Direction change detection device, vehicle, direction change detection method and storage medium

Abstract

The present invention relates to a direction change detection device, a vehicle, a direction change detection method, and a storage medium. The vehicle-mounted unit serving as the direction change detection device is configured to, when a right turn event occurs, obtain the mileage and steering angle of the vehicle at the time of the right turn event, and detect the right turn when the maximum value of the steering angle is equal to or less than a first threshold and the mileage is equal to or greater than a second threshold.

Description

Technical Field

[0001] The present invention relates to a direction change detection device for detecting a direction change of a vehicle in a prescribed direction, a vehicle, a direction change detection method and a storage medium. Background Art

[0002] Japanese Unexamined Patent Application Publication No. 2017-054343 (JP 2017-054343 A) discloses a behavior detection device mounted on a host vehicle and detecting the behavior of the host vehicle. When the host vehicle turns right or left, the behavior detection device detects a sharp turn. Summary of the Invention

[0003] When a right or left turn of a vehicle is detected by the behavior detection device disclosed in JP 2017-054343 A, there is room for improvement in distinguishing a road provided with multiple lanes from a residential road and distinguishing a right or left turn from a U-turn.

[0004] An object of the present invention is to provide a direction change detection device, a vehicle, a direction change detection method and a storage medium, which are capable of excluding vehicle direction changes and vehicle U-turns on residential roads from the determination of direction changes in a specified direction.

[0005] A direction change detection device according to a first aspect of the present invention includes a processor. The processor is configured to, when an event related to a direction change of a vehicle in a prescribed direction occurs, obtain a mileage and a steering angle of the vehicle at the time of the event, and detect the direction change in the prescribed direction under the condition that a maximum value of the steering angle is equal to or less than a first threshold value and the mileage is equal to or greater than a second threshold value.

[0006] According to the direction change detection device of the first aspect of the present invention, when an event related to a direction change in a prescribed direction occurs, by setting the maximum value of the steering angle equal to or less than a first threshold as a detection condition, it is possible to exclude U-turns as direction changes in the prescribed direction. Furthermore, by setting the vehicle's mileage equal to or greater than a second threshold as a detection condition, the direction change detection device can exclude direction changes on residential roads, etc., from determining direction changes in the prescribed direction.

[0007] The direction change detection device according to the second aspect of the present invention is the direction change detection device according to the first aspect of the present invention, and the processor acquires the yaw angle of the vehicle from the time point when the event occurs, and excludes the case where the yaw angle exceeds the third threshold from the detection conditions of the direction change in the prescribed direction.

[0008] According to the direction change detection device of the second aspect of the present invention, by excluding the case where the yaw angle exceeds the third threshold value from the detection conditions, a U-turn can be excluded from the determination of the direction change in the prescribed direction.

[0009] A direction change detection device according to a third aspect of the present invention is the direction change detection device according to the first aspect of the present invention, and the processor excludes a case where the time of the event is less than a predetermined time from the detection conditions of the direction change in the prescribed direction.

[0010] According to the direction change detection apparatus of the third aspect of the present invention, by excluding short-duration direction changes from the detection conditions, lane changes can be excluded from the determination of the direction change in the prescribed direction.

[0011] A direction change detection device according to a fourth aspect of the present invention is the direction change detection device according to the first aspect of the present invention, and when the processor detects a direction change in a prescribed direction, the processor provides information related to the direction change.

[0012] With the direction change detection apparatus according to the fourth aspect of the present invention, it is possible to provide information about vehicles having a high accident risk based on information related to direction changes in a prescribed direction.

[0013] The vehicle according to the fifth aspect of the present invention includes: the direction change detection device according to the first aspect of the present invention; a first detection unit that detects the steering angle of the steering wheel or the steering angle of the steering wheel of the vehicle; and a second detection unit that detects the movement of the vehicle.

[0014] With the vehicle of the fifth aspect of the present invention, direction changes and U-turns of the vehicle on residential roads can be excluded from determination of direction changes in a prescribed direction.

