JPH01302500A - Advancing direction switching noticing system - Google Patents

Abstract

PURPOSE:To attain follow-up drive accurately following a reference traveling track and to shorten an overrun distance by storing a handle rotating variable, advancing direction data, changing point information, etc., in a memory at the time of traveling based upon reference operation. CONSTITUTION:At the time of traveling based upon the reference operation, the addresses of a non-volatile memory 12 are counted up in accordance with the traveling distance of a vehicle and data indicating the handle rotating variable and the advancing direction at that time and the changing point information are stored in the memory 12. Namely, the changing point information for specifying whether the advancing direction is to be changed or not on a point obtained after advancing by a prescribed distance from a current point is stored in a storage area of the memory 12. Then, the reference handle rotating variable, advancing direction data and changing point information are read out from the storage area indicated by a memory address counted up in accordance with the traveling distance of the vehicle at the time of follow-up operation are read out. The handle correcting rotation variable for executing drive following up the advancing direction and the reference traveling track is displayed on a display device 19 and the switch of the advancing direction is previously alarming by a buzzer 18. Consequently, accurate follow-up drive can be executed and an overrun distance can be reduced.

Description

[Detailed Description of the Invention] <Industrial Application Field> The present invention is a driving guidance instructing device that displays advance notice of a change in the direction of travel in the basic driving trajectory to prevent the user from going too far past the point of change in the direction of travel. 5 (Prior art) Regarding advance notice system for switching direction of travel to prevent this: Data indicating the basic driving trajectory is stored in memory in advance, and the steering wheel correction rotation is performed to cause driving to follow the basic driving trajectory. There is an automobile driving guidance instruction device that displays 1 on a display.

In such a driving guidance/instruction device, a sensor for detecting the traveling trajectory of the vehicle is attached to the vehicle, a sensor for detecting the travel distance or the vehicle position is attached to a position related to the wheel, and the steering wheel rotation direction and the steering wheel rotation direction are attached. A sensor that detects the rotation angle is attached to the steering wheel, and a sensor that detects the direction of travel (forward/reverse) is also shifted and attached to the bar or headlight. The vehicle is moved to a location where the vehicle is being driven, and in parallel with the driving, the one-wheel rotation angle and traveling direction (corresponding to the distance traveled or the position of the vehicle) are read from each sensor and stored in the memory as a basic travel trajectory. -1 Figure 7 shows the basic traveling trajectory (1→2-...→19) when guiding the car CAR to the garage PRK (garaging), and it moves forward until point 10. The case is shown in which the vehicle then reverses and completes parking.

FIG. 8 is an explanatory diagram of the basic travel locus data stored in the memory, and corresponds to FIG. 7. Each time the car moves from the initial position O (FIG. 7) and reaches each point 1 to 19, a pulse is generated from the distance sensor, and each time the pulse is generated, the memory address is changed from Ao to AllA2.・・・・・・
Figure 8), /N at % points 0 to 19
Data D, (F
: forward, R: backward) at memory addresses A0 to A, respectively.
1. In addition to storing in the storage area specified by
"GO" data ("101") indicating "data available" is stored.

Furthermore, when the registration of the basic running trajectory is completed, the next step is A2.
=O, H8=O, GO=00 in the storage area indicated by ゜
0 is stored to generate basic travel locus data in the memory.

To be more specific, address A is the initial position 0 of the car. , the rFJ data indicating that the car is moving forward and the amount of steering wheel rotation at that time (driving straight and steering wheel rotation! 0) are stored. +0.2 (rotation) data indicating that the wheel was turned to the right is stored, and the same goes for address A21...
The direction of travel and the amount of rotation of the steering wheel are stored. Also, from point 9 to point 10, the steering wheel was turned to the right (+
1.5 rotations) If it moves forward, the positions corresponding to point 10, A, and O are "F J and the amount of rotation of the handle +
1.5 is stored. Then, if the direction of travel of the car is changed to reverse from this point and the steering wheel is turned all the way, the direction of travel data rRJ and the amount of rotation of the steering wheel -1, 5 are similarly stored at address A. Thereafter, the data will be stored in the same way as A12゜...A, and the point 19 will be
The direction of travel data rFJ and the amount of rotation of the steering wheel at that time (0 at the straight-ahead position) are stored in the address A19. Then, if you manually press the key to end the basic driving operation, D will be stored in the storage area specified by address A2o.
! Store l=O, H, =O, GO=OOO. Furthermore, -
When stopped in S (the shift lever is temporarily removed from reverse), the traveling direction data stored in address 2 of stopping point 19 becomes "F". As a result, the basic travel trajectory data is stored in the memory. will be generated.

