System and program

Abstract

To provide a system that is superior to an existing one.SOLUTION: When a user passes an origin, a wrong-way driving route warning program is run. After the user passes the origin, a wrong-way driving prevention guide is provided. A message "Take an oblique leftward direction from here." is outputted in voice through a loudspeaker 20. A content to be outputted in voice may be displayed with letters on a screen. When the user drives in the wrong direction from a bifurcation, while the wrong-way driving is continued, a warning is given (as long as a speed and advancing direction are known). A warning "You are driving in the wrong direction. Halt your car on the roadside." is repeatedly given in voice through the loudspeaker 20.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present invention relates to a system and the like.

Background Art

[0002] Conventionally, systems such as signs installed on roads to warn drivers going in the wrong direction are known.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, there has been a problem that signs may be overlooked and their effectiveness is not sufficient. Therefore, an object of the present invention is to provide a system superior to the conventional ones.

[0005] The object of the present invention is not limited to this, and the applicant also has the intention of obtaining rights by means of divisional applications, amendments, etc. for configurations that aim to obtain effects achieved by parts of the configurations disclosed in this specification and drawings. For example, the problems obtained by reading the parts described as "can be" in this specification as "is a problem" are disclosed in this specification. The problems are described as independent ones, and the applicant also has the intention of obtaining rights by means of divisional applications, amendments, etc. alone for the configurations for solving each problem. Even if the problems are implicitly grasped from the description of the specification, the applicant has the intention of making part of the configurations described in this specification the scope of claims by amendment or divisional application. Also, the configurations for solving the problems obtained by combining these independent problems are disclosed, and the applicant has the intention of obtaining rights.

Means for Solving the Problems

[0006] It is preferable that the system has a function of determining that it is a situation where notification about reverse running is to be performed when the vehicle can be regarded as being in a predetermined driving situation. In this way, it is possible to more appropriately determine whether it is reverse running.

[0007] The vehicle is preferably a four-wheel vehicle with a prime mover. Whether it can be regarded as being in a predetermined driving situation may be determined based on information obtained from sensors or the like provided in the vehicle, but it is particularly preferable to determine based on information obtained by providing sensors in this system. Also, it is preferable to determine based on information obtained from sensors or the like provided in the vehicle and information obtained from sensors provided in this system. As the sensor, for example, an acceleration sensor, a gyro sensor, etc. may be used, but it is particularly preferable to use a GPS module. As the information obtained from the sensor, it is preferable to include acceleration information and angular velocity information, but it is particularly preferable to include position information. Whether it can be regarded as being in a predetermined driving situation is preferably determined by comparing the information obtained from the sensor with the information stored in advance to determine whether it can be regarded as being in a predetermined driving situation. As a case where it can be regarded as being in a predetermined driving situation, it may be only the case of being in the predetermined driving situation itself, but it is preferable to set it as a condition including the case of being in a situation similar to the predetermined driving situation.

[0008] As the notification about reverse running, it is preferable to be at least one of a notification that attention should be paid to reverse running, a notification that there may be reverse running, and a notification that reverse running is being performed. As the system, for example, a reverse running detection device may be used.

[0009] (2) When it is determined that it is a situation where the notification about the reverse running is to be performed, it is preferable to have a function of performing at least one of a warning that attention should be paid to reverse running, a warning that there may be reverse running, and a warning that reverse running is being performed. In this way, the user can know that it is a situation where attention should be paid to reverse running.

[0010] In particular, after giving a warning to pay attention to reverse driving, it is advisable to give a warning that reverse driving may occur. Also, after giving a warning to pay attention to reverse driving, it is advisable to give a warning that reverse driving is being done.

[0011] When it is determined that it is a situation to give notice about reverse driving, it is advisable to repeatedly give at least one of the warnings to pay attention to reverse driving, the warning that reverse driving may occur, and the warning that reverse driving is being done.

[0012] When it is determined that it is a situation to stop giving notice about reverse driving, it is advisable to stop giving notice of at least one of the warnings to pay attention to reverse driving, the warning that reverse driving may occur, and the warning that reverse driving is being done that have been repeatedly given.

[0013] (3) The vehicle is provided with cases where it can be regarded as being in a predetermined driving situation and cases where it can be regarded as being in a plurality of different predetermined driving situations. Depending on each case, it is advisable to have different contents as the notice content when it is determined that it is a situation to give notice about reverse driving.

[0014] In this way, when the vehicle can be regarded as being in a predetermined driving situation, different contents of notice are given depending on each case. Therefore, it becomes easier for the user to pay attention to reverse driving and to take appropriate avoidance actions regarding reverse driving.

[0015] (4) When it is determined that it is a situation to give notice about reverse driving, it is advisable to have a function to notify the direction of the correct driving route.

[0016] By doing so, it becomes easier to prevent entering in the wrong direction at a branch point or the like and running in reverse. When it is determined that it is a situation where notification of running in reverse is to be given, it may be configured to notify so as not to proceed in the direction of the driving route that would result in running in reverse. However, the inventors have found that when it is determined that it is a situation where notification of running in reverse is to be given, it is less likely to cause running in reverse if the correct driving route direction is notified. For example, in a case where the correct driving direction is a left turn and turning right would result in running in reverse, instead of notifying "Turning right will result in running in reverse", it is better to notify "Proceed only to the left". It is advisable to notify the direction in which running in reverse does not occur in this way. It is better to notify the direction in which running in reverse does not occur rather than the direction in which running in reverse occurs. For example, it is better to notify "You can only turn to the left. Please turn to the left" rather than notifying "Turning right will result in running in reverse". By doing so, running in reverse is less likely to occur.

[0017] (5) It is preferable to have a function of continuing to notify of running in reverse until it is determined that it is a situation where the notification of running in reverse should be stopped when it is determined that it is a situation where the notification of running in reverse is to be given.

[0018] By doing so, it will continue to be considered a situation where notification of running in reverse is given until it is determined that it is a situation where the notification of running in reverse should be stopped when it is determined that running in reverse has occurred. Therefore, when it is determined that running in reverse has occurred, the determination can be stopped at an appropriate time. In particular, when in a situation where notification of running in reverse is given, it is advisable to configure it to continue notifying that running in reverse is occurring and to stop the notification that running in reverse has been occurring when it is determined that it is a situation where the notification of running in reverse should be stopped.

[0019] Situations where the notification about reverse driving should be stopped are, for example, preferably when the speed and the direction of travel are known, especially when reverse driving. For example, it is advisable to repeat the notification such as "You are driving in reverse. Please stop your vehicle on the road shoulder." Situations where the notification about reverse driving should be stopped are preferably when the vehicle has stopped after the notification about reverse driving has been given. As the content of the notification, it is advisable to give at least a notification for getting the vehicle to stop.

[0020] (6) When the vehicle can be considered to be in a predetermined driving situation, information about the position where it entered a one-way road is stored in advance, its driving direction is maintained when passing through the nearest point to that position, and then it is advisable to include the case where it drives in the reverse direction from the held position.

[0021] In this way, reverse driving can be determined with a simple configuration. In particular, for example, at the entrances of SA and PA, when passing through the SA and PA facility points, the nearest passing point and the driving direction of the SA and PA entrance points are maintained, and then, when passing through the same point in the reverse direction before entering the main line of the highway, it is advisable to determine it as reverse driving and give a warning. In this way, after entering SA and PA and taking a break, etc., when starting to drive again, reverse driving can be effectively determined.

[0022] (7) The predetermined driving situation is preferably that the vehicle has passed through the position corresponding to the position on the one-way road passed through in the past within a predetermined time from now again.

[0023] In this way, it is possible to effectively prevent reverse driving on a one-way road. In particular, it is possible to effectively prevent the mode of making a U-turn on a one-way road and driving in reverse.

[0024] (8) The determination process is the process of determining reverse driving for positions on a one-way branch line branching from the main line, and the determination process is preferably ended when it is detected that the vehicle has passed through a position on a one-way branch line branching from the main line and then returned to the main line.

[0025] By doing so, it is possible to prevent the processing load from increasing, such as by continuing to perform the reverse running process on the branch line.

[0026] (9) As a case where it can be considered that the vehicle is in the predetermined driving situation, it is preferably provided with at least any one of the following: when it can be considered that the vehicle is above the predetermined position, when it can be considered that the vehicle has passed the predetermined position, and when it can be considered that the vehicle has approached the predetermined position.

[0027] By doing so, it is possible to determine whether to reverse at a more appropriate position. As a case where it can be considered that the vehicle is above the predetermined position, for example, it is preferably provided with the case where it coincides with the predetermined position, and particularly preferably provided with a position including a predetermined range such as a range considering the position error of a sensor or the like from the predetermined position. The cases where it can be considered that the vehicle has passed the predetermined position and where it can be considered that the vehicle has approached the predetermined position may be configured in the same manner.

[0028] (10) Association information indicating a position on a one-way road and information identifying an enterable direction at that position is stored in association. The predetermined driving situation is preferably set as follows: when it can be considered that the vehicle entered the predetermined position in the enterable direction in the past within a predetermined time from the present, and the current position of the vehicle entered the predetermined position from a direction different from the enterable direction.

[0029] By doing so, it is possible to effectively prevent the vehicle from reversing on the road that it entered in the past within a predetermined time.

[0030] (11) The reverse driving is the reverse driving on the main line after merging from a branch line to a one-way main line. The position information on the branch line is associated and stored with the position information after the merging on the main line where the branch line merges. As the predetermined driving situation, it has a situation that can be regarded as being at a position corresponding to the position information on the branch line before merging into the one-way main line. When in this driving situation, a warning indicating that attention should be paid to reverse driving is started. Then, within at least one of the range of a predetermined time or a predetermined driving distance, if it does not become a situation that can be regarded as being at a position corresponding to the position information after the merging on the main line where the branch line merges, at least one of a warning indicating the possibility of reverse driving or a warning indicating that reverse driving is in progress may be given.

[0031] In this way, reverse driving on the main line after merging from a branch line to a one-way main line can be effectively prevented. In particular, a warning indicating that attention should be paid to reverse driving is started from the branch line before merging into the one-way main line. Then, within at least one of the range of a predetermined time or a predetermined driving distance, if it does not reach a predetermined position in the advancing direction of the main line, a warning indicating the possibility of reverse driving or a warning indicating that reverse driving is in progress is given. Therefore, it is possible to know in advance on the branch line that attention should be paid to reverse driving on the main line, and it is possible to perceive the possibility of reverse driving or the fact of reverse driving in a situation where there is a high possibility of not advancing in the correct direction on the main line. For example, a reverse driving detection device is provided with a first POI on the branch line and a second POI at a forward position of the main line after the merging point of the branch line. After a reverse driving attention warning is issued based on the first POI (when arriving, when about to arrive, or when passing), the reverse driving attention warning may be continued until reaching (when arriving, when about to arrive, or when passing) the position based on the second POI. The passing direction may be set and associated with each POI so that the first POI has a forward driving direction and the second POI also has a forward driving direction as a condition, and whether to issue the reverse driving attention warning may be determined in consideration of these passing directions. A third POI may be provided at the position where the main line in the forward driving direction enters the branch line in the reverse driving direction, and a reverse driving warning may be notified when the third POI is passed in the reverse driving direction. In particular, it is preferable to have a configuration where no POI is provided on the main line before entering the third POI.

[0032] As the specified time, it is preferably the time that normally takes for the situation to become such that it can be considered to be at the position corresponding to the position information after the confluence on the main line where the branch line merges, after starting a warning indicating that caution should be exercised for reverse travel within the specified time (such as the time measured in advance by the manufacturer of the system, etc.). For example, this time may be memorized in association with the position information, and a configuration may be adopted in which the memorized time is read out and measured. The same configuration may be adopted for the specified distance. As the specified distance, since it takes time to detect reverse travel from the branch point, it is preferably the distance that normally takes for this time to elapse, for example, about 1 km from the branch point.

[0033] The warning indicating that caution should be exercised for reverse travel when in the driving situation may be given only once, but it is preferably given multiple times. Also, the warning indicating that caution should be exercised for reverse travel when in the driving situation may continue until a specified time has elapsed or reverse travel for a specified distance has been detected.

[0034] As the position information after the confluence, for example, it is preferably a position ahead in the correct traveling direction from the point where the branch line and the main line merge and before the next branch position, and particularly preferably about several hundred meters, and desirably about 100 m.

[0035] (12) After at least one of the warnings indicating the possibility of reverse travel or the warning indicating reverse travel has been notified, when the situation becomes such that it can be considered to be at the position corresponding to the position information after the confluence on the main line where the branch line merges, the notification should be terminated.

[0036] By doing so, when not traveling in reverse and traveling in the correct direction, the possibility of giving a warning indicating the possibility of reverse travel or a warning indicating reverse travel can be reduced, and these false alarms can be suppressed.

[0037] (13) It stores road link information having information on one-way traffic. The predetermined driving situation may be when a vehicle turn is detected and then, based on the road link information closest to the vehicle position, it can be regarded as opposite to the traveling direction of the vehicle.

[0038] In this way, it is possible to effectively detect reverse driving due to a U-turn on a one-way road.

[0039] The road link information may be, for example, the one included in the map data used for route search of a car navigation system. However, it is better to use a separately provided one or a non-provided one.

[0040] (14) It stores road link information and has a map matching function. The predetermined driving situation may be when, after there is no road for map matching, the one-way direction information of the road link information closest to the vehicle position can be regarded as opposite to the traveling direction of the vehicle.

[0041] In this way, in a system having a map matching function, reverse driving can be determined by simple processing. As a system having a map matching function, it is better to have a function of displaying a road map and displaying the vehicle position on the displayed road. It is particularly good to use the map matching function installed in a car navigation system.

[0042] In a situation where navigation cannot perform map matching internally or where, when attempting map matching, the resulting road link is discontinuous, it may be determined to notify the driver of a reverse driving situation. Map matching may be performed based on whether the position and the traveling direction match the position of the road link in the map information, the one-way information assigned to the link position, and the direction obtained therefrom. For example, when a vehicle enters the main road from a branch road such as an SA (service area) and drives in the reverse direction, on the branch road from the SA, it is map-matched to the correct-direction branch road. However, when it enters the main road and starts driving in the reverse direction, the road for map matching disappears, or the road for map matching becomes the oncoming lane or a general road running parallel. This situation can be utilized.

[0043] (15) As road link information, information regarding the position coordinates of the nodes at both ends of the road and information regarding the accessible nodes are stored. When it can be considered that the traveling direction of the vehicle is opposite, it may be defined as when the direction from the position coordinates of the accessible node to the position coordinates of the other node is opposite.

[0044] By doing so, it is not necessary to separately associate and store the information on the traveling direction of the road link with the road link apart from the node position information. Therefore, the amount of information to be stored can be reduced, and mistakes such as misstoring the direction information in a direction different from the direction of the road link when storing it in association with the road link can be prevented, and the maintenance cost can also be reduced.

[0045] (16) When the positioning accuracy of the current position of the vehicle is poor, it may be determined not to be a situation where the notification regarding reverse driving is to be made.

[0046] By doing so, the possibility of misjudging that it is a situation where the notification regarding reverse driving is to be made even though the vehicle is actually traveling in the correct direction can be reduced. In particular, it contributes to effectively preventing misjudgments in the case where a plurality of roads with different traveling directions run parallel.

[0047] When it can be considered that the vehicle is stopped, it may be configured not to determine that it is a situation where notification of the reverse driving is to be performed.

[0048] In this way, it is possible to reduce the possibility of erroneously determining that it is a situation where notification of reverse driving is to be performed during a stop while the vehicle is moving in the correct direction. This is particularly beneficial in the case of a configuration where the positioning accuracy deteriorates when stopped.

[0049] (18) It stores road link information, has a route search function, and in order to determine that it is a situation where notification of the reverse driving is to be performed, it is provided with a function of setting a starting point and an end point so as to include at least two road links as the route to be searched by the route search function, and as a case where it can be considered to be in the predetermined driving state, it is provided with a configuration including a case where it is considered to have deviated from the route from the starting point to the end point.

[0050] In this way, when driving in the oncoming lane, since it does not pass through the starting point, it is possible not to issue a reverse driving warning. Also, it is possible to effectively determine whether it is a situation where notification of reverse driving is to be performed by utilizing the route search function. In particular, in a car navigation system equipped with a route search function, it is preferable to have a function of performing this route search separately from the route search to the destination set by the user. The result of this route search may be displayed. The display may be made such that the route of the result of this route search can be seen drawn on the road map. It is also preferable to perform this route search even when no destination is set. When a destination is set and the route to the destination is drawn so as to be visible, it is preferable to draw the route of the result of this route search so as to be visible as a target different from the drawing mode of this. For example, while the route to the destination is drawn in green, it is preferable to draw the route of the result of this route search in red so as to overlap with it. For example, it is preferable to provide a starting point and an end point at a place on the road where reverse driving is likely, start the navigation guidance (similar processing) secretly when approaching the starting point, and issue a warning when deviating from this route.

[0051] The two road links are preferably the link in the direction of the branch line and the main line, especially, and it is preferable that the junction of the two road links is a branch point. The distance from the branch point to the end point is preferably the distance normally required for this time to elapse because it takes time to detect reverse travel from the branch point. For example, the end point may be located at a position about 1 km from the branch point.

[0052] Particularly, it is preferable to place the start and end POIs at the entrances / exits of highways, SA, and PA. The area regarded as being located at the POI may be narrowed down to about a radius of 10 m. It is preferable to set the start-end route in advance. It is preferable to enable this route, branch guidance, and reverse travel warning only when passing through the start point. The length of the route is preferably about 1.5 km along the road. Since the straight-line distance between the start point and the end point may be less than 100 m, in this route search, it is preferable to exclude conditions such as the need for a straight-line distance of 100 m or more, which is restricted in the route search to the destination. Only the start-end route may exclude the distance limit. When passing through the start point, it is preferable to provide route guidance (guidance on the direction to turn) before the branch point. However, it is preferable to be able to set ON / OFF for guidance / non-guidance. When passing through the start point and traveling in reverse at the branch point (when deviating from the route), it is preferable to give a warning to the effect of traveling in reverse and stopping. The ON / OFF setting of this function may be unnecessary (always ON).

