Driving diagnosis map creation device, driving diagnosis map creation system, driving diagnosis map creation method and program

Abstract

To provide a driving diagnosis map creation device capable of executing accurate driving diagnosis even in a case where vehicle characteristics considerably change, a driving diagnosis map creation system, a driving diagnosis map creation method and a program.SOLUTION: A driving diagnosis map creation device comprises: a map creation section which creates a driving diagnosis map used by a driving diagnosis section for driving diagnosis based on detection values of vehicle information acquired by sensors provided in vehicles 20 and 40; and a map management section for discarding the driving diagnosis map when discard conditions are established regarding a driving diagnosis map, which is created by the map creation section based on detection values acquired prior to latest detection values, which are up-to-date detection values, and the latest detection values.SELECTED DRAWING: Figure 1

Description

[Technical Field]

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

[0002] The following Patent Document 1 discloses an invention in which, when an accident-prone spot is included in a diagnosis target area ahead of the vehicle in the traveling direction, the driving diagnosis criteria are changed based on the accident causes at the accident-prone spot. In the Patent Document 1, driving diagnosis at the accident-prone spot is performed based on the changed criteria. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2010-237829 Summary of the Invention [Problem to be solved by the invention]

[0004] The above-mentioned Patent Document 1 does not take into consideration changes in vehicle characteristics, and in this respect, there is room for improvement in the above-mentioned Patent Document 1.

[0005] In consideration of the above, an object of the present invention is to provide a driving diagnosis map creating device, a driving diagnosis map creating system, a driving diagnosis map creating method, and a program that are capable of performing accurate driving diagnosis even when vehicle characteristics change significantly. [Means for solving the problem]

[0006] The driving diagnosis map creation device according to claim 1 includes a map creation unit that creates a driving diagnosis map to be used by a driving diagnosis unit for diagnosing a driving of a vehicle based on detection values ​​of vehicle information acquired by a sensor provided in the vehicle, and a map management unit that discards the driving diagnosis map created by the map creation unit based on detection values ​​acquired before a latest detection value, which is the latest detection value, and the driving diagnosis map when a discard condition is met for the latest detection value. When a switching condition is established when a difference between the latest detected value used in creating the driving diagnosis map and the latest detected value becomes equal to or greater than a predetermined amount, the map creation unit creates a reserved map that can be used by the driving diagnosis unit as a new driving diagnosis map when a predetermined learning completion requirement is satisfied, based on the latest detected value that has established the switching condition, and when the reserved map satisfies the learning completion requirement, the discard condition is established. .

[0007] In the map creation device for driving diagnosis described in claim 1, when a discard condition for the driving diagnosis map is met due to a significant change in vehicle characteristics caused by a vehicle collision or the like, the map for driving diagnosis is discarded. Therefore, there is little risk that the driving diagnosis unit will continue to use the driving diagnosis map for which the discard condition is met after a significant change in vehicle characteristics, thereby continuing to perform inaccurate driving diagnosis. Therefore, the map creation device for driving diagnosis described in claim 1 can perform accurate driving diagnosis even when vehicle characteristics have changed significantly.

[0009] Claim 1 The reserved map described in is created by the map creation unit based on the latest detected value that satisfied the switching condition. Therefore, the reserved map is likely to accurately represent the vehicle characteristics at the time when the latest detected value that satisfied the switching condition was detected. Therefore, when the learning completion requirement is satisfied, if the driving diagnosis unit uses the reserved map as a map for driving diagnosis, there is a high possibility that an accurate driving diagnosis will be performed.

[0011] Claim 1 In the invention described in (1), the discard condition is met when the reserved map becomes available as a driving diagnosis map. Therefore, when the old driving diagnosis map is discarded, driving diagnosis is performed based on the new driving diagnosis map.

[0012] Claim 2 The driving diagnosis map creation device according to the invention described in Claim 1 statedIn the invention, the driving diagnosis unit performs driving diagnosis using the existing driving diagnosis map until the reserved map satisfies the learning completion requirement.

[0013] Claim 2 In the invention described in (1), the driving diagnosis unit performs driving diagnosis using the existing driving diagnosis map until the reserved map satisfies the learning completion requirement. Therefore, the driving diagnosis unit can perform driving diagnosis of the vehicle until a new driving diagnosis map based on the reserved map is created.

[0014] Claim 3 The driving diagnosis map creation system according to the invention described above includes a vehicle equipped with a sensor capable of detecting vehicle information, a map creation unit that creates a driving diagnosis map to be used by a driving diagnosis unit for diagnosing the driving of the vehicle based on detection values ​​of the vehicle information acquired by the sensor, and a map management unit that discards the driving diagnosis map created by the map creation unit based on detection values ​​acquired before a latest detection value, which is the latest detection value, and the driving diagnosis map when a discard condition is met for the latest detection value. When a switching condition is established when a difference between the latest detected value used in creating the driving diagnosis map and the latest detected value becomes equal to or greater than a predetermined amount, the map creation unit creates a reserved map that can be used by the driving diagnosis unit as a new driving diagnosis map when a predetermined learning completion requirement is satisfied, based on the latest detected value that has established the switching condition, and when the reserved map satisfies the learning completion requirement, the discard condition is established. .

[0015] Claim 4 The driving diagnosis map creation method according to the invention described in The computer a step of creating a driving diagnosis map to be used by a driving diagnosis unit for diagnosing the driving of the vehicle based on detection values ​​of vehicle information acquired by sensors provided in the vehicle, and a step of discarding the driving diagnosis map created based on the detection values ​​acquired before a latest detection value, which is the latest detection value, and the driving diagnosis map when a discard condition is met for the latest detection value; When a switching condition is established when a difference between the latest detection value used in creating the driving diagnosis map and the latest detection value becomes equal to or greater than a predetermined amount, a reserved map is created based on the latest detection value that established the switching condition, and the reserved map becomes available as a new driving diagnosis map when a predetermined learning completion requirement is met, and when the reserved map meets the learning completion requirement, the discarding condition is established. .