[0015] In the direction change detection method described in the sixth aspect of the present invention, the computer performs processing including the following steps: when an event related to the direction change of the vehicle in a specified direction occurs, obtaining the mileage and steering angle of the vehicle at the time point of the event; and detecting the direction change in the specified direction under the condition that the maximum value of the steering angle is equal to or less than a first threshold and the mileage is equal to or greater than a second threshold.

[0016] In the direction change detection method according to the sixth aspect of the present invention, when an event related to a direction change in a prescribed direction occurs, when the maximum value of the steering angle is equal to or less than a first threshold value set as a detection condition, when the computer performs processing, a U-turn as a U-turn can be excluded from determination of the direction change in the prescribed direction. Furthermore, in the direction change detection method, when the computer performs processing when the vehicle mileage is equal to or greater than a second threshold value set as a detection condition, direction changes on residential roads, etc. can be excluded from determination of the direction change in the prescribed direction.

[0017] The program stored in the storage medium according to the seventh aspect of the present invention causes a computer to perform processing including the following steps: when an event related to a direction change of a vehicle in a prescribed direction occurs, obtaining the mileage and steering angle of the vehicle at the time point when the event occurs; and detecting a direction change in the prescribed direction under the condition that the maximum value of the steering angle is equal to or less than a first threshold and the mileage is equal to or greater than a second threshold.

[0018] In the program stored in the storage medium according to the seventh aspect of the present invention, when an event related to a direction change in a prescribed direction occurs, if the maximum value of the steering angle is equal to or less than a first threshold value set as a detection condition, when the computer executes processing, a U-turn as a direction change in the prescribed direction can be excluded from determination of the direction change in the prescribed direction. Furthermore, in the program, if the computer executes processing if the vehicle mileage is equal to or greater than a second threshold value set as a detection condition, a direction change on a residential road, etc. can be excluded from determination of the direction change in the prescribed direction.

[0019] According to the present invention, direction changes and U-turns of the vehicle on roads in residential areas can be excluded from determination of direction changes in a prescribed direction. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will be described below with reference to the accompanying drawings, wherein like symbols represent like elements, and wherein:

[0021] Figure 1 is a diagram showing a schematic configuration of a vehicle management system according to an embodiment;

[0022] Figure 2 is a block diagram showing a hardware configuration of a vehicle according to an embodiment;

[0023] Figure 3 is a block diagram showing a functional configuration of an in-vehicle unit according to an embodiment; and

[0024] Figure 4 : is a flowchart showing the flow of detection processing performed in the vehicle-mounted unit according to the embodiment. DETAILED DESCRIPTION

[0025] A vehicle management system including a direction change detection device according to the present invention will be described. The vehicle management system is a system for managing transport vehicles such as taxis and trucks. The vehicle management system obtains right turn information related to right turns of transport vehicles and U-turn information related to U-turns called U-turns, and analyzes the driving state of transport vehicles with high accident risks. In this specification, it is assumed that the driving state is analyzed when the vehicle is traveling on a road with left-hand traffic. In other words, a "right turn" refers to a change in direction across the opposite lane. A right turn in this embodiment corresponds to a turn in a specified direction.

[0026] Overall structure

[0027] like Figure 1 As shown, the vehicle management system 10 according to the present embodiment is configured to include a vehicle 12 and a central server 30. In addition, the vehicle 12 is equipped with an onboard unit 20 as a direction change detection device. The onboard unit 20 and the central server 30 are connected to each other via a network N.

[0028] The center server 30 acquires right turn information and U-turn information from the onboard unit 20 of the vehicle 12 and analyzes the driving state of the vehicle 12. The center server 30 is installed in, for example, a transportation company that manages the vehicle 12 as a transportation vehicle.