[0053] (19) As the at least two road links, it is preferable to have a configuration including a road link of a branch line before merging into the main line that links to the main line road and a road link in the traveling direction after merging from the branch line of the main line.

[0054] In this way, it is possible to more effectively determine reverse travel on the main line when merging from the branch line to the main line.

[0055] (20) It is preferable to have a configuration in which the vehicle starts a process of determining that it is in a situation where it notifies about reverse travel when passing through the start point.

[0056] By doing so, the possibility of accurately determining the situation for notifying reverse driving increases, and an increase in the processing load can be appropriately restricted. For example, it may be configured to execute (turn on) a reverse route warning program.

[0057] (21) As a case where the vehicle can be considered to be in a predetermined driving situation, it stores road data about highways, and when it detects an intrusion into the entrance to a highway, it obtains the possible routes from that entrance to at least a point near the next exit, and is configured to include the case when it enters a road different from any of those routes.

[0058] By doing so, reverse driving on highways can be detected more effectively. Also, while suppressing the route search cost, reverse driving due to a U-turn or the like can be prevented throughout the highway. When there are multiple routes, it is advisable to obtain all of the multiple routes.

[0059] It is advisable to have a function that, when the vehicle can be considered to be in a predetermined driving situation when map matching can be performed assuming that it is traveling in the one-way direction and the reverse direction obtained from a road link.

[0060] When it can be considered to have reached a point near the next exit, it is advisable to repeat obtaining the route from there to near the next exit. There are cases such as when there are multiple exits or when there are SAs and PAs on the route and it branches, but all should be searched.

[0061] (22) As a case where the vehicle can be considered to be in a predetermined driving situation, it is configured to have a navigation function and to include the case when, during route guidance on a highway, it enters a branch line to an interchange before the interchange on the route where it should get off.

[0062] By doing so, when getting off at an interchange before the interchange where it should get off by mistake, reverse driving due to a U-turn can be effectively prevented. It is advisable to notify an appropriate response method, such as notifying that a U-turn is absolutely prohibited.

[0063] (23) A system having a function of detecting a reverse run when entering from a second road intersecting a first road having a median strip, storing coordinate information of a line indicating the position coordinates of the median strip, and when the vehicle can be considered to be in a predetermined driving situation, including a case where the vehicle has not crossed the line when a right turn from the second road is detected, and a case where the vehicle has crossed the line when a left turn from the second road is detected.

[0064] In this way, in a case where a large number of other roads intersect a road having a median strip (such as a case where a large number of other roads intersect a main road having a median strip), it is possible to effectively detect a reverse run when entering a road having a median strip from an intersecting road by storing relatively little information.

[0065] It is advisable to determine that there is no reverse run when the vehicle has crossed the line when a right turn from the second road is detected, and to determine that there is no reverse run when the vehicle has not crossed the line when a left turn from the second road is detected.

[0066] The line indicating the position coordinates of the median strip may be drawn so as to intersect the intersecting road. The line indicating the position coordinates of the median strip may be a straight line, and it may simply store the coordinates of both ends of the straight line section. However, it is advisable to obtain a curve along the position of the median strip and use the information of the curve, particularly the information of the function of the curve.

[0067] (24) When it is determined that it is a situation to notify about the reverse run, it is advisable for a system that distributes information to other vehicles to have a function of transmitting information regarding the position of the vehicle.

[0068] In particular, it is advisable to transmit to the equipment of a center that performs transmission to equipment that issues disaster risk warnings based on information from satellites such as Michibiki. For example, it is also advisable to transmit to the equipment of a center that distributes FM VICS. A radar detector or a car navigation system may be configured to receive information from these centers using a GPS module or an FM receiver and notify the position where a vehicle is driving in the wrong direction.

[0069] (25) When it is determined that it is a situation where notification about driving in the wrong direction is to be performed and the vehicle's turn signal is on, it is advisable to configure it to perform notification.

[0070] In this way, at the moment when the turn signal is turned on, it is possible to know that it is a situation where attention should be paid to driving in the wrong direction, and it is possible to prevent entering the wrong direction at the moment when the turn signal is turned on. In particular, it is advisable to include a case where the direction in which the vehicle's turn signal is turned on is a direction that can be regarded as driving in the wrong direction.

[0071] (26) It is advisable to have a function of learning the sound when the turn signal is turned on and detecting whether the turn signal is on based on the sound.

[0072] In this way, it is not necessary to connect this system to the vehicle to detect whether the turn signal is on, the cost of installation can be suppressed, and a simple system can be achieved.

[0073] (27) A system for detecting driving in the wrong direction in a section of a highway, when it is determined that the vehicle has entered a highway interchange, may have a function of memorizing the traveling direction and, when driving at high speed, determining that it is driving in the wrong direction if it is moving in a direction different from the traveling direction.

[0074] In this way, it is possible to determine driving in the wrong direction with a simple configuration. For example, regarding driving in the wrong direction at high speed, 1. When entering a highway interchange, memorize the traveling direction. 2. When driving at high speed, if moving in a direction different from the traveling direction, consider it as driving in the wrong direction. 3. When exiting a highway, clear the remembered driving direction. This process may be performed. In particular, this process may be performed using the road network information for route guidance provided in the car navigation device and the information on the current position acquired by GPS or the like.

[0075] (28) The system is a navigation device that has a function of displaying information on the next interchange while driving on a highway. As a case where the vehicle can be considered to be in a predetermined driving situation, when the function of displaying information on the next interchange while driving on a highway makes it impossible to obtain the next interchange to be displayed, or when an interchange in the opposite direction to the previous interchange is obtained as the next interchange to be displayed, it is preferable to include such a case.

[0076] In this way, by utilizing the processing such as the interchange list function when driving on a highway of an existing navigation device, it becomes possible to issue a reverse driving warning or the like. For example, in an existing navigation device, regardless of whether there is route guidance, there are some that display the name of the next interchange, the next interchange after that, etc. on the screen together with their order and distance from the current position. It is preferable to add the above configuration to such a configuration. For example, in a navigation device having at least a function of obtaining the next interchange, it is preferable to have a function of outputting a reverse driving warning when it is determined that the vehicle is heading towards an interchange that is not the next interchange. The determination as to whether the vehicle is heading towards an interchange that is not the next interchange may be made, for example, when the road for map matching becomes a road that is not the next interchange, it is determined that the vehicle is heading towards an interchange that is not the next interchange.

[0077] (29) Remember the history of the current position at a predetermined interval. As a case where the vehicle can be considered to be in a predetermined driving situation, it is preferable to have a configuration in which the link obtained by subtracting the position of the immediately previous position history from the current position and the direction of the link overlap with the line connecting two temporally adjacent position histories and the direction of the line can be considered to be the opposite direction.

[0078] In this way, the locations for preparing road network information and point information such as POI (for example, latitude and longitude information) can be significantly reduced, and it is possible to determine reverse driving only by driving.

[0079] As the predetermined interval, for example, it may be a constant interval. Also, as the predetermined interval, it may be a predetermined distance interval, but it is preferably a predetermined time interval. For example, it may be at 1-second intervals.

[0080] (30) It stores information on the area of the highway, and for the process regarding reverse driving on the highway, after it is determined that the vehicle has entered the highway, if the current position is not within the area of the highway stored, it is preferable to have a function of canceling the determination that the vehicle has entered the highway.

[0081] In this way, it is possible to reduce the possibility that the process regarding reverse driving is performed assuming that the vehicle has entered the highway even though it has not. It may be configured to have at least any one of the following. It can handle the problem of misdetection of passing through the entrance and exit of the highway. · Have highway area information (area information) and determine it as a highway when within that area · Have highway area information (area information) and determine it is not a highway when outside that area · Have general road area information (area information) and determine it is not a highway when within that area · Have general road area information (area information) and determine it is a highway when outside that area

[0082] (31) After it is determined that the vehicle has entered the highway, for a certain period of time, even if the vehicle can be regarded as being in a predetermined driving situation, it is preferable to have a function of not determining that it is a situation where a notification regarding reverse driving is to be given.

[0083] By doing so, even if it is erroneously determined that the vehicle has entered a highway, it is possible to suppress the notification regarding reverse driving for a predetermined period of time. It is preferable to perform the process described in (30) during this period.

[0084] (32) When it can be considered that the vehicle is in a predetermined driving situation, when it is detected that the gear has been put into reverse, it is preferable to have a function of performing a warning notification regarding reverse driving.

[0085] By doing so, when attempting to reverse such as a U-turn, a warning regarding reverse driving will be given.

[0086] (33) When entering a road having a median strip, store information regarding the position where only a left turn is possible due to the presence of the median strip, and include a case where it can be considered that the vehicle is in a predetermined driving situation and when the current position approaches the position where only a left turn is possible due to the presence of the stored median strip.

[0087] By doing so, when entering a road having a median strip, it is possible to receive a notification regarding reverse driving at a position where only a left turn is possible due to the presence of the median strip. For example, when trying to enter a road with a median strip from a store along the road with a median strip, sometimes when the median strip is in front of the eyes and turning right, it can contribute to preventing reverse driving.

[0088] Note that instead of "when the current position approaches the position where only a left turn is possible due to the presence of the stored median strip", it may be "when it is detected that a right turn has been made at a position where only a left turn is possible due to the presence of the stored median strip", or both may be provided.

[0089] (35) From the relationship between the position of the vehicle and the geographical area set as the situation for performing the notification, it may be determined that the vehicle is in a situation where a notification regarding reverse driving is to be performed.

[0090] In this way, for the user, it is possible to determine whether the vehicle is running in reverse based on the relationship with the area, and appropriately notify the user through notification.

[0091] (36) Further, as information on the area, the starting point, the ending point, and the width may be stored, and the determination may be made based on the stored information.

[0092] In this way, for the user, it is possible to determine whether the vehicle is running in reverse based on the relationship with the area, and appropriately notify the user through notification.

[0093] (37) The area is a first area, and when the position of the vehicle is within the first area, it may be determined that it is a situation where a first notification about running in reverse is made.

[0094] In this way, when the vehicle is included in the first area, it is possible to notify about running in reverse. Therefore, by setting the first area as a place (road) where running in reverse is not allowed, it is possible to perform appropriate notification.

[0095] (38) As information on the first area, the direction from the starting point to the ending point is stored, and when the vehicle enters the first area in the direction set by the direction, it may be determined that it is a situation where a first notification about running in reverse is made.

[0096] In this way, when the vehicle enters the first area in the direction set by the direction from the ending point to the starting point, it can be determined that it is a situation where the first notification is made.

[0097] (39) The angle is stored as information on the first area, and when the vehicle enters from a direction included in the angle, it may be determined that it is a situation where a notification about running in reverse is made.

[0098] In this way, it can be determined that the first notification is to be performed only when the vehicle enters the first area from a direction included in the angle set in the first area.

[0099] (40) The first area may be set at least near the entrance and exit of an interchange, before and after a tollgate, at the entrance of a parking area, at the entrance of a service area, or before a merging point.

[0100] In this way, by setting the first area near the entrance and exit of an interchange, before and after a tollgate, at the entrance of a parking area, at the entrance of a service area, or before a merging point as a place where the vehicle is likely to reverse, it becomes possible to appropriately notify the vehicle of its reverse movement.

[0101] (41) The first area is set along the road. When the first area is set at a point where the road leading to the entrance and exit of an interchange merges with another road, the first area set on the road leading to the entrance and exit of the interchange may be set longer than the first area set on the other road.

[0102] In this way, it is possible to preferentially notify of reverse movement on a road with a high risk of reverse movement. For example, when the first area is set at a point where the road leading to the entrance and exit of an interchange merges with another road, by setting the first area set on the road leading to the entrance and exit of the interchange longer than the other road, it is possible to more appropriately determine reverse movement on the road leading to the entrance and exit of the interchange.

[0103] (42) There is a second area as the area. When the vehicle enters the second area, it transitions to a reverse movement monitoring state. After the reverse movement monitoring state starts, if the distance between the vehicle and a predetermined point in a third area different from the second area is equal to or greater than the distance between the start point of the second area and the predetermined point, it may be determined that it is a situation where a second notification different from the first notification regarding reverse movement is to be performed.

[0104] If done in this way, when the vehicle passes through the second area, assuming that the vehicle may run in reverse, it transitions to a reverse running monitoring state. Also, the fact that the vehicle has traveled a distance greater than or equal to the distance from the starting point of the second area to the center point of the third area means that it has traveled a distance greater than the distance it should originally travel, and it can be determined that it is running in reverse. The second notification can perform a more appropriate notification, for example, by performing a notification with a higher importance than the first notification.

[0105] (43) When the vehicle enters the third area, the reverse running monitoring state may be cancelled.

[0106] If done in this way, when the vehicle is included in the third area, the reverse running monitoring state will be cancelled. Thereby, according to the running state of the vehicle that has passed through a point where it is easy to run in reverse, it is possible to appropriately monitor the possibility that the vehicle may be running in reverse.

[0107] (44) When the vehicle enters the second area, it may be determined that it is a situation where a first notification about reverse running is to be made.

[0108] If done in this way, when the vehicle is included in the second area, a first notification about reverse running can be made. Therefore, by setting a location (road) where there is a possibility of running in reverse in the second area, it is possible to notify the user to attract attention.

[0109] (45) The information of the area stores, as the information of the second area, the starting point, the ending point, the direction from the starting point to the ending point, and the width. When the vehicle enters the second area in the direction set by the said direction, it may be determined that it is a situation where a second notification about reverse running is to be made for the vehicle.

[0110] If done in this way, when the vehicle enters the second area in the direction set by the said direction, a second notification can be made.

[0111] (46) The angle is stored as the information of the second area, and when the vehicle enters from the direction included in the angle, it may be determined that it is a situation where the second notification is to be performed.

[0112] In this way, when the vehicle enters the second area, the second notification can be performed only for the vehicles whose entry angle into the second area is a predetermined angle.

[0113] (47) The starting point of the second area may be set in front of at least the place where the merging start position can be visually recognized when the vehicle is running.

[0114] In this way, it becomes possible to notify that it is a place where reverse running is likely to occur before the vehicle approaches the merging point.

[0115] (48) The end point of the second area may be set 10 to 20 meters ahead of the merging point as viewed from the traveling direction of the vehicle.

[0116] In this way, it becomes possible to notify that it is a place where reverse running is likely to occur after the vehicle passes the merging point. Also, even when the second area is set on the branch line side where branching occurs, it becomes possible to notify the vehicle running on the main line side that it is a place where reverse running is likely to occur.

[0117] (49) The second area may be set at least near the entrance and exit of the interchange, the entrance and exit of the parking area, the entrance and exit of the service area, or in front of the merging point.

[0118] In this way, by setting the second area near the entrance and exit of the interchange, the entrance of the parking area, the entrance of the service area, or in front of the merging point as a place where the vehicle is likely to run in reverse, it becomes possible to appropriately notify that there is a possibility of the vehicle running in reverse.

[0119] (50) When the reverse running monitoring state continues for a predetermined time or more, it may be determined that it is a situation to give a second notification about reverse running.

[0120] In this way, if the vehicle does not reach the third area even though it has passed through the second area, it can be determined that the vehicle is running in reverse and the first notification can be given.

[0121] (51) The third area may be set at a position where the side road or branch road at the merging point ends.

[0122] In this way, by setting the third area at the position where the side road at the merging point or the branch road ends, it can be determined that the vehicle has passed through the correct location.

[0123] (52) The third area may be set as an area that does not overlap with the second area.

[0124] In this way, it is possible to prevent the situation where the detection of reverse running is accidentally canceled when the vehicle is originally detected as running in reverse.

[0125] (53) There is a fourth area as the area. When the distance between the position of the vehicle and the starting point is increasing or the distance between the position of the vehicle and the ending point is decreasing, it may be determined that it is a situation to give a second notification about reverse running.

[0126] In this way, based on the running situation of the vehicle, it can be determined whether the vehicle is running in reverse and appropriate notification can be given. For example, when actual reverse running is being performed, the second notification can be given.

[0127] (54) An angle is stored as information of the fourth area. It may be determined that it is a situation to give the first notification only when the vehicle enters from a direction included in the angle.

[0128] In this way, when the vehicle enters the fourth area, appropriate notification can be performed only for vehicles whose entry angle into the fourth area is a predetermined angle.

[0129] (55) When the vehicle leaves the fourth area, it may be determined that the situation for performing the second notification no longer exists.

[0130] In this way, appropriate notification can be performed according to the position of the vehicle.

[0131] (56) In the situation where the second notification is performed, the second notification is output in one or more of voice, sound, and light. When the number of times the output second notification reaches a predetermined number of times or more, it may be determined that the situation for performing the second notification no longer exists.

[0132] In this way, it is possible to switch the output of the notification according to the number of times of notification, and appropriate notification can be performed.

[0133] (57) The output of the second notification may be configured not to output for a predetermined time after the second notification is output.

[0134] In this way, it is possible to prevent the situation where notifications are continuously output in a short period.

[0135] (58) During the period when it is determined that the vehicle is running in reverse, when the traveling direction of the vehicle changes by at least a predetermined angle or the vehicle stops, it may be determined that the situation for performing the first notification no longer exists.

[0136] In this way, when the traveling direction of the vehicle changes by at least 45 degrees or the vehicle stops, it can be determined that the vehicle is not running in reverse. Therefore, when the vehicle is not running in reverse, the first notification will not be output, and appropriate notification can be performed.

[0137] When in the situation of performing the first notification, output the first notification in one or more of voice, sound, and light. When the number of times the output first notification reaches a predetermined number or more, it may be determined that the situation of performing the first notification no longer exists.

