Driving assistance device and vehicle

Abstract

Provided is a driving assistance device that is a driving assistance device for a vehicle, includes an acquisition unit that acquires a position coordinate of the host vehicle at a predetermined cycle, a determination unit that determines a curve region of a road based on a plurality of position coordinates continuously acquired by the acquisition unit, and a registration unit that registers the curve region determined by the determination unit in a predetermined database. Risk management of a travel road can be achieved with a relatively simple structure.

Description

TECHNICAL FIELD

[0001] The present application relates to a driving assistance device for a vehicle. BACKGROUND

[0002] With respect to the travel of a vehicle, in consideration of the risk of an unexpected slip occurring in a curve region having a relatively small turning radius, the driver of the vehicle is sometimes required to recognize the curve region in advance. On the other hand, by driving assistance based on map data, the driver is sometimes able to recognize such a curve region in advance (see Patent Literature 1).

[0003] PRIOR ART DOCUMENTS

[0004] PATENT LITERATURE

[0005] Patent Literature 1: Japanese Patent Application Publication No. 2019-064562 SUMMARY

[0006] PROBLEMS TO BE SOLVED BY THE INVENTION

[0007] In addition, in consideration of a case where the map data is incomplete, a case where the vehicle is unable to acquire the map data, a case where the vehicle is not configured to be able to acquire the map data, and the like, there are cases where driving assistance is required to be performed without using the map data.

[0008] An exemplary object of the present application is to enable risk management of a travel road to be achieved with a relatively simple structure.

[0009] MEANS FOR SOLVING THE PROBLEMS

[0010] One aspect of the present application relates to a driving assistance device, which is a driving assistance device for a vehicle, characterized by comprising:

[0011] the driving assistance device comprises:

[0012] an acquisition unit that acquires a position coordinate of the host vehicle at a predetermined cycle;

[0013] a determination unit that determines a curve region of a road based on a plurality of position coordinates successively acquired by the acquisition unit; and

[0014] a registration unit that registers the curve region determined by the determination unit in a predetermined database.

[0015] EFFECTS OF THE INVENTION

[0016] According to the present application, risk management of a travel road can be achieved with a relatively simple structure. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 is a diagram showing a configuration example of a vehicle to which an embodiment is applied.

[0018] Figure 2 is a flowchart showing an example of the content of the operation processing of the driving assistance device.

[0019] Figure 3 is a schematic diagram for explaining an example of the determination method of the curve region.

[0020] Figure 4A is a schematic diagram for explaining another example of the determination method of the curve region.

[0021] Figure 4B is a schematic diagram for explaining another example of the determination method of the curve region.

[0022] Figure 4C is a schematic diagram for explaining another example of the determination method of the curve region.

[0023] Figure 5 is a flowchart showing another example of the content of the operation processing of the driving assistance device.

[0024] Figure 6 is a flowchart showing another example of the content of the operation processing of the driving assistance device.

[0025] Figure 7 is a diagram showing a method of finding a circle through any 3 points.

[0026] Explanation of Reference Numerals

[0027] 1: vehicle; 5: driving assistance device; CR1: curve region; DB: database. DETAILED DESCRIPTION

[0028] Hereinafter, the embodiments will be described in detail with reference to the drawings. Note that the following embodiments are not intended to limit the application covered by the claims, and not all combinations of features described in the embodiments are essential to the application. Two or more of the features described in the embodiments can be arbitrarily combined. In addition, the same reference numerals are assigned to the same or similar structures, and repeated description is omitted.

[0029] (First Embodiment)

[0030] Figure 1 is a structural example of a vehicle 1 of the first embodiment. The vehicle 1 is provided with wheels 2, a communication device 3, a position determination device 4, and a driving assistance device 5. In the present embodiment, the vehicle 1 is a four-wheel vehicle provided with four wheels 2, but the number of wheels 2 is not limited to this example, and as another embodiment, the vehicle 1 can be a two-wheel vehicle, a three-wheel vehicle, or the like.

