Driving assistance system, driving assistance device, driving assistance program, and driving assistance method

Abstract

It is possible to determine the appropriate driving route for construction vehicles. [Solution] A driving assistance system (1) includes an on-vehicle terminal (3) mounted on a construction vehicle and a driving assistance device (4) that calculates a driving route to be traveled. The on-vehicle terminal (3) has a position information acquisition means (34a) that acquires position information of the construction vehicle in chronological order. The driving assistance device (4) has an intersection passing speed calculation means (42a) that calculates an intersection passing speed at which the vehicle passes through an intersection based on the position information, and a driving route determination means (42b) that determines one or more driving routes suitable for driving based on the intersection passing speed for each intersection. The intersection passing speed calculation means (42a) calculates the intersection passing speed for one or both of the directions of approaching the intersection and leaving the intersection using position information between two points or speed information at one or more points included in an intersection speed calculation area preset for the intersection.

Description

[Technical Field]

[0001] The present invention relates to a driving assistance system, a driving assistance device, a driving assistance program, and a driving assistance method. [Background technology]

[0002] In construction work, multiple construction vehicles (one example is a dump truck) transport earth and sand from a loading site to an unloading site, which can cause congestion and other problems on surrounding roads. Conventionally, a transport vehicle operation support system that provides optimal transport route information to transport vehicles has been known (see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2013-156835 Summary of the Invention [Problem to be solved by the invention]

[0004] Previously, the impact of construction vehicles (e.g., dump trucks) passing through intersections was not taken into consideration. For example, construction vehicles are wider than standard cars with a passenger capacity of around five people. Therefore, if a vehicle turning right at an intersection blocks part of the straight-ahead lane, a construction vehicle may not be able to pass even if a standard car could. This made it difficult to determine the appropriate driving route for construction vehicles.

[0005] From this perspective, the present invention provides a driving assistance system, a driving assistance device, a driving assistance program, and a driving assistance method that are capable of determining an appropriate driving route for a construction vehicle. [Means for solving the problem]

[0006] A driving assistance system according to the present invention is a system for assisting the driving of a construction vehicle. The driving assistance system includes an on-board terminal mounted on the construction vehicle, and a driving assistance device that calculates a driving route for the construction vehicle. The vehicle-mounted terminal has a location information acquisition means for acquiring location information of the construction vehicle in time series. The driving assistance device includes an intersection passing speed calculation means for calculating an intersection passing speed at which the vehicle passes through an intersection based on the position information, and a driving route determination means for determining one or more driving routes suitable for driving based on the intersection passing speed for each intersection. The intersection passing speed calculation means calculates the intersection passing speed for one or both of the direction of approach to the intersection and the direction of exit from the intersection using position information between two points included in an intersection speed calculation area that is preset for the intersection or speed information at one or more points included in the intersection speed calculation area.

[0007] By using the driving assistance system according to the present invention, it is possible to take into consideration the influence of a construction vehicle passing through an intersection, and therefore to determine an appropriate driving route for the construction vehicle.

[0008] The intersection speed calculation area is set to, for example, the roads included in the candidate driving route among the roads that make up the intersection. The driving route determination means determines one or more driving routes suitable for driving based on the intersection passing speed for each intersection speed calculation area.

[0009] The intersection speed calculation area may be set, for example, in a direction away from the center of the intersection with respect to a stop line of the intersection. The intersection passing speed calculation means may, for example, calculate point-to-point speeds between two consecutive points in time series for all position information included in the intersection speed calculation area, and obtain the intersection passing speed as the average of all the point-to-point speeds.

[0010] The construction vehicle may further include a travel management device that manages the travel of the construction vehicle. The travel management device may have a display unit that displays travel route information regarding the travel route, and the display unit may display a travel route information display screen that associates each of the intersection speed calculation areas included in the candidate travel route with the intersection passing speed.

[0011] The travel route information display screen may include a table configured of rows and columns, in which identification information of the candidate travel routes is arranged in one of the rows or columns, identification information of the intersection speed calculation area is arranged in the other of the rows or columns, and the intersection passing speed is arranged in an area within the table.

[0012] This allows comparison of each intersection on the travel route, making it easy to select an appropriate travel route for the construction vehicle.

[0013] In addition to or instead of the intersection passing speed arranged in the area in the table, the area may be highlighted with a color corresponding to the intersection passing speed.

[0014] This allows the comparison of each intersection on the travel route to be seen at a glance, making it easier to select an appropriate travel route for the construction vehicle.

[0015] The intersection passing speed calculation means may use information that is collected over different periods and / or at different times to obtain a plurality of average intersection passing speeds, which is an average of the intersection passing speeds. In this case, the driving management device may display on the display unit an intersection average passing speed comparison screen that displays a plurality of intersection average passing speeds in a comparative manner.

[0016] In this way, it is possible to compare, for example, the average intersection speed in the past with the average intersection speed at present, the average intersection speed for each day of the week, and the average intersection speed on a specific day (for example, Goto Day) with the average intersection speed on other days.

[0017] The driving management device may display an intersection passing speed comparison screen on the display unit that shows a comparison between the first intersection passing speed calculated based on location information obtained at a predetermined time interval and the second intersection passing speed calculated based on location information obtained at a predetermined driving interval.

[0018] In this way, it is possible to recognize the influence of differences in the methods for acquiring location information, for example.

[0019] A driving assistance device according to the present invention is a device for assisting a construction vehicle in traveling, and includes a driving route determination means for determining one or more driving routes suitable for traveling based on an intersection passing speed for each intersection calculated from position information of the construction vehicle acquired in time series by an on-board terminal mounted on the construction vehicle. The intersection passing speed is calculated using position information between two points included in an intersection speed calculation area predetermined for the intersection, or speed information at one or more points included in the intersection speed calculation area, for either or both of the direction of approach to the intersection and the direction of exit from the intersection.