[0138] In this way, it is possible to switch the output of the notification according to the number of times of notification, and appropriate notification can be performed.

[0139] (60) The width may be set to the width including the lanes on both sides of the road.

[0140] In this way, for a road including lanes in both directions, it is possible to set an appropriate area where there is a possibility of reverse driving by setting which area.

[0141] (61) The area can be set overlapping with other areas, and the overlapping area may be determined as a situation where the vehicle performs a notification about reverse driving according to the priority.

[0142] In this way, even when a plurality of areas are set overlapping, it is possible to appropriately perform a notification according to the priority.

[0143] (62) The priority may be set such that the priority of the area where the position of the vehicle was first included is high.

[0144] In this way, even when a plurality of areas are set overlapping, it is possible to preferentially perform a notification for the area where the position of the vehicle was first included.

[0145] (63) The priority may be set based on the attributes of the road.

[0146] In this way, it is possible to preferentially perform a notification based on the attributes of the road. For example, by setting the priority according to the highway and general road, the number of lanes, etc., it is possible to increase the priority of a road with a high possibility of reverse driving or a road with a high risk during reverse driving.

[0147] It may be a program for causing a computer to realize the functions of the system according to any one of (1) to (63) in (34).

[0148] (64) A method for the management device to generate information used by the information processing device for reverse travel detection based on the position of the vehicle is a method of determining a starting point, an ending point, and a width based on points included in the map information, and generating, based on the determined starting point, ending point, and width, information used by the information processing device for reverse travel detection based on the position of the vehicle.

[0149] By doing so, it becomes possible to generate information including points where reverse travel detection should be performed based on points included in the map information.

[0150] (65) A method for the management device to generate information used by the information processing device for reverse travel detection based on the position of the vehicle is a method of determining a starting point, an ending point, and a width based on points included in the map information, and generating, based on the determined starting point, ending point, and width, information used by the information processing device for reverse travel detection based on the position of the vehicle.

[0151] By doing so, it becomes possible to generate information including points where reverse travel detection should be performed based on points included in the map information.

[0152] The inventions described in (1) to (62) above can be arbitrarily combined. For example, it may be configured to add at least a part of the configuration of at least one of the inventions after (2) to all or part of the configuration of the invention described in (1). In particular, it is preferably an invention in which at least a part of the configuration of at least one of the inventions after (2) is added to the invention described in (1). Also, any configuration may be extracted from the inventions described in (1) to (62), and the extracted configurations may be combined. The applicant of the present application intends to obtain rights for inventions including these configurations. Also, even if there is a description such as "in the case of ~" or "when ~", it is not described as a configuration limited to that case or that time. These show examples of better configurations, and the applicant also intends to obtain rights for configurations that are not these cases or times. Also, the parts described in a specific order are not limited to this order. The applicant also discloses configurations in which some parts are deleted or the order is changed, and intends to obtain rights for them.

Effects of the Invention

[0153] According to the system of the invention of the present application, a system superior to the conventional one can be provided.

[0154] The effects of the invention of the present application are not limited to this, and the effects achieved by the parts of the configuration disclosed in this specification and drawings, etc. are also disclosed, and the applicant also intends to obtain rights for the configurations that achieve such effects by means of divisional applications, amendments, etc. For example, the parts described as "can ~" in this specification are descriptions that clearly show the achieved effects, and even if there is no description of "can ~", there are parts that show the effects. Also, even if there is no such description, there are effects grasped by the said configuration.

Brief Description of the Drawings

[0155]

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Embodiments for Carrying out the Invention

[0156] [1. First Embodiment] [1.1 Explanation of Configuration] FIG. 1 shows an external view of a preferred embodiment of a navigation device as an example of a processing device 200 equipped with the system according to the present disclosure. Note that the navigation device may be a detachable device or a device provided in an automobile. Further, it may be a device realized by installing an application in a smartphone or a tablet device.

[0157] Also, as an example of the following processing device 200, a navigation device will be described as an example, but any in-vehicle device may be used, for example, a device such as a drive recorder or a radar detector. Further, it may be a processing device 200 in which an application for realizing the functions of the present system is installed, or an information processing device such as a smartphone or a tablet.

[0158] FIG. 2 shows a functional block diagram of the terminal device 200, and FIGS. 3 and later show an example of a display form. As shown in FIG. 1, the navigation device includes a portable device main body 2 that can be carried and a cradle 3 that is an attachment member for holding the device main body 2. By attaching the device main body 2 to the cradle 3, it functions as an in-vehicle navigation device, and by removing it from the cradle 3, it functions as a portable navigation device (PND). Of course, the device main body 2 does not necessarily have to be configured to be easily detachable from the cradle 3.

[0159] The device main body 2 is detachably attached to the cradle 3. The device main body 2 includes a flat rectangular case main body 4. On the front surface of the case main body 4, a display unit 5 is arranged, and on the display unit 5, a touch panel 8 for detecting which part of the display unit 5 has been touched is provided, and warning lamps 9 are provided on both sides of the front surface. The cradle 3 includes a cradle main body 6 for holding the device main body 2, and a pedestal portion 7 for instructing the cradle main body 6 in an arbitrary posture at a predetermined position (such as a dashboard) in the vehicle interior. The pedestal portion 7 is adsorbed and fixed on the dashboard or the like by a suction cup provided on the bottom surface. The pedestal portion 7 and the cradle main body 6 are rotatably connected within a predetermined angle range via a connection mechanism such as a ball joint. Since it is a ball joint, the pedestal portion 7 and the cradle main body 6 rotate relative to each other within an arbitrary angle range in the three-dimensional direction and hold their positions at an arbitrary angular position due to the frictional resistance at the joint portion. Therefore, the device main body 2 attached to the cradle main body 6 can also be arranged in an arbitrary posture on the dashboard.

[0160] Furthermore, on one side surface of the case main body 4, an SD memory card slot portion 21 is provided, and an SD memory card 22 in which map data or the like is recorded can be inserted into the SD memory card slot portion 21. Also, on the side surface of the case main body 4 provided with the SD memory card slot portion 21, a DC jack 10 is provided. The DC jack 10 is for connecting a cigar plug cord (not shown), and can receive power supply by connecting to the cigar socket of the vehicle via the cigar plug cord.

[0161] On the other hand, on the side surface opposite to the SD memory card slot portion 21, a power switch and a USB terminal 23 are provided. By connecting to a personal computer via this USB terminal 23, the version upgrade of software applications and the like can be performed.

[0162] Inside the case body 4, the following devices and components are arranged. Inside the back side of the case body 4, a microwave receiver 11 is arranged. The microwave receiver 11 receives microwaves in a predetermined frequency band, and when it receives microwaves in the set frequency band, it detects the signal level of the received microwaves. Specifically, it uses the RSSI voltage corresponding to the signal level, which is the electric field strength. The above-mentioned predetermined frequency band includes, for example, the frequency band in which the frequency of microwaves emitted from a vehicle speed measuring device is included.

[0163] Also, inside the upper surface side of the case body 4, a GPS receiver 12 that receives GPS signals and determines the current position is arranged. Inside the front side of the case body 4, an infrared communication device 14 is arranged. The infrared communication device 14 performs data transmission and reception with a communication device such as a mobile phone 15 that incorporates an infrared communication device. Further, a speaker 20 is also incorporated in the case body 4.

[0164] Furthermore, the navigation device of this embodiment may include a wireless receiver 13 and a remote control receiver 16. The wireless receiver 13 receives wireless signals of a predetermined frequency that fly in. The remote control receiver 16 performs data communication with a remote control (portable device: sub-device) 17 and performs various settings on the device. The wireless receiver 13 receives wireless signals in a predetermined frequency band. This predetermined frequency can be, for example, the frequency band of the wireless used when an emergency vehicle notifies its own vehicle position to a base station.

[0165] In addition to the navigation function, the navigation device of this embodiment also has a target detection function as a target detection device that detects targets such as a vehicle speed measuring device and other traffic monitoring points. All functions including these navigation functions and target detection functions are stored on the EEPROM of the control unit 18 as a program executed by a computer in the control unit 18, and are realized by the computer in the control unit 18 executing this program.

[0166] That is, the control unit 18 executes predetermined processing based on information input from the various input devices (GPS receiver 12, microwave receiver 11, wireless receiver 13, touch panel 8, remote control receiver 16, etc.), and outputs predetermined information, alarms, messages, etc. using output devices (display unit 5, warning lamp 9, speaker 20, etc.). This predetermined processing is for executing the above-described various functions, and accesses the database (DB) 19 and the SD memory card 22 as necessary.

[0167] Here, the database 19 can be realized by a non-volatile memory (for example, EEPROM) which is a storage unit built in the microcomputer of the control unit 18 or externally attached to the microcomputer. In the database 19, information necessary for detecting a certain target object, map, and other target objects and performing navigation at the time of shipment is registered, and data about the target objects added thereafter can be updated through predetermined processing. The processing for this update may be performed, for example, by mounting an SD memory card storing additional data in the SD memory card slot 21 and transferring the data from the SD memory card to the database 19. Further, this data update can be performed by using the infrared communication device 7 or by using an external device such as a personal computer connected via the USB terminal 23.

[0168] The control unit 18 for realizing the target object detection function operates as follows. That is, when the microwave receiver 11 receives a desired microwave, the control unit 18 outputs a predetermined alarm. Examples of this alarm include output of a buzzer using the speaker 20, output of a voice for notifying reception of a microwave (detection by a vehicle speed measuring device, etc.), and output of a message in characters or images using the display unit 5.

[0169] Also, when the wireless receiver 13 receives a desired wireless signal, the control unit 18 outputs a predetermined alarm. Such alarms include outputting a buzzer using the speaker 20, outputting a voice to notify the reception of microwaves (such as the approach of an emergency vehicle), and outputting a message in the form of characters or images using the display unit 5. It is preferable that the form of the alarm associated with the reception of this wireless signal is different from the form of the alarm associated with the reception of the above-mentioned microwaves.

[0170] Furthermore, when the current position detected by the GPS receiver 12 and the position of a target such as a traffic monitoring point stored in the database 19 are in a predetermined positional relationship, the control unit 18 outputs a predetermined alarm. Therefore, the database 19 contains information regarding the target to be detected (position information of the target including longitude and latitude, type information of the target, etc.), traffic safety information for driving safely with more caution such as accident-prone areas and traffic control information, landmarks, and various types of information beneficial for driving. Each piece of information is registered by associating the specific type of information (type of target, type of traffic control, accident-prone area, name of landmark, etc.) with the position information.

[0171] The distance to the target when issuing an alarm can be changed for each type of target. As the form of the alarm, similar to the above, there are alarms such as voice using the speaker 20 and alarms using the display unit 5. FIG. 3 shows an example of an alarm by the display unit 5. In this embodiment, since this device is a navigation device and has map data, as the basic screen, the control unit 18 has a function of reading road network information around the current position and displaying a map around the current position on the display unit 5. Then, a warning screen 70 is displayed on the display unit 5 overlaid on the currently displayed screen (here, a map around the current position). FIG. 3 shows an example of the display of the warning screen 70 when the distance between the current position and the LH system, which is a type of speed measurement device and one of the traffic monitoring points, reaches 500 m while the map 50 is being displayed. Furthermore, a process is performed to output a warning voice indicating the type of alarm and the distance, such as "LH system 500 m ahead", from the speaker 20.

[0172] On one hand, to realize the navigation function, the control unit 18 operates as follows. First, the database 19 stores road network information for navigation. The information for navigation stored in this database 19 may store all information about the whole country at the time of shipment, or the map data etc. may be provided by storing them in the SD memory card 22 for each region. The user may prepare the SD memory card storing the necessary map data etc. and install it in the SD memory card slot 21 for use. Note that the map data etc. stored in the SD memory card 22 may be transferred to and stored in the database 19, or the control unit 18 may access the SD memory card 22, read from it and use it.

[0173] The control unit 18 has a function of reading the road network information around the current position from the database 19 and displaying the map around the current position on the display unit 5. This control unit 18 can search for a route from one position to another using this road network information. Also, the database 19 includes a telephone number database that stores telephone numbers in association with the location information and names of residences, companies, facilities, etc. of those telephone numbers, and an address database that stores addresses in association with the location information of those addresses. Further, in the database 19, the location information of traffic monitoring points such as speed measuring devices is stored together with their types. Also, the control unit 18 has a function of performing the processing of a general navigation device.

[0174] For example, the display unit 5 displays a map around the current position at any time and displays a destination setting button. When the control unit 18 detects a press at a position corresponding to the display position of the destination setting button by the touch panel 8, it performs destination setting processing. In the destination setting processing, a destination setting menu is displayed on the display unit 5 to prompt the user to select a destination setting method. The destination setting menu has a phone number search button and an address search button for prompting the user to select a destination setting method. When it is detected that the phone number search button has been pressed, a phone number input screen is displayed, and position information corresponding to the input phone number is acquired from the database 19. When it is detected that the address search button has been pressed, an address selection input screen is displayed, and position information corresponding to the input address is acquired from the database 19. Then, the acquired position information is set as the position information of the destination, and a recommended route from the current position to the destination is obtained based on the road network information stored in the database 19. The road network information has data similar to that of existing car navigation systems. For example, it includes a plurality of road links connecting points such as at branch points, and the road links include their ID, whether it is one-way or not, the latitude and longitude coordinates (each node) of the start point and the end point, and a list of the IDs of the road links connected to the start point and the end point respectively, and information such as the type of road, whether the road link is a highway or an ordinary road. As a method for calculating the recommended route, for example, a known method such as Dijkstra's method can be used.

[0175] Also, for example, route guidance is performed based on the recommended route. That is, it has a route guidance function for guiding the direction of the recommended route when the current position acquired by the GPS receiver 12 approaches a branch point on the recommended route by a predetermined distance. For example, when the recommended route turns right 300 m ahead from the current position, a voice "Turn right 300 m ahead" is output from the speaker 20, and a right arrow is displayed on the map. Furthermore, this navigation device further has a reverse driving warning function.

[0176] The control unit 18 provides a reverse driving warning process setting on the setting screen to select which reverse driving warning process to perform from each reverse driving warning process described below. The setting screen is displayed by long-pressing on the map screen. The process selected in the reverse driving warning process setting is executed in multi-tasking in the same way as other processes. When multiple processes are selected, the selected multiple processes will be executed in parallel.

[0177] [1.2 Description of the Process] [1.2.1 Reverse Driving Warning Process 1] The reverse driving warning process 1 is a process in which, for example, starting and ending points are set at locations on the road where reverse driving is likely, and when approaching the starting point, a process similar to in-vehicle navigation guidance is started in the background, and a warning is issued when deviating from this route. This process is executed independently of the route guidance process.

[0178] Starting and ending point POIs are placed at highway entrances / exits, SA, and PA entrances / exits, and the POI area is narrowed down to about a radius of 10 m. As shown in FIGS. 4 and 5, the starting point - ending point is set in advance. FIG. 4 is an example when the correct driving direction after merging is the upward direction in the figure, and FIG. 5 is an example when the correct driving direction after merging is the downward direction in the figure. Only when passing through the starting point, this route, branch guidance, and reverse driving warning become effective. The length of the route is about 1.5 km along the road. It is considered that the straight-line distance between the starting point and the ending point is less than 100 m. In the navigation device, there is usually a function that does not perform route search for the recommended route when the distance between the destination and the current position is too short in the route search for the recommended route for the above-mentioned route guidance, but this restriction process is not performed in the search for this warning. For example, the distance limit between the destination with a straight-line distance of 100 m or more that exists in the route search for the recommended route for route guidance is removed in this starting point - ending point route. And when passing through the starting point, route guidance is provided before the branch point (guidance on the direction to turn). However, it can be set on the ON / OFF setting screen for whether to provide guidance or not. When passing through the starting point and driving in reverse at the branch point (deviating from the route), a warning for reverse driving and stopping is issued. Note that when this process is selected, there is no need to set ON / OFF for this process itself (always ON). More specifically, the processing is performed as follows.

[0179] 1. When passing through the starting point, the reverse route warning program is turned on (executed). The following describes the operation when passing through the starting point.

[0180] 2. After passing through the starting point, a reverse travel prevention guidance such as "Straight ahead, then diagonally to the left" is output by voice from the speaker 20. The content output by voice may be displayed in characters on the screen. This guidance is determined whether to be performed according to the ON / OFF set on the setting screen.

[0181] 3. When reversing from a branch point, a warning is issued while reversing (within the range where the speed and the traveling direction are known). A voice warning by the speaker 20 such as "You are reversing. Please stop the vehicle on the road shoulder" is repeated. This is because it is necessary to at least get the vehicle to stop. Note that since it takes time to detect the reverse from the branch point, the distance from the branch point to the end point is set to about 1 km. When traveling in the oncoming lane, since the starting point is not passed through, no reverse warning is issued.

[0182] Thus, it has a function of storing road link information, is equipped with a route search function, and sets a starting point and an end point so as to include at least two road links as the route to be searched by the route search function in a situation where it is determined that a reverse driving notification is to be given. It also has a function of giving a reverse driving warning when it is considered to have deviated from the route from the starting point to the end point. Therefore, when driving in the oncoming lane, since it does not pass through the starting point, the reverse driving warning can be prevented from being issued. Also, it is possible to determine whether it is a situation where the reverse driving notification can be effectively given by utilizing the route search function existing in the navigation device. In particular, for a navigation device equipped with a route search function, it is preferable to have a configuration that includes a function of performing this route search separately from the route search to the destination set by the user (as in this example). (Of course, it is also possible to adopt a configuration that does not have a route search function to the destination set by the user). The result of this route search may be displayed. The display may be made by drawing the route of the result of this route search on the road map so that it can be seen. This route search should also be performed even when no destination is set. When a destination is set and the route to the destination is drawn so that it can be seen, it is preferable to draw the route of the result of this route search so that it can be seen as a different object from the drawing mode of this. For example, while the route to the destination is drawn in green, the route of the result of this route search may be drawn in red so as to overlap with it. For example, starting points and end points may be provided at places on the road where reverse driving is likely, and when approaching the starting point, start the navigation guidance (the same process as the normal navigation guidance) in the background, and give a warning when deviating from this route.