[0031] The communication device 3 is configured to enable inter-vehicle communication and road-vehicle communication, whereby information required for the driver to perform a driving operation, such as congestion information, accident information, weather information, road surface information, and the like, can be acquired. In the present embodiment, the communication device 3 is configured to enable communication with a server via a network, whereby predetermined map data can be acquired. As another embodiment, the map data can be stored in a storage device built into the vehicle 1.

[0032] The position determination device 4 includes a GPS (Global Positioning System) sensor, whereby the position coordinates of the host vehicle 1 can be determined by latitude and longitude. For example, the position determination device 4 can determine that the host vehicle 1 is traveling at a latitude of 35 degrees north and a longitude of 139 degrees east.

[0033] The driving assistance device 5 includes a CPU (Central Processing Unit) 51, a memory 52, and an external communication interface 53, and performs driving assistance as described later. The arithmetic processing for driving assistance is performed by the CPU 51 executing a predetermined program on the memory 52. The functions of the driving assistance device 5 can also be realized by an ASIC (Application Specific Integrated Circuit), that is, by either of hardware and software.

[0034] The driving assistance device 5 can cause the host vehicle 1 to be displayed on the map data on the in-vehicle display 9 in correspondence with the position coordinates determined by the position determination device 4. For example, the communication device 3 acquires map data corresponding to the determined position coordinates, and the driving assistance device 5 causes the acquired map data to be displayed on the in-vehicle display 9 together with the host vehicle 1 (or an icon representing the host vehicle 1).

[0035] On the other hand, a case where the driving assistance device 5 cannot refer to the map data is also considered. As examples thereof, there are a case where the map data is incomplete due to newly installed roads and the like, and a case where it is difficult to acquire the map data due to insufficient communication environment and the like. As other examples, there are a case where the communication device 3 itself is not mounted on the vehicle 1 and the like, and a case where the vehicle 1 is not configured to enable acquisition of the map data.

[0036] In such a case, it is considered that the information required for the driver to perform a driving operation is insufficient, whereby, for example, a slip of the vehicle 1 occurs in an unexpected curve region. Therefore, it is required that the driver of the vehicle 1 recognize such a curve region in advance.

[0037] Figure 2 This flowchart is mainly executed by the CPU 51, and outlines that a curve region is determined by periodically acquiring the position coordinates of the host vehicle 1, and the curve region is registered in a database.

[0038] In step S1000 (hereinafter, simply referred to as "S1000". The same applies to other steps described later.), it is determined whether or not map data can be acquired. In the case where the map data can be acquired, S1000 is returned, and otherwise, S1010 is entered. That is, the present flowchart is executed during a period in which the map data cannot be acquired. In addition, in S1000, the CPU 51 functions as a determination section.

[0039] In S1010, position coordinates of the host vehicle 1 (coordinates P10, P11, etc. described later (refer to Fig. 2) ) are acquired. The position coordinates are acquired on the basis of GPS, and the acquired position coordinates are temporarily saved in the memory 52. In S1010, the CPU 51 functions as an acquisition section. Figure 3

[0040] In the present flowchart, S1010 is periodically repeated during a period in which the map data cannot be acquired (refer to S1000). Therefore, the respective position coordinates acquired periodically are temporarily saved in the memory 52.

[0041] In S1020, a curve region of a road (curve region CR1 described later (refer to Fig. 3) ) is determined on the basis of a plurality of position coordinates acquired successively by S1010 and saved in the memory 52. Details of the determination method will be described later. In addition, in S1020, the CPU 51 functions as a determination section. Figure 3

[0042] In S1030, the curve region CR1 determined in S1020 is registered in the memory 52 as a database DB (refer to Fig. 4). In addition, in S1030, the CPU 51 functions as a determination section. Figure 1

[0043] In S1040, it is determined whether or not a predetermined notification to the driver is required with reference to the database DB. The determination can be made, for example, on the basis of whether or not the host vehicle 1 is currently traveling in the curve region CR1 already / past registered in the database DB. In the case where the notification is required, S1050 is entered, and otherwise, S1000 is returned. In addition, in S1040, the CPU 51 functions as a determination section.