[0016] Claim 5The program according to the present invention includes a process for creating a driving diagnosis map to be used by a driving diagnosis unit for diagnosing driving of a vehicle based on detection values ​​of vehicle information acquired by a sensor provided in the vehicle, and a process for discarding the driving diagnosis map created based on detection values ​​acquired before a latest detection value, which is the latest detection value, and a process for discarding the driving diagnosis map when a discard condition is met for the latest detection value; and when a switching condition is established when a difference between the latest detection value used to create the driving diagnosis map and the latest detection value becomes equal to or greater than a predetermined amount, a reserved map is created based on the latest detection value that established the switching condition, which can be used as a new driving diagnosis map when a predetermined learning completion requirement is met, and when the reserved map meets the learning completion requirement, the discarding condition is established. . [Effects of the Invention]

[0017] As described above, the driving diagnosis map creation device, driving diagnosis map creation system, driving diagnosis map creation method, and program according to the present invention have the excellent effect of being able to perform accurate driving diagnosis even when vehicle characteristics change significantly. [Brief explanation of the drawings]

[0018] [Figure 1] 1 is a schematic diagram showing a driving diagnosis map creation system according to an embodiment; [Figure 2] 1 is a schematic diagram showing a diagnosis target vehicle and a reference vehicle of a driving diagnosis map creation system according to an embodiment; [Figure 3] FIG. 2 is a control block diagram of the ECUs of a vehicle to be diagnosed and a reference vehicle. [Figure 4] FIG. 2 is a functional block diagram of the ECU. [Figure 5] FIG. 2 is a functional block diagram of an external server of the driving diagnosis map creation system. [Figure 6] FIG. 10 is a diagram showing a first map recorded in an external server. [Figure 7] FIG. 10 is a diagram showing a second map recorded in an external server. [Figure 8] FIG. 3 is a diagram for explaining a method for creating a first map and a second map. [Figure 9] FIG. 10 is a diagram showing a steering diagnostic map recorded in an external server. [Figure 10] 4 is a flowchart showing processing executed by ECUs of a vehicle to be diagnosed and a reference vehicle. [Figure 11] 10 is a flowchart showing a process executed by an external server. [Figure 12] 10 is a flowchart showing a process executed by an external server. [Figure 13] 10 is a flowchart showing a process executed by the mobile terminal. DETAILED DESCRIPTION OF THE INVENTION

[0019] Hereinafter, embodiments of a driving diagnosis map creation system 10 (hereinafter referred to as system 10), a driving diagnosis map creation device, a driving diagnosis map creation method, and a program according to the present invention will be described with reference to Figures 1 to 13. As shown in Figure 1, the system 10 includes a vehicle to be diagnosed (vehicle) 20, a reference vehicle (vehicle) 40, an external server (driving diagnosis map creation device) (computer) 60, and a mobile terminal 70.

[0020] The system 10 has a plurality of vehicles 20 to be diagnosed. For convenience, only one vehicle 20 to be diagnosed is shown in FIG. 1. The vehicle 20 to be diagnosed can communicate with an external server 60 via a network. This network includes a communication network of a telecommunications carrier and the Internet.

[0021] As shown in FIG. 2, a vehicle 20 to be diagnosed, which can receive a diagnosis from the system 10, has four wheels, an ECU (Electronic Control Unit) 21, a vehicle speed sensor (sensor) 30, a steering wheel 31, a steering angle sensor (sensor) 32, a GPS receiver 33, a yaw rate sensor (sensor) 34, and an ignition switch 35. Each vehicle 20 to be diagnosed is assigned a vehicle ID. The two front wheels 20FW are steered wheels. Therefore, when the steering angle of the steering wheel 31 changes, the steering angles of the left and right steered wheels 20FW also change. The vehicle speed sensor 30, the steering angle sensor 32, the GPS receiver 33, the yaw rate sensor 34, and the ignition switch 35 are connected to the ECU 21. When the ignition switch 35 is in the OFF state, the drive source of the vehicle 20 to be diagnosed is disabled, and when the ignition switch 35 is in the ON state, the drive source is enabled. The drive source may include, for example, at least one of an engine and an electric motor. Therefore, the term "ignition switch 35" in this specification includes a key-operated ignition switch and other switches, such as a push-button start button.

[0022] When the ignition switch 35 is in the ON state, the vehicle speed sensor 30 acquires the vehicle speed (vehicle information) V1 of the diagnosis target vehicle 20 and transmits the acquired vehicle speed V1 to the ECU 21 every time a predetermined time has elapsed. When the ignition switch 35 is in the ON state, the steering angle sensor 32 acquires the steering angle (vehicle information) ST1, which is the rotation angle of the steering wheel 31, and transmits the acquired steering angle ST1 to the ECU 21 every time a predetermined time has elapsed. When the ignition switch 35 is in the ON state, the GPS receiver 33 receives GPS signals transmitted from GPS satellites every time a predetermined time has elapsed. That is, the GPS receiver 33 acquires information regarding the location where the diagnosis target vehicle 20 is traveling (hereinafter referred to as "location information"). When the ignition switch 35 is in the ON state, the yaw rate sensor 34 acquires the yaw rate (vehicle information) YR1 of the diagnosis target vehicle 20 and transmits the acquired yaw rate YR1 to the ECU 21 every time a predetermined time has elapsed. The detected values ​​of the vehicle speed sensor 30, steering angle sensor 32 and yaw rate sensor 34 sent to the ECU 21 are recorded in the storage 25, which will be described later, in association with the ID information of the vehicle 20 to be diagnosed, the position information and time information.

[0023] As shown in FIG. 3, the ECU 21 includes a CPU (Central Processing Unit). The ECU 21 includes a CPU (processor) 22, a ROM (Read Only Memory) 23, a RAM (Random Access Memory) 24, a storage 25, a communication I / F (Interface) 26, and an input / output I / F 27. The CPU 22, the ROM 23, the RAM 24, the storage 25, the communication I / F 26, and the input / output I / F 27 are connected to each other so as to be able to communicate with each other via a bus 28. The ECU 21 can obtain information relating to the date and time from a timer (not shown).

[0024] The CPU 22 is a central processing unit that executes various programs and controls each part. That is, the CPU 22 reads programs from the ROM 23 or the storage 25 and executes the programs using the RAM 24 as a work area. The CPU 22 controls each component and performs various arithmetic processing (information processing) in accordance with the programs recorded in the ROM 23 or the storage 25.