[0183] The two road links are preferably a branch line and a main line link in the traveling direction, and the junction of the two road links is preferably a branch point. The distance from the branch point to the end point is preferably the distance normally required for this time to elapse because it takes time to detect reverse driving from the branch point. For example, the end point is preferably located about 1 km from the branch point.

[0184] In particular, as in this example, it is advisable (but not limited to this) to place the starting and ending POIs at the entrances / exits of highways, SA, and PA. The area considered to be located at the POI may be narrowed down to about a radius of 10 m. It is also possible to set the starting-ending route in advance or to search for the route at any time. It is advisable to enable this route, branch guidance, and reverse travel warning only when passing through the starting point. The length of the route may be set to about 1.5 km along the road. Since the straight-line distance between the starting point and the ending point may be less than 100 m, it is advisable to remove conditions such as the need for the route search to be more than 100 m within the limited straight-line distance for route search to the destination. Only for the starting-ending route, it is advisable to remove the distance limit. When passing through the starting point, it is advisable to provide route guidance (guidance on the direction to turn) before the branch point. However, it is advisable to enable ON / OFF setting for whether to provide guidance or not. When passing through the starting point and reversing at the branch point (when deviating from the route), it is advisable to issue a warning to indicate reverse travel and to stop. It is advisable to make the ON / OFF setting of this function unnecessary (always ON).

[0185] And as a configuration with at least two road links, it is advisable to include a road link of a branch line before merging into the main line that links to the main line of the road and a road link in the traveling direction after merging from the branch line to the main line of the road. By doing so, it is possible to more effectively determine reverse travel when merging from the branch line to the main line.

[0186] Also, as in this example, it is advisable to adopt a configuration in which when the vehicle passes through the starting point, a process for starting to determine a situation where notification about reverse travel is to be performed is started.

[0187] By doing so, the possibility of accurately determining a situation where notification about reverse travel is to be performed is increased, and an increase in the processing load can be appropriately restricted. For example, it is advisable to adopt a configuration in which a reverse travel route warning program is executed (turned ON).

[0188] [1.2.2 Reverse Travel Warning Processing 2] The reverse travel warning process 2 performs a wider search for the route for the reverse travel warning in the reverse travel warning process 1.

[0189] When the current position acquired from the GPS receiver 12 reaches a position where it enters the entrance to the highway, a route that can be taken from that entrance to at least a point near the next exit is obtained. If there are multiple routes, multiple routes are obtained. When entering a road different from any of those routes, a reverse travel warning is issued by outputting a voice such as "There may be a risk of reverse travel" from the speaker 20. When it can be considered that the vehicle has reached a point near the next exit, the process of obtaining the route from there to near the next exit is repeated.

[0190] In this example, when it can be considered that the vehicle is in a predetermined driving situation, road data about the highway is stored. When it is detected that the vehicle enters the entrance to the highway, a route that can be taken from that entrance to at least a point near the next exit is obtained, and it is provided for the case when entering a road different from any of those routes. Therefore, reverse travel on the highway can be detected more effectively. Also, while suppressing the route search cost, reverse travel due to U-turns etc. can be prevented throughout the highway.

[0191] When there are multiple routes, all the multiple routes should be obtained, and a reverse travel warning should be issued when deviating from any of the routes.

[0192] Note that it is preferable to have a function where, when it can be considered that the vehicle is in a predetermined driving situation when map matching can be performed assuming that the vehicle is traveling in the one-way direction and the reverse direction obtained from the road link.

[0193] When it can be considered that the vehicle has reached a point near the next exit, the process of obtaining the route from there to near the next exit is repeated. There are cases such as when there are multiple exits and cases where there are SA·PA on the route and it branches, but all should be searched.

[0194] Also, when guiding the route on an expressway, when entering a branch line to an interchange before the interchange on the route where one should get off, a process of outputting from the speaker 20 such as "It was not the interchange where one should get off, but U-turn is prohibited, so please consult the attendant at the tollgate intercom. U-turn is prohibited because it is a reverse drive!" may be performed. By doing so, when getting off at an interchange before the interchange where one should get off by mistake, reverse driving due to U-turn can be effectively prevented. As in this example, it is advisable to notify an appropriate response method such as notifying that U-turn is absolutely prohibited.

[0195] It may further have the following functions. When there is no road for map matching in the road network information from the current position acquired by the GPS receiver 12 and the most recent traveling direction based on the history of the current position, and when the one-way direction information of the road link information closest to the vehicle position can be regarded as opposite to the traveling direction of the vehicle, it is advisable to perform a process of outputting a voice from the speaker 20 saying, "You are traveling in a direction that does not match the navigation map! There is a possibility of going against the traffic!" By doing so, in a system equipped with a map matching function, it is possible to determine reverse driving with a simple process. As a system equipped with a map matching function, it is preferably one that has a function of displaying a road map and displaying the position of the own vehicle on the displayed road, and it is particularly good to utilize the map matching function installed in the navigation device. It may be determined that it is a situation where notification about reverse driving is to be performed when map matching cannot be performed internally in the navigation or when the road links to be map matched become discontinuous. Map matching may be performed based on whether the position and the traveling direction match the position of the road link in the map information, the one-way information attached to the link position, and the direction obtained therefrom. For example, when going against the traffic when entering the main line from a branch line such as an SA (service area), on the branch line from the SA, it is map matched to the correct branch line direction, but when entering the main line and going against the traffic, immediately there is no road for map matching, or the road that can be map matched becomes the opposite lane or a general road running parallel, so this can be utilized. For map matching, various known processes as navigation technologies may be used.

[0196] [1.2.3 Reverse Driving Warning Process 3] Shows the process flow until reverse driving is detected.

[0197] 1. When the current position of the own vehicle acquired from the GPS receiver 12 is not map matched to the road network information stored in the database 19, the process of detecting reverse driving is operated. Or when making a sharp turn, the process of detecting reverse driving is operated. After recognizing 2.1, refer to the road closest to the vehicle's position as the condition for detection. For example, target roads within 5m. When the positioning accuracy is poor, reverse driving detection is not performed.

[0198] It has a one-way code indicating whether the road is a one-way road. When the road orientation is determined to be opposite to the vehicle's traveling direction, it is determined as "reverse driving". The angle value for determining reverse driving is preferably 170 - 190 degrees (the wider the range, the easier it is to react, and the smaller the range, the stricter it becomes).

[0199] Do not detect when the vehicle is stopped. Regarding the road orientation, when using information not existing in the road network data, it is preferably calculated from the positions between the nodes of the road link data. At intersections where reverse driving is likely, since the road data is pre-read, reverse driving may be detected earlier, so it is advisable to issue a warning such as "Caution! Reverse driving area!". Also, during reverse driving, a warning such as "Reverse driving!" should be issued.

[0200] As in this example, store road link information regarding one-way traffic. When vehicle turning is detected and then, based on the road link information closest to the vehicle position, it can be considered opposite to the vehicle's traveling direction, an alarm regarding reverse driving should be issued. In this way, reverse driving due to a U-turn on a one-way road can be effectively detected.

[0201] Note that the road link information may be the one included in the map data used for route search of, for example, a car navigation system. Alternatively, it is advisable to use a separately provided one or a combination with or without this information.

[0202] As in this example, as road link information, information regarding the position coordinates of the nodes at both ends of the road and information regarding the accessible nodes are stored. When it can be considered to be in the direction opposite to the traveling direction of the vehicle, it may be considered when it is in the direction opposite to the direction from the position coordinates of the accessible node to the position coordinates of the other node. By doing so, since it is not necessary to separately associate and store information on the traveling direction of the road link with the road link apart from the position information of the nodes, the amount of information to be stored can be reduced, and errors such as misstoring the direction information in a direction different from the direction of the road link when storing it in association with the road link can be prevented, and the maintenance cost can also be reduced.

[0203] [1.2.4 Reverse Travel Warning Processing 4] Separate from the information of the road network, store the facility points of SA and PA with information on the accessible directions at the entrances of SA and PA in the database 19, and when passing through this point, hold the closest passing point and the traveling azimuth of the entrance points of SA and PA. Then, next, when passing through the same point in the opposite direction before getting on the main line of the highway, it is determined as reverse travel, and "You are traveling in the opposite direction of the entrance! This is the road you entered just now! Reverse travel!" is output from the speaker 20.

[0204] In this way, separate from the information of the road network for searching the recommended route, store in advance information regarding the position where one-way road is entered, hold the traveling azimuth when passing closest to that position, and then perform a process of giving a warning regarding reverse travel when traveling in the opposite direction of the held position.

[0205] Especially in the case like this example, when passing through the facility points of SA and PA at the entrances of SA and PA, keep the closest passing point and driving direction of the entrance points of SA and PA. Next, when passing through the same point in the opposite direction before getting on the main line of the highway, it is advisable to determine it as a reverse drive and give a warning. By doing so, after entering SA or PA and taking a break, etc., it is possible to effectively determine a reverse drive when starting to drive again. It is also advisable to store the POI in the same way for highway ICs and highway entrances from ordinary roads and give a warning with the same processing.

[0206] In addition, when passing through the position corresponding to the position on the one-way road that was passed in the past within a predetermined time from now again, a warning may be given. When the predetermined time has elapsed, it is advisable not to give a warning. By doing so, it is possible to effectively prevent reverse driving on one-way roads. In particular, it is possible to effectively prevent the mode of making a U-turn on a one-way road and driving in reverse. The predetermined time may be set based on the staying time in SA, for example, about 2 hours.

[0207] Especially, associate and store the position information indicating the position on the one-way road and the information for identifying the enterable direction at that position. Based on these, when entering the predetermined position in the enterable direction in the past within a predetermined time from now and it can be considered that the current position of the vehicle enters the predetermined position from a direction different from the enterable direction, it is advisable to give a warning regarding reverse driving. By doing so, it is possible to effectively prevent driving in reverse on the road entered in the past within a predetermined time.

[0208] [1.2.5 Reverse Driving Warning Processing 5] The reverse driving in this example is the reverse driving on the main line after merging from a branch line onto a one-way main line. Separately from the road network information for route guidance of the recommended route, the position information on the branch line and the position information after the merge on the main line where the branch line merges are associated and stored in the database 19. Based on this, as a predetermined driving situation, when it can be considered that the vehicle is at a position corresponding to the position information on the branch line before merging onto the one-way main line, a warning indicating that reverse driving should be noted is started. Then, within at least one of the range of a predetermined time or a predetermined driving distance, if the situation where it can be considered that the vehicle is at a position corresponding to the position information after the merge on the main line where the branch line merges does not occur, at least one of a warning indicating the possibility of reverse driving or a warning indicating that the vehicle is driving in reverse is issued.

[0209] Specifically, a first POI is provided on the branch line, and a second POI is provided at the forward position of the main line beyond the merge point of the branch line. After issuing a reverse driving caution warning based on the first POI (it may be any of when arriving, about to arrive, or having passed), the reverse driving caution warning may be continued until reaching the position based on the second POI (it may be any of when arriving, about to arrive, or having passed). The passing direction is set and associated and stored for each POI on the condition that the passing direction of the first POI and the second POI is the forward driving direction. The determination of whether to issue the reverse driving caution warning may be made by taking these passing directions into account. In addition, a third POI may be provided at the position where the vehicle enters the reverse driving branch line from the forward driving main line, and a reverse driving warning may be notified when the vehicle passes through the third POI in the reverse driving direction. In particular, it is preferable to have a configuration where no POI is provided on the main line before entering the third POI.

[0210] In this way, it is possible to effectively prevent vehicles from running in the reverse direction on the main line after merging from the branch line into the one-way main line. In particular, a warning indicating that attention should be paid to running in the reverse direction is started from the branch line before merging into the one-way main line. Then, if the vehicle does not reach a predetermined position in the traveling direction of the main line within at least one of the ranges of a predetermined time period or a predetermined traveling distance, a warning indicating the possibility of running in the reverse direction or a warning indicating that the vehicle is running in the reverse direction is issued. As a result, on the branch line, it is possible to know in advance that attention should be paid to running in the reverse direction on the main line, and it is also possible to perceive the possibility of running in the reverse direction or the fact that the vehicle is running in the reverse direction in a situation where there is a high possibility that the vehicle is not moving in the correct direction on the main line. For example, a reverse running detection device,

[0211] Regarding the predetermined time period, it is preferably set as the time usually required for the vehicle to reach a situation where it can be considered to be at a position corresponding to the position information after the merging on the main line where the branch line merges, after the warning indicating that attention should be paid to running in the reverse direction is started (the time measured in advance by the manufacturer of the system or the like). For example, this time may be stored in association with the position information, and a configuration may be adopted in which the stored time is read out and measured. The same configuration may be applied to the predetermined distance. Regarding the predetermined distance, since it takes time to detect running in the reverse direction from the branch point, it is preferably set as the distance usually required for this time to elapse. For example, it may be about 1 km from the branch point.

[0212] The warning indicating that attention should be paid to running in the reverse direction in such a traveling situation may be issued only once, such as "Please pay attention to running in the reverse direction", but it is preferably issued multiple times. Also, the warning indicating that attention should be paid to running in the reverse direction in such a traveling situation may be continued until a predetermined time period has elapsed or a predetermined traveling distance has been detected. As the position information after the merging, for example, it may be a position ahead in the correct traveling direction from the point where the branch line and the main line merge and before the next branch position. In particular, it is preferably about several hundred meters, and more preferably about 100 m.

[0213] After notifying at least one of a warning of the possibility of going against the traffic flow or a warning of going against the traffic flow, when it becomes a situation where it can be considered that the vehicle is at a position corresponding to the position information after the confluence on the main road where the branch road merges, the notification may be terminated. By doing so, when not going against the traffic flow and traveling in the correct direction, the possibility of giving a warning of the possibility of going against the traffic flow or a warning of going against the traffic flow can be reduced, and these false alarms can be suppressed.

[0214] [1.2.6 Reverse Traffic Warning Processing 6]

[0215] Perform processing to detect reverse traffic when entering from a second road that intersects a first road with a median strip. In the database 19, store the coordinate information of the line indicating the position coordinates of the median strip. As a case where the vehicle can be considered to be in a predetermined driving situation, when a right turn from the second road is detected, it is provided that the line is not crossed, and when a left turn from the second road is detected, it is provided that the line is crossed. By doing so, in a case where a large number of other roads intersect a road with a median strip (such as a case where a large number of other roads intersect a trunk road with a median strip), it is possible to effectively detect reverse traffic when entering a road with a median strip from an intersecting road by storing relatively little information.

[0216] In addition, when a right turn from the second road is detected, it is determined that there is no reverse traffic when the line is crossed, and when a left turn from the second road is detected, it is determined that there is no reverse traffic when the line is not crossed.

[0217] The line indicating the position coordinates of the median strip may be drawn so as to intersect the intersecting roads. The line indicating the position coordinates of the median strip may be a straight line, and simply store the coordinates of both ends of the straight line section. However, it is even better to obtain a curve along the position of the median strip and use the information of the curve. In particular, store the information of the coefficients of the curve function in the database 19 and search for the curve that intersects the current position with reference to this.

[0218] [1.3 Summary and Modification Examples, etc.] As in each of the above examples, it is preferable to adopt a system having a function of determining that it is a situation where notification about reverse running is to be performed when the vehicle can be regarded as being in a predetermined driving situation. By doing so, it is possible to more appropriately determine whether it is reverse running. The vehicle is preferably a four-wheeled vehicle with a prime mover in particular. Whether it can be regarded as being in a predetermined driving situation may be determined based on information obtained from sensors or the like provided in the vehicle, but it is particularly preferable to determine based on information obtained by providing sensors in this system. Also, it is preferable to determine based on information obtained from sensors or the like provided in the vehicle and information obtained from sensors provided in this system. As the sensors, for example, acceleration sensors, gyro sensors, etc. may be used. These may be used to specify the position by autonomous navigation. However, in particular, it is preferable to provide the GPS receiver 12 in each example, and it is preferable to provide a GPS module as the GPS receiver 12. As information obtained from the sensors, it is preferable to include acceleration information and angular velocity information, but in particular, it is preferable to include position information as in this embodiment. Whether it can be regarded as being in a predetermined driving situation is preferably determined by comparing information obtained from the sensors with information stored in advance as in this embodiment to determine whether it can be regarded as being in a predetermined driving situation. As a case where it can be regarded as being in a predetermined driving situation, it may be only a case where it is in the predetermined driving situation itself, but it is preferable to set conditions including a case where it is in a situation similar to the predetermined driving situation.

[0219] As the notification about reverse running, it is preferable to be at least one of a notification that attention should be paid to reverse running, a notification that there may be reverse running, and a notification that reverse running is being performed.

[0220] As the system, in this embodiment, it is a navigation device, but it may be a drive recorder, a radar detector, or other in-vehicle devices. For example, it may be a reverse running detection device.

[0221] In each case, when it is determined that it is a situation where notification about reverse running is to be given, it is provided with a function of giving at least one of a warning indicating that reverse running should be noted, a warning indicating that there is a possibility of reverse running, and a warning indicating that reverse running is being performed. Therefore, the user can know that it is a situation where reverse running should be noted. In particular, after giving a warning indicating that reverse running should be noted, it is preferable to give a warning indicating that there is a possibility of reverse running. Also, after giving a warning indicating that reverse running should be noted, it is preferable to give a warning indicating that reverse running is being performed.

[0222] When it is determined that it is a situation where notification about reverse running is to be given, it is preferable to repeatedly give at least one of a warning indicating that reverse running should be noted, a warning indicating that there is a possibility of reverse running, and a warning indicating that reverse running is being performed.