[0044] In S1050, the predetermined notification to the driver is made. The notification can be made by display to the on-vehicle display 9, or alternatively / additionally, by voice guidance or a warning sound. In S1050, the CPU 51 functions as a notification section (or a notification output section) or a display section (or a display output section).

[0045] ​​​According to the present embodiment, when the vehicle 1 again travels in the curve region CR1 registered in S1030, the driver is notified in S1040-S1050. As another embodiment, the notification can be made at the time of initial travel in the curve region CR1 (at substantially the same time as the determination of the curve region CR1).

[0046] Further, the shorter the acquisition cycle of the position coordinates of the host vehicle 1 in S1010 during which the map data cannot be acquired, the higher the determination accuracy of the curve region CR1, and for example, the acquisition cycle can be several to several hundred [msec (milliseconds)], or several [sec (seconds)].

[0047] Figure 3 is a schematic view for explaining the determination method of the curve region CR1 in S1020, and is a view in which a plurality of position coordinates continuously acquired by S1010 described above are plotted and a map is virtually simulated. In the present embodiment, the map data is not acquired, but in the view, the travel road is indicated by a broken line for easy understanding. In the position coordinates P10-P20 (hereinafter referred to as "position coordinates P10 and the like") shown in the view, the coordinates located on the path that becomes the curve region CR1 are indicated by a symbol O, the start point or the end point of the curve region CR1 is indicated by a symbol, and the other coordinates are indicated by a symbol X.

[0048] As exemplified in Figure 7 , the center point O1 and the radius r1 of the circular arc A1 can be calculated by referring to any 3 points Pa, Pb, and Pc on the circular arc A1. Therefore, if referring to Figure 3 again, by sequentially referring to consecutive 3 of the plurality of position coordinates P10 and the like, the radius of curvature of the travel road can be approximately calculated, and it is determined whether the travel road is the curve region CR1 based on whether the radius of curvature satisfies the reference.

[0049] In Figure 3 , a table indicating the radius of curvature R calculated for each of the consecutive 3 position coordinates P10 and the like by the above-described method is shown together. In the present embodiment, the radius of curvature R is calculated based on the corresponding position coordinate and the 2 position coordinates before and after the corresponding position coordinate, for a total of 3 position coordinates. Further, in the view, K is set to an arbitrary integer, and the radius of curvature R corresponding to the position coordinate PK is indicated as the radius of curvature R K . Therefore, for example, the radius of curvature R 15 of the position coordinate P15 is calculated based on the position coordinates R14-R16.

[0050] Further, as another embodiment, the radius of curvature R can be calculated based on the corresponding position coordinate and the 2 position coordinates before (or after) the corresponding position coordinate, for a total of 3 position coordinates. For example, the radius of curvature R 15The curvature radius R can be calculated based on the position coordinates R13 to R15 (or R15 to R17).

[0051] In a case where the curvature radius R is smaller than the reference value R REF , the region is determined to be the curve region CR1, and in a case where this is not true (the curvature radius R is the reference value R REF or more), the region is determined not to be the curve region CR1. In the present embodiment, as for the region between the plurality of position coordinates P13 to P16, the curvature radius R is smaller than the reference value R REF , the region is determined to be the curve region CR1.

[0052] Therefore, in a case where the curvature radius R of the travel road determined based on the three consecutive position coordinates among the plurality of position coordinates P10 and the like satisfies the reference, the first one of the three position coordinates (P12 in this case) is determined to be the start point of the curve region CR1.

[0053] In addition, in a case where the curvature radius R of the travel road determined based on the three consecutive position coordinates among the plurality of position coordinates P10 and the like does not satisfy the reference, the last one of the three position coordinates (P17 in this case) is determined to be the end point of the curve region CR1.

[0054] The range having the predetermined width, in which the thus determined start point and end point (illustrated by a mark of a cross) and the coordinates therebetween (illustrated by a mark of a circle) are sequentially connected, can be determined to be the curve region CR1. Further, the start point P12 and the end point P17 are set to be included in a part of the curve region CR1 in the present embodiment, but can not be included in the curve region CR1 as another embodiment.