[0025] The ROM 23 stores various programs and various data. The RAM 24 temporarily stores programs or data as a working area. The storage 25 is configured with a storage device such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive), and stores various programs and various data. The communication I / F 26 is an interface capable of communicating with devices located outside the vehicle to be diagnosed 20. For example, the communication I / F 26 is capable of wireless communication with an external server 60. The communication I / F 26 uses communication standards such as Bluetooth (registered trademark) and Wi-Fi (registered trademark). Furthermore, the communication I / F 26 is capable of communicating with an ECU other than the ECU 21 provided in the vehicle to be diagnosed 20 via an external bus.

[0026] 4, the ECU 21 has, as its functional components, a curvature calculation unit 221 and a communication control unit 222. The curvature calculation unit 221 and the communication control unit 222 are realized by the CPU 22 of the ECU 21 reading and executing a program stored in the ROM 23.

[0027] The curvature calculation unit 221 calculates the curvature Cv1 of the travel trajectory of the diagnosis target vehicle 20 (=yaw rate YR1 / vehicle speed V1) based on the yaw rate YR1 detected by the yaw rate sensor 34 and the vehicle speed V1 detected by the vehicle speed sensor 30. Furthermore, the curvature calculation unit 221 records the calculated curvature Cv1 in the storage 25 while associating it with the ID information, position information, and time information of the diagnosis target vehicle 20.

[0028] The communication control unit 222 controls the communication I / F 26 so that the vehicle speed V1, steering angle ST1, yaw rate YR1, and curvature Cv1 recorded in the storage 25 and associated with the above-mentioned position information and time information are wirelessly transmitted to the external server 60 every time a predetermined time elapses.

[0029] The system 10 includes one reference vehicle 40. The reference vehicle 40 is capable of data communication with an external server 60 via a network.

[0030] 2, the reference vehicle 40 has four wheels including two steerable wheels (front wheels) 40FW, an ECU 41, a vehicle speed sensor 30, a steering wheel 31, a steering angle sensor 32, a GPS receiver 33, a yaw rate sensor 34, and an ignition switch 35. A vehicle ID is assigned to the reference vehicle 40. The vehicle speed sensor 30, the steering angle sensor 32, the GPS receiver 33, the yaw rate sensor 34, and the ignition switch 35 are connected to the ECU 41. When the steering angle of the steering wheel 31 changes, the steering angles of the left and right steerable wheels 40FW change. The vehicle speed (vehicle information) V2 detected by the vehicle speed sensor 30, the steering angle (vehicle information) ST2 detected by the steering angle sensor 32, and the yaw rate (vehicle information) YR2 detected by the yaw rate sensor 34 are recorded in storage 45 in association with the ID information, location information, and time information of the reference vehicle 40.

[0031] 2, the ECU 41 includes a CPU (processor) 42, a ROM 43, a RAM 44, a storage 45, a communication I / F 46, and an input / output I / F 47. The CPU 42, the ROM 43, the RAM 44, the storage 45, the communication I / F 46, and the input / output I / F 47 are connected to each other so as to be able to communicate with each other via a bus 48. The specifications of the CPU 42, the ROM 43, the RAM 44, the storage 45, the communication I / F 46, and the input / output I / F 47 are the same as those of the CPU 22, the ROM 23, the RAM 24, the storage 25, the communication I / F 26, and the input / output I / F 27, respectively.

[0032] 4, the ECU 41 has, as its functional configuration, a curvature calculation unit 421 and a communication control unit 422. The functions of the curvature calculation unit 421 and the communication control unit 422 are the same as the functions of the curvature calculation unit 221 and the communication control unit 222, respectively. The curvature calculation unit 421 and the communication control unit 422 are realized by the CPU 42 of the ECU 41 reading and executing a program stored in the ROM 43.

[0033] The curvature calculation unit 421 calculates the curvature Cv2 of the travel trajectory of the reference vehicle 40 = yaw rate YR2 ÷ vehicle speed V2 based on the yaw rate YR2 detected by the yaw rate sensor 34 of the reference vehicle 40 and the vehicle speed V2 detected by the vehicle speed sensor 30 of the reference vehicle 40. Furthermore, the curvature calculation unit 421 records the calculated curvature Cv2 in the storage 45 while associating it with the ID information, position information, and time information of the reference vehicle 40.

[0034] The communication control unit 422 controls the communication I / F 46 so that the vehicle speed V2, steering angle ST2, yaw rate YR2, and curvature Cv2 recorded in the storage 45 and associated with the above-mentioned position information and time information are wirelessly transmitted to the external server 60 every time a predetermined time elapses.

[0035] 1 includes a hardware configuration including a CPU (processor), ROM, RAM, storage, a communication I / F, and an input / output I / F. The CPU, ROM, RAM, storage, communication I / F, and input / output I / F are connected to each other via a bus so that they can communicate with each other. The CPU of the external server 60 can obtain information related to time from a timer.

[0036] 5, the hardware of the external server 60 has, as functional components, a driving diagnosis unit 601, a communication control unit 602, a map creation unit 603, and a map management unit 604. These functions are realized by the CPU of the external server 60 reading and executing a program stored in the ROM or storage.

[0037] The driving diagnosis unit 601 calculates a steering angular acceleration STca1, which is the acceleration of the corrected steering angle Stc1, by second-order differentiating the corrected steering angle Stc1, which will be described later. Furthermore, the driving diagnosis unit 601 obtains a score related to the steering of the vehicle 20 to be diagnosed by applying the vehicle speed V1 and the steering angular acceleration STca1 to a steering diagnosis map 65, which will be described later. Furthermore, the driving diagnosis unit 601 records the obtained score in the storage of the external server 60 while associating it with the ID information, location information, and time information of the vehicle 20 to be diagnosed.

[0038] A steering diagnostic map 65 shown in FIG. 9 is recorded in the ROM or storage of the external server 60. The steering diagnostic map 65 defines the vehicle speed V2 of the reference vehicle 40, the steering angular acceleration STa2 which is the second-order derivative of the steering angle ST2, and a score related to steering. The vehicle speed V2 is a detected value by the vehicle speed sensor 30 of the reference vehicle 40. The steering angle ST2 is a detected value by the steering angle sensor 32 of the reference vehicle 40. The score is defined based on the behavior caused by the steering of the reference vehicle 40. In other words, the steering diagnostic map 65 defines the relationship between the steering angular acceleration of the reference vehicle 40 and the behavior caused by the steering of the reference vehicle 40 for each vehicle speed. Therefore, by applying the steering angular acceleration STa2 to the steering diagnostic map 65, a score representing the behavior caused by the steering of the reference vehicle 40 can be obtained.