[0020] By using the driving assistance device according to the present invention, it is possible to take into consideration the influence of a construction vehicle passing through an intersection, and therefore to determine an appropriate driving route for the construction vehicle.

[0021] A driving assistance program according to the present invention is a program for assisting a construction vehicle in traveling. The driving assistance program causes a computer to function as a driving route determination means for determining one or more driving routes suitable for traveling based on the intersection passing speed at each intersection calculated from position information of the construction vehicle acquired in time series by an on-board terminal mounted on the construction vehicle. The intersection passing speed is calculated using position information between two points included in an intersection speed calculation area predetermined for the intersection, or speed information at one or more points included in the intersection speed calculation area, for either or both of the direction of approach to the intersection and the direction of exit from the intersection.

[0022] By using the driving assistance program according to the present invention, it is possible to take into consideration the influence of a construction vehicle passing through an intersection, and therefore to determine an appropriate driving route for the construction vehicle.

[0023] A driving assistance method according to the present invention is a method for assisting a construction vehicle in traveling, and includes a position information acquisition step of acquiring position information of the construction vehicle in chronological order, an intersection passing speed calculation step of calculating an intersection passing speed at which the construction vehicle passes through an intersection based on the position information, and a driving route determination step of determining one or more driving routes suitable for traveling based on the intersection passing speed for each intersection. In the intersection passing speed calculation process, the intersection passing speed is calculated for one or both of the direction of approach to the intersection and the direction of exit from the intersection using position information between two points included in an intersection speed calculation area predetermined for the intersection or speed information at one or more points included in the intersection speed calculation area.

[0024] By using the driving assistance method according to the present invention, it is possible to take into consideration the influence of a construction vehicle passing through an intersection, and therefore to determine an appropriate driving route for the construction vehicle.

[0025] The method may further include a display step of displaying travel route information relating to the travel route, wherein the display step displays a travel route information display screen in which each of the intersections included in the travel route is associated with an intersection passing speed.

[0026] This allows comparison of each intersection on the travel route, making it easy to select an appropriate travel route for the construction vehicle. [Effects of the Invention]

[0027] According to the present invention, an appropriate travel route for a construction vehicle can be determined. [Brief explanation of the drawings]

[0028] [Figure 1] 1 is a schematic configuration diagram of a driving assistance system according to an embodiment of the present invention; [Figure 2] 1 is a functional configuration diagram of a driving assistance system according to an embodiment of the present invention; [Figure 3] FIG. 10 is a diagram illustrating an example of a method for calculating a traveling speed. [Figure 4] FIG. 10 is an image diagram of the travel history of construction vehicles at an intersection. [Figure 5] FIG. 10 is a diagram for explaining characteristics of a driving history at an intersection. [Figure 6] 10 is a diagram illustrating an example of an intersection speed calculation area. [Figure 7] FIG. 10 is a diagram showing data narrowing down in an intersection speed calculation area. [Figure 8] 10 is an example of a method for calculating an intersection passing speed. [Figure 9] 10 is an example of a process for determining a travel route. [Figure 10] 10 is an example of a driving route information display screen. [Figure 11A] 10 is an example of an intersection average passing speed comparison screen. [Figure 11B] 10 is an example of an intersection passing speed comparison screen. [Figure 12A] This is an image of ETC2.0 probe data. [Figure 12B] This is an image of the driving route overlaid on ETC2.0 probe data. [Figure 12C] This is an illustration of how intersection speed calculation areas are set in ETC2.0 probe data. [Figure 12D] FIG. 10 is a diagram showing data narrowing down in an intersection speed calculation area. [Figure 12E] FIG. 10 is a diagram showing the intersection speed calculation area and the data narrowing down in a specified period. [Figure 12F] This is an image diagram of the calculated intersection passing speed. [Figure 12G] This is an example of a case where a driving route is specified and the speed at which the vehicle passes through an intersection is displayed on a browser. [Figure 13] 1 is a diagram illustrating an example of a hardware configuration of a driving assistance device (computer) according to an embodiment of the present invention. [Figure 14] 2 is an example of a flowchart of a driving assistance method according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0029] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. Each drawing is merely a schematic illustration to allow a sufficient understanding of the present invention. Therefore, the present invention is not limited to the illustrated examples. In each drawing, common or similar components are designated by the same reference numerals, and redundant explanations thereof may be omitted.

[0030] <Configuration of driving assistance system according to embodiment> The configuration of a driving assistance system 1 according to an embodiment will be described with reference to Figures 1 and 2. Figure 1 is a schematic configuration diagram of the driving assistance system 1 according to an embodiment. Figure 2 is a functional configuration diagram of the driving assistance system 1 according to an embodiment. The driving assistance system 1 is a system that supports the driving of a construction vehicle by presenting a driving route suitable for the construction vehicle.

[0031] As shown in FIG. 1, the driving assistance system 1 mainly comprises an on-vehicle terminal 3 mounted on a construction vehicle 2, a driving assistance device 4 that assists the driving of the construction vehicle 2, and a driving management device 5 that manages the driving of the construction vehicle 2. The on-vehicle terminal 3, the driving assistance device 4, and the driving management device 5 can communicate via a network. The network may be either wired or wireless, such as the Internet. The driving assistance system 1 may also have an information storage means 6.

[0032] The construction vehicle 2 shown in Fig. 1 is, for example, a dump truck, a concrete mixer truck, a crane truck, a trailer, etc. The construction vehicle 2 is larger in size (front-to-rear length and width) than a standard automobile with a passenger capacity of about five people. In this embodiment, a dump truck is assumed to be the construction vehicle 2. In this embodiment, it is assumed that waste soil generated at a construction site will be transported, and multiple dump trucks travel back and forth between the construction site and a transport location where the waste soil will be transported.