[0055] According to the present embodiment, when the vehicle 1 travels again in the curve region CR1 registered in the database DB in S1030, the predetermined attention prompting to the driver can be performed as needed. Therefore, according to the present embodiment, the risk management of the travel road can be implemented with a relatively simple structure.

[0056] Further, in the present embodiment, the driving assistance of S1010 to S1050 is performed in a case where it is determined by S1000 that the map data cannot be acquired, but as another embodiment, the driving assistance can be performed based on a case where another condition is true. For example, the above-described driving assistance can be performed in a case where the information (or the amount thereof) obtained by the communication device 3 does not satisfy a reference.

[0057] - First Example

[0058] As Figure 4AAs illustrated, the curve region CR1 can be determined either by its two-dimensional shape or by multiple position coordinates P12 to P17 as described above. For example, the curve region CR1 can be defined by a rectangular region CR11.

[0059] For example, the easternmost position coordinate among multiple position coordinates P12 to P17 (in this case, P17) is set as the longitude east of L1, and E is the right side of region CR11. R Additionally, the western longitude of the location at the westernmost coordinate (P12 in this case) is set as E to the left of region CR11. L Additionally, the latitude south of the southernmost location (located at coordinates P15 in this case, distance L1) is set as the lower edge E of region CR11. D Furthermore, the latitude north of the location at the northernmost point (P12 in this case, a distance L1) is set as the upper boundary E of region CR11. U When vehicle 1 is traveling within the defined area CR11, the driver should be given a attention reminder at S1050.

[0060] -Second case

[0061] like Figure 4B As illustrated, the curve region CR1 can also be defined in other ways. For example, the radius of curvature R can be determined for each of the multiple position coordinates P13 to P16, and the position coordinate corresponding to the largest of these radii of curvature (here, P14) can be determined. The area extending from position coordinate P14 at a predetermined distance L2 and encompassing all of the multiple position coordinates P12 to P17 can be defined as the curve region CR12. The distance L2 can, for example, be set as a circle centered at position coordinate P14 with a radius equal to distance L2, excluding positions P12 to P17.

[0062] - Third case

[0063] like Figure 4C As illustrated, the radii of curvature R can also be determined for multiple position coordinates P12 to P17, and the region enclosed by multiple circles Cc12 to Cc17 centered at the multiple position coordinates P12 to P17 can be defined as the curved region CR13. The diameters of the multiple circles Cc12 to Cc17 can be determined based on these radii of curvature R; for example, they can be determined based on the radii of curvature R. 13 ~R 16 (or R) 12 ~R 17 The value is determined by the calculated value, such as the maximum value, minimum value, average value, median value, deviation, etc.

[0064] Based on these methods, regions CR11, CR12, or CR13 can all be easily identified as the curve region CR1 based on their location coordinates.

[0065] (Second Implementation)

[0066] In the first embodiment described above, an example is given where, if a curve region CR1 is determined while the vehicle 1 is unable to obtain map data through the communication device 3, the curve region CR1 is registered in the database DB, and a predetermined attention reminder is given when the vehicle 1 travels through the curve region CR1 again. However, if the communication device 3 is unable to obtain map data but is able to perform vehicle-to-vehicle or road-to-road communication, there are cases where the driving assistance device 5 can provide other driving assistance.

[0067] Figure 5 Similarly to the first embodiment described above (refer to...) Figure 2 The flowchart illustrates the computational processing of the second embodiment. This flowchart is executed when the vehicle 1 is traveling in the curve region CR1 registered in the database DB, and its summary is to obtain information related to the curve region CR1 from other vehicles.

[0068] In S2010, it is determined whether the vehicle 1 has entered the curve area CR1 registered in the database DB. As described above (refer to the first embodiment), the curve area CR1 can be determined by position coordinates. Therefore, the determination in S2010 can be performed based on the position coordinates of the vehicle 1 obtained by GPS. If the vehicle 1 has entered the curve area CR1, proceed to S2020; otherwise, return to S2010. Furthermore, in S2010, the CPU 51 functions as the determination unit.