[0039] The steering diagnosis map 65 defines the vehicle speed V2 by dividing it into three regions. These three regions are the region below A (km / h), the region equal to or greater than A and less than B (km / h), and the region equal to or greater than B. Here, B > A and both A and B are positive values. As represented by the steering diagnosis map 65, when the vehicle speed V2 is less than A, the score when the steering angular acceleration STa2 is less than X1 is 10 points, and the score when the steering angular acceleration STa2 is greater than or equal to X1 is 1 point. When the vehicle speed V2 is equal to or greater than A and less than B, the score when the steering angular acceleration STa2 is less than X2 is 10 points, and the score when the steering angular acceleration STa2 is greater than or equal to X2 is 1 point. When the vehicle speed V2 is equal to or greater than B, the score when the steering angular acceleration STa2 is less than X3 is 10 points, and the score when the steering angular acceleration STa2 is greater than or equal to X3 is 1 point. Here, X1 < X2 < X3. X1, X2, and X3 are absolute values. The driving diagnosis unit 601 obtains the score related to the steering of each diagnostic target vehicle 20 by applying the vehicle speed V1 and the steering angular acceleration STca1 to the steering diagnosis map 65. For example, the score when the vehicle speed V1 is less than A and the steering angular acceleration STca1 is less than X1 is 10 points. Further, the driving diagnosis unit 601 records the obtained score in the storage of the external server 60 while associating it with the ID information, position information, and time information of the diagnostic target vehicle 20.

[0040] The communication control unit 602 controls the communication I / F of the external server 60 so as to wirelessly transmit the information related to the score of the diagnostic target vehicle 20 recorded in the storage and associated with the above position information and time information to the mobile terminal 70 possessed by the occupant of the diagnostic target vehicle 20 to which this score is given.

[0041] The map creation unit 603 creates a first map (driving diagnosis map) 75 shown in Fig. 6 based on the steering angle ST1 and curvature Cv1 received from each diagnosis target vehicle 20. The vertical axis of the first map 75 represents the steering angle ST1, and the horizontal axis represents the curvature Cv1. Note that the sign of the steering angle ST1 when the steering wheel 31 is steered clockwise is + (plus), and the sign of the steering angle ST1 when the steering wheel 31 is steered counterclockwise is - (minus). Furthermore, the sign of the curvature Cv1 when the diagnosis target vehicle 20 turns right is + (plus), and the sign of the curvature Cv1 when the diagnosis target vehicle 20 turns left is - (minus).

[0042] The external server 60 receives a large amount of data representing the steering angle ST1 and the curvature Cv1 from each vehicle 20 to be diagnosed. The map creation unit 603 plots the received data representing the steering angle ST1 and the curvature Cv1 on a first map 75. The map creation unit 603 then creates the first map 75 based on all of the plotted data. At this time, the map creation unit 603 averages the data. That is, for example, as shown in FIG. 8, it is assumed that the steering angle ST1 corresponding to P1, which is a predetermined value of the curvature Cv1, includes four steering angles ST1 represented by circles. In this case, the map creation unit 603 regards the average value of the four steering angles ST1 represented by squares as the value Q1 of the steering angle ST1 corresponding to P1. Note that the first map 75 is created for each vehicle 20 to be diagnosed. That is, the storage stores the same number of first maps 75 as the number of vehicles 20 to be diagnosed, and each first map 75 is associated with the ID information of each vehicle 20 to be diagnosed. Furthermore, it is known that the steering angle of a vehicle is approximately proportional to the curvature of the travel path. Therefore, the graph shown by the first map 75 is approximately linear.

[0043] Furthermore, in the same manner, the map creating unit 603 creates a second map (driving diagnosis map) 80 shown in FIG. 7 based on a large amount of data representing the steering angle ST2 and curvature Cv2 received from the reference vehicle 40.

[0044] Generally, the detection accuracy of the yaw rate sensor 34 is not high. However, the first map 75 and the second map 80 created in this manner more accurately represent the relationship between the steering angle and the curvature of the diagnosis target vehicle 20 and the reference vehicle 40 compared to the first map 75 and the second map 80 created not based on the average value. Therefore, the reliability of the first map 75 and the second map 80 created in this manner is high.

[0045] The method of creating the first map 75 and the second map 80 executed by the map creating unit 603 will be described in detail later.

[0046] The map management unit 604 discards the first map 75 recorded in the storage when a discard condition, which will be described later, is met for the first map 75. Similarly, the map management unit 604 discards the second map 80 recorded in the storage when a discard condition, which will be described later, is met for the second map 80.

[0047] The mobile terminal 70 shown in FIG. 1 includes, as its hardware configuration, a CPU, a ROM, a RAM, a storage, a communication I / F, and an input / output I / F. The mobile terminal 70 is, for example, a smartphone or a tablet computer. The CPU, ROM, RAM, storage, communication I / F, and input / output I / F of the mobile terminal 70 are connected to each other via a bus so that they can communicate with each other. The communication I / F of the mobile terminal 70 is capable of wireless communication with the communication I / F of the external server 60. The mobile terminal 70 can obtain information related to the date and time from a timer (not shown). The mobile terminal 70 is provided with a display 71 having a touch panel. Furthermore, map data is recorded in the storage of the mobile terminal 70. The mobile terminal 70 is carried, for example, by the driver of the diagnosis target vehicle 20. A predetermined driving diagnosis display application is installed in the mobile terminal 70.

[0048] (Action and effect) Next, the operation and effects of this embodiment will be described.

[0049] First, the flow of processing performed by the ECU 21 of each diagnosis target vehicle 20 and the ECU 41 of the reference vehicle 40 will be described using the flowchart of Fig. 10. The ECUs 21 and 41 repeatedly execute the processing of the flowchart of Fig. 10 every time a predetermined time elapses.