[0223] When it is determined that it is a situation where the notification about reverse running is to be stopped, it is preferable to stop at least one of the warnings that have been repeatedly given, namely, a warning indicating that reverse running should be noted, a warning indicating that there is a possibility of reverse running, and a warning indicating that reverse running is being performed.

[0224] It includes a case where the vehicle can be regarded as being in a predetermined driving situation and a case where it can be regarded as being in a plurality of different predetermined driving situations. Depending on each case, it is preferable to have different contents as the content of the notification when it is determined that it is a situation where notification about reverse running is to be given. In this way, when the vehicle can be regarded as being in a predetermined driving situation, different contents of notification are given depending on each case, so that the user can more easily pay attention to reverse running and more easily take appropriate avoidance actions regarding reverse running.

[0225] When it is determined that it is a situation where notification about the backward travel is to be performed, as in the present embodiment, it is preferable to have a function of notifying the direction of the correct travel route. By doing so, it becomes easier to prevent inadvertently entering in the wrong direction at a branch point or the like and traveling backward. When it is determined that it is a situation where notification about the backward travel is to be performed, it may be configured to notify so as not to proceed in the direction of the travel route that would result in backward travel. However, the inventors have found that when it is determined that it is a situation where notification about the backward travel is to be performed, it is less likely that backward travel will occur if the direction of the correct travel route is notified. For example, in a case where the correct traveling direction is a left turn and a right turn would result in backward travel, rather than notifying "Proceeding to the right will result in backward travel", it is preferable to notify "Proceed only to the left". It is preferable to notify the direction in which backward travel will not occur in this way. It is better to notify the direction in which backward travel will not occur rather than notifying the direction in which backward travel will occur. For example, it is better to notify "You can only turn to the left. Please turn to the left." rather than notifying "Turning to the right will result in backward travel". By doing so, backward travel is less likely to occur.

[0226] When it is determined that it is a situation where notification about the reverse driving is to be performed, as in the present embodiment, it may be provided with a function of continuing to be in a situation where notification about the reverse driving is to be performed until it is determined that it is a situation where the notification about the reverse driving should be stopped. In this way, when it is determined that it is reverse driving, it will continue to be in a situation where notification about the reverse driving is to be performed until it is determined that it is a situation where the notification about the reverse driving should be stopped. Therefore, when it is determined that it is reverse driving, the determination can be stopped at an appropriate time. In particular, when it is in a situation where notification about the reverse driving is to be performed, it is good to continue to notify that the vehicle is reverse driving, and when it is determined that it is a situation where the notification about the reverse driving should be stopped, stop the notification to the effect that the vehicle has been reverse driving that has been continuously made. As a situation where the notification about the reverse driving should be stopped, for example, it is good to set it while the speed and the traveling direction are known, and particularly while the vehicle is reverse driving. For example, it is good to repeat the notification such as "You are driving in reverse. Please stop the vehicle on the road shoulder". As a situation where the notification about the reverse driving should be stopped, it is good to assume that the vehicle has stopped after the notification about the reverse driving has been made. As the notification content, it is good to notify at least for the purpose of getting the vehicle to stop.

[0227] Each example may be configured as follows. In addition, when the positioning accuracy of the current position of the vehicle is poor, it is good not to determine that it is a situation where the notification about the reverse driving is to be performed. In this way, it is possible to reduce the possibility of being erroneously determined to be a situation where the notification about the reverse driving is to be performed even though the vehicle is actually traveling in the correct direction. In particular, it contributes to effectively preventing an erroneous determination when a plurality of roads with different traveling directions run side by side.

[0228] Also, when the vehicle can be regarded as being in a stopped state, it is good to adopt a configuration not to determine that it is a situation where the notification about the reverse driving is to be performed. In this way, it is possible to reduce the possibility of being erroneously determined to be a situation where the notification about the reverse driving is to be performed during a stop while the vehicle is traveling in the correct direction. In particular, it is beneficial in the case of a configuration where the positioning accuracy deteriorates at the time of stopping.

[0229] When performing the reverse running determination process for the position on the one-way branch line branching from the main line, the determination process may be terminated when it is detected that the vehicle has passed through the position on the one-way branch line branching from the main line and then returned to the main line. By doing so, it is possible to prevent the processing load from increasing, such as by continuing to perform the reverse running process on the branch line.

[0230] For a predetermined position such as a position based on a POI or a road network in each example, it is preferable to have at least one of the following: when it can be regarded as being above the predetermined position, when it can be regarded as having passed through the predetermined position, and when it can be regarded as approaching the predetermined position. In this way, it is possible to determine reverse running at a more appropriate position. When it is regarded as being above the predetermined position, for example, it is preferable to include the case where it coincides with the predetermined position, and particularly, it is preferable to include a position within a predetermined range such as a range taking into account the position error of a sensor or the like from the predetermined position. The cases of being regarded as having passed through the predetermined position and being regarded as approaching the predetermined position may be configured in the same way.

[0231] Furthermore, when performing each notification regarding reverse running, it is preferable to have a function of transmitting information regarding the position of the vehicle to a system that distributes information to other vehicles. Connect the LTE communication module to the control unit 18 and connect to the Internet via the LTE communication module. Transmit information to a server on the Internet by wireless communication. In particular, it is preferable to transmit to a server of a center that issues a disaster danger warning based on information from satellites such as Michibiki. Also, for example, it is preferable to transmit to a server of a center that distributes FM VICS. It is preferable to configure such that information from these centers is received by the GPS module or FM receiver using a radar detector or car navigation system, and the position where there is a reverse-running vehicle is notified.

[0232] In each case, when it is determined that the situation is one where an alarm for reverse driving is to be given, notification is to be made immediately. However, instead of making the notification immediately, when this determination is made and it is then detected that the vehicle's turn signal is on, it is preferable to adopt a configuration where the notification is made. The detection of the vehicle's turn signal being on may be performed by a function that learns the sound when the turn signal is activated and then detects whether the turn signal is on based on that sound. For example, it may be performed by edge learning using deep learning. There is no need to connect this system to the vehicle in order to detect whether the turn signal is on, the cost of installation can be suppressed, and a simple system can be achieved. Also, at the moment when the turn signal is activated, it is possible to know that the situation is one where reverse driving should be noted, and it is possible to prevent entry in the wrong direction before the turn signal is activated. In particular, it is preferable to include a case where the direction in which the vehicle's turn signal is on is a direction that can be regarded as reverse driving.

[0233] As a system for detecting reverse driving in a section of a highway, when it is determined that the vehicle has entered a highway interchange, it is preferable to have a function of memorizing the traveling direction and, when traveling at high speed, determining that it is reverse driving if it is moving in a direction different from the traveling direction. In this way, reverse driving can be determined with a simple configuration. For example, regarding reverse driving at high speed, 1. When entering a highway interchange, memorize the traveling direction. 2. When traveling at high speed, if moving in a direction different from the traveling direction, consider it reverse driving. 3. When exiting the highway interchange, clear the memorized traveling direction.

[0234] It is preferable to perform the process. In particular, it is preferable to use the system as a car navigation device and perform this process using the road network information for route guidance provided in this device and the information on the current position obtained by GPS or the like.

[0235] When the system is used as a navigation device and has a function of displaying information on the next interchange while driving on a highway, if the function of displaying information on the next interchange while driving on a highway fails to determine the next interchange to be displayed, or if an interchange in the opposite direction to the previous interchange is determined to be the next interchange to be displayed, it is advisable to output a warning regarding reverse driving. By doing so, it becomes possible to issue warnings about reverse driving by leveraging the processing of functions such as the interchange list function when driving on a highway in existing navigation devices. For example, in existing navigation devices, regardless of whether there is route guidance or not, there are some that display the name of the next interchange, the name of the interchange after that, etc. together with their order and distance from the current position on the screen. It is advisable to add the above configuration to such a configuration. For example, in a navigation device equipped with at least a function of determining the next interchange, it is advisable to be equipped with a function of outputting a reverse driving warning when it is determined that the vehicle is heading towards an interchange that is not the next interchange. The determination of whether the vehicle is heading towards an interchange that is not the next interchange may be made, for example, when the road for map matching becomes a road that is not the next interchange, it is determined that the vehicle is heading towards an interchange that is not the next interchange.

[0236] Furthermore, store the history of the current position at a predetermined interval. When the link obtained by subtracting the position of the previous position history from the current position and the line connecting two position histories that are temporally adjacent and whose directions are the same as the direction of the link overlap and can be considered to be in the opposite direction to the direction of the line, it is advisable to output a warning regarding reverse driving. By doing so, the locations where point information such as road network information and POIs (for example, latitude and longitude information) needs to be prepared can be significantly reduced, and reverse driving can be determined simply by driving. The predetermined interval may be, for example, a fixed interval. Also, the predetermined interval may be a predetermined distance interval, but it is advisable to be a predetermined time interval. For example, it may be at 1-second intervals.

[0237] It stores information on the area of the highway, and for the processing of reverse driving on the highway, after it is determined that the vehicle has entered the highway, if the current position is not within the area of the highway stored above, it is preferable to have a function to cancel the determination that the vehicle has entered the highway. In this way, it is possible to reduce the possibility that, although the vehicle has not entered the highway, the processing related to reverse driving is performed as if it has entered the highway.

[0238] It may be configured to have at least any one of the following. It can handle the problem of false detection of passing through the entrance / exit of the highway. · Have highway area information (area information) and determine it as a highway when within that area. · Have highway area information (area information) and determine it is not a highway when outside that area. · Have general road area information (area information) and determine it is not a highway when within that area. · Have general road area information (area information) and determine it is a highway when outside that area.

[0239] Also, after it is determined that the vehicle has entered the highway, for a predetermined period of time, even if the vehicle can be regarded as being in a predetermined driving situation, it is preferable to have a function not to determine that it is a situation where a notification regarding reverse driving is to be given. In this way, even if it is erroneously determined that the vehicle has entered the highway, the notification regarding reverse driving can be suppressed for a predetermined period of time. It is preferable to perform the processing of the above-mentioned cancellation function especially during this time.

[0240] In each example, when it is detected that the gear has been put into reverse when a notification regarding reverse driving is to be given, it is preferable to have a function to give a warning notification regarding reverse driving. In this way, when trying to make a U-turn or other reverse driving, a warning regarding reverse driving will be given.

[0241] When entering a road having a median strip, information regarding a position where only a left turn is possible due to the presence of the median strip is stored in memory, and when the vehicle can be considered to be in a predetermined driving situation, it is preferable to include a case where the current position approaches the position where only a left turn is possible due to the presence of the median strip stored. In this way, when entering a road having a median strip, it is possible to receive a notification regarding reverse driving at a position where only a left turn is possible due to the presence of the median strip. For example, when trying to enter a road with a median strip from a store along the road having the median strip, sometimes when the median strip is in front of the eyes, it is possible to contribute to preventing a right turn and reverse driving from occurring. Note that, instead of "when the current position approaches the position where only a left turn is possible due to the presence of the median strip stored", it may be "when it is detected that a right turn has been made at the position where only a left turn is possible due to the presence of the median strip stored", or both may be included.

[0242] [2. Second Embodiment] Next, the second embodiment will be described. The second embodiment is an embodiment in which the processing device 200 detects reverse driving based on preset setting information.

[0243] In the present embodiment, "notification" means providing some kind of notification to users of the device such as the driver and passengers. The method of providing the notification may be to output voice from a voice output device, output sound by a sound output device such as a buzzer, etc. Further, the method of providing the notification may be to display a message on a display device, provide the notification by lighting or flashing the screen. Also, the method of providing the notification may be to provide the notification by vibrating, lighting or flashing a lamp, or notifying another device (for example, an in-vehicle car navigation device, a display device of a meter unit in the instrument panel, a terminal device such as a smartphone owned by the user). The notification may be provided to a person outside the vehicle, for example, a person walking around the vehicle or a person in another vehicle, in addition to or instead of the above users. As a notification method in this case, it is preferable to use a method that can be recognized by a person outside the vehicle such as a hazard or a horn.

[0244] Also, an alarm refers to a notification output when the vehicle is in a reverse running state (hereinafter, sometimes simply referred to as the "reverse running state") or a state in which it is determined that there is a high possibility of reverse running. Also, a cautionary notice refers to a notification output when the vehicle is not in reverse running but in a place or operation where it is likely to reverse. The cautionary notice may be called a warning. The cautionary notice is a notification with a lower level than the alarm and is given at the stage prior to the alarm. Hereinafter, when simply referred to as a notification, it includes both the alarm and the cautionary notice.

[0245] In the present embodiment, the processing device 200 may not use the position information corrected by the map matching function for determining the reverse running state. This is because, according to the map matching function, the position information may be corrected so that the traveling direction of the vehicle coincides with the traveling direction (forward direction) set for the road (lane). However, when the processing device 200 also functions as a radar detector, a drive recorder, etc., it is acceptable to use the position information corrected using the map matching function for these functions.

[0246] [2.1 Overall Configuration] FIG. 6 shows an overview of the system 1 of the present embodiment. The system 1 includes a generation device 100 for generating setting information described later and a processing device 200. The generation device 100 is composed of a server or a computer. Note that the functions of the generation device 100 may be provided via services such as ASP (Application Service Provider) or SaaS (Software as a Service). Also, the generation device 100 may be referred to as a management device for managing the system 1.

[0247] The processing device 200 is a navigation device or the like described in the first embodiment. The processing device 200 can receive necessary information from the generation device 100 via a network. Also, the setting information may be recorded on the memory card 22 by the generation device 100 or a terminal device 150 connectable to the generation device 100. When the memory card 22 is mounted on the terminal device 200, the terminal device 200 can read the setting information recorded on the memory card 22. Also, when the generation device 100 is a server device that provides a service, the terminal device 150 connects to the generation device 100 to realize the same functions as the following generation device 100.

[0248] [2.2 System Overview] In this system, the state in which the vehicle runs in reverse will be described. First, the state in which the vehicle runs in reverse (reverse running state) means that the vehicle runs in the direction opposite to the traveling direction (forward direction) set on the road. The traveling direction is, for example, the left lane of the road in Japan or the direction determined by regulations such as one-way traffic.

[0249] For example, FIG. 7 is a diagram schematically showing an interchange including a toll gate. FIG. 7 is an interchange on a highway, an expressway for automobiles, or a toll road in general Japan, where traffic is on the left side.

[0250] In such a case, for example, when traveling in the reverse direction on the driving lane as shown in (1) and (4) (for example, making a U-turn and traveling), the vehicle is in a reverse running state. Also, when a vehicle that was traveling in the forward direction travels in the reverse direction on a one-way road in the original main line direction as shown in (2), (3), and (8), it is in a reverse running state. Also, when traveling in the oncoming lane on the road ahead of the toll gate (5), in front of the toll gate (6), or on the road leading to the toll gate (7), the vehicle is in a reverse running state.

[0251] The location shown in Fig. 7 is a location where reverse driving of the vehicle is likely to occur and a place where the vehicle is likely to be in a reverse driving state. Since there are quite a number of locations where reverse driving of the vehicle is likely to occur, if the processing device 200 directly has information regarding the traveling direction of the road (for example, information regarding the driving lane, information regarding road regulations such as one-way traffic), the storage capacity will become large.

[0252] Also, even when the processing device 200 stores information on the traveling direction for each road, making a determination as to whether the vehicle is in a reverse driving state each time according to the driving state of the vehicle imposes a large processing load on the processing device 200. Especially in the case of devices such as a navigation device or a drive recorder, due to the performance of the processing device 200, it may be difficult to make the determination in real time.

[0253] Also, when storing information regarding the traveling direction in cooperation with map information for each road, in order for the processing device 200 to make a reverse driving determination, the map information also has to be stored.

[0254] According to the processing device 200 of the present embodiment, it is possible to appropriately make a reverse driving determination with simple information and perform appropriate notification and operations.

[0255] Also, as described above, reverse driving of the vehicle often occurs at determined locations. Therefore, even if the vehicle is not actually driving in reverse, it is effective to prompt users such as drivers to pay attention to the risk of reverse driving. According to the processing device 200 of the present embodiment, it is also possible to prevent reverse driving in advance by appropriately prompting users to pay attention.

[0256] [2.3 Functional Configuration] The generation device 100 and the processing device 200 in this system will be described. The generation device 100 is a device capable of generating area information described later. Also, the processing device 200 is a device that executes notification processing based on the position.

[0257] Here, the processing device 200 is a device used by a driver, a passenger, or the like. A person who uses or utilizes the processing device 200 is called a user or a customer. Also, the generation device 100 is a device used by a person who generates area information, such as a system administrator or an employee of a manufacturer. A person who uses or utilizes the generation device 100 is called an administrator. [2.3.1 Generation Device] FIG. 8(a) is a diagram showing the functional configuration of the generation device 100. The generation device 100 includes a control unit 1000 and a storage unit 1100, and optionally includes a display unit 1200, an input unit 1300, and a communication unit 1400.

[0258] The control unit 1000 is a functional unit for controlling the entire generation device 100. The control unit 1000 realizes various functions by reading and executing various programs stored in the storage unit 1100, and is composed of one or more arithmetic units (for example, a CPU (Central Processing Unit)).

[0259] The storage unit 1100 is a functional unit in which various programs and various data necessary for the operation of the generation device 100 are stored. The storage unit 1100 includes a device that temporarily stores data and programs required during the execution by the control unit 1000, and a device that stores programs and data. This storage unit 1100 is composed of, for example, a semiconductor memory of an SSD (Solid State Drive) or a magnetic disk of an HDD (Hard Disk Drive).

[0260] Here, the storage unit 1100 stores a map information storage area 1110 that stores map information, and an area information DB 1130 that is generated based on the area information as information on an area related to reverse driving.