[0033] The driving management device 5 shown in FIG. 1 manages multiple construction vehicles 2 operating at one construction site as one group. The driving management device 5 is, for example, a personal computer installed in the management office of the construction site. The driving assistance device 4 shown in FIG. 1 supports multiple construction vehicles 2 operating at one construction site as one group. The driving assistance device 4 is capable of supporting multiple construction sites simultaneously. The driving assistance device 4 may be, for example, a server of a company that provides driving assistance services, and may be a device that constitutes a cloud system.

[0034] The vehicle-mounted terminal 3 and the driving management device 5 store application software for receiving driving support services. The application software stored in the vehicle-mounted terminal 3 and the driving management device 5 can work in conjunction with the software of the driving support device 4 to share information about the service and display a screen related to the service. The mechanism by which the software on the service provider side (here, the driving support device 4) and the software on the service recipient side (here, the vehicle-mounted terminal 3 and the driving management device 5) share (mutually send and receive) information about the service is a well-known technology. Furthermore, the mechanism by which the software on the service provider side displays a screen related to the service on the terminal or device on the recipient side is a well-known technology. Therefore, in this embodiment, detailed explanations of these technologies may be omitted.

[0035] The vehicle-mounted terminal 3 shown in Fig. 1 is a terminal mounted on a construction vehicle 2. The vehicle-mounted terminal 3 is not limited to a built-in terminal, but may be a terminal that can be retrofitted to the construction vehicle 2 (for example, a car navigation system) or a portable terminal (for example, a tablet terminal or a smartphone). As shown in Fig. 2, the vehicle-mounted terminal 3 includes a receiving unit 31, a display unit 32, a memory unit 33, a control unit 34, and a wireless communication unit 35.

[0036] The receiver 31 is a device that receives radio waves (positioning signals) transmitted from positioning satellites 9 (see FIG. 1 ) and includes an antenna for receiving radio waves. The positioning satellites 9 are satellites used in a global navigation satellite system (GNSS), and periodically transmit their own position information (orbital position information) and time information. The positioning satellites 9 may be, for example, GPS (Global Positioning System) satellites, GLONASS (Global Navigation Satellite System) satellites, Galileo satellites, or quasi-zenith satellites. The receiver 21 is, for example, a GPS receiver.

[0037] The display unit 32 is configured with a display or the like and displays various screens. The display unit 32 can be configured as one having an input function (one example is a touch display). A touch display is an electronic component that displays various screens and accepts input of various instructions, information, etc. A touch display is, for example, a combination of a liquid crystal panel and a touch pad.

[0038] The storage unit 33 is configured with a non-volatile memory or the like (for example, a hard disk drive (HDD) or a solid state drive (SSD)). The storage unit 33 has map information 33a. The map information 33a includes, for example, background information depicting the shapes of roads, rivers, houses, etc., and road network information in which road connections are digitized. The background information is displayed on the screen together with the vehicle's position and is used by the driver to confirm the driving position. The road network information does not need to be displayed on the screen, but is information used for calculating a route to a destination and for guidance during navigation. The road network information is configured, for example, with nodes set at the reference point of the road (for example, the center in the width direction) and links connecting the nodes. The map information 33a may be either two-dimensional or three-dimensional. In the map information 33a, intersection identification information that identifies each intersection is registered.

[0039] The control unit 34 is configured with a CPU (Central Processing Unit), RAM (Random Access Memory), etc., and comprehensively controls the processing operations of each unit of the vehicle-mounted terminal 3. Specifically, the CPU reads out various processing programs stored in the storage unit 33, loads them into the RAM, and performs various processes in cooperation with the programs. The control unit 34 realizes, for example, location information acquisition means 34a and traveling speed calculation means 34b by executing the programs. Note that only an overview of the functions realized by the control unit 34 will be described here, and the details of these functions will be described later.

[0040] The position information acquisition means 34a obtains position information (e.g., coordinates such as latitude and longitude) of the construction vehicle 2 (vehicle-mounted terminal 3) based on radio waves (positioning signals) transmitted from positioning satellites 9 (see FIG. 1) received by the receiver 31. The position information is associated with time. The position information acquisition means 34a obtains the position information at intervals of, for example, several seconds to several tens of seconds (in this embodiment, the position information is obtained at intervals of 30 seconds).

[0041] The traveling speed calculation means 34b calculates the speed of the construction vehicle 2 using two or more pieces of position information and the travel time thereof. An image of how the traveling speed is calculated is shown in Figure 3. Figure 3 is a diagram showing an example of a method for calculating the traveling speed. In Figure 3, icons with numbers in circles are dotted icons that indicate the position of the construction vehicle 2 (referred to as "dot icons"), and each icon has coordinate, time, and speed information. Figure 3 shows a case where the construction vehicle 2 moves in the order of "coordinate n-3, coordinate n-2, coordinate n-1, coordinate n." The speed n of the construction vehicle 2 at coordinate n is calculated by "(coordinate n - coordinate n-1) / (time n - time n-1)".

[0042] The control unit 34 of the vehicle-mounted terminal 3 causes information on the driving history of the construction vehicle 2 to be transmitted to the driving assistance device 4 via the wireless communication unit 35. Specifically, the control unit 34 causes the driving assistance device 4 to transmit the time, position information, and driving speed in association with each other. The wireless communication unit 35 transmits this information at predetermined intervals (e.g., every 30 seconds), for example. Note that the control unit 34 may also cause the driving assistance device 4 to transmit only the time and position information without calculating the driving speed. In this case, the driving assistance device 4 calculates the driving speed of the construction vehicle 2 using the method shown in FIG. 3.

[0043] The wireless communication unit 35 is an interface that performs wireless communication via, for example, a mobile communication circuit, and transmits and receives signals to and from the driving support device 4 (server device).