[0069] In S2020, it is determined whether there are other vehicles capable of communicating with the outside of this vehicle 1 via the communication device 3. If there are one or more other vehicles capable of communication, the process proceeds to S2030; otherwise, it returns to S2010. Here, the other vehicles capable of communication are, in most cases, vehicles currently traveling in the curve area CR1, but could also be vehicles that have already passed through the curve area CR1. For example, the other vehicles capable of communication could also be vehicles that have passed through the curve area CR1 and are traveling outside the curve area CR1, and have a driving history related to that curve area CR1. In S2020, it is sufficient to determine whether communication with certain objects outside this vehicle 1 is possible; alternatively, it could also determine whether communication with a predetermined device (e.g., a base station transmitting traffic information) is possible. Furthermore, in S2020, the CPU 51 functions as a determination unit.

[0070] In S2030, information inf1 related to the curve area CR1 is acquired from other vehicles via communication device 3. If there are two or more other vehicles, information inf1 can be acquired from each of them. Information inf1 may include information inf11 indicating a risk during travel and associated supplementary information inf12. For example, information inf11 indicates the occurrence of skidding by other vehicles in the curve area CR1 and / or the road surface condition of the curve area CR1. Additionally, information inf12 indicates the driving mode of the other vehicles when the skid occurred. As a typical example, information inf12 indicates the speed of the other vehicles, but as another typical example, it may also indicate, alternatively / incidentally, the acceleration in the direction of travel, the acceleration in the width direction, etc., of the other vehicles. In particular, as information related to the occurrence of skid, information inf12 may indicate the speed and acceleration in the width direction of the other vehicles. In S2030, CPU 51 functions as an acquisition unit.

[0071] In step S2040, it is determined whether the information inf1 obtained from other vehicles in step S2030 includes information inf11 (and its accompanying information inf12). If information inf11 is included, proceed to step S2050; otherwise, return to step S2010. That is, if other vehicles have information related to the occurrence of slippage, proceed to step S2050; otherwise, return to step S2010. In step S2040, CPU 51 functions as a determination unit.

[0072] In S2050, the slippage susceptibility of vehicle 1 in the curve region CR1 is evaluated based on information inf12. This evaluation is performed by comparing the driving conditions of vehicle 1 with those of other vehicles where slippage occurred. For example, the slippage susceptibility of vehicle 1 can be evaluated based on whether the speed, acceleration in the direction of travel, and / or acceleration in the width direction of vehicle 1 are within a reference range (e.g., within ±20%), greater than their upper limit, or otherwise compared to other vehicles. Furthermore, in S2050, CPU51 functions as the evaluation unit.

[0073] In S2060, it is determined whether the slippage susceptibility evaluated in S2050 meets the benchmark. If it is determined that vehicle 1 is prone to slippage, proceed to S2070; otherwise, return to S2010. In the example above, if the speed, acceleration in the direction of travel, and / or acceleration in the width direction of vehicle 1 are within the benchmark range or greater than the upper limit value compared to other vehicles, vehicle 1 is considered to be relatively prone to slippage, and proceed to S2070; otherwise, return to S010. Furthermore, in S2060, CPU 51 functions as the determination unit.

[0074] In S2070, a pre-arranged notification is given to the driver. This notification can be given either by displaying it on the vehicle display 9, or alternatively / incidentally by voice guidance or a warning tone. Furthermore, similar to S1050, in S2070, the CPU 51 functions as a notification unit (or notification output unit) or a display unit (or display output unit).

[0075] According to this embodiment, when vehicle 1 is traveling in the curve area CR1, a predetermined attention reminder can be given to the driver based on information inf1 from other vehicles. Therefore, according to this embodiment, in addition to the effects of the first embodiment described above, risk management that may occur in the curve area CR1 can also be achieved.

[0076] (Third Implementation)

[0077] In the first embodiment, the curve region CR1 registered in the database DB gradually accumulates, thus potentially exhausting the free capacity of the memory 52. ​​In such cases, it is generally preferable to prioritize deleting data with low reference frequency from the database DB.

[0078] Figure 6 Similarly to the first embodiment (refer to...) Figure 2 The flowchart illustrates the operation processing of the third embodiment. This flowchart is executed when the available capacity of the memory 52 is less than a certain threshold. In summary, when the number of times the vehicle 1 travels through the curve region CR1 is less than a certain threshold, the curve region CR1 is deleted from the database DB.