[0261] When a person who generates area information sets an area in the generation device 100, the map information storage area 1110 stores information (map information) regarding the map to be referred to and displayed. The map information is information that includes a map (graphic) where roads and facilities can be understood and latitude / longitude information. Note that the map information may be acquired via a network. For example, when using a map provided on the Internet, it may not be necessary to store the map information in the storage unit 1100.

[0262] The map information may also include other information such as information regarding place names, regulated speeds, road types (expressways, toll roads, general roads, etc.), traffic regulations such as one-way traffic, signals, and the number of lanes.

[0263] The area information DB 1130 stores information (area information) regarding areas related to reverse driving. The area related to reverse driving is a geographical area. The area related to reverse driving may be, for example, an area specified by coordinates (e.g., latitude / longitude) on a map. Here, the area information will be described with reference to FIG. 9. The area related to reverse driving, although details will be described later, is an area set to determine whether a vehicle is in a reverse driving state or whether there is a possibility that a vehicle may reverse drive.

[0264] In the present embodiment, the area related to reverse driving is specified by a two-dimensional area, more specifically a rectangular (or square) area, as shown in FIG. 9(a). For the area related to reverse driving, for example, as shown in FIG. 9(a), when a start point and an end point are set, the length of the area is determined. This start point and end point are set as POIs (Points of Interest) on the map. Also, in the present embodiment, there may be a case where an arrow is shown as in FIG. 9(a) from the start point to the end point. Also, a POI may represent the area itself.

[0265] Also, a width is set around a straight line connecting the start point and the end point. The area is set from the length between this start point and end point and the width. The width may be set as the length from the center to the edge of the road or as the road width. Also, the width may be set as the width of one lane.

[0266] Figure 9(b) is an example of the area information stored in the area information DB 1130. The area information includes an ID, a start point, an end point, a direction, a width, an angle, a Type, and a related area. The ID is identification information uniquely assigned to identify the area information.

[0267] As described above, the start point and the end point determine the length of the area. The start point and the end point are stored in terms of latitude and longitude. For example, the start point is stored as longitude E1 degrees east and latitude N1 degrees north (E1, N1). Note that it is sufficient if it corresponds to information regarding the position of the vehicle on which the processing device 200 described later is mounted, other than latitude and longitude.

[0268] The direction is information for identifying the presence or absence of a direction on the straight line connecting the start point and the end point. For example, if the direction is "1", there is a direction from the start point to the end point (for example, the direction of the arrow shown in Fig. 9(a)). Also, if the direction is "0", no direction is set for the area.

[0269] Note that the direction set in this embodiment is a value of "0" or "1", but other values may be set. For example, when it is "2" or "-1", it may be the reverse direction (the direction from the end point to the start point).

[0270] The width specifies the width from the straight line connecting the start point and the end point. The width indicated by the width may be the width centered on the straight line connecting the start point and the end point, or the width from the straight line. In this embodiment, it will be described below as the width of the area itself.

[0271] The angle is set to an angle (hereinafter referred to as the "entry angle") θ for determining entry into the area as described later. In this embodiment, the entry angle is substantially the same as the angle for notification (notification angle). For example, when the entry angle θ is "60", with the end point side being 0 degrees, the angle of 30 degrees in the starting point direction is set as the angle α (θ = 2α). For example, in the case of FIG. 9(a), when centered on the straight line connecting the starting point and the end point, an angle of 60 degrees is set as the entry angle θ. The entry angle θ may be an angle starting from the straight line connecting the starting point and the end point (θ = α), or an angle centered on the said straight line.

[0272] Type indicates the attribute of the area. Four types of attributes (Type) of the area in this embodiment can be set from 1 to 4. The differences in the processing for each Type will be described later.

[0273] Note that it is shown as follows according to the attribute set for the area. · First area: The area with Type 1 set as the attribute of the area · Second area: The area with Type 2 set as the attribute of the area · Third area: The area with Type 3 set as the attribute of the area · Fourth area: The area with Type 4 set as the attribute of the area Any one of the attributes is set for the area.

[0274] Note that the area may be represented as circular as shown in FIG. 9(c). For example, by making the starting point and the end point the same, the center point is indicated. For the circular area, only the starting point (or only the end point) may be set. Also, when setting the width, the width becomes the radius of the area. Thereby, a circular area is set. In this embodiment, the circular area corresponds to the third area.

[0275] The related area shown in Fig. 9(b) is information about an area related to other areas. The related area is an area used for determining reverse travel, which will be described later. In this embodiment, the second area and the third area are set as related areas. In this embodiment, the related area is the third area that forms a pair with the second area.

[0276] The area information stored in the area information DB1130 may include information other than those described above. For example, it may include a name (e.g., road name, facility name, address, etc.) to make the area easier to understand.

[0277] The display unit 1200 is a display device that displays various information and data necessary for setting. For example, it is a liquid crystal display or an organic EL display. Note that the display unit 1200 may be an external display device.

[0278] The input unit 1300 receives operations from the user. The input unit 1300 may be, for example, an input device such as a keyboard or a mouse. It may also be a touch panel integrated with the display unit 1200.

[0279] The communication unit 1400 is an interface for communicating with other devices. For example, it is an interface connectable to a wired / wireless LAN. The communication unit 1400 can be connected to a network NW such as the Internet.

[0280] Also, although not shown, for example, it may further have a card slot capable of reading and writing the memory card 22. The generation device may output area information, which is information about the area related to reverse travel, to the memory card 22.

[0281] [2.3.2 Configuration of the Processing Device] The configuration of the processing device will be described with reference to Fig. 8(b). The configuration of the processing device 200 is as shown in Fig. 2. Fig. 8(b) shows only the configuration described in this embodiment.

[0282] The control unit 2000 functions as a reverse travel notification unit 2010 by reading and executing the reverse travel notification program 2120 from the storage unit 2100. As will be described later, when the control unit 2000 executes the program and determines that the vehicle is in a reverse travel state, or there is a possibility of reverse travel, or it is likely to be in a reverse travel state, etc., the reverse travel notification unit 2100 performs notifications related to reverse travel. The operation of the reverse travel notification unit 2010 will be described later.

[0283] The storage unit 2100 stores a DB 2110 and a reverse travel program 2120. The DB 2110 contains the content of the received area information DB1130 in the database 19 described in the first embodiment. Note that the area information DB1130 may be configured to be included in the DB19, or may be stored as another database (DB).

[0284] The reverse travel notification program 2120 is a program that describes the following processing. The reverse travel notification program 2120 may be stored in the processing device 200 in advance, or may be received from the outside and stored. Also, the reverse travel detection program 2120 may be incorporated as a module into another program (for example, a map application or a navigation application executable on a smartphone).

[0285] Further, the reverse travel notification unit 2010 (reverse travel notification program 2120) may be realized in the cloud. In this case, the processing device may transmit the position information to the server device of the cloud, and when it detects reverse travel or detects the possibility of reverse travel, it may receive a notification signal.

[0286] Also, the control unit 2000 may be connected to a position information acquisition unit 2200, a vehicle information acquisition unit 2300, and a notification unit 2400.

[0287] The position information acquisition unit 2200 acquires the position of the vehicle. For example, based on a signal from GPS (Global Positioning System), which is one of GNSSs (Global Navigation Satellite System), the position (latitude and longitude) of the vehicle is acquired. In this case, the signal may be received by the GPS receiver 12 shown in FIG. 2. Further, as QZSS (Quasi-Zenith Satellite System), Michibiki may be used in combination. Further, the position may be acquired based on a signal from a base station device of 5G communication.

[0288] The vehicle information acquisition unit 2300 acquires vehicle information. For example, acceleration by a gyro sensor and azimuth by a geomagnetic sensor may be acquired. Further, the vehicle information acquisition unit 2300 may acquire a vehicle speed pulse signal or acquire vehicle information (speed, acceleration, etc.) via OBD (On-board diagnostic) / OBD2.

[0289] The control unit 2000 can acquire the position of the vehicle based on the information of the position information acquisition unit 2200 and the vehicle information acquisition unit 2300. Further, in addition to the position of the vehicle, the movement of the vehicle (speed and traveling direction) may be acquired.

[0290] The notification unit 2400 performs notification when the reverse travel notification unit 2010 (control unit 2000) determines that the vehicle is in a reverse travel state. Here, the notification unit 2400 realizes various notification methods. (1) Notification by sound or voice (for example, voice from a speaker, a horn, etc.) (2) Notification by light (for example, display, light emission of a light emitter such as an LED, hazard, etc.) (3) Notification by display of a message (4) Notification by vibration (5) Notification by notification to another terminal device (for example, a device such as a smartphone, a separate in-vehicle navigation device, an audio device)

[0291] The notification methods performed by the notification unit 2400 may be combined. For example, both notification by sound and notification by light may be performed. Also, the notification method may be switched step by step. For example, initially, only notification by light may be used, but after a predetermined time has elapsed, notification by sound may be performed.

[0292] Also, the notification unit 2400 may switch the notification method depending on the type of notification. For example, in the case of notification regarding a caution, the notification unit 2400 may perform only by light or display of a message. Also, in the case of notification regarding an alarm, the notification unit 2400 may perform notification by voice in addition to light or display of a message.

[0293] [2.4 Process flow] Next, in the process flow of the present embodiment, it will be described with reference to the drawings.

[0294] [2.4.1 Region information setting process] First, the region information setting process executed by the generation device 100 will be described with reference to FIG. 10. First, the control unit 1000 of the generation device 100 sets a start point and an end point that are the region (step S102).

[0295] The start point and end point of the region may be set, for example, by the control unit 1000 on the map displayed on the generation device 100. Also, the administrator who generates the data may select the start point and the end point respectively with a mouse or a touch pen, for example. Also, the administrator who generates the data may set the start point and the end point by performing a drag operation from the start point to the end point, for example.

[0296] Next, the control unit 1000 sets the width (step S104). When the width is set, the region can be specified as a region surrounded by the length connecting the start point and the end point and the width. The width may be input by the administrator or may be automatically set by analyzing the map. For example, when the administrator designates the start point and the end point, the control unit 1000 may set the width to the road width of the road including the straight line connecting the start point and the end point.

[0297] Here, various methods can be considered as the method for setting the width. For example, FIGS. 11(a) and 11(b) show a four-lane road with two lanes on each side. At this time, in FIG. 11(a), regions are set for each traveling direction. That is, the width of the region is set to be equivalent to two lanes on one side.

[0298] Also, as shown in FIG. 11(b), the region may be set to include both side lanes. In this case, the width of the region is approximately the road width, and in FIG. 11(b), it is set to be equivalent to four lanes.

[0299] In addition, it may also be set for each lane. For example, the regions may be set for the main line, branch line, acceleration lane / deceleration lane, and uphill lane respectively. A branch line refers to a road that branches off from or merges into the main line. For example, it refers to a road connecting to a toll gate, a PA / SA, a road for connecting to other roads, or a road within a junction. Also, the branch line includes, for example, a side path parallel to an underpass (overpass) that branches off / merges into the main line.

[0300] When detecting reverse driving, it is preferable to set by traveling direction as shown in FIG. 11(a). However, depending on the accuracy of vehicle position detection and the width of the road, it may be better to set the region to include all lanes as shown in FIG. 11(b).

[0301] The control unit 100 determines whether there is a direction (notification direction) in the region specified by the start point, end point, and width set in step S102 and step S104. Here, in the case of a region with a notification direction, the notification direction is set (step S106; Yes → step S108). Also, if there is an entry angle in the region specified by the start point, end point, and width (step S110; Yes), the entry angle is set (step S112).

[0302] FIG. 11(c) is a diagram showing a region R10 in which the notification direction and the entry angle are set. The region R10 is a region with a direction from the start point P1 to the end point P2. Also, an entry angle θ = α is set in the region.

[0303] Therefore, the processing device 200 determines that the vehicle that has entered the region R10 from the end point P2 side and has entered at an entry angle of θ = (2α° centered on the straight line between the start point and the end point) has entered this region R10.

[0304] Therefore, for the vehicle shown in FIG. 11(c), the processing device 200 (control unit 2000) makes the following determinations. · It is determined that the vehicle CR1 has entered the region R10 from the direction opposite to the direction from the start point P1 to the end point P2. · Since the vehicle CR2 is moving in the same direction as the direction from the start point P1 to the end point P2, it is not determined that the vehicle CR2 has entered the region R10. · The vehicle CR3 is moving from the end point P2 side to the region R10, and the entry angle is within θ. Therefore, it is determined that the vehicle CR3 has entered the region R10. · The vehicle CR4 is moving from the start point P1 side, and the entry angle is θ or more. Therefore, it is not determined that the vehicle CR4 has entered the region R10.

[0305] Returning to the description of FIG. 10, the control unit 1000 selects Type as the attribute of the region (step S114). The attribute (Type) of the region may be set for each region, or the attribute (Type) of the region may be set by default. Further, the control unit 1000 may automatically determine based on the shape of the road included in the map, etc. (for example, whether it is from a branch point to a merging point, etc.).

[0306] Subsequently, the control unit 1000 determines whether there is a region related to the currently set region (step S116). Here, when the Type of the region set in step S114 is "2" or "3", the control unit 1000 sets a related region (step S116; Yes → step S118).

[0307] In addition, when the third area is set among the attributes (Type) of the area, in step S102, the start point is set to be equal to the end point. Also, in this case, the width input in step S104 becomes the size (radius) of the area. Also, the notification direction and the entry angle may not be set.

[0308] FIG. 12 is an example of a display screen W100 that is displayed when the generation device 100 sets an area. The display screen W100 displays a map M100, and on the map, the administrator sets an area. For example, in FIG. 12, a first area R102 set with Type1, a second area R104 set with Type2, and a third area R106 set with Type3 are displayed by the administrator.

[0309] In this way, the administrator who creates area information uses the generation device 100 to set each area on the map.

[0310] And the administrator can set an area on the map. The latitude and longitude of the start point and the end point may be set from the map, or the width or the like may be set. For example, the control unit 1000 detects an operation of the administrator clicking or dragging on the map, and sets the start point, the end point, and the width of the area.

[0311] Also, the map does not necessarily have to be displayed on the display screen W100. The map may be a map based on the actual facilities based on the Internet or stored map information, or a schematic diagram may be displayed. Also, the control unit 1000 can switch the display of the area for each area. For example, the control unit 1000 can switch the display / non-display of a predetermined area according to the operation of the administrator. Also, the control unit 1000 can switch, for example, the display / non-display of the entire first area.

[0312] Note that the control unit 1000 generates area information by executing the process shown in FIG. 10, but it may be generated by other methods. For example, the generation device 100 causes a neural network to learn area information of the first area to the fourth area from map information and the set areas by deep learning. The generation device 100 estimates new first to fourth areas for map information of an area where the area has not yet been set, using the above-described learned neural network. At this time, as parameters for weighting the neural network, for example, by giving information regarding the type of road, the presence or absence of intersecting roads, the type of interchange / junction, and the entrance or exit of a service area or parking area, more appropriate learning can be performed.

[0313] As described above, the process of automatically generating area information by the generation device 100 has been explained. However, the control unit 1000 of the generation device 100 may further be provided with an editing function so that the area information automatically generated in this way can be manually edited. By doing so, area information that better reflects the intention of the administrator can be generated with less burden.

[0314] [2.4.2 Reverse Driving Notification Process] Next, the reverse driving notification process executed by the terminal device 200 will be described with reference to FIG. 13. The reverse driving notification process is a process for notifying information regarding reverse driving. FIG. 13 shows a process executed by the control unit 2000 of the terminal device 200.

[0315] First, the control unit 2000 acquires the position of the vehicle (step S202). The control unit 2000 can acquire the position of the vehicle from, for example, the position information acquisition unit 2200. Also, when the position of the vehicle cannot be acquired based on the position information acquisition unit 2200, the control unit 2000 acquires the position of the vehicle by referring to the vehicle information acquired from the vehicle information acquisition unit 2300. For example, when the GPS signal cannot be received by the GPS receiver 12, the current position is acquired from the vehicle speed pulse signal and the detection result of the gyro sensor acquired from the vehicle information acquisition unit 2300.

[0316] When the control unit 2000 determines that the vehicle has entered the area indicated by any area information (when it is determined that the position of the vehicle is included in any area), it acquires the type of the area and executes the process corresponding to the area (step S204; Yes → step S206).

[0317] If the attribute of the area entered by the vehicle is Type1, the control unit 2000 executes the first area notification process (step S206; Type1 → step S208). If the attribute of the area entered by the vehicle is Type2 or Type3, the control unit 2000 executes the second area notification process (step S206; Type2 → step S210). If the attribute of the area entered by the vehicle is Type4, the control unit 2000 executes the fourth area notification process (step S206; Type4 → step S212).

[0318] After the control unit 2000 executes each process, it repeatedly executes the process from step S202 until the process ends (step S214; No → step S202). Also, when the end of the process is selected, the control unit 2000 ends this process (step S214; Yes).

[0319] [2.4.3 First Area Notification Process] (1) Process Flow Regarding the first area notification process executed by the control unit 2000 when the position of the vehicle enters the first area, it will be described with reference to FIG. 14.

[0320] The control unit 2000 determines whether there is a setting for the notification direction in the area (step S2102). Here, when there is no setting for the notification direction in the area (step S2102; No), the control unit 2000 executes the notification process and performs notification from the notification unit 2400 (step S2110). Here, the notification unit 2400 performs notification regarding a caution message.

[0321] When the traveling direction of the vehicle does not match the condition of the notification direction in the first area (step S2104; No), the control unit 2000 does not perform notification in the first area. Also, when the traveling direction of the vehicle matches the condition of the notification direction and there is no entry angle setting, the control unit 2000 executes the notification process (step S2104; Yes → step S2106; No → step S2110).

[0322] Here, the condition of the notification direction in the first area means that the vehicle enters from the direction opposite to the direction of the area. In this case, the control unit 2000 executes the notification process and issues a caution signal from the notification unit 2400. However, when the vehicle enters from the start point side of the area, the control unit 2000 does not perform notification.