[0044] The driving assistance device 4 shown in FIG. 1 determines a driving route for the construction vehicle 2 to travel. In this embodiment, it is assumed that multiple dump trucks travel back and forth between a construction site and a removal site where surplus soil is removed, and the driving assistance device 4, for example, determines a driving route suitable for the construction vehicle 2 to travel on a daily basis before the start of operations on that day. Furthermore, the driving assistance device 4 determines in real time a driving route suitable for the construction vehicle 2 to travel at that time, for example, in response to a request from an operations manager. Two locations to be traveled (here, the construction site and the removal site) are registered in advance in the driving assistance device 4. The operation of the construction vehicle 2 at one construction site continues for, for example, several days to several months.

[0045] The driving support device 4 is a device (computer) having an information processing function. As shown in FIG. 2, the driving support device 4 mainly includes a storage unit 41, a control unit 42, and a wireless communication unit 43.

[0046] The wireless communication unit 43 is an interface that performs wireless communication via, for example, a mobile communication circuit, and transmits and receives signals between the vehicle-mounted terminal 3 and the driving management device 5.

[0047] The storage unit 41 is configured with a non-volatile memory or the like (for example, a hard disk drive (HDD) or a solid state drive (SSD)). The storage unit 41 has map information 41a, intersection speed calculation area information 41b, operation probe data 41c, and ETC2.0 probe data 41d. The map information 41a is the same as the map information 33a of the vehicle-mounted terminal 3 described above.

[0048] The intersection speed calculation area information 41b is information related to intersection speed calculation areas for calculating the speed at which a vehicle passes through an intersection (referred to as the "intersection passing speed"). An intersection speed calculation area is set for each road that constitutes an intersection. For example, the intersection speed calculation area is set in a direction away from the center of the intersection, based on the stop line of the intersection. For example, the intersection speed calculation area can be set so as not to include the central portion inside the stop line of the intersection (the area where roads intersect). Furthermore, intersection speed calculation areas may be set separately for roads entering the intersection and roads leaving the intersection (i.e., the intersection speed calculation area may be divided by a center line). Furthermore, intersection speed calculation areas may be set only for roads entering the intersection or roads leaving the intersection (for example, an intersection speed calculation area may be set only for roads entering the intersection). The intersection speed calculation area in the exiting direction is set in a direction away from the center of the intersection, based on, for example, an extension of the stop line of the road entering the intersection.

[0049] The traveling probe data 41c is information relating to the driving history of the construction vehicle 2 collected via the vehicle-mounted terminal 3 during past operations. The traveling probe data 41c may also include driving history other than that of the construction site managed by the driving management device 5. The traveling probe data 41c includes intersection passing speeds. The traveling probe data 41c includes, for example, date, time, location information (e.g., coordinates such as latitude and longitude), and driving speed. The traveling probe data 41c is an example of driving history information in which information relating to vehicle driving is recorded at predetermined time intervals.

[0050] The ETC2.0 probe data 41d is information about the driving history of each vehicle collected from the vehicle via an on-board device compatible with the ETC (Electronic Toll Collection System) 2.0. The ETC2.0 on-board device is configured to sequentially store driving history data, such as time, GPS positioning location (latitude and longitude), and vehicle speed calculated from the time and positioning location, and transmit the data collectively to a probe data collector. The probe data collector is installed on the road and collects driving history data from the on-board device. The probe data collector is installed, for example, every several hundred meters to several kilometers. The ETC2.0 probe data collected by the probe data collectors installed nationwide is stored in the information storage means 6, and the ETC2.0 probe data 41d may be extracted from data related to vehicle operation. The ETC2.0 probe data 41d is an example of driving history information that records information about vehicle driving at predetermined driving intervals.

[0051] The control unit 42 is configured with a CPU (Central Processing Unit), RAM (Random Access Memory), etc., and comprehensively controls the processing operations of each unit of the driving assistance device 4. Specifically, the CPU reads out various processing programs stored in the storage unit 41, loads them into the RAM, and performs various processes in cooperation with the programs. By executing the programs, the control unit 42 realizes, for example, intersection passing speed calculation means 42a, driving route determination means 42b, intersection passing speed calculation means 42c, display screen creation means 42h, and driving route selection means 42p. Note that only an overview of the functions realized by the control unit 42 will be described here, and the details of these functions will be described later.

[0052] The intersection passing speed calculation means 42a calculates the intersection passing speed based on the intersection speed calculation area. The intersection passing speed calculation means 42a calculates the intersection passing speed using the traveling probe data 41c. The intersection passing speed calculation means 42a calculates the intersection passing speed using position information between two points included in the intersection speed calculation area for one or both of the direction of approach to the intersection and the direction of exit from the intersection.

[0053] The travel route determination means 42b shown in FIG. 2 determines one or more travel routes suitable for travel of the construction vehicle 2 based on the intersection passage speed for each intersection speed calculation area. The travel route determination means 42b may also determine one or more travel routes suitable for travel of the construction vehicle 2 based on the intersection passage speed for each intersection for all intersection speed calculation areas present at one intersection. For example, the travel route determination means 42b determines an average intersection passage speed for each travel route by averaging the intersection passage speeds of the intersection speed calculation areas present on the travel route, and determines that the travel route with the fastest average intersection passage speed is suitable for travel of the construction vehicle 2. The travel route determination means 42b may also set a threshold value for the intersection passage speed for each intersection speed calculation area, and determine a travel route suitable for travel of the construction vehicle 2 based on the number of times the intersection passage speed exceeds the threshold value. The threshold value may be set in stages.