[0029] vehicle

[0030] like Figure 2 As shown, the vehicle 12 according to the present embodiment includes an on-vehicle unit 20 , a plurality of electronic control units (ECUs) 22 , and a plurality of on-vehicle devices 24 .

[0031] The in-vehicle unit 20 includes a central processing unit (CPU) 20A, a read-only memory (ROM) 20B, a random access memory (RAM) 20C, an in-vehicle communication interface (I / F) 20D, and a wireless communication I / F 20E. The CPU 20A, ROM 20B, RAM 20C, in-vehicle communication I / F 20D, and wireless communication I / F 20E are connected so as to communicate with each other via an internal bus 20G.

[0032] The CPU 20A is a central processing unit that executes various programs and controls various units. That is, the CPU 20A reads a program from the ROM 20B and executes the program using the RAM 20C as a work area.

[0033] The ROM 20B stores various programs and various data. The ROM 20B of this embodiment stores a processing program 100 for executing a detection process to be described later.

[0034] The RAM 20C serves as a work area to temporarily store programs or data.

[0035] The in-vehicle communication I / F 20D is an interface for connecting to the ECU 22. For this interface, a communication standard based on the Controller Area Network (CAN) protocol is used. The in-vehicle communication I / F 20D is connected to the external bus 20H.

[0036] The wireless communication I / F 20E is a wireless communication module for communicating with the center server 30. For the wireless communication module, for example, communication standards such as the fifth generation (5G), long term evolution (LTE), and Wi-Fi (registered trademark) are used. The wireless communication I / F 20E is connected to the network N.

[0037] The ECU 22 includes an advanced driver assistance system (ADAS)-ECU 22A, a steering ECU 22B, a body ECU 22C, and an information system ECU 22D.

[0038] The ADAS-ECU 22A controls the advanced driver assistance system in an integrated manner. A vehicle speed sensor 25 and a yaw rate sensor 26 as the vehicle-mounted devices 24 are connected to the ADAS-ECU 22A. The vehicle speed sensor 25 is an example of a second detection unit.

[0039] The steering ECU 22B controls the power steering. A steering angle sensor 27 as the vehicle-mounted device 24 is connected to the steering ECU 22B. The steering angle sensor 27 is a sensor that detects the steering angle of the steering wheel. The steering angle sensor 27 is an example of a first detection unit.

[0040] The body ECU 22C controls lights such as a turn signal lamp. A turn signal lamp switch 28 as the vehicle-mounted device 24 is connected to the body ECU 22C.

[0041] The information system ECU 22D controls the car navigation system, audio, and the like. A global positioning system (GPS) device 29, serving as the in-vehicle device 24, is connected to the information system ECU 22D. The GPS device 29 measures the current location of the vehicle 12. The GPS device 29 includes an antenna (not shown) for receiving signals from GPS satellites. Note that the GPS device 29 may be directly connected to the in-vehicle unit 20.

[0042] like Figure 3 As shown, in the in-vehicle unit 20 of the present embodiment, by executing the processing program 100 , the CPU 20A functions as a receiving unit 200 , a calculating unit 210 , a detecting unit 220 , and a notifying unit 230 .

[0043] The receiving unit 200 receives information about each of the in-vehicle devices 24 from the corresponding ECU 22. Specifically, the receiving unit 200 receives information about the vehicle speed, mileage, and yaw rate of the vehicle 12 via the ADAS-ECU 22A. Furthermore, the receiving unit 200 receives information about the steering wheel angle via the steering ECU 22B. Furthermore, the receiving unit 200 receives information about the turn signal status via the body ECU 22C. Furthermore, the receiving unit 200 receives positional information about the vehicle 12 via the information system ECU 22D.

[0044] The calculation unit 210 calculates the yaw angle by integrating the yaw angular velocity of the vehicle 12 received by the receiving unit 200. Furthermore, the calculation unit 210 calculates the steering angle of the steering wheels based on the steering angle of the steering wheel received by the receiving unit 200. Furthermore, the calculation unit 210 calculates the time elapsed when a right turn event occurs. Here, a right turn event is an event executed to analyze the driving state when the vehicle 12 turns right.