[0323] Also, when there is an entry angle setting in the setting of the first area, the control unit 2000 issues a caution signal when the direction in which the vehicle enters the first area matches the condition of the entry angle (step S2104; Yes → step S2106; Yes → step S2108; Yes → step S2110).

[0324] Here, when the position of the vehicle enters the first area again, the process is repeatedly executed from step S2102. The control unit 2000 may continuously issue a caution signal or may not issue a caution signal when the position of the vehicle exists in the first area, but it may also repeatedly perform the process of issuing a caution signal again after a predetermined time interval once a caution signal is issued.

[0325] Also, when the control unit 2000 determines that the vehicle has exited the first area, it ends this process (step S2112; No).

[0326] (2) Operation example The specific operation regarding the first area will be described. First, the following locations are assumed as the areas where the first area is set.

[0327] · A place where it is easy to enter in reverse from the highway exit. In this case, it may be set on the surrounding general road. · Near the toll gate exit. It may be set near the merging point or the toll payment window. · Near the entrance of the parking area / service area. · Near the approach to the merging point. However, it is preferably set in combination with the second area described later (it is desirable to arrange the first area in front of the second area). · The location where a warning message is to be output.

[0328] FIG. 15 is a diagram schematically showing an intersection of a road D3 going downward from above (for example, the exit of an interchange) and a general road D5 in the horizontal direction. Here, the road D3 is a traffic lane going from top to bottom in FIG. 15, and the road D5 is a traffic lane going from right to left in FIG. 15.

[0329] For example, the road leading to the exit of the interchange has a width F2010 set from the starting point P2010 to the ending point P2012, thereby setting the first area R2010. Also, the intersecting general road has a width F2020 set from the starting point P2020 to the ending point P2022, thereby setting the first area R2020.

[0330] Here, assume that the first area R2010 is set as having a notification direction. In the case of FIG. 15, when the vehicle travels in the direction from top to bottom in FIG. 15, the control unit 2000 executes a notification process. At this time, the notification unit 2400 issues a warning message.

[0331] Also, assume that the first area R2020 is set as having a notification direction. In the case of FIG. 15, when the vehicle travels in the direction from right to left in FIG. 15, the control unit 2000 determines that the vehicle has entered and executes a notification process. At this time, the notification unit 2400 issues a warning message.

[0332] Here, as shown in FIG. 15, at the intersection of the road leading to the entrance / exit of the interchange and toll booths and other general roads, the first area set on the road leading to the entrance / exit of the interchange may be set longer than the first area set on the intersecting general road. That is, the first area set on roads other than the road leading to the entrance / exit of the interchange may be set shorter than the first area set on the road leading to the entrance / exit of the interchange. For example, the first area of the general road set on other roads may be set inside the crosswalk within the intersection, so as to be set as an area prompting the attention point of reverse driving within the intersection.

[0333] In addition, the control unit 2000 may set the first area in the vicinity of the toll booth (toll payment window). In this case, the first area is set with about 100 m from the toll booth as a reference. By setting the first area in the vicinity of the toll booth, when there is no installation of a median strip (no temporary partition such as a pylon) in the vicinity of the toll booth, a caution message for paying attention to turning at the location can be output.

[0334] In addition, the first area can be set at the merging point. The end side of the first area may be set from the point where the driver can visually recognize the merging point (merging start position).

[0335] In addition, at the merging point, the first area and the second area may be set together. The first area may be set to include about 50 m in front of the merging point.

[0336] In this case, the type of notification may be stored in the area information. For example, even if the Type of the area is set to "1", the control unit 2000 may notify a caution message according to the type of the caution message.

[0337] By doing so, it becomes possible to set an area for notifying a caution message at an arbitrary point on the map.

[0338] [2.4.4 Second Area Notification Process] For the second area, the "starting point side" is the front side in the traveling direction and is the end point side indicated by the arrow, and the "end point side" is the rear side in the traveling direction and is the starting point side indicated by the arrow. (1) Flow of the process Next, the second area notification process will be described with reference to FIG. 16. Note that in the second area notification process, when the vehicle enters the second area, the control unit 2000 transitions to the reverse travel monitoring state. And when the vehicle enters the third area, the control unit 2000 releases the reverse travel transition state. The reverse travel monitoring state here is a state where, by acquiring the position of the vehicle in real time or every predetermined time, it monitors whether the risk of the vehicle traveling in reverse is increasing. The control unit 2000 does not necessarily have to issue an alarm notification just because the vehicle enters the reverse travel monitoring state. Also, the control unit 2000 may issue a caution notification when the vehicle enters the reverse travel monitoring state.

[0339] Here, at the timing when the vehicle enters the second area, that is, at the timing of transitioning to the reverse travel monitoring state, the control unit 2000 may issue a caution notification. For example, the control unit 2000 may issue a notification such as "This is a point to be cautious about reverse travel".

[0340] The control unit 2000 determines whether the vehicle has entered the third area (step S2202). At this time, if the vehicle has entered the third area, the control unit 2000 executes the notification cancellation process (step S2202; Yes → step S2214). That is, the control unit 2000 releases the reverse travel monitoring state that it has determined.

[0341] And when the vehicle has not entered the third area and meets the reverse travel condition, the control unit 2000 executes the alarm notification process (step S2202; No → step S2204; Yes → step S2206). The reverse travel condition is that the distance between the position of the vehicle and the center point of the third area (an example of a predetermined point) is greater than or equal to the distance between the center point of the third area and the starting point of the second area. Note that the reverse travel condition may be, instead of or in addition to the above distance condition, that a predetermined time has elapsed without the own vehicle position entering the third area.

[0342] Here, it is preferable to install the third area in front of the vehicle in the forward direction of the road so that the vehicle will surely pass through it after originally passing through the second area. Further, when the vehicle does not pass through the third area and satisfies the reverse running condition, the control unit 2000 executes an alarm notification process on the assumption that there is a possibility of reverse running on the way.

[0343] Note that the control unit 2000 may cancel the alarm notification process executed in step S2206 when a predetermined condition is satisfied thereafter. For example, the control unit 2000 may suspend the alarm notification process once when the number of times the alarm has been notified exceeds a predetermined number of times or when a predetermined time has elapsed. Further, the control unit 2000 may suspend the alarm notification process when the vehicle enters the third area.

[0344] Next to the process of step S2206, the control unit 2000 determines whether the vehicle has entered the third area (step S2208). When it is determined as "No" in step S2208, the control unit 2000 determines whether the vehicle has stopped (step S2210). When it is determined as "No" in step S2210, the control unit 2000 acquires the position of the vehicle (in step S2212) and returns to the process of step S2208. When it is determined as "Yes" in step S2208 and when it is determined as "Yes" in step S2210, the control unit 2000 performs a notification cancellation process (step S2214).

[0345] (2) Operation example (second area) Specific operations regarding the second area will be described. First, the following locations are assumed as the areas where the second area is set.

[0346] · Before the merging point. In this case, it is preferable to set it in combination with the first area described above. · Near the entrance and exit of the parking area (PA) / service area (SA).

[0347] That is, the second area is set at a location where it is desired to monitor that a vehicle at the merging point becomes in a reverse running state due to a sharp turn. Note that the second area is set as a set with the third area in principle. For example, as shown in FIG. 9(b), the second area and the third area are stored in association as related areas. Note that the second area and the third area may be associated in a one-to-one relationship, or may be associated in a many-to-one or many-to-many relationship. For example, a plurality of third areas may be associated with the second area. Also, a plurality of second areas may be associated with the third area.

[0348] FIG. 17 is a diagram showing an example of reverse running conditions in the second area. The second area is set such that the entry angle θ is within 180 degrees, for example, as shown in FIG. 17. When the control unit 2000 determines that the vehicle has not entered, it does not transition to the reverse running monitoring state, and when it determines that the vehicle has entered, it transitions to the reverse running monitoring state. On the other hand, when the angle difference between the traveling direction of the vehicle and the line segment connecting the starting point and the ending point is greater than 90 degrees, the control unit 2000 does not determine that the vehicle is in a reverse running state and does not issue a notification. The control unit 2000 may also perform an alarm notification process when the traveling direction of the vehicle changes by a predetermined angle or more during the reverse running monitoring state. By doing so, an alarm can be quickly issued when the vehicle actually runs in reverse.

[0349] FIG. 18 is a diagram for explaining an example of a method for setting the second area. FIG. 18(a) is a diagram showing the merging into a two-lane road D10 on one side. The road D10 shown at the lower side of FIG. 18 (for example, a highway) is a two-lane road on one side, and the traveling direction of the road is from left to right. Also, from the upper side of FIG. 18(a), a branch road D14 merges. Also, on the upper side of FIG. 18(a), a one-lane road D12 (for example, a general road) is shown. The road D12 can travel in both directions. And a one-lane road D16 branched from the road D12 is shown from the upper side to the lower side of FIG. 18(a). Also, the roads D10 and D16 are elevated, and the road D16 passes under the road D10.

[0350] The second area may be set so that non-target roads are not included in the second area. For example, on road D10, a second area R2110 and a second area R2120 are set. At this time, the second area set for road D10 is set as a separate area so that road D16 is not included in the second area. In this way, since the second area is not set on road D16, the control unit 2000 can prevent the detection of a reverse driving state not related to road D16 (false detection) even when the vehicle is traveling on road D16.

[0351] Similarly, the second area R2130 is set so that the set area is not related to road D12. Thereby, the control unit 2000 can prevent false detection based on road D14 even when the vehicle is traveling on road D12.

[0352] When the control unit 1000 sets the second area, the second area may be set in consideration of the error in position measurement (GPS error). That is, when setting the second area R2110 or the second area R2120, the control unit 1000 may set it at a position considering the GPS-based position measurement error from road D16. Thereby, the control unit 2000 can prevent unnecessary notifications based on false detection of the area.

[0353] Also, a cancellation area may be set for non-target roads by the control unit 1000. In the cancellation area, no notification is made, and it is an area that does not transition to the reverse driving monitoring state. For example, in the case of Fig. 18(b), the control unit 1000 sets a second area R2140 and a second area R2150. Then, the control unit 1000 sets a cancellation area R2160, a cancellation area R2170, and a cancellation area R2175 for non-target roads.

[0354] When the position of the vehicle is included in the cancellation area, the control unit 2000 performs processing such as not making a reverse driving notification or not transitioning to the reverse driving monitoring state. Thereby, the control unit 2000 can prevent making a notification regarding false reverse driving for non-target roads.

[0355] Further, this cancellation area may be the first area. That is, when the first area and the second area are set to overlap, the control unit 2000 may prioritize the first area. In this case, when the vehicle travels from top to bottom on road D16, the control unit 2000 does not issue a notification based on either the first area R2160 or the second area R2140. However, when the vehicle travels from bottom to top on road D16, the control unit 2000 executes a notification process (a process of issuing a warning) based on the first area R2160. Also, when the vehicle travels on road D10, the control unit 2000 executes a notification process based on the second area R2140.

[0356] Note that when a plurality of areas are set to overlap in this way, the control unit 2000 may execute processing according to a predetermined priority. Also, the notification unit 2000 may set a priority for each area and execute processing based on the set priority. For example, the control unit 2000 may determine the priority according to the attribute of the area. Specifically, as described above, when the first area and the second area are set, the control unit 2000 may determine that the first area is a priority area.

[0357] Also, the control unit 2000 may determine the priority based on other information. For example, in the case of a highway and a general road, the highway may be set as a priority.

[0358] Note that the control unit 2000 may set the second area in combination with the first area. For example, FIG. 19 is a diagram showing a confluence point of a branch road D22 on a road D20 which is a two-lane road on one side.

[0359] The control unit 1000 sets an area in the opposite direction to the traveling direction by a predetermined distance from the confluence point J1 as the first area R2110A as the point for determining reverse travel, and sets the second area R2110B on the traveling direction side of the first area R2110A. Thereby, in front of the confluence point J1, the control unit 2000 transitions to a reverse travel monitoring state after issuing a warning.

[0360] Note that the connection point between the first region R2110A and the second region R2110B is preferably at a distance where at least the confluence start point can be visually confirmed. For example, when traveling on the road D20, the lower side (starting point during travel) of the second region R2110B is preferably set at the point J3 in front of the position where the confluence point J1 can be visually recognized from the vehicle. Further, the starting point (lower end) during travel of the second region R2110B may be set at J3 slightly ahead (10 to 20 meters ahead) of the confluence position.

[0361] (3) Operation example (third region) The specific operation for the third region will be described. The following locations are assumed as the regions where the third region is set.

[0362] · The end point of the merging side road continuing from the merging point. That is, the control unit 1000 sets the third region at a location where it releases the section in the reverse travel monitoring state from the second region in the reverse travel monitoring state. That is, it becomes an area for releasing the monitored section from the second region which is the reverse travel monitoring point.

[0363] Note that the third region is preferably created at a location where the vehicle normally travels. For example, in the case of merging, it may be set at a position where the region is included starting from the position where the side road ends (the position where the merging lane ends).

[0364] Note that the third region is preferably interlocked with the second region. For example, as region information, the region of the second region is included in the related information. Note that it is preferable not to include the second region or the fourth region in the third region.

[0365] The third region is set as a circular region with the start point (end point) as the center point and the width as the radius. Therefore, when the vehicle does not pass through the third region which is the reverse travel monitoring release area and satisfies the reverse travel condition, an alarm is notified. The control unit 2000 outputs, for example, an alarm such as "Are you driving in reverse?"

[0366] FIG. 20 is a diagram for explaining an example of the settings of the second region and the third region. FIG. 20 is a diagram showing a point where a road D22 with only one lane on one side merges into a two-lane road D20 on one side. In FIG. 20, the direction from the bottom to the top of the figure is the traveling direction.

[0367] Here, a second region R2200 is provided on the main road D20. Also, a second region R2210 is provided on the branch road D22.

[0368] In addition, a third region R2220 is provided on the road D20 which is the main line. The third region R2220 is set as, for example, a circle with a radius of 100 m. This third region is set at a position including a point J7 where a predetermined distance can be secured from a point J6 where the merging lane ends. At this time, the distance between the point J6 and the point J7 is preferably 50 m to 100 m.

[0369] Also, the third region may be set at a position including J7 where a predetermined distance can be secured from a point J5 which is the merging start point.

[0370] For example, when a vehicle travels on the road D20, when the position of the vehicle approaches the region R2200, the control unit 2000 transitions to a reverse running monitoring state. The control unit 2000 may give a warning notice when transitioning to the reverse running monitoring state.

[0371] Here, when the reverse running condition is satisfied, the control unit 2000 determines that it is in a reverse running state and gives an alarm notice. Here, when the reverse running condition includes a predetermined time, that time may be a time during which the vehicle can pass the distance from J5 to J6. Also, the predetermined time may be a preset time (for example, 10 seconds, etc.).

[0372] The control unit 2000 releases the reverse running monitoring state and does not give a notice.

[0373] In addition, when a second area is set at the entrance of the PA / SA, the second area may be set so as to face the opposite side of the second area arranged at the confluence point as described above, that is, the end point side is located on the third area side rather than the starting point of the arrow. Thereby, when the control unit 2000 passes the parking lot side which is the starting point side of the second area, it moves away from the third area, so an alarm for reverse driving is notified. By doing so, it is possible to suppress reverse driving from the entrance of the PA / SA.

[0374] Also, an entry angle may be provided in the third area. For example, in the case of a vehicle entering from the entry angle of the third area, the control unit 2000 stops the notification process. By doing so, for example, when the third area is set as a one-way road and the direction of clearly reverse driving is determined, it may not be associated with other areas.

[0375] Also, in the above-described embodiment, the third area has been described as being circular, but the shape is not limited to this. For example, the third area may have a shape such as a rectangle or an ellipse by setting a starting point and an end point. Further, since the third area is a point for releasing the reverse driving monitoring state, it may be a line segment orthogonal to the road.

[0376] When there is another road (sidewalk) along the road, the third area preferably has a range that includes the sidewalk. During driving on the other road, there is a possibility that it may be determined that the vehicle has entered the second area due to a GPS error. In this case, an alarm may be output. However, if the third area is set to cover the other road, a vehicle driving on the other road enters the third area and the reverse driving monitoring state is released. By doing so, even if an alarm is output due to recognizing that the vehicle is driving on another road due to a GPS error, it can be released early.

[0377] Also, the third area may be indicated at a location such as a toll gate position, a T-junction road, or an entrance within a site.

[0378] [2.4.5 Fourth Area Notification Process] (1) Process flow Next, the fourth area notification process will be described with reference to Fig. 21. For the fourth area, the "starting point side" is the near side in the traveling direction, which is the end point side indicated by the arrow, and the "end point side" is the far side in the traveling direction, which is the starting point side indicated by the arrow.

[0379] When the position of the vehicle enters the fourth area, the control unit 2000 outputs a caution message (step S2302). Then, the control unit 2000 calculates the distance between the starting point (the point when entering the fourth area), which is the starting end side (entrance side, the end point side of the arrow) in the traveling direction within the fourth area, and the position of the vehicle (step S2304). Since the vehicle has entered the fourth area, the distance between the vehicle position and the starting point increases when the vehicle is moving forward in the traveling direction, and decreases when the vehicle is moving in the opposite direction of the traveling direction.

[0380] Here, the control unit 2000 determines whether the distance calculated in step S2034 has started to decrease (step S2306). Here, when the position of the vehicle exits the fourth area (step S2314; Yes), this process ends. Note that when the position of the vehicle does not exit the fourth area (step S2314; No), the process is repeatedly executed from step S2306.

[0381] Also, when the control unit 2000 determines that the distance calculated in step S2304 has decreased (step S2306; Yes), it outputs an alarm (step S2308). Note that when the control unit 2000 outputs an alarm, it may output by switching with the output of the caution message. Also, when the alarm output and the caution message output are different notification methods, they may be notified simultaneously.