[0054] The intersection passage speed calculation means 42c shown in FIG. 2 calculates the intersection passage speed based on the intersection speed calculation area. The intersection passage speed calculation means 42c calculates the intersection passage speed using ETC2.0 probe data 41d. The intersection passage speed calculation means 42c calculates the intersection passage speed using speed information from one or more points included in the intersection speed calculation area for one or both of the direction of approach to the intersection and the direction of exit from the intersection. When calculating the intersection passage speed using speed information from multiple points, for example, the average (average speed) of all the speed information is used as the intersection passage speed. Note that the intersection passage speed calculation means 42c may also calculate the intersection passage speed using position information between two points included in the intersection speed calculation area for one or both of the direction of approach to the intersection and the direction of exit from the intersection.

[0055] The intersection passing speed calculated by the intersection passing speed calculation means 42c is used, for example, as a substitute for the intersection passing speed calculated by the intersection passing speed calculation means 42a. For example, in the early stages of construction, it is assumed that the construction vehicle 2 is not in operation and sufficient travel probe data 41c for calculating a travel route has not been collected. In that case, the travel route determination means 42b may use the intersection passing speed calculated by the intersection passing speed calculation means 42c to determine one or more travel routes suitable for the construction vehicle 2 to travel.

[0056] The intersection passage speed calculated by the intersection passage speed calculation means 42c can also be used, for example, when analyzing the impact of the operation of the construction vehicle 2. For example, the intersection passage speed when there was no construction and the intersection passage speed after construction has started are calculated by the intersection passage speed calculation means 42c, and the two intersection passage speeds are compared. Alternatively, the intersection passage speed when there was no construction is calculated by the intersection passage speed calculation means 42c, and the intersection passage speed after construction has started is calculated by the intersection passage speed calculation means 42a, and the two intersection passage speeds are compared. Alternatively, the intersection passage speeds for the same period are calculated by the intersection passage speed calculation means 42a and the intersection passage speed calculation means 42c, and these intersection passage speeds are compared.

[0057] The display screen creation means 42h shown in FIG. 2 creates a screen for the operations manager to manage the travel of the construction vehicle 2 and displays it on the travel management device 5. The travel management device 5 includes a display unit 51, an input unit 52, a control unit 53, and a wireless communication unit 54. The operations manager checks the travel status by referring to the various screens displayed on the display unit 51. The operations manager issues instructions such as changes to the travel route as necessary via the input unit 52. The wireless communication unit 54 is an interface that performs wireless communication, for example, via a mobile communication circuit. The wireless communication unit 54 transmits and receives signals to and from the travel management device 5.

[0058] <Calculation of intersection speed using driving probe data> The process of calculating intersection passing speed using traveling probe data will be explained. The method of calculating intersection passing speed using traveling probe data is executed as a program process. Therefore, the figures used in this explanation are conceptual diagrams for explaining the process.

[0059] First, images of the travel history of the construction vehicle 2 at an intersection are shown in Figures 4 and 5. Figure 4 is an image diagram of the travel history of the construction vehicle 2 at an intersection. Figure 5 is a diagram for explaining the characteristics of the travel history at an intersection.

[0060] Figure 4 shows the results of two driving histories, with the first driving histories indicated by a dot icon with the number "1" in a solid circle and the second driving histories indicated by a dot icon with the number "2" in a hollow circle. Each driving histories includes an outbound driving route (the driving route from the construction site to the removal location) and a return driving route (the driving route from the removal location to the construction site). The first driving route and the second driving route are the same route. The outbound driving route involves a right turn at the intersection, while the return driving route involves going straight through the intersection.

[0061] Focusing on the first outbound driving route, there are multiple dots just before the stop line because construction vehicle 2 stopped at a red light at the intersection (see Figure 5). There are also multiple dots where construction vehicle 2 entered the intersection because it stopped while waiting to turn right (see Figure 5). On the other hand, on the second outbound driving route, there were no waits at traffic lights or right turns, so there were no multiple dots at one location like there were on the first outbound driving route. Waiting at traffic lights also occurred on the first return driving route.

[0062] Next, with reference to FIG. 6, intersection speed calculation areas that are used to calculate intersection passing speeds will be described. FIG. 6 is an example of intersection speed calculation areas. In FIG. 6, four intersection speed calculation areas 8 are set at one intersection. Intersection speed calculation area 8W is set on a road extending west from the intersection. Intersection speed calculation area 8W is set on a road extending west from the intersection. Intersection speed calculation area 8S is set on a road extending south from the intersection. Intersection speed calculation area 8N is set on a road extending north from the intersection. Intersection speed calculation area 8E is set on a road extending east from the intersection. Each of the intersection speed calculation areas 8W, 8S, 8N, and 8E is set within a range of 100 m before the stop line. Note that intersection speed calculation areas 8 do not need to be set on roads on which it is known that construction vehicles 2 do not travel. For example, if it is known that construction vehicles 2 do not travel on roads extending east from the intersection, it is not necessary to set an intersection speed calculation area 8E.

[0063] Next, calculation of intersection passing speed using traveling probe data by the intersection passing speed calculation means 42a will be described with reference to Figures 7 and 8. Figure 7 is a diagram showing data narrowing down in the intersection speed calculation area. Figure 8 is an example of a method for calculating intersection passing speed by the intersection passing speed calculation means 42a. As shown in Figure 7, there is no dot icon in the intersection speed calculation area 8E, so the intersection speed calculation area 8E will not be taken into consideration when calculating the intersection passing speed.

[0064] As shown in FIG. 7, the intersection passing speed calculation means 42a acquires only information within the intersection speed calculation area 8 from the traveling probe data 41c (narrows down the data). The intersection passing speed calculation means 42a narrows down the data, for example, using coordinates from the traveling probe data 41c. Then, the intersection passing speed calculation means 42a calculates a point-to-point speed between two consecutive points in time series for the position information included in the intersection speed calculation area 8, and determines the average of the calculated point-to-point speeds as the intersection passing speed. Note that the data may be narrowed down by specifying a period in addition to the coordinates.