[0050] First, in S10 (step 10), the curvature calculation units 221, 421 of the ECUs 21, 41 calculate curvatures Cv1, Cv2 based on the yaw rates YR1, YR2 detected by the yaw rate sensor 34 and the vehicle speeds V1, V2 detected by the vehicle speed sensor 30.

[0051] After completing the process of S10, the ECUs 21 and 41 proceed to S11. In S11, the communication control unit 222 of the ECU 21 controls the communication I / F 26 to wirelessly transmit to the external server 60 the vehicle speed V1, steering angle ST1, yaw rate YR1, and curvature Cv1 associated with the ID information, position information, and time information. In S11, the communication control unit 422 of the ECU 41 controls the communication I / F 46 to wirelessly transmit to the external server 60 the vehicle speed V2, steering angle ST2, yaw rate YR2, and curvature Cv2 associated with the ID information, position information, and time information.

[0052] When the process of S11 is completed, the ECU 21, 41 temporarily ends the process of the flowchart of FIG.

[0053] Next, the flow of processing performed by the external server 60 will be described using the flowcharts of Figures 11 and 12. The external server 60 repeatedly executes the processing of the flowcharts of Figures 11 and 12 every time a predetermined time elapses. First, the processing of the flowchart of Figure 11 will be described.

[0054] First, in S20, the communication control unit 602 of the external server 60 determines whether the communication I / F has received the vehicle speed V1, steering angle ST1, yaw rate YR1, and curvature Cv1 from the vehicle 20 to be diagnosed.

[0055] Next, the external server 60 proceeds to S21, where it calculates a corrected steering angle Stc1 of the diagnosis target vehicle 20 using the first map 75 and the second map 80 recorded in the storage. More specifically, the driving diagnosis unit 601 applies the steering angle ST1 of the diagnosis target vehicle 20 to the first map 75 as an argument to obtain a curvature Cv1 corresponding to this steering angle ST1. At this time, the driving diagnosis unit 601 performs interpolation processing of the first map 75 as necessary. For example, assume that the magnitude of this steering angle ST1 is the steering angle ST-A shown in FIG. 6. The magnitude of the curvature Cv1 obtained by applying this steering angle ST-A to the first map 75 as an argument is the curvature Cv-A. Furthermore, the driving diagnosis unit 601 applies this curvature Cv-A to the second map 80 as an argument to obtain a steering angle ST-B, which is the steering angle ST2 of the reference vehicle 40 corresponding to the curvature Cv-A. At this time, the driving diagnosis unit 60 performs interpolation processing of the second map 80 as necessary. This steering angle ST-B is the corrected steering angle Stc1 of the diagnosis target vehicle 20. As will be described later, the first map 75 and the second map 80 recorded in the storage may each be replaced with a new map. That is, for example, if the vehicle characteristics of the diagnosis target vehicle 20 change significantly due to a collision or the like, the first map 75 is replaced with a new map, and if the vehicle characteristics of the reference vehicle 40 change significantly, the second map 80 is replaced with a new map.

[0056] After completing the processing of S21, the external server 60 proceeds to S22, where the driving diagnosis unit 601 calculates the steering angular acceleration STca1, which is the acceleration of the corrected steering angle Stc1. Furthermore, the driving diagnosis unit 601 applies the vehicle speed V1 and the steering angular acceleration STca1 to the steering diagnosis map 65 to obtain a score related to the steering of the vehicle 20 to be diagnosed. Furthermore, the driving diagnosis unit 601 records the obtained score in the storage of the external server 60 while associating it with the ID information, position information, and time information of the vehicle 20 to be diagnosed.

[0057] After completing the process of S22, the external server 60 proceeds to S23. In S23, the communication control unit 602 of the external server 60 controls the communication I / F 46 to wirelessly transmit to the mobile terminal 70, information about the score that is recorded in the storage and associated with the ID information, location information, and time information.

[0058] When the result of the determination in S20 is No or when the process of S23 is completed, the external server 60 temporarily ends the process of the flowchart in FIG.

[0059] Next, a description will be given of the processing of the flowchart in Fig. 12. More specifically, a description will be given of the processing in which the map creation unit 603 creates the first map 75 corresponding to the specific diagnosis target vehicle 20, which is a predetermined diagnosis target vehicle 20, based on the steering angle ST1 and curvature Cv1 received from the specific diagnosis target vehicle 20.

[0060] First, in S30, the map creation unit 603 determines whether or not the external server 60 has received the steering angle ST1 and the curvature Cv1 from the specific diagnosis target vehicle 20. In the following description, the steering angle ST1 and the curvature Cv1 newly received by the external server 60 from the specific diagnosis target vehicle 20 are referred to as the "latest detected values."

[0061] If the determination in S30 is Yes, the map creation unit 603 determines in S31 whether the first map 75, which is a map for driving diagnosis, is recorded in the storage. In other words, the map creation unit 603 determines whether the first map 75 that can be used in the processing of S21 is recorded in the storage.

[0062] If the determination in S31 is No, the map creation unit 603 proceeds to S32, where it creates a new first map 75 based on the latest detection values ​​recorded in the storage, and records the created first map 75 in the storage. Note that if the determination in S31 is No, the external server 60 has received from the specific diagnosis target vehicle 20 a sufficient amount of steering angle ST1 and curvature Cv1 to create the first map 75 and recorded them in the storage. In other words, the first map 75 in this case satisfies the learning completion requirement, which will be described later.

[0063] On the other hand, if the determination in S31 is Yes, the map creation unit 603 proceeds to S33, where, based on the first map 75 recorded in the storage and the latest detection value, the map creation unit 603 determines whether the difference between the first map 75 and the latest detection value is equal to or greater than a predetermined amount. That is, the map creation unit 603 determines whether the amount of change in the vehicle characteristics of the specific diagnosis target vehicle 20 between the first time when the latest detection value is received from the specific diagnosis target vehicle 20 and the second time when the most recent data for the steering angle ST1 and curvature Cv1 older than the latest detection value is received is greater than the predetermined amount. For example, if the specific diagnosis target vehicle 20 collides with another vehicle between the second time and the first time, causing a significant change in the vehicle characteristics of the specific diagnosis target vehicle 20, the amount of change in the vehicle characteristics of the specific diagnosis target vehicle 20 will be greater than the predetermined amount. That is, in this case, the first map 75 recorded in the storage does not accurately represent the relationship between the steering angle ST1 and curvature Cv1 of the specific diagnosis target vehicle 20.