With the basic travel trajectory data stored in the memory in this way, when an amateur drives based on the basic travel trajectory (referred to as follow-up driving), the car moves from the initial position O and a pulse is generated from the distance sensor. Each time, the memory address is incremented and the basic steering wheel rotation angle H and the traveling direction data D are read out from the storage area indicated by the address, and the traveling direction is displayed using the traveling direction data D, and the basic steering wheel rotation angle is H8 is compared with the actual steering wheel rotation angle H, and the comparison result is transmitted to the driver via a display installed in the vehicle interior, causing the driver to correct the steering wheel rotation and converting the actual driving trajectory into the basic driving trajectory. approximate. From then on, the same driving guidance is performed until the rGOJ data becomes "ooo", and the car moves following the basic travel trajectory (.

FIG. 9 is an external view of the display unit 100, showing a symmetrical optical index pattern 101 in a substantially circular shape with a portion of the lower part missing, and vehicle forward movement (FWI) and rear i1 (REV).
! Display sections 102 and 103 are provided to indicate the circular finger 1fis of the index pattern 101! . indicates the zero position of the steering wheel correction rotation amount, and the zero finger @SI. The left correction rotation amount of the steering wheel is non-linearly indicated by the indicators SL -3L arranged clockwise at equal intervals, and the fingers f! arranged at equal intervals counterclockwise from the zero indicator SI0! JsR, ~SR,
The correct rotation amount of the steering wheel to the right is similarly instructed in a non-linear manner at o.

Then, in parallel with the above-mentioned follow-up operation process, the actual traveling direction is compared with the basic traveling direction read from the memory, and if they match, nothing is done, but if they are different, the traveling direction switching point is passed. Therefore, the driver should stop the car quickly and sound the buzzer to warn the driver to move the shift lever into reverse.

After that, the above processing and operations are performed to follow the basic running (7
The car has been parked in the garage.

<Problem to be solved by the invention> As described above, if the driving operation is performed accurately as guided by the conventional driving guidance and instruction device, the following driving trajectory will almost match the basic driving trajectory, and the equivalent problem will not be solved. do not have.

However, the basic running trajectory is straight! Or go backwards!
There is no problem when it is simple, but if the basic travel trajectory becomes complex and includes one or more traveling direction switching points, a situation may arise where the vehicle overruns the traveling direction switching points.

If even a slight overrun occurs, it is almost always necessary to turn the steering wheel fully to one side and then fully back to the other side at the point where the direction of travel is changed, so from now on, the car should be accurately guided along the basic driving path. You will no longer be able to move it by following it. In particular, with the conventional system, there is a delay in switching the direction of travel, resulting in a considerable overrun (as shown in Figure 10), which makes it impossible to follow the basic travel trajectory (Figure 7), resulting in collisions with buildings. occurs.

In addition, when investigating the reason why the vehicle cannot follow the basic travel trajectory in conventional follow-up driving, it is often due to an erroneous operation at the traveling direction switching point. To explain this point with reference to FIG. 10, from the start point (initial position O) to the direction switching point 10, the car travels along the basic travel trajectory by carefully following the guidance instructions of the driving guidance instruction device. You can do it. However, the direction switching point (
When reaching the circle mark), the guidance instruction suddenly changes to forward direction (FWD).
Display) to reverse command (REW display), and at the same time a buzzer prompts the shift lever to switch. Until now, drivers who had been paying close attention to the steering wheel display and concentrating on correcting the steering wheel have not been able to stop the car by immediately stepping on the brake in order to switch the shift lever to reverse in response to this sudden instruction to change the direction of travel. This is not possible, and therefore the location where the vehicle stops will be far away from the point where the direction of travel is switched.

That is, the vehicle moves forward with the steering wheel instruction 5 from the traveling direction switching point, and ends up overrunning to the point indicated by 12 in FIG. 1O. Then, after stopping the vehicle, the driver often operates the vehicle in reverse, and only when he has time to do so, does he see the steering wheel instructions and hastily switches the steering wheel. In this case, in the driving guidance instruction device, the basic data (basic steering wheel rotation amount, traveling direction data) corresponding to the overrun point 11 and 12 has already been read out and is included in the address near the most important switching point. The maximum steering wheel switching data is lost, and as a result, even if the vehicle is guided accurately thereafter, the vehicle will travel in a direction different from the basic travel trajectory, resulting in a collision with a building as shown in Figure 1. It is.

From the above, when it is necessary to switch the direction of travel frequently due to narrow roads in front of the garage, etc., it is necessary to reduce the amount of overrun as much as possible. To provide a traveling direction switching advance notice system which can reduce the amount of overrun of the switching point even when the vehicle is moving, and can therefore perform follow-up operation that accurately follows the basic travel locus.

Another object of the present invention is to identify a traveling direction switching point before reaching the point, and when approaching the switching point, the overrun distance can be shortened as much as possible by forewarning that the traveling direction switching point is near. The purpose of the present invention is to provide an advance notice system for changing the direction of travel.