[0065] For example, as shown in FIG. 8, the intersection passing speed calculation means 42a calculates the average of the driving speeds at nine points included in the intersection speed calculation area 8W as the intersection passing speed in the intersection west area. The intersection passing speed calculation means 42a also calculates the average of the driving speeds at eleven points included in the intersection speed calculation area 8S as the intersection passing speed in the intersection south area. Note that the intersection speed calculation area 8S is passed through by both the outbound driving route and the return driving route. Therefore, the average of the driving speeds on the outbound driving route may be calculated. Similarly, the average of the driving speeds on the return driving route may be calculated.

[0066] <Determining driving route using intersection passing speed> The process of determining a driving route using intersection passing speed will be described. The driving route determination means 42b shown in FIG. 2 determines one or more driving routes suitable for driving the construction vehicle 2 based on the intersection passing speed for each intersection speed calculation area 8. For example, the driving route determination means 42b determines, for each driving route, an average intersection passing speed by averaging the intersection passing speeds of the intersection speed calculation areas 8 present on the driving route, and determines that a driving route with a faster average intersection passing speed is suitable for driving the construction vehicle 2. The driving route determination means 42b may also set a threshold value for the intersection passing speed for each intersection speed calculation area 8, and determine a driving route suitable for driving the construction vehicle 2 based on the number of times the intersection passing speed exceeds the threshold value. The threshold value may be set in stages (see FIG. 9). FIG. 9 shows an example of the driving route determination process. In FIG. 9, the intersection passing speed is divided into four categories, and the suitability of driving at each intersection is determined.

[0067] <Displaying driving routes> The display process for the driving route will now be described. The display screen creation means 42h shown in Fig. 2 creates, for example, a driving route information display screen 60, an intersection average passing speed comparison screen 70, an intersection passing speed comparison screen 80, and the like, and displays them on the display unit 51 of the driving management device 5.

[0068] 10 is an example of a driving route information display screen 60. The driving route information display screen 60 has a time period selection area 61, a recommended outbound route display area 62, a recommended return route display area 63, and a heat map display area 64.

[0069] The time period selection area 61 is an area for selecting the time period for which a travel route is to be determined. The recommended outbound route display area 62 is an area where outbound travel routes are displayed in order of recommendation. For example, the intersection passing speeds in the intersection speed calculation areas 8 on the candidate travel routes are averaged, and the routes are displayed in order from fastest to slowest. The recommended return route display area 63 is an area where the return driving route is displayed in the order of recommendation. For example, the intersection passing speeds of the intersection speed calculation areas 8 on the candidate driving routes are averaged, and the routes are displayed in order from the ones with the highest speed.

[0070] In the heat map display area 64, a heat map (table) associating each intersection included in the candidate driving routes with the intersection passing speed is displayed. The rows of the heat map are the candidate driving routes, and the columns are the respective intersection speed calculation areas 8. In the area within the heat map (table), the intersection passing speed is displayed, and the area is emphasized with a color corresponding to the intersection passing speed.

[0071] FIG. 11A is an example of an intersection average passing speed comparison screen 70. On the intersection average passing speed comparison screen 70, the intersection average passing speed obtained by averaging the intersection passes in a certain past period and the intersection average passing speed obtained by averaging the current intersection passes are displayed so as to be comparable.

[0072] FIG. 11B is an example of an intersection passing speed comparison screen 80. On the intersection passing speed comparison screen 80, the intersection passing speed based on the ETC2.0 probe data 41d and the intersection passing speed based on the operation probe data 41c are displayed so as to be comparable.

[0073] [[ID=W16]]<Calculation process of intersection passing speed using ETC2.0 probe data> The calculation process of the intersection passing speed using the ETC2.0 probe data will be described. The calculation process of the intersection passing speed using the ETC2.0 probe data is executed as a program process. Therefore, the figures used in the description here are image diagrams for explaining the process. Note that the intersection passing speed calculated using the ETC2.0 probe data is used, for example, as an alternative to the intersection passing speed using the operation probe data.

[0074] 12A to 12G, an example of a method for calculating an intersection passing speed using ETC2.0 probe data by the intersection passing speed calculation means 42c will be described. Here, an explanation will be given assuming that an intersection passing speed is calculated from ETC2.0 probe data 41d at the beginning of construction.

[0075] Fig. 12A is an image diagram of ETC2.0 probe data 41d. In Fig. 12A, an object indicated by reference numeral 91 roughly represents the position of a vehicle, and a pattern applied to the object 91 distinguishes the vehicle from another.

[0076] As shown in Fig. 12B, the intersection passing speed calculation means 42c sets a possible driving route R along which the vehicle may travel. Fig. 12B is an image diagram in which the driving route R is superimposed on ETC2.0 probe data. In Fig. 12B, three driving routes R1, R2, and R3 are set. The intersection passing speed calculation means 42c identifies intersections that exist on the driving routes R1, R2, and R3.

[0077] As shown in Figure 12C, the intersection passing speed calculation means 42c sets an intersection speed calculation area 8 at the identified intersection. Figure 12C is an image diagram of the intersection speed calculation area 8 set in ETC2.0 probe data. Taking the travel route R1 as an example, there are two intersections on the travel route R1, and an intersection speed calculation area 8 is set for each road that makes up each intersection. Note that it is not necessary to set an intersection speed calculation area 8 for roads that are not related to the travel route R.

[0078] 12D, the intersection passing speed calculation means 42c narrows down the ETC2.0 probe data 41d by latitude and longitude, and creates a data set included in the intersection speed calculation area 8. In other words, information that is not included in the intersection speed calculation area 8 is excluded. FIG. 12D is a diagram showing the narrowing down of data in the intersection speed calculation area 8.