[0064] If the answer is No in S33, the map creating unit 603 proceeds to S34 and determines whether or not a reservation map (not shown), which will be described later, is recorded in the storage.

[0065] If the determination in S34 is Yes, in S35, the map creation unit 603 integrates the latest detected value into the first map 75 and updates the first map 75 recorded in the storage. Furthermore, in S35, the map creation unit 603 discards (deletes) the reserved map from the storage.

[0066] If the result of the determination in S34 is No, in S36, the map creating unit 603 integrates the latest detected value into the first map 75 and updates the first map 75 recorded in the storage.

[0067] On the other hand, if the determination in S33 is Yes, the map creation unit 603 proceeds to S37 and determines whether or not a reserved map related to the specific diagnosis target vehicle 20 is recorded in the storage. Note that if the determination in S33 is Yes, the switching condition is met for the first map 75 and the latest detection value.

[0068] If the determination in S37 is No, the map creation unit 603 proceeds to S38 and creates a reserved map. This reserved map is a map that represents the relationship between the steering angle ST1 and the curvature Cv1, created by the map creation unit 603 based on the latest detected value that satisfied the switching condition.

[0069] Next, the map creation unit 603 proceeds to S39 to determine whether a predetermined learning completion condition is met for the reserved map. That is, it determines whether the amount of data on the steering angle ST1 and curvature Cv1 on which the reserved map is based is sufficient. If the amount of data on the steering angle ST1 and curvature Cv1 is sufficient, the reserved map created based on this data accurately represents the relationship between the steering angle ST1 and the curvature Cv1. On the other hand, if the amount of data on the steering angle ST1 and the curvature Cv1 is insufficient, the reserved map created based on this data is likely to not accurately represent the relationship between the steering angle ST1 and the curvature Cv1. Note that if the external server 60 performs the process of the flowchart of FIG. 12 multiple times in succession and determines No multiple times in succession in S37, the reserved map is created based on the latest detection values ​​for multiple times. That is, in this case, the reserved map recorded in the storage is updated.

[0070] If the determination in S39 is Yes, the discard condition is met for the first map 75 and the latest detected value. That is, when the switching condition is met and the learning completion condition is met for the reserved map, the discard condition is met for the first map 75 and the latest detected value. In this case, in S40, the map management unit 604 discards the old first map 75 recorded in the storage and records the reserved map in the storage as a new first map 75. That is, the old first map 75 recorded in the storage is replaced with the new first map 75.

[0071] On the other hand, if the determination in S39 is No, the map creating unit 603 proceeds to S41, where it leaves the first map 75 recorded in the storage as is, and records the reserved map in the storage.

[0072] On the other hand, if it is determined in S33 that the determination is impossible (IP), the map creation unit 603 proceeds to S42. For example, if the number of curvatures Cv1 corresponding to the first map 75 and the latest detected value is 10 or less, the map creation unit 603 determines that the determination is impossible in S33.

[0073] If the determination in S42 is No, the map creating unit 603 executes the process of S36.

[0074] On the other hand, if the answer to S42 or S37 is Yes, the map creating unit 603 proceeds to S43, where it integrates the latest detected value into the reserved map and updates the reserved map recorded in the storage.

[0075] Next, the map creating unit 603 proceeds to S44, and determines the amount of deviation between the first map 75 and the reserved map based on the first map 75 and the reserved map recorded in the storage.

[0076] If the determination in S44 is Yes, the map creation unit 603 executes the same process as in S39 in S45. That is, the map creation unit 603 determines whether the difference between the first map 75 and the reserved map recorded in the storage is equal to or greater than a predetermined amount, based on the first map 75 and the reserved map.

[0077] If the determination in S45 is Yes, the discard condition is met. If the discard condition is met, it is considered that a large difference has occurred between the characteristics representing the relationship between the steering angle ST1 and curvature Cv1 of the specific diagnosis target vehicle 20 represented by the first map 75 recorded in the storage and the characteristics represented by the reserved map. If the discard condition is met, the map management unit 604 executes the same process as S40 in S46. On the other hand, if the determination in S45 is No, the map creation unit 603 executes the same process as S41 in S47.

[0078] If the determination in S44 is No, in S48 the map creation unit 603 integrates the reserved map into the first map 75 and updates the first map 75 recorded in the storage. Furthermore, the map creation unit 603 discards (deletes) the reserved map from the storage.

[0079] When the result of the determination in S30 is No or when the processes of S32, S35, S36, S40, S41, S46, S47, and S48 have been completed, the external server 60 temporarily ends the process of the flowchart of FIG.

[0080] Furthermore, the external server 60 executes the process of the flowchart of FIG. 12 for the diagnosis target vehicles 20 other than the specific diagnosis target vehicle 20.

[0081] 12 for the reference vehicle 40. That is, the external server 60 creates (updates) the second map 80 based on the data representing the steering angle ST2 and the curvature Cv2 received from the reference vehicle 40. In this case, the steering angle ST2 and the curvature Cv2 newly received by the external server 60 from the reference vehicle 40 are the "latest detected values."

[0082] Next, the flow of processing performed by the mobile terminal 70 will be described using the flowchart in Fig. 13. The mobile terminal 70 repeatedly executes the processing of the flowchart in Fig. 13 every time a predetermined time period has elapsed.

[0083] First, in S50, the CPU of the mobile terminal 70 determines whether or not the driving diagnosis display application is running.

[0084] If the mobile terminal 70 judges Yes in S50, it proceeds to S51 and determines whether the communication I / F of the mobile terminal 70 has received score information regarding the vehicle 20 to be diagnosed in which the owner of the mobile terminal 70 is riding from the communication I / F of the external server 60.

[0085] If the mobile terminal 70 determines "Yes" in S51, the process proceeds to S52, where the CPU displays an image (not shown) representing the score on the display 71. At this time, the display 71 may display a map image represented by map data recorded in the storage of the mobile terminal 70, and may also display the position where the steering operation corresponding to the score was performed as a specific image superimposed on the map image. Furthermore, the display 71 may display information representing the time when the steering operation corresponding to the score was performed, in association with the score.