[0045] The detection unit 220 has a function of detecting a right turn and a U-turn of the vehicle 12 through a detection process to be described later.

[0046] When the detection unit 220 detects a right turn, the notification unit 230 notifies the center server 30 of the right turn information. In addition, when the detection unit 220 detects a U-turn, the notification unit 230 notifies the center server 30 of the U-turn information.

[0047] Control Flow

[0048] Will refer to Figure 4 The illustrated flowchart describes the flow of detection processing executed by the in-vehicle unit 20 of the present embodiment.

[0049] exist Figure 4 In step S100, the CPU 20A of the vehicle-mounted unit 20 performs acquisition and calculation processing. Through this step, the CPU 20A acquires the vehicle speed, turn signal status, mileage, steering angle, and yaw angle of the vehicle 12.

[0050] In step S101, the CPU 20A determines whether the vehicle 12 is traveling. Specifically, when the shift selector is in a position other than the "P range" or the "R range" and the vehicle speed is greater than 0 kilometers per hour (km / h), the CPU 20A determines that the vehicle 12 is traveling. If the CPU 20A determines that the vehicle 12 is traveling (Yes in step S101), the CPU 20A proceeds to step S102. On the other hand, if the CPU 20A determines that the vehicle 12 is not traveling (No in step S101), the process returns to step S100.

[0051] In step S102, the CPU 20A determines whether a right turn event has occurred. Specifically, when the rightward turning angle is equal to or greater than a predetermined angle and the right turn signal is operating, the CPU 20A determines that a right turn event has occurred. If the CPU 20A determines that a right turn event has occurred (Yes in step S102), the process proceeds to step S103. On the other hand, if the CPU 20A determines that a right turn event has not occurred (No in step S102), the process returns to step S100.

[0052] In step S103, the CPU 20A determines whether a predetermined time or longer has passed after the right turn event occurs. When the CPU 20A determines that a predetermined time or longer has passed after the right turn event occurs (yes in step S103), the process proceeds to step S104. On the other hand, when the CPU 20A determines that a predetermined time or longer has not passed after the right turn event occurs (no in step S103), the process returns to step S100. The execution of step S103 excludes small route changes, such as lane changes, from the detection conditions for right turns and U-turns.

[0053] In step S104, the CPU 20A determines whether the mileage of the vehicle 12 during the right turn event is equal to or greater than a first set value. The first set value is an example of a second threshold value. When the CPU 20A determines that the mileage of the vehicle 12 during the right turn event is equal to or greater than the pre-set first set value (yes in step S104), the process proceeds to step S105. On the other hand, when the CPU 20A determines that the mileage of the vehicle 12 during the right turn event is not equal to or greater than the pre-set first set value (no in step S104), the process returns to step S100. The execution of step S104 excludes lane changes and right turn events on residential roads from the detection conditions for right turns and U-turns.

[0054] In step S105, the CPU 20A determines whether the maximum value of the steering angle is equal to or less than the second set value and whether the yaw angle is equal to or less than the third set value. The second set value is an example of a first threshold value, and the third set value is an example of a third threshold value. If the CPU 20A determines that the maximum value of the steering angle is equal to or less than the second set value and the yaw angle is equal to or less than the third set value (YES in step S105), the process proceeds to step S106. On the other hand, if the CPU 20A determines that the maximum value of the steering angle is equal to or less than the second set value and the yaw angle is not equal to or less than the third set value (NO in step S105), the process proceeds to step S107.

[0055] In step S106, the CPU 20A detects the right turn as the detection target, and notifies the center server 30 of the right turn information. Then, the process returns to step S100.