[0382] Here, when the position of the vehicle exits the fourth area, the control unit 2000 ends this process (step S2314; Yes). Also, when the vehicle has not exited the fourth area but the number of notifications has reached the upper limit, the control unit 2000 ends this process once.

[0383] (2) Operation example The specific operations for the fourth area will be described. First, the following locations are assumed as the areas where the fourth area is set. · Branch point

[0384] That is, the fourth area is set in an area where it is assumed that the vehicle advances in the forward direction from the branch entrance and then reverses when it makes a backward movement or a U-turn.

[0385] When the vehicle enters (enters) the fourth area, the control unit 2000 gives a warning. For example, as an example of the warning, the control unit 2000 announces "This is a reverse driving caution point!" by voice output. That is, when a vehicle is included in the fourth area, it is in a reverse driving monitoring state.

[0386] Also, in the fourth area, it is preferable that the vehicle makes the entry angle θ within 180 degrees in accordance with the direction from the starting point to the ending point. That is, it is not applicable for the vehicle to enter from the opposite side, and it can be considered in the same way as the second area.

[0387] Figure 22 is a diagram for explaining the operations in the fourth area. In Figure 22, the direction from left to right is the traveling direction of the road. In Figure 22(a), the vehicle has entered the fourth area R2400 (point J10). The control unit 2000 outputs a warning since the vehicle has entered the fourth area R2400. Note that in Figure 22, for convenience of explanation, the position of the vehicle is described as the tip of the vehicle. The position of the vehicle is the position acquired by the processing device 200, and it may be other positions such as the center of the vehicle or the position of the driver's seat.

[0388] If the vehicle continues to move forward in the traveling direction, as shown in Figures 22(b) and 22(c), the distance between the starting point of the fourth area and the vehicle increases. That is, the distance d12 between point J10 and point J12 and the distance d14 between point J10 and point J14 increase. In this case, the control unit 2000 determines that the vehicle is traveling (moving forward) correctly in the traveling direction and does not give a new warning.

[0389] Here, FIG. 22(d) is a diagram where the position of the vehicle is at point J16. In this case, the distance d16 between point J10 and point J16 is smaller than the distance d14. Therefore, since the distance is decreasing, the control unit 2000 determines that the vehicle has traveled in the direction opposite to the traveling direction (has reversed, has retreated), and outputs an alarm notification.

[0390] While the distance between the vehicle and point J10 that has entered the fourth region R2400 continues to decrease, the control unit 2000 outputs an alarm notification. Further, when the distance starts to increase, the control unit 2000 may stop outputting the alarm notification.

[0391] Then, as shown in FIG. 22(e), when the vehicle exits the fourth region R2400, the control unit 2000 does not perform any further notifications. Also, when a notification is being made (for example, a caution notification is being output), the control unit 2000 may stop the notification.

[0392] FIG. 23 is a diagram for explaining an example of the method for setting the fourth region. FIG. 23 is a diagram showing a point where a one-lane road D32 branches off from a two-lane road D30 on one side. In FIG. 23, the direction from the bottom to the top of the figure is the traveling direction of the road.

[0393] Here, a fourth region R2410 is set on the main line side road D30 and a fourth region R2420 is set on the branch line side road D32 so as to include the branch point J20 of the main line road D30. Here, as the setting location of the fourth region, the starting point J22 is set in front of the branch point J20. For example, it is preferable that the starting point J22 is set 10 to 20 m in front of the branch point J20.

[0394] Also, as the setting location of the fourth region, the end point J24 is set after the branch point J20. For example, it is preferable that the end point J24 is set 50 to 60 m after the branch point J20.

[0395] Such a fourth area is also set for, for example, a road D32 which is a branch line. Also in this case, it is preferable that, for example, a starting point J28 is set at a laborious point from a branching point J26.

[0396] [2.5 Notification operation] Here, the notification operation will be described. As the notification operation, the operation of notifying a caution message and the operation of notifying an alarm will be described. The control unit 2000 performs notification via the notification unit 2400. Here, the notification by voice will be described.

[0397] [2.5.1 Caution message] First, the notification regarding the caution message will be described. The control unit 2000 may notify, for example, when the vehicle enters the first area, the second area, or the fourth area. Also, the control unit 2000 may determine whether notification is necessary for each area. For example, it is set whether it is necessary / not necessary to notify for each area, and the control unit 2000 may notify based on the setting. Further, when a cancellation operation is performed by the user, the control unit 2000 may not notify about the area from the next time.

[0398] The control unit 2000 outputs a caution message, for example, at the timing when the vehicle enters the second area. Then, the control unit 2000 may output the caution message at a predetermined time interval (for example, every 30 seconds, etc.), or may output it only at the timing when the vehicle enters the second area.

[0399] Also, if areas are continuously set on the driving route of the vehicle, the control unit 2000 may notify every time when it is included in a new area. Also, when one set area is long, the vehicle may be included in the same area for a long time, and it is assumed that the control unit 2000 may notify more than necessary. Similarly, when the vehicle is included in a predetermined area for a longer time than expected during traffic congestion, it is assumed that the control unit 2000 may notify more than necessary. The control unit 2000 may perform, for example, delay processing in order to perform appropriate notification.

[0400] FIG. 24(a) is a diagram for explaining an example of the timing for notifying a caution message. Assuming a case where regions continue continuously, a delay time is provided for each output of a caution message. For example, in the example of FIG. 24(a), 60 seconds is set as the delay time.

[0401] For example, after outputting a caution message once, a timer for the delay time is started. Therefore, as shown in FIG. 24(a), the control unit 2000 outputs a voice "This is a reverse driving caution point!" as a caution message at time t10. Then, a caution message is output again at time t12, 60 seconds later. In this way, the control unit 2000 outputs a caution message every delay time.

[0402] Also, when the region for outputting a caution message is the same, the control unit 2000 may further change the processing. For example, the delay time may be further increased, the volume of the voice output may be decreased, or the message to be notified may be changed.

[0403] For example, the control unit 2000 sets the delay time to 60 seconds until a predetermined number of times (for example, the third time), but when exceeding the predetermined number of times (for example, the fourth time and later), the delay time may be set to 90 seconds.

[0404] Also, when exceeding a predetermined number of times, the control unit 2000 may decrease the volume level or gradually decrease the volume level. Also, the control unit 2000 outputs "This is a reverse driving caution point!" until a predetermined number of times, but when exceeding the predetermined number of times, it may output a short voice "Reverse driving caution!"

[0405] Note that when performing notification, the control unit 2000 may output a predetermined signal (one port of the alarm status) to Low for a certain time (for example, 3 seconds).

[0406] Also, when the vehicle enters another region again within the delay time, the control unit 2000 may start a new timer for the delay time. For example, as shown in FIG. 24(b), the control unit 2000 outputs a caution message at time t20.

[0407] Here, assume that a vehicle enters a new area at time t22 within the delay time. In this case, the control unit 2000 may reset the currently operating timer once and output a warning at time t24 after the delay time again. Also, the control unit 2000 may output a new warning at t22.

[0408] In addition, assuming a driving pattern where notification is not desired, it may be possible to set so as not to output a warning according to the entry direction. For example, in the case of the second area, it may be set not to output a warning for entry from the opposite direction (reverse driving direction).

[0409] Also, when the vehicle enters the third area, it may be possible to forcibly abort the notification process. In this case, the delay time calculated in the second area may also be invalidated.

[0410] [2.5.2 Alarm] Next, the notification regarding the alarm will be described. The control unit 2000 is notified when it acquires a state where the vehicle is driving in reverse.

[0411] When the control unit 2000 determines that it is in a reverse driving state, it outputs alarms at equal intervals. For example, in FIG. 24(c), the alarms are output every 30 seconds.

[0412] The alarms may be output up to a predetermined number of times. For example, when the upper limit number of times is set to 10, the control unit 2000 outputs alarms up to 10 times.

[0413] When performing the notification, the control unit 2000 may output, for example, a predetermined signal (2 ports of the alarm status) Low for a certain period of time (for example, 3 seconds).

[0414] Also, during a period when it is determined that the vehicle is running in reverse (for example, while outputting an alarm during reverse running determination), if there is a change in the traveling direction of the vehicle (for example, if there is a direction change of 45 degrees or more, which is an example of a predetermined angle), or if the vehicle stops, the control unit 2000 may determine that the vehicle has started running forward or has performed a danger avoidance, and stop the output of the alarm.

[0415] Note that the control unit 2000 may determine that the vehicle has stopped when the speed of the vehicle is 0 km / h or when the speed is below a predetermined speed. For example, when calculating the speed of the vehicle based on GPS information, due to GPS errors, a speed may be calculated as if the vehicle is moving. Therefore, the control unit 2000 may determine that the vehicle has stopped when the speed of the vehicle is below the predetermined speed. The predetermined speed is preferably 8 km / h or less. In each of the above-described embodiments, this method can be used to determine whether the vehicle is stopped.

[0416] Also, the control unit 2000 may change the timing of the alarm output. For example, the interval for outputting the alarm may be changed according to the speed of the vehicle. For example, if the speed is 0 to 20 km / h, it may be output every 30 seconds as the first level, if the speed is 20 to 40 km / h, it may be output every 10 seconds as the second level, and if the speed is 40 km / h or more, it may be output every 3 seconds as the third level. Thus, the output timing of the alarm may be changed according to the speed.

[0417] Also, the control unit 2000 may also change the volume or switch the notification method at this time. For example, the control unit 2000 may increase the volume as it changes from the first level to the third level. Also, in the case of the third level, the control unit 2000 may output an alarm in conjunction with other devices.

[0418] [2.5.3 Switching of Notification] Also, in this embodiment, a plurality of voice patterns may be stored for the voice to be notified. For example, the processing device 200 stores the voice shown in FIG. 25.

[0419] For example, it is stored as one sound pattern shown in Fig. 25(a). In the present embodiment, the sound patterns shown in Fig. 25(b), the sound pattern shown in Fig. 25(c), the sound pattern shown in Fig. 25(d), and the sound pattern shown in Fig. 25(e) can be stored. The user may select any of these sound patterns or may select them randomly. Also, the processing device 200 can use the sound pattern prepared by the user. For example, the user can set an appropriate sound pattern by selecting items such as "Japanese female 1 (ordinary and serious)", "Japanese female 2 (polite and considerate)", "Japanese female 3 (girlfriend)", "Japanese female 4 (adult female)", and "English female" as the sound pattern to be output.

[0420] Also, each sound pattern stores one or more sounds related to a warning and one or more sounds related to an advisory. In each figure, the left column (type 1) is the sound related to an advisory, and the right column (type 2) is the sound related to a warning.

[0421] The control unit 2000 reads out and outputs the type 1 sound or the type 2 sound as necessary. The user can select a sound pattern according to their preference. Also, the user may download the sound pattern from a network or obtain it from a recording medium.

[0422] Note that there can be multiple sound patterns other than the above-described sound patterns. For example, when the area contains information about a place name, the place name may be output together. For example, when "Ashigara Service Area" is registered as the place name, the processing device 200 may output an audio message such as "This is the Ashigara Service Area. This is a reverse driving caution point!"

[0423] Also, the sound pattern may be switched in multiple ways according to the location where it is set. For example, assume that the area is set in the following areas. (1) Areas set on the main line and branch line before a merging point (2) Areas set on the main line before a branching point (3) Area set near the confluence of the highway exit and the general road (4) Area set in the entrance direction within the parking lot of the highway (5) Other areas (general notification)

[0424] At this time, the processing device 200 notifies "This is a reverse driving caution point" in the case of (5). Also, the processing device 200 notifies "This is a reverse driving caution point. The straight-ahead direction is ahead" in the case of (1). Further, the processing device 200 notifies as follows in the case of (2): "There is a branch ahead. This is a reverse driving caution point due to the branch", "This is a reverse driving caution point due to a wrong branch ahead", "There is a branch ahead. This is a reverse driving caution point due to a route mistake".

[0425] Also, in the case of (3), it notifies like "Near the highway exit. Please be careful of reverse driving". Also, in the case of (5), it notifies like "Please be careful. It is the entrance direction".

[0426] In this way, the processing device 200 may not only perform notification by voice, but also output different voices according to the location of the set area. That is, the voice may include explanations of the content corresponding to the set area, reverse driving caution information, and warnings about reverse driving.

[0427] [2.6 Others] The length and size of any of the areas described above may vary according to the location where they are set, or a common length may be used.

[0428] For example, it is preferable that the length of the area is longer in places where the vehicle is more likely to move at high speed. For example, in places where the road shape is straight, it is preferable that the length is longer than in places with curves. The processing device 200 calculates the position using the GPS signals received at regular time intervals. Therefore, even when the vehicle is moving at high speed, the position of the vehicle can be surely specified within the area. Also, when the vehicle is moving at high speed, since the amount of movement becomes large, it is preferable that the length of the area becomes longer according to the speed.

[0429] In addition, in places where the vehicle is likely to move at high speed, among the curved places, the smaller the curvature (gentle curve), the longer the length of the area may be. Also, among the curved places, the larger the curvature (sharp curve), the shorter the length of the area may be.

[0430] Also, when comparing a highway with a general road, the area of the highway may be made longer than that of the general road. Also, the length of the area may be changed according to the speed limit (regulated speed) of the road. In this case, the higher the speed limit (regulated speed), the longer the length of the area may be.

[0431] Also, when one road intersects another road, it is preferable to set the area so as not to overlap with the other road. By setting it in this way, it becomes possible to surely notify regarding reverse driving. Also, it becomes possible to prevent the occurrence of false notifications that notify in places where notifications should not originally be made.

[0432] Note that the above-described notification direction and entry angle are set to directions and angles at which the processing device 200 can appropriately perform notifications. Therefore, even if set in the opposite meaning, the above processing can be executed without problems.

[0433] For example, in the above-described embodiment, it was explained that the control unit 2000 executes a notification process when the vehicle enters the area from the angle included in the entry angle. However, conversely, the entry angle may be set as an angle at which the control unit 2000 does not execute the notification process.

[0434] In this case, when the vehicle enters within the set range of the entry angle, the control unit 2000 does not execute the notification process. However, when the vehicle enters outside the set range of the entry angle, the control unit 2000 may be configured to execute the notification process. [3. Modification Example]

[0435] The scope of the present invention is not limited to the configurations explicitly described in the specification or to limitations, but also includes combinations of various aspects of the present invention disclosed in this specification within its scope. Among the present invention, the configuration for which a patent is sought is specified in the appended claims. However, even if a configuration is not currently specified in the claims, the configurations disclosed in this specification have the intention of being made into claims in the future.

[0436] The present invention of the application is not limited to the configurations described in the above-described embodiments. The constituent elements of the above-described embodiments and modification examples may be arbitrarily selected and combined. Also, any constituent element of each embodiment or modification example may be arbitrarily combined with any constituent element described in the means for solving the invention or a constituent element embodying any constituent element described in the means for solving the invention. Regarding these as well, there is an intention to obtain rights in a correction of the present application or a divisional application. Even if there is a description such as "in the case of ~" or "when ~", it is not described as a configuration limited to that case or that time. Configurations other than these cases and times are also disclosed and have the intention of obtaining rights. Also, the parts with a sequential description are not limited to this order. Configurations with some parts deleted or the order changed are also disclosed and have the intention of obtaining rights.

[0437] Also, through a divisional application for a design application, it has the intention of obtaining rights for the overall design or a partial design. Although the drawings depict the entire apparatus in solid lines, the drawings include not only the overall design but also partial designs that claim for a part of the apparatus. For example, not only can a part of the members of the apparatus be the partial design, but the drawings also include the partial design of a part of the apparatus regardless of the members, including a part of the members or a part of those members as a part of the apparatus. Regarding the overall design, of course, it has the intention of obtaining rights for a partial design obtained by changing any part of the solid-line portion of the drawings to a dashed-line portion. Also, regarding the modules, members, parts, etc. inside the housing of the apparatus, those shown in the drawings are all independently subject to transactions, and similarly, it has the intention of filing a divisional application for a design application to obtain rights.

[0438] Also, in the embodiments, the programs operating in each apparatus are programs that control a CPU or the like (programs that enable a computer to function) so as to realize the functions of the above-described embodiments. And the information handled by these apparatuses is temporarily stored in a temporary storage device (e.g., RAM) during its processing, and then stored in storage devices such as various ROMs, HDDs, and SSDs, and read by the CPU as needed for modification and writing.

[0439] Also, when distributing to the market, the program can be stored in a portable recording medium for distribution, or transferred to a server computer connected via a network such as the Internet. In this case, the storage device of the server computer is of course also included in the present invention.

Description of Reference Numerals

[0440] 2 Apparatus main body 3 Cradle 4 Case main body 5 Display unit 6 Cradle main body 7 Pedestal portion 8 Touch panel 9 Alarm lamp 11 Microwave Receiver 12 GPS Receiver 13 Wireless Receiver 18 Control Unit 19 Database 20 Speaker 21 SD Memory Card Slot Section 22 SD Memory Card

Claims

**Claim 1** A system having a function of outputting a predetermined warning regarding a vehicle, the system having a function of outputting the warning at intervals corresponding to the speed of the vehicle. The system is characterized by the above. **Claim 2** When the speed of the vehicle is a second speed, the system has a function of outputting the warning at shorter intervals than when the speed of the vehicle is a first speed slower than the second speed. The system according to claim 1, characterized by the above. **Claim 3** When the speed of the vehicle is a second speed, the system has a function of outputting the warning at a louder volume than when the speed of the vehicle is a first speed slower than the second speed. The system has a function of outputting the warning at a volume corresponding to the speed of the vehicle. The system according to claim 1 or 2, characterized by the above. **Claim 4** When the speed of the vehicle is a second speed, the system has a function of outputting the warning to more devices than when the speed of the vehicle is a first speed slower than the second speed. The system according to any one of claims 1 to 3, characterized by the above. **Claim 5** A program for causing a computer to realize the functions of the system according to any one of claims 1 to 4.

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