<Means for Solving the Problems> FIG. 1 is a schematic diagram of the driving guidance and instruction device according to the present invention.

11 is a rotation processor, 12 is a non-volatile memory (for example, battery backup RAM), 13 is an operation panel, 14 is a steering wheel column that is attached to the steering wheel column and detects the rotation angle of the steering wheel, and 15 is a wheel sensor that detects the rotation of the wheel. , 16 is a traveling direction sensor that detects forward/backward movement (direction of travel) of the car, 17 is a display driver, 1
8 (f buzzer, 19 is a display device) <Function> During basic driving, the 7 dresses in the memory 12 are stepped according to the mileage of the car, and data indicating the amount of rotation of the steering wheel and the direction of travel at that time are displayed. Change point information indicating whether the direction of travel changes at a point after a predetermined distance from the current point is stored in the storage area indicated by the address.Then, during follow-up driving, the vehicle advances in accordance with the distance traveled by the vehicle. Reads the basic steering wheel rotation amount, traveling direction data, and change point information from the storage area instructed by the memory atsulator, and displays the steering wheel correction rotation amount to make driving follow the traveling direction and basic travel trajectory @19. display, and if the change point information indicates that the direction of travel will change, the buzzer 1 will sound.
At 8, advance notice is given to change the direction of travel.

<Embodiment> FIG. 1 is a block diagram of a driving guidance instruction device according to the present invention, in which 11 is a processor that performs processing for driving guidance instructions and other processing, 121f (it basic travel trajectory and (II) steering wheel); Non-volatile memory (for example, battery backup RAM) that stores a correspondence table showing the relationship between the corrected rotation amount and the indicator to be lit (described later)
, 131, and a switch 13a for starting/terminating registration of a basic travel trajectory.

13b, an operation panel 1 equipped with a guided driving start switch 13c for causing driving according to the basic traveling trajectory;
41. t A steering wheel sensor attached to the steering wheel column to detect the rotation angle of the steering wheel, 15 (a wheel sensor that detects the rotation of the wheel and generates one distance pulse for each predetermined rotation of the wheel, and 16 a wheel sensor that turns on/off the backlight); A traveling direction sensor that detects whether the vehicle is moving backwards/forwards (R/F) by turning off the lights;
17 is a display:: driver; 18 is a buzzer for instructing a change in direction of travel; and 19 is a display for displaying the corrected rotation amount of the steering wheel, the direction of travel, and a preview of the change in direction of travel.

The display W19 includes a symmetrical optical index pattern 19a with a substantially circular scale with a portion missing at the bottom, and a display section 19b indicating forward movement (FWD) and reverse movement (REV) of the vehicle.
, 19c. Each index 3 of index pattern 19m
1o, SR, ~5R1o.

SL1 to SL and o are each formed of LEDs (light emitting diodes), and are indicators SI in the upper center. The other indicators are rectangular.

Command SI0 is green, indicators SR, -3R6 and SLl~
SL, is yellow, fingers 11 [sR7~SR,. and SL,
~SL, o are displayed in red. Further, the finger 111iS Io indicates the zero position of the steering wheel correction rotation amount,
The leftward correction rotation amount of the steering wheel is nonlinearly indicated by the indicators SL, ~5L1o, which are arranged at equal intervals clockwise from the zero finger 1lls Io, and the zero finger R8 summer. t-two indicators SR, ~SR, arranged at equal intervals in the counterclockwise direction. The amount of corrected rotation of the steering wheel to the right is similarly instructed in a non-linear manner. In other words, when the amount of correction rotation of the steering wheel is small, the change in the scale of each index (handle correction amount) is small, and when the amount of steering wheel rotation is large, the change in the scale of each command is large. There is.

FIG. 2 is a diagram showing the correspondence between the index NO0 and the steering wheel correction rotation I, where the index SI0 is N000 and the index SR is ~SR.

No, 1~No, 101 index SLl~SL, 0eNo
, 1' to No. 10'. That is, the index N000 instructs the corrected rotation amount θ~±0.03 rotations (+ sign (indicates right rotation, - sign +1 left rotation), and the index N001 instructs the corrected rotation amount O, Oa~0°14 Rotation is instructed, and the corrected rotation amount -0,0 according to index No. 1'
3 to -0, 14 are specified, index No., 2. No, 2'
The corrected rotation amount is 0.14 to 0.29. -0.
14~-0°29 is instructed, and the corrected rotation amounts of 2.5~ and -2.5~ are instructed by the 2ζ fingers IJNo, tO, NO, 10', respectively, and these handle correction rotation amounts and the lighting The correspondence of power indices is stored in the nonvolatile memory 12 in advance.