[0056] In step S107, the CPU 20A determines whether the maximum value of the steering angle exceeds the second set value and whether the yaw angle exceeds the third set value. If the CPU 20A determines that the maximum value of the steering angle exceeds the second set value and the yaw angle exceeds the third set value (YES in step S107), the process proceeds to step S108. On the other hand, if the CPU 20A determines that the maximum value of the steering angle exceeds the second set value and the yaw angle does not exceed the third set value (NO in step S107), the process returns to step S100.

[0057] In step S108, the CPU 20A detects the U-turn as the detection target, and notifies the center server 30 of the U-turn information. Then, the process returns to step S100.

[0058] Summarize

[0059] The purpose of this embodiment is to detect a right turn with a high accident risk on a left-hand traffic road. The vehicle-mounted unit 20 of this embodiment is configured to detect a right turn or U-turn when various conditions are met when a right turn event triggered by the vehicle 12 starts to turn right occurs.

[0060] Here, by excluding the situation where the predetermined time has not passed after the right turn event occurs from the detection conditions for a right turn or a U-turn, the vehicle-mounted unit 20 of this embodiment does not detect a slight right turn operation due to a lane change as a right turn. In other words, a lane change can be excluded from the determination of a right turn or a U-turn.

[0061] Furthermore, the vehicle-mounted unit 20 of this embodiment excludes from the right-turn detection conditions the case where the mileage of the vehicle 12 after the right-turn event occurs is less than a predetermined first set value, thereby not detecting right turns on residential roads where there is no oncoming lane. In other words, right turns on residential roads can be excluded from the determination of right turns.

[0062] The in-vehicle unit 20 of this embodiment is configured to detect a right turn when the maximum value of the steering angle is equal to or less than a preset second set value and the yaw angle is equal to or less than a preset third set value. Furthermore, the in-vehicle unit 20 of this embodiment is configured to detect a U-turn when the maximum value of the steering angle exceeds the preset second set value and the yaw angle exceeds the preset third set value.

[0063] According to this embodiment, by excluding the case where the maximum steering angle exceeds the second set value from the right turn detection conditions, a U-turn can be excluded from the determination of a right turn. Furthermore, by excluding the case where the yaw angle exceeds a pre-set third set value from the right turn detection conditions, the accuracy of determining a U-turn rather than a right turn can be improved. In other words, while using the third set value as a detection condition is not required, the accuracy of U-turn determination is improved.

[0064] In addition, as a related technology, there is also a method for determining right turns based on images from a vehicle-mounted camera. However, according to this embodiment, compared to the case of using images to detect right turns or U-turns, the processing load on the onboard unit 20 can be reduced, and processing delays in the onboard unit 20 can be suppressed. In addition, according to this embodiment, by pre-excluding lane changes and right turns on residential roads from the detection conditions for right turns and U-turns, the processing load on the onboard unit 20 can be further reduced, and processing delays in the onboard unit 20 can be further suppressed.

[0065] Furthermore, according to the in-vehicle unit 20 of this embodiment, when a right turn is detected, the right turn information is notified to the center server 30, and when a U-turn is detected, the U-turn information is notified to the center server 30, thereby enabling the center server 30 to collect information indicating a high risk of an accident. With this configuration, the center server 30 can provide the management personnel of the vehicle 12 with information on accident risks, and the management personnel can issue warnings to the drivers of the vehicle 12 who frequently make right turns or U-turns.

[0066] Remark

[0067] In the above embodiment, the steering angle of the steering wheel is used as a condition for detecting a right turn or U-turn. However, the present invention is not limited to this, and when the steering gear ratio is fixed, the steering angle of the steering wheel can be directly used as the detection condition. In addition, in the vehicle-mounted unit 20 of the above embodiment, the steering angle is calculated based on the steering angle of the steering wheel. However, the present invention is not limited to this, and the vehicle-mounted unit 20 can directly obtain the steering angle using a sensor that detects the steering angle. In this case, the sensor that detects the steering angle corresponds to the first detection unit.

