" (step S603), the system urges the driver to decelerate as a risk avoidance operation, and also controls the system to notify the driver of the distance to the slip point, etc. (step S604).

[0079] If the danger level is "high" (step S605), the control unit 44 is controlled to prompt the driver to change course as a danger avoidance operation and to notify the driver of the distance to the slip point, the time to reach it, the range, etc. (step S606).

[0080] As described above, the road surface information providing device according to this embodiment can obtain information about slippery parts of the road surface by acquiring vehicle information from a traveling vehicle when the vehicle detects a wheel slip. By acquiring vehicle information from multiple vehicles, information about slippery parts can be aggregated, and by acquiring surrounding weather information, the road surface condition can be accurately predicted.

[0081] In addition, by generating a risk map that matches predicted road surface information with map information, it is possible to provide a map that allows drivers to intuitively identify slippery areas, helping to provide control support according to road surface conditions.

[0082] Once a vehicle has received the risk map, the risk map can be displayed on a display installed in the vehicle. If there are slippery areas on the road surface while driving or in the vicinity, the slippery areas can be displayed on the map to alert the driver, etc.

[0083] By determining the risk level for each vehicle from the risk map, it is possible to provide risk avoidance operations appropriate to the vehicle, and to assist in appropriate driving control according to road surface conditions.

[0084] Although the embodiments of the present invention have been described in detail with reference to the drawings, the specific configuration is not limited to these embodiments, and the present invention includes design changes and the like that do not deviate from the gist of the present invention. In addition, the above-mentioned embodiments can be combined by utilizing each other's technologies as long as there are no particular contradictions or problems in the purpose, configuration, etc. [Explanation of symbols]

[0085] 1: vehicle control assistance system, 2, 2A, 2B, 2C: vehicle, 3: road surface information providing device, 21: vehicle control device, 31: communication unit, 32: information acquisition unit, 33: road surface condition prediction unit, 34: risk map generation unit, 35: danger level determination unit, 41: communication unit, 42: wiper operation unit, 43: vehicle drive unit, 44: notification unit, 45: memory unit, 51: outside air temperature sensor, 52: vehicle speed sensor, 53: wheel speed sensor, 54: steering angle Sensor, 55: acceleration sensor, 56: gyro sensor, 57: GPS sensor, 210: vehicle information collection unit, 220: slip detection unit, 230: risk map acquisition unit, 240: risk level acquisition unit, 250: notification control unit, 260: drive control unit, 431: power train system, 432: brake stem, 433: steering system, 441: display unit, 442: alarm sounding unit, 443: vibrator

Claims

1. an information acquisition unit that acquires vehicle information of at least one vehicle that detects wheel spinning while traveling among a plurality of vehicles that are traveling, and acquires meteorological information about the surroundings of the vehicle; a road surface condition prediction unit that generates road surface information by predicting a condition of a road surface in a predetermined area including a periphery of the vehicle based on the vehicle information and the weather information; a risk map generating unit that generates a risk map in which the road surface information is associated with map information; a transmitter that transmits the risk map to a vehicle traveling in the predetermined area, The vehicle information includes position information indicating the vehicle's driving position, and driving information indicating the driving condition of the vehicle, including at least the road surface μ value of the driving road, vehicle speed, wheel spin information, and steering amount.

2. an information acquisition unit that acquires vehicle information of at least one vehicle that detects wheel spinning while traveling among a plurality of vehicles that are traveling, and acquires meteorological information about the surroundings of the vehicle; a road surface condition prediction unit that generates road surface information by predicting a condition of a road surface in a predetermined area including a periphery of the vehicle based on the vehicle information and the weather information; a risk map generating unit that generates a risk map in which the road surface information is associated with map information; a transmitter for transmitting the risk map to a vehicle traveling in the predetermined area; a risk level determination unit that determines a risk level of a slippery area present in a traveling direction of the vehicle for each vehicle based on the risk map, The transmission unit is a road surface information providing device that transmits the risk level to each of the vehicles.

3. an information acquisition unit that acquires vehicle information of at least one vehicle that detects wheel spinning while traveling among a plurality of vehicles that are traveling, and acquires meteorological information about the surroundings of the vehicle; a road surface condition prediction unit that generates road surface information by predicting a condition of a road surface in a predetermined area including a periphery of the vehicle based on the vehicle information and the weather information; a risk map generating unit that generates a risk map in which the road surface information is associated with map information; a transmitter for transmitting the risk map to a vehicle traveling in the predetermined area; a risk level determination unit that determines a risk level of a slippery area present in a traveling direction of the vehicle for each vehicle based on the risk map, The transmission unit transmits the risk level to each of the vehicles, The vehicle information includes position information indicating the vehicle's driving position, and driving information indicating the driving condition of the vehicle, including at least the road surface μ value of the driving road, vehicle speed, wheel spin information, and steering amount.

4. 4. The road surface information providing device according to claim 1, wherein the road surface information includes slippage information that identifies slippery areas on the road surface.

5. A vehicle control device provided in a vehicle, a risk map acquisition unit that acquires a risk map in which map information is associated with road surface information that predicts the state of a road surface in a predetermined area including the vicinity of the vehicle; a risk level acquisition unit that acquires a risk level of a slippery area that exists in a traveling direction of the vehicle based on the risk map and a traveling state of the vehicle; A vehicle control device comprising: a notification control unit that controls a notification unit to notify a driver of the vehicle of driving assistance information related to driving operations for danger avoidance in the slippery area in accordance with the danger level.

6. The vehicle control device according to claim 5 , wherein the notification control unit controls the notification unit to notify the driver of driving assistance information including a driving operation according to the risk level.

7. 7. The vehicle control device according to claim 5, wherein the notification control unit controls the notification unit to notify the driver of the driving assistance information more strongly as the risk level increases.

8. The risk map includes: Road surface information predicting the state of the road surface in a predetermined area is generated in association with the map information; The road surface information is generated based on vehicle information acquired from a plurality of vehicles traveling in a predetermined area and meteorological information for the predetermined area, 8. The vehicle control device according to claim 5, wherein the vehicle information includes information indicating a traveling position and a traveling state of the vehicle, obtained from a vehicle among the plurality of vehicles in which wheel spin is detected while the vehicle is traveling.

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