[0079] As shown in Fig. 12E, the intersection passing speed calculation means 42c may further narrow down the data by date and time to create a data set that is included in the intersection speed calculation area 8 and the specified period. Fig. 12E is a diagram showing the narrowing down of data in the intersection speed calculation area 8 and the specified period. In Fig. 12E, information outside the specified period is excluded.

[0080] As shown in FIG. 12F, the intersection passage speed is calculated for each intersection speed calculation area 8 using a data set included in the intersection speed calculation area 8, or a data set included in the intersection speed calculation area 8 and at a specified time (FIG. 12F assumes the former). For example, the intersection passage speed is calculated using speed information from one or more points included in the intersection speed calculation area 8. When calculating the intersection passage speed using speed information from multiple points, for example, the average (average speed) of all the speed information is used as the intersection passage speed. FIG. 12F is an illustration of the calculated intersection passage speed. Then, as shown in FIG. 12G, the intersection passage speed for each route is displayed on the browser. FIG. 12G is an example of specifying a driving route R1 and displaying the intersection passage speed on the browser.

[0081] <Driving assistance method by driving assistance system according to embodiment> Next, with reference to Fig. 14 (and also with reference to Figs. 1 to 12 as appropriate), a driving assistance method using the driving assistance system 1 will be described. Fig. 14 is an example of a flowchart of the driving assistance method.

[0082] In the driving assistance method, position information is acquired in time series by the vehicle-mounted terminal 3 mounted on the construction vehicle 2 (step S1). The receiver 31 of the vehicle-mounted terminal 3 receives radio waves (positioning signals) transmitted from positioning satellites 9 (see FIG. 1). The position information acquisition means 34a of the vehicle-mounted terminal 3 determines position information (e.g., coordinates such as latitude and longitude) of the construction vehicle 2 (vehicle-mounted terminal 3) based on the radio waves (positioning signals) transmitted from the positioning satellites 9 received by the receiver 31.

[0083] Furthermore, the traveling speed calculation means 34b of the vehicle-mounted terminal 3 calculates the speed of the construction vehicle 2 using two or more pieces of location information and the travel time thereof (see FIG. 3). Then, the wireless communication unit 35 of the vehicle-mounted terminal 3 transmits information on the traveling history of the construction vehicle 2 to the traveling support device 4. Specifically, the wireless communication unit 35 associates the time, location information, and traveling speed and transmits them to the traveling support device 4. For example, this information is transmitted at predetermined intervals (for example, every 30 seconds).

[0084] Next, the intersection passing speed when passing through the intersection is calculated (step S2). The intersection passing speed calculation means 42a of the driving support device 4 calculates the intersection passing speed in the intersection speed calculation area 8 (see FIG. 6) using the traveling probe data 41c. The intersection passing speed calculation means 42a calculates the intersection passing speed using position information between two points included in the intersection speed calculation area 8 for one or both of the direction of approaching the intersection and the direction of leaving the intersection.

[0085] Next, the driving route along which the construction vehicle 2 will travel is determined (step S3). The driving route determination means 42b of the driving support device 4 determines one or more driving routes suitable for driving the construction vehicle 2 based on the intersection passing speed for each intersection speed calculation area 8. For example, the driving route determination means 42b determines, for each driving route, an average intersection passing speed by averaging the intersection passing speeds of the intersection speed calculation areas 8 that exist on the candidate driving routes, and determines that the driving route with the fastest average intersection passing speed is suitable for driving the construction vehicle 2. The driving route determination means 42b may also set a threshold value for the intersection passing speed for each intersection speed calculation area 8, and determine a driving route suitable for driving the construction vehicle 2 based on the number of times the intersection passing speed exceeds the threshold value. The threshold value may be set in stages (see FIG. 9).

[0086] Next, a display screen relating to the driving route is generated (step S4). The display screen generation means 42h of the driving assistance device 4 generates, for example, a driving route information display screen 60 and displays it on the display unit 51 of the driving management device 5. Fig. 10 shows an example of the driving route information display screen 60. The driving route information display screen 60 has a time period selection area 61, a recommended outbound route display area 62, a recommended return route display area 63, and a heat map display area 64.

[0087] The time period selection area 61 is an area for selecting a time period for which a driving route is desired. The recommended outbound route display area 62 is an area for displaying outbound driving routes in order of recommendation. For example, the intersection passing speeds in the intersection speed calculation areas 8 on the candidate driving routes are averaged, and the routes are displayed in order from fastest to slowest. The recommended return route display area 63 is an area for displaying return driving routes in order of recommendation. For example, the intersection passing speeds in the intersection speed calculation areas 8 on the candidate driving routes are averaged, and the routes are displayed in order from fastest to slowest.

[0088] The heat map display area 64 displays a heat map (table) that associates each intersection included in a candidate driving route with the intersection passing speed. The rows of the heat map represent candidate driving routes, and the columns represent each intersection speed calculation area 8. The intersection passing speed is displayed in the area within the heat map (table), and the area is highlighted in a color corresponding to the intersection passing speed. The operations manager determines the driving route that the construction vehicle 2 will travel based on the driving route information display screen 60.

[0089] As described above, the driving assistance system 1 according to this embodiment can take into consideration the influence of the construction vehicle 2 passing through an intersection, and therefore can determine an appropriate driving route for the construction vehicle 2 to travel.

[0090] The driving support device 4 according to this embodiment is realized by a computer having a configuration as shown in Fig. 13, for example. Fig. 13 shows an example of the hardware configuration of the driving support device 4 (computer) according to this embodiment. The computer has a CPU 401, a ROM (Read Only Memory) 402, a RAM 403, an HDD (Hard Disk Drive) 404, an input / output I / F (Interface) 405, a communication I / F 406, and a media I / F 407. These components are connected by a bus.