[0086] When the result of the determination in S50 is No or when the process of S52 is completed, the mobile terminal 70 temporarily ends the process of the flowchart in FIG.

[0087] As described above, in this embodiment, when a discard condition is met for the first map 75 due to a significant change in the vehicle characteristics of the diagnosis target vehicle 20 caused by a collision or the like, the old first map 75 recorded in the storage of the external server 60 is discarded. Similarly, when a discard condition is met for the second map 80 due to a significant change in the vehicle characteristics of the reference vehicle 40 caused by a collision or the like, the old second map 80 recorded in the storage of the external server 60 is discarded. Therefore, after a significant change in the vehicle characteristics of at least one of the diagnosis target vehicle 20 and the reference vehicle 40, the external server 60 is unlikely to continue to perform an inaccurate driving diagnosis by continuing to use a map related to the vehicle whose vehicle characteristics have changed. Therefore, even when a significant change occurs in the vehicle characteristics of at least one of the diagnosis target vehicle 20 and the reference vehicle 40, the external server 60 can perform an accurate driving diagnosis.

[0088] Furthermore, the reserved map for the diagnosis target vehicle 20 is created based on the most recent detected value that satisfied the switching condition. Therefore, the reserved map is likely to accurately represent the vehicle characteristics of the diagnosis target vehicle 20 when the most recent detected value that satisfied the switching condition was detected. Similarly, the reserved map for the reference vehicle 40 is likely to accurately represent the vehicle characteristics of the reference vehicle 40 when the most recent detected value that satisfied the switching condition was detected. Therefore, when the learning completion requirements are met, if the map creation unit 603 uses the reserved map for the diagnosis target vehicle 20 as the first map 75 and the reserved map for the reference vehicle 40 as the second map 80, an accurate driving diagnosis is likely to be performed.

[0089] Furthermore, the discard condition is met when the reserved map for the diagnosis target vehicle 20 becomes available as the first map 75, and the discard condition is met when the reserved map for the reference vehicle 40 becomes available as the second map 80. Therefore, if the old first map 75 is discarded, a driving diagnosis is performed based on the new first map 75, and if the old second map 80 is discarded, a driving diagnosis is performed based on the new second map 80. Furthermore, even if a significant change occurs in the vehicle characteristics of the diagnosis target vehicle 20, a driving diagnosis is performed based on the old first map 75 recorded in the storage of the external server 60 until a new first map 75 is created. Similarly, even if a significant change occurs in the vehicle characteristics of the reference vehicle 40, a driving diagnosis is performed based on the old second map 80 recorded in the storage of the external server 60 until a new second map 80 is created. Therefore, the external server 60 can perform a driving diagnosis of the diagnosis target vehicle 20 until new first maps 75 and second maps 80 based on the reserved maps are created.

[0090] Furthermore, in this embodiment, the curvature Cv1 of the travel trajectory of the diagnosis target vehicle 20 is calculated based on the yaw rate YR1 and vehicle speed V1 of the diagnosis target vehicle 20. Furthermore, a driving diagnosis related to the steering of the diagnosis target vehicle 20 is performed based on the steering diagnostic map 65 and the steering angular acceleration STca1. As described above, the steering diagnostic map 65 defines the relationship between the steering angular acceleration of the reference vehicle 40 and the behavior of the reference vehicle 40. In other words, the steering diagnostic map 65 does not define the relationship between the steering angular acceleration STca1 of the diagnosis target vehicle 20 and the behavior of the diagnosis target vehicle 20. However, it is known that the relationship between the curvature of the travel trajectory and the behavior caused by the steering of the vehicle is substantially the same regardless of the vehicle model (specification). Furthermore, as described above, it is known that the steering angle of the vehicle and the curvature of the travel trajectory are approximately proportional. In other words, it is known that there is a correlation between the steering angle and the curvature. Therefore, the score obtained by applying the steering angular acceleration STa1, which is a value based on the curvature Cv1 of the diagnosis target vehicle 20, to the steering diagnostic map 65 represents behavior caused by steering of the diagnosis target vehicle 20. Therefore, it is possible to perform driving diagnosis regarding the steering of the diagnosis target vehicle 20 based on the steering diagnostic map 65 and the steering angular acceleration STca1 of the diagnosis target vehicle 20. Furthermore, it is possible to perform driving diagnosis regarding the steering of the reference vehicle 40 by applying the steering angular acceleration STa2 to the steering diagnostic map 65. In other words, it is possible to perform driving diagnosis regarding the steering of the reference vehicle 40 and the diagnosis target vehicle 20 based on one judgment criterion.

[0091] The system 10, the driving diagnosis map creation device, the driving diagnosis map creation method, and the program according to the embodiment have been described above, but these can be modified in design as appropriate within the scope of the gist of the present invention.

[0092] For example, the external server 60 may create a map different from the first map 75 based on the detection values ​​of the sensors of the diagnosis target vehicle 20, and may create a map different from the second map 80 based on the detection values ​​of the sensors of the reference vehicle 40. For example, at least one of the arguments of these maps is different from the steering angle and the curvature.

[0093] Furthermore, each vehicle may have functions corresponding to the map creation unit 603 and the map management unit 604. For example, the ECU 21 of the diagnosis target vehicle 20 may have functions corresponding to the map creation unit 603 and the map management unit 604, and the ECU 21 may create the first map 75. Alternatively, the ECU 41 of the reference vehicle 40 may have functions corresponding to the map creation unit 603 and the map management unit 604, and the ECU 41 may create the second map 80. In this case, the first map 75 created by the diagnosis target vehicle 20 may be transmitted to the external server 60, and the second map 80 created by the reference vehicle 40 may be transmitted to the external server 60, and the external server 60 may use the received first map 75 and second map 80 to perform driving diagnosis of the diagnosis target vehicle 20. In this case, the reference vehicle 40 may wirelessly transmit the second map 80 created by the reference vehicle 40 to the diagnosis target vehicle 20, and the ECU 21 of the diagnosis target vehicle 20 may use the first map 75 and second map 80 to perform driving diagnosis of the diagnosis target vehicle 20. In this case, the external server 60 can be omitted from the system 10 .