[0068] In the above embodiment, the mileage of the vehicle 12 after the right turn event has occurred is acquired based on the vehicle speed sensor 25. However, the present invention is not limited thereto, and the mileage of the vehicle 12 after the right turn event may be acquired based on the GPS device 29. In this case, the GPS device 29 corresponds to the second detection unit.

[0069] In the above embodiment, the onboard unit 20 is configured to perform the detection process. However, the central server 30 may perform the detection process. In this case, the central server 30 may perform the detection process and detect a right turn or a U-turn by acquiring the vehicle speed, turn signal status, mileage, steering angle, and yaw angle of the vehicle 12 from the onboard unit 20.

[0070] It should be noted that in the above-described embodiment, various processors other than the CPU can perform the display processing executed when the CPU 20A reads the software (program). In this case, examples of the processor include: a programmable logic device (PLD), such as a field programmable gate array (FPGA), whose circuit configuration can be changed after production; a dedicated circuit, which is a processor with a circuit configuration specifically designed to perform a specific process, such as an application-specific integrated circuit (ASIC), etc. In addition, the above-described detection processing can be performed by one of these different processors or a combination of two or more processors of the same or different types (for example, a combination of FPGAs, a combination of CPUs and FPGAs, etc.). In addition, the hardware structure of each of the various processors is more specifically a circuit in which circuit elements such as semiconductor elements are combined.

[0071] Furthermore, in the above-described embodiment, each program is described as being stored (installed) in advance in a non-transitory computer-readable recording medium. For example, the processing program 100 in the vehicle-mounted unit 20 is pre-stored in the ROM 20B. However, the present invention is not limited thereto, and the program may be recorded on a non-transitory recording medium such as a compact disc read-only memory (CD-ROM), a digital versatile disc read-only memory (DVD-ROM), or a universal serial bus (USB). Furthermore, the program may be downloaded from an external device via a network.

[0072] The processing flow described in the above-mentioned embodiment is an example, and unnecessary steps may be deleted, new steps may be added, or the processing order may be changed within a range that does not depart from the gist.

Claims

1. A direction change detection device, comprising a processor, wherein: The processor is configured to: Get the vehicle's speed, turn signal status, mileage, steering angle, and yaw angle; determining whether the vehicle is traveling, wherein the vehicle is determined to be traveling when a shift selector of the vehicle is in a gear position other than P and R and the vehicle speed is greater than zero kilometers per hour; determining whether an event related to a direction change of the vehicle in a prescribed direction has occurred when it is determined that the vehicle is traveling, wherein the event related to the direction change of the vehicle in the prescribed direction is determined to have occurred when a steering angle in the prescribed direction is equal to or greater than a predetermined angle and a turn signal on a side of the prescribed direction is operating; when a predetermined time or more has elapsed after the occurrence of the event, determining whether the mileage of the vehicle during the event is equal to or greater than a first set value; on the other hand, when the predetermined time or more has not elapsed after the occurrence of the event, excluding a case where the time of the event is less than the predetermined time from the detection conditions for the direction change in the prescribed direction, thereby excluding a lane change from the detection conditions; When the mileage of the vehicle during the event is equal to or greater than the first set value, determining whether the maximum value of the steering angle is equal to or less than the second set value and whether the yaw angle is equal to or less than the third set value; on the other hand, when the mileage of the vehicle during the event is less than the first set value, excluding lane changes and turns in the specified direction on a residential road with no oncoming lane from the detection conditions for the direction change in the specified direction; When the maximum value of the steering angle is equal to or less than the second set value and the yaw angle is equal to or less than the third set value, detecting a change in direction of the vehicle crossing an opposite lane, that is, detecting a turn in a specified direction, and providing information on the turn in the specified direction to a central server outside the vehicle; and When the maximum value of the steering angle is greater than the second set value and the yaw angle is greater than the third set value, a U-turn of the vehicle is detected, and information on the U-turn of the vehicle is provided to a central server outside the vehicle.