[0091] Although the embodiment of the present invention has been described above, the present invention is not limited to this and can be practiced within the scope of the claims. [Explanation of symbols]

[0092] 1 Driving assistance system 2 Construction vehicles 3. Vehicle-mounted terminal 31 Receiving unit 32 Display section 33 Storage section 33a Map Information 34 Control Unit 34a Location information acquisition means 34b Traveling speed calculation means 35 Radio Communication Department 4 Driving assistance devices 41 Storage section 41a Map Information 41b Intersection speed calculation area information 41c Operational probe data 41d ETC2.0 probe data 42 Control Unit 42a Intersection speed calculation method 42b Driving route determination means 42c Intersection speed calculation method 42h display screen creation method 42p Route selection method 43 Radio Communication Department 5. Driving management device 51 Display section 52 Input section 53 Control Unit 54 Radio Communication Department 6 Information storage means 60 Driving route information display screen 70 Intersection average passing speed comparison screen 80 Intersection speed comparison screen 8,8N,8E,8S,8W Intersection speed calculation area 9. Positioning satellites

Claims

1. A driving assistance system that assists construction vehicle driving, a vehicle-mounted terminal mounted on the construction vehicle; a driving support device for determining a driving route for the construction vehicle, The vehicle-mounted terminal a position information acquisition means for acquiring position information of the construction vehicle in time series; The driving assistance device an intersection passing speed calculation means for calculating an intersection passing speed at which the vehicle passes through the intersection based on the position information; a travel route determination means for determining one or more travel routes suitable for travel based on the intersection passing speed for each of the intersections, the intersection passing speed calculation means calculates the intersection passing speed for one or both of an approach direction to the intersection and an exit direction from the intersection using position information between two points included in an intersection speed calculation area that is preset for the intersection or speed information at one or more points included in the intersection speed calculation area; A driving assistance system characterized by:

2. the intersection speed calculation area is set to a road included in the travel route that is a candidate among roads that constitute the intersection, the driving route determination means determines one or more driving routes suitable for driving based on the intersection passing speed for each of the intersection speed calculation areas.

2. The driving assistance system according to claim 1.

3. the intersection speed calculation area is set in a direction away from the center of the intersection with respect to a stop line of the intersection, the intersection passing speed calculation means calculates a point-to-point speed between two consecutive points in time series for all position information included in the intersection speed calculation area, and determines an average of all the point-to-point speeds as the intersection passing speed; 2. The driving assistance system according to claim 1.

4. Further provided is a running management device that manages the running of the construction vehicle, The running management device a display unit that displays travel route information regarding the travel route; the display unit displays a travel route information display screen in which each of the intersection speed calculation areas included in the candidate travel route is associated with the intersection passing speed.

2. The driving assistance system according to claim 1.

5. the travel route information display screen includes a table configured of rows and columns, Identification information of the candidate travel routes is arranged in one of the rows and columns, identification information of the intersection speed calculation area is arranged in the other of the rows and columns, and the intersection passing speed is arranged in an area in the table.

5. The driving assistance system according to claim 4.

6. highlighting the area in the table with a color corresponding to the intersection passing speed in addition to or instead of the intersection passing speed arranged in the area; 6. The driving assistance system according to claim 5.

7. the intersection passing speed calculation means calculates a plurality of intersection passing speeds, which are an average of the intersection passing speeds, using information that is collected over different periods and / or at different times; the driving management device displays an intersection average passing speed comparison screen on the display unit, which displays a plurality of the intersection average passing speeds in a comparative manner.

5. The driving assistance system according to claim 4.

8. The driving management device displays an intersection passing speed comparison screen on the display unit, which shows a first intersection passing speed calculated based on position information acquired at a predetermined time interval and a second intersection passing speed calculated based on position information acquired at a predetermined driving interval in a comparative manner.

5. The driving assistance system according to claim 4.

9. A driving assistance device that assists construction vehicle driving, a travel route determination means for determining one or more travel routes suitable for travel based on the intersection passing speed at each intersection calculated from the position information of the construction vehicle acquired in time series by an on-vehicle terminal mounted on the construction vehicle; The intersection passing speed is calculated using position information between two points included in an intersection speed calculation area predetermined for the intersection, or speed information at one or both of an approach direction to the intersection and an exit direction from the intersection, and the intersection passing speed is calculated using position information between two points included in an intersection speed calculation area predetermined for the intersection, or speed information at one or more points included in the intersection speed calculation area. A driving assistance device characterized by:

10. A driving assistance program that assists construction vehicle driving, Computer, The vehicle-mounted terminal mounted on the construction vehicle functions as a driving route determination means for determining one or more driving routes suitable for driving based on the intersection passing speed at each intersection calculated from the position information of the construction vehicle acquired in time series by the vehicle-mounted terminal mounted on the construction vehicle; The intersection passing speed is calculated using position information between two points included in an intersection speed calculation area predetermined for the intersection, or speed information at one or both of an approach direction to the intersection and an exit direction from the intersection, and the intersection passing speed is calculated using position information between two points included in an intersection speed calculation area predetermined for the intersection, or speed information at one or more points included in the intersection speed calculation area. A driving assistance program characterized by:

11. A driving assistance method for assisting driving of a construction vehicle, comprising: a position information acquisition step of acquiring position information of the construction vehicle in time series; an intersection passing speed calculation step of calculating an intersection passing speed at which the vehicle passes through the intersection based on the position information; a travel route determination step of determining one or more travel routes suitable for travel based on the intersection passing speed for each of the intersections, In the intersection passing speed calculation step, the intersection passing speed is calculated for one or both of an approach direction to the intersection and an exit direction from the intersection using position information between two points included in an intersection speed calculation area predetermined for the intersection or speed information at one or more points included in the intersection speed calculation area. A driving assistance method comprising:

12. a display step of displaying travel route information relating to the travel route; In the display step, a travel route information display screen is displayed in which each of the intersections included in the travel route is associated with an intersection passing speed. The driving support method according to claim 11 .

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