[0094] The second map 80 may be created in advance based on a large amount of data representing the steering angle ST2 and curvature Cv2 of the reference vehicle 40, and this second map 80 may be recorded in the ROM or storage of the external server 60. This second map 80 is not updated. Furthermore, this second map 80 may be created by the external server 60, or may be created by a computing device (computer) separate from the external server 60 and then recorded in the ROM or storage of the external server 60.

[0095] The system 10 does not have to be connected to the Internet. In this case, for example, the detection value data groups acquired from the diagnosis target vehicle 20 and the reference vehicle 40 are recorded on a portable recording medium (e.g., USB), and the detection value data groups in this recording medium are copied to the storage of the external server 60.

[0096] The external server 60 may wirelessly transmit the diagnostic results to the vehicle 20 to be diagnosed, and the diagnostic results may be displayed on a display (not shown) provided on the vehicle 20 to be diagnosed.

[0097] [Note] The driving diagnosis map creating device of the present invention may be any combination of the following configurations 1 to 4. Furthermore, the driving diagnosis map creating system, driving diagnosis map creating method, and program of the present invention may correspond to any combination of the configurations 1 to 4. <Configuration 1> A driving diagnosis map creation device comprising: a map creation unit that creates a driving diagnosis map to be used by a driving diagnosis unit for diagnosing the driving of a vehicle based on detection values ​​of vehicle information acquired by sensors provided in the vehicle; and a map management unit that discards the driving diagnosis map created by the map creation unit based on detection values ​​acquired before a latest detection value, which is the most recent detection value, and the driving diagnosis map when a discard condition is met for the latest detection value. <Configuration 2> A driving diagnosis map creation device in which, when a switching condition is established when a difference between the driving diagnosis map and the latest detected value becomes equal to or greater than a predetermined amount with respect to the driving diagnosis map and the latest detected value, the map creation unit creates a reserved map that the driving diagnosis unit can use as a new driving diagnosis map when a predetermined learning completion requirement is met, based on the latest detected value that has established the switching condition. <Configuration 3> A driving diagnosis map creation device in which the discard condition is met when the reserved map satisfies the learning completion requirement. <Configuration 4> A driving diagnosis map creation device in which the driving diagnosis unit performs driving diagnosis using the existing driving diagnosis map until the reserved map satisfies the learning completion requirement. [Explanation of symbols]

[0098] 10. Driving diagnosis map generation system (System 10) 20 Vehicle to be diagnosed (vehicle) 30 Vehicle speed sensor (sensor) 32 Steering angle sensor (sensor) 34 Yaw rate sensor (sensor) 40 Reference vehicle (vehicle) 60 External server (driving diagnosis map generation device) 601 Driving Diagnosis Department 603 Map Creation Department 604 Map Management Department 75 Map 1 (Map for driving diagnosis) 80 Second map (map for driving diagnosis)

Claims

1. a map creation unit that creates a driving diagnosis map to be used by a driving diagnosis unit for diagnosing the driving of the vehicle based on detection values ​​of vehicle information acquired by sensors provided in the vehicle; a map management unit that discards the driving diagnosis map when a discard condition is met for the driving diagnosis map created by the map creation unit based on the detection value acquired before the latest detection value, which is the latest detection value, and the latest detection value; Equipped with When a switching condition is satisfied when a difference between the latest detection value used in creating the driving diagnosis map and the latest detection value becomes equal to or greater than a predetermined amount, the map creation unit creates a reserved map that can be used by the driving diagnosis unit as a new driving diagnosis map when a predetermined learning completion requirement is satisfied, based on the latest detection value that has satisfied the switching condition; The map generating device for driving diagnosis, wherein the discarding condition is met when the reserved map satisfies the learning completion requirement.

2. The driving diagnosis map generating device according to claim 1 , wherein the driving diagnosis unit performs driving diagnosis using the existing driving diagnosis map until the reserved map satisfies the learning completion requirement.

3. a vehicle equipped with a sensor capable of detecting vehicle information; a map creation unit that creates a driving diagnosis map used by a driving diagnosis unit for diagnosing the driving of the vehicle based on the detection values ​​of the vehicle information acquired by the sensor; a map management unit that discards the driving diagnosis map when a discard condition is met for the driving diagnosis map created by the map creation unit based on the detection value acquired before the latest detection value, which is the latest detection value, and the latest detection value; Equipped with When a switching condition is satisfied when a difference between the latest detection value used in creating the driving diagnosis map and the latest detection value becomes equal to or greater than a predetermined amount, the map creation unit creates a reserved map that can be used by the driving diagnosis unit as a new driving diagnosis map when a predetermined learning completion requirement is satisfied, based on the latest detection value that has satisfied the switching condition; The driving diagnosis map creating system, wherein the discard condition is met when the reserved map satisfies the learning completion requirement.

4. A computer comprising: A step of creating a driving diagnosis map used by a driving diagnosis unit for diagnosing the driving of the vehicle based on detection values ​​of vehicle information acquired by sensors provided in the vehicle; and a step of discarding the driving diagnosis map when a discard condition is met for the driving diagnosis map created based on the detection value acquired before the latest detection value, which is the latest detection value, and the latest detection value; and When a switching condition is satisfied when a difference between the latest detection value used in creating the driving diagnosis map and the latest detection value becomes equal to or greater than a predetermined amount, a reserved map is created based on the latest detection value that satisfied the switching condition, which can be used as a new driving diagnosis map when a predetermined learning completion requirement is satisfied; The driving diagnosis map creating method, wherein the discard condition is met when the reserved map satisfies the learning completion requirement.

5. A process of creating a driving diagnosis map used by a driving diagnosis unit for diagnosing the driving of the vehicle based on detection values ​​of vehicle information acquired by sensors provided in the vehicle; and a process of discarding the driving diagnosis map when a discard condition is met for the driving diagnosis map created based on the detection value acquired before the latest detection value, which is the latest detection value, and the latest detection value; on the computer, When a switching condition is satisfied when a difference between the latest detection value used in creating the driving diagnosis map and the latest detection value becomes equal to or greater than a predetermined amount, a reserved map is created based on the latest detection value that satisfied the switching condition, which can be used as a new driving diagnosis map when a predetermined learning completion requirement is satisfied; The program is configured such that the discard condition is met when the reserved map satisfies the learning completion requirement.

Images