[0079] In S3010, it is determined whether the amount of data registered in the database DB meets the reference amount (in other words, whether the free capacity of the memory 52 is less than the reference). If the amount of data registered in the database DB meets the reference amount (if the free capacity of the memory 52 is less than the reference), proceed to S3020; otherwise, return to S3010. Furthermore, in S3010, the CPU 51 functions as the determination unit.

[0080] In S3020, a portion of the data registered in the database DB is selected. In this embodiment, data representing the curve region CR1 with a reference number of times the vehicle 1 has traveled is selected, but alternatively, data representing the curve region CR1 with a reference number of times the vehicle 1 or other vehicles have slipped may also be selected. Furthermore, in S3020, the CPU 51 functions as a selection unit.

[0081] In S3030, the data selected in S3020 is deleted. Additionally, in S3030, CPU51 functions as the deletion unit.

[0082] According to this implementation method, the data management of the curve area CR1 registered in the database DB is relatively easy.

[0083] In the above description, for ease of understanding, each element is represented by a name related to its function. However, each element is not limited to having the content described in the implementation as its main function; it may also have the element as an auxiliary function. Therefore, each element is not strictly limited to this manifestation, which can be replaced by the same manifestation. Under the same principle, the term "apparatus" can also be replaced by "unit," "component," "piece," "member," "structure," "assembly," etc., or it can be omitted.

[0084] (Summary of Implementation Methods)

[0085] The features of the implementation method are summarized as follows:

[0086] The first approach relates to a driving assistance device (e.g., 5), said driving assistance device being an in-vehicle driving assistance device, characterized in that...

[0087] The driving assistance device includes:

[0088] The acquisition unit (e.g., S1010) acquires the position coordinates (e.g., P10, etc.) of the vehicle (e.g., 1) at a predetermined period.

[0089] A determining unit (e.g., S1020) determines the curve region of the road based on multiple location coordinates continuously acquired by the acquiring unit; and

[0090] The registration unit (e.g., S1030) registers the curve region determined by the determining unit in a predetermined database (e.g., DB).

[0091] Therefore, when driving through the registered curve area again, the driver can be given pre-defined attention reminders as needed, and risk management of the driving road can be achieved with a relatively simple structure.

[0092] In the second method, the characteristic is that,

[0093] The acquisition unit obtains location coordinates based on GPS (Global Positioning System).

[0094] Therefore, the first method described above can be implemented relatively easily.

[0095] In the third approach, the characteristic is that,

[0096] The determining unit determines the curve area without using map data of the area where the vehicle is traveling.

[0097] Therefore, even when map data is incomplete, vehicles have difficulty obtaining map data, or vehicles are not capable of obtaining map data, the first method described above can still be implemented relatively easily.

[0098] In the fourth method, the characteristic is that,

[0099] When the vehicle is traveling in the registered curve area, the acquisition unit acquires information (e.g., inf1, inf11) from other vehicles indicating the occurrence of slippage of other vehicles in the registered curve area.

[0100] Therefore, the first method mentioned above can be achieved through vehicle-to-vehicle communication.

[0101] In the fifth method, the characteristic is that,

[0102] The information obtained from the other vehicles includes information representing the road surface conditions of the registered curve area (e.g., inf1, inf11).

[0103] This enables appropriate risk management of the driving route.

[0104] In the sixth method, the characteristic is that,

[0105] The information obtained from the other vehicles also includes information (e.g., inf12) indicating the driving mode of the other vehicles at the time the slip occurred.

[0106] This allows for more appropriate risk management of driving routes.

[0107] In the seventh method, the characteristic is that,

[0108] The information indicating the driving mode of the other vehicles also indicates the speed of the other vehicles.

[0109] The driving assistance device also includes:

[0110] An evaluation unit (e.g., S2050) evaluates the slippage of the vehicle in the registered curve region based on information representing the speeds of the other vehicles; and

[0111] The notification unit (e.g., S2070) provides a predetermined notification to the driver of the vehicle based on the evaluated slippage and the speed of the vehicle.