2. A vehicle comprising: The direction change detection device according to claim 1; a first detection unit, configured to detect a steering angle of a steering wheel or a steering angle of a steering wheel of the vehicle; and A second detection unit detects movement of the vehicle.

3. A method for detecting a change in direction, wherein: The computer performs a process comprising the following steps: Get the vehicle's speed, turn signal status, mileage, steering angle, and yaw angle; determining whether the vehicle is traveling, wherein the vehicle is determined to be traveling when a shift selector of the vehicle is in a gear position other than P and R and the vehicle speed is greater than zero kilometers per hour; determining whether an event related to a direction change of the vehicle in a prescribed direction has occurred when it is determined that the vehicle is traveling, wherein the event related to the direction change of the vehicle in the prescribed direction is determined to have occurred when a steering angle in the prescribed direction is equal to or greater than a predetermined angle and a turn signal on a side of the prescribed direction is operating; when a predetermined time or more has elapsed after the occurrence of the event, determining whether the mileage of the vehicle during the event is equal to or greater than a first set value; on the other hand, when the predetermined time or more has not elapsed after the occurrence of the event, excluding a case where the time of the event is less than the predetermined time from the detection conditions for the direction change in the prescribed direction, thereby excluding a lane change from the detection conditions; When the mileage of the vehicle during the event is equal to or greater than the first set value, determining whether the maximum value of the steering angle is equal to or less than the second set value and whether the yaw angle is equal to or less than the third set value; on the other hand, when the mileage of the vehicle during the event is less than the first set value, excluding lane changes and turns in the specified direction on a residential road with no oncoming lane from the detection conditions for the direction change in the specified direction; When the maximum value of the steering angle is equal to or less than the second set value and the yaw angle is equal to or less than the third set value, detecting a change in direction of the vehicle crossing an opposite lane, that is, detecting a turn in a specified direction, and providing information on the turn in the specified direction to a central server outside the vehicle; and When the maximum value of the steering angle is greater than the second set value and the yaw angle is greater than the third set value, a U-turn of the vehicle is detected, and information on the U-turn of the vehicle is provided to a central server outside the vehicle.

4. A storage medium storing a program that causes a computer to execute a process comprising the following steps: Get the vehicle's speed, turn signal status, mileage, steering angle, and yaw angle; Determine whether the vehicle is moving, where Determining that the vehicle is moving when the vehicle's shift selector is in a gear position other than P and R and the vehicle speed is higher than zero kilometers per hour; determining whether an event related to a direction change of the vehicle in a prescribed direction has occurred when it is determined that the vehicle is traveling, wherein the event related to the direction change of the vehicle in the prescribed direction is determined to have occurred when a steering angle in the prescribed direction is equal to or greater than a predetermined angle and a turn signal on a side of the prescribed direction is operating; when a predetermined time or more has elapsed after the occurrence of the event, determining whether the mileage of the vehicle during the event is equal to or greater than a first set value; on the other hand, when the predetermined time or more has not elapsed after the occurrence of the event, excluding a case where the time of the event is less than the predetermined time from the detection conditions for the direction change in the prescribed direction, thereby excluding a lane change from the detection conditions; When the mileage of the vehicle during the event is equal to or greater than the first set value, determining whether the maximum value of the steering angle is equal to or less than the second set value and whether the yaw angle is equal to or less than the third set value; on the other hand, when the mileage of the vehicle during the event is less than the first set value, excluding lane changes and turns in the specified direction on a residential road with no oncoming lane from the detection conditions for the direction change in the specified direction; When the maximum value of the steering angle is equal to or less than the second set value and the yaw angle is equal to or less than the third set value, detecting a change in direction of the vehicle crossing an opposite lane, that is, detecting a turn in a specified direction, and providing information on the turn in the specified direction to a central server outside the vehicle; and When the maximum value of the steering angle is greater than the second set value and the yaw angle is greater than the third set value, a U-turn of the vehicle is detected, and information on the U-turn of the vehicle is provided to a central server outside the vehicle.

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