[0112] This allows for more appropriate risk management of driving routes.

[0113] In the eighth method, the characteristic is that,

[0114] If the radius of curvature of the driving road determined based on three consecutive position coordinates from multiple position coordinates meets the reference, the determining unit determines the first of the three consecutive position coordinates as the starting point of the curve region (e.g., P12).

[0115] Therefore, it is relatively easy to determine the curve area.

[0116] In the ninth method, the characteristic is that,

[0117] If the radius of curvature of the driving road determined based on three consecutive position coordinates from multiple position coordinates does not meet the reference, the determining unit determines the last position coordinate among the three consecutive position coordinates as the end point of the curve region (e.g., P17).

[0118] Therefore, it is relatively easy to determine the curve area.

[0119] In the tenth method, the characteristic is that,

[0120] The determining unit defines the following rectangular region as the curve region, wherein the easternmost position coordinate of the rectangular region, located at a predetermined distance (e.g., L1) from the easternmost position coordinate among multiple coordinates from the starting point to the ending point, is set as the right side (e.g., E). R ), set the western longitude of the location at the predetermined distance from the westernmost position as the left (e.g., E). L ), and set the south latitude of the location at the predetermined distance from the southernmost position as the lower latitude (e.g., E). D ), and set the latitude of the northernmost position, which is a predetermined distance from the northernmost position, as the upper latitude (e.g., E). U ).

[0121] Therefore, it is relatively easy to determine the curve area.

[0122] In the eleventh method, the characteristic is that,

[0123] The determining unit, for each of a plurality of position coordinates from the starting point to the ending point, determines the radius of curvature of the driving road based on three consecutive position coordinates, determines the position coordinate corresponding to the largest radius of curvature among the determined radii of curvature, and defines the area that is a predetermined distance (e.g., L2) from the determined position coordinates and includes all of the plurality of position coordinates as the curve region. Thus, the curve region can be determined relatively easily.

[0124] In the twelfth method, the characteristic is that,

[0125] The determining unit determines the radius of curvature of the driving road based on three consecutive position coordinates for each of the multiple position coordinates from the starting point to the ending point, and defines the area enclosed by multiple circles (e.g., Cc12 to Cc17) centered on the multiple position coordinates, which have a diameter determined based on the determined radius of curvature.

[0126] Therefore, it is relatively easy to determine the curve area.

[0127] In the thirteenth method, the characteristic is that,

[0128] It also includes a deletion unit (e.g., S3030), which deletes a portion of the data if the amount of data registered in the database by the registration unit meets a reference amount.

[0129] If the number of times the vehicle has traveled through the registered curve area is less than a certain threshold, the deletion unit deletes the registered curve area from the database.

[0130] As a result, data management of the registered curve areas becomes easier.

[0131] In the fourteenth method, the characteristic is that,

[0132] If the deletion unit deletes the registered curve area from the database if the number of times other vehicles or the vehicle itself skids in the registered curve area is less than the baseline, the deletion unit will delete the registered curve area from the database.

[0133] As a result, data management of the registered curve areas becomes easier.

[0134] The fifteenth method relates to a vehicle (e.g., 1), characterized in that the vehicle is equipped with the aforementioned driving assistance device (e.g., 5) and wheels (e.g., 2).

[0135] That is, the aforementioned driving assistance devices can be applied to typical vehicles.

[0136] This invention is not limited to the above-described embodiments, and various modifications and alterations can be made within the scope of the invention's intent.

Claims

1. A driving assistance device, which is a vehicle-mounted driving assistance device, characterized in that, The driving assistance device includes: The acquisition unit acquires the position coordinates of the vehicle at a predetermined period. The determining unit determines the curve region of the road based on multiple location coordinates continuously acquired by the acquiring unit; as well as The registration unit registers the curved area determined by the determining unit into a predetermined database. When the vehicle is traveling in the registered curve area, the acquisition unit acquires information from other vehicles indicating the occurrence of slippage by other vehicles in the registered curve area. The information obtained from the other vehicles also includes information indicating the driving patterns of the other vehicles at the time the slip occurred. The information indicating the driving mode of the other vehicles also indicates their speed. The driving assistance device also includes: An evaluation unit evaluates the slippage of the vehicle in the registered curve region based on information representing the speed of the other vehicles. as well as The notification unit provides a predetermined notification to the driver of the vehicle based on the evaluated slippage and the vehicle's speed.

2. The driving assistance device according to claim 1, characterized in that, The acquisition unit obtains location coordinates based on GPS.

3. The driving assistance device according to claim 1, characterized in that, The determining unit determines the curve area without using map data of the area where the vehicle is traveling.

4. The driving assistance device according to claim 1, characterized in that, The information obtained from the other vehicles includes information representing the road surface conditions of the registered curve area.

5. The driving assistance device according to claim 1, characterized in that, If the radius of curvature of the driving road determined based on three consecutive position coordinates from multiple position coordinates meets the benchmark, the determining unit determines the first of the three consecutive position coordinates as the starting point of the curve region.

6. The driving assistance device according to claim 5, characterized in that, If the radius of curvature of the driving road determined based on three consecutive position coordinates from multiple position coordinates does not meet the benchmark, the determining unit will determine the last of the three consecutive position coordinates as the endpoint of the region.

7. The driving assistance device according to claim 6, characterized in that, The determining unit defines the following rectangular area as the curve area: the rectangular area is defined by setting the east longitude of the easternmost position coordinate at a predetermined distance from the starting point to the ending point as the right side, the west longitude of the westernmost position coordinate at the predetermined distance as the left side, the south latitude of the southernmost position coordinate at the predetermined distance as the bottom side, and the north latitude of the northernmost position coordinate at the predetermined distance as the top side.

8. The driving assistance device according to claim 6, characterized in that, The determining unit determines the radius of curvature of the driving road based on three consecutive position coordinates for each of the multiple position coordinates from the starting point to the ending point, and defines the area enclosed by multiple circles centered on the multiple position coordinates and having a diameter determined based on the determined radius of curvature as the curve area.

9. A driving assistance device, which is a vehicle-mounted driving assistance device, characterized in that, The driving assistance device includes: The acquisition unit acquires the position coordinates of the vehicle at a predetermined period. The determining unit determines the curve region of the road based on multiple location coordinates continuously acquired by the acquiring unit; as well as The registration unit registers the curved area determined by the determining unit into a predetermined database. If the radius of curvature of the driving road determined based on three consecutive position coordinates from multiple position coordinates meets the benchmark, the determining unit determines the first of the three consecutive position coordinates as the starting point of the curve region. If the radius of curvature of the driving path determined by the determining unit based on three consecutive position coordinates from multiple position coordinates does not meet the benchmark, the determining unit will determine the last of the three consecutive position coordinates as the endpoint of the region. The determining unit determines the radius of curvature of the driving road based on three consecutive location coordinates for each of the multiple location coordinates from the starting point to the ending point, determines the location coordinates corresponding to the largest radius of curvature among the determined radii of curvature, and determines the area that is at a predetermined distance from the determined location coordinates and includes all of the multiple location coordinates as the curve area.

10. A driving assistance device, characterized in that, The driving assistance device includes: The acquisition unit acquires the position coordinates of the vehicle at a predetermined period. The determining unit determines the curve region of the road based on multiple location coordinates continuously acquired by the acquiring unit; The registration unit registers the curved area determined by the determining unit into a predetermined database; as well as The deletion unit deletes a portion of the data if the amount of data registered in the database by the registration unit meets a benchmark amount. If the number of times the vehicle has traveled through the registered curve area is less than a certain threshold, the deletion unit deletes the registered curve area from the database.

11. The driving assistance device according to claim 10, characterized in that, If the deletion unit deletes the registered curve area from the database if the number of times other vehicles or the vehicle itself skids in the registered curve area is less than the baseline, the deletion unit will delete the registered curve area from the database.

12. A vehicle, characterized in that, The vehicle is equipped with a driving assistance device as described in any one of claims 1 to 11 and wheels.

Images