FIG. 3 is a flowchart of the basic travel trajectory registration process, and FIG. 4 is a flowchart of the follow-up driving process. Below, according to each flowchart, the first
The overall operation of the figure will be explained.

fat basic travel trajectory registration process Operate the basic travel trajectory registration switch 13a (Fig. 1) to set the registration mode, and at the same time, a skilled driver drives the car toward the desired location (Ct7, such as a garage). and move it.

In parallel with this basic operation, the Brosset 11 detects the outputs of the sensors 14 to 16 (handle rotation amount H,).

The distance pulse W1 (in the direction of travel) is read (step 101), and it is checked whether the address indicated by the built-in address pointer is the initial address A (step 102). is initialized to Ao.

If the initial position is A0, the steering wheel rotation amount H read from the sensor, the direction of travel D6, and the GO date ("101") indicating that data is available are stored in the memory 12 (step 107). , step 108) to the address specified by Ato Svoilek, and repeat the process from step 101 onward.

On the other hand, if the address pointed to by the address pointer is not the initial address in step 102, the current traveling direction is compared with the traveling direction stored in the storage area pointed to by the previous address to check whether the traveling direction has changed. If there is no change (step 103), the process jumps to step 105 to check whether the registration process has been completed. Note that, for example, when the registration end switch 13b is pressed, it is assumed that the basic travel trajectory registration process has ended.

If the direction of travel has changed, step 104
), and thereafter in step 105 it is checked whether the registration process has been completed.

In the check in step 105, if the registration process of the basic travel trajectory has not been completed, a distance pulse is generated from the wheel sensor 15, but it is checked in step 106).
If it occurs, it is read from sensor 14°16.
Old A handle rotation amount H, and (11) traveling direction D6 and 610
"GO" data (101'') indicating "data available" is stored in the storage area of the memory 12 pointed to by the address pointer (step 107), then the address of the address pointer is incremented (step 108), and thereafter step 10
Repeat the process from 1 onwards.

As described above, assuming that the vehicle is parked in the garage as shown in FIG. 7, for example, the basic travel locus data shown in FIG. As addresses A, , and A1. is memorized.

After the garage is completed, for example, press the registration end switch 1.
3b, rYEsJ is pressed in step 105.
Then, the processor 11 stores H,=O,r) in the storage area pointed to by the next address (address A2° in the example of FIG. 5).
-0, GO=000 is stored, and the address indicated by the address pointer is A, Nisshiku Ao-A), and thereafter the basic travel trajectory data is subjected to skin conduit processing (step 109).
).

Next, the processor 11 retrieves the registration data D from the storage area of the memory 12 indicated by the address and pointer (address A).
,, H,, along with reading the Go data (step 1
10) Check whether the current address A indicated by the address pointer is an address 1 to S before the traveling direction change point address A (step 111).

Here, S is a preset numerical value, and is the traveling direction change point address A. This is the address 8 points before (Y), and the address of a point that is a distance away from the starting point side from the point where the direction of travel changes, which corresponds to S distance pulses.In the example of FIG. 5, S=2, A,= A...

Since it is Al1, the address pointed to by the address pointer in step 111 is A9 (=A,, -2)h)
A. (=A,, -1), or A, 7°A
Check whether it is l1.

Step 1 is used, and if the current address is an address 1 to S before the direction change point address ArJ, step 1
Jump to 13, Go day shows the end of data 000
” (step 113).

On the other hand, the current address A is 1 of the traveling direction change point address A.
~S If the address is before S, change the GO date of the current address from 101″ to “010” and enter D, , H8, Go
Step 112), L, then step 11
Check the data entry in step 3.

If it is the data end, the editing process is finished, and if it is not the data end, the address A specified by Suboinota is incremented (step 114), and the processing from step 110 onwards is repeated, and the change point address A,... Change the GO dates of 1 to S in front of A, , to "010" (see FIG. 5(b)).

As a result of the above, (1) steering wheel rotation fiHB at that time,
(11) The traveling direction D6 and (iii) change point information indicating that the traveling direction changes at a point after a predetermined alternate layer (corresponding to 1 to S distance pulses) from the current point are stored.

(b) Follow-up driving process With the basic driving trajectory registered in the non-volatile memory 12 through the above operations, move the car to the initial position 0 (see FIG. 7), and then press the follow-up driving start switch 13.
Start follow-up operation by operating c.

When the follow-up operation is started, the processor 11 initializes various values (for example, initializes the address to Ao).
, at the initial position MO of the car, reads the outputs of the steering wheel sensor 14 and the traveling direction sensor 16 and determines the current steering wheel rotation amount H.
A and a traveling direction (forward/reverse) D (step 201).

Next, the processor 11 reads the basic steering wheel rotation amount H8, traveling direction DB1, and GO data indicated by the initial address A0 from the nonvolatile memory 12 (step 202).
.

After that, the processor checks if DA=D, in other words, checks if the actual direction of travel and the basic direction of travel match (step 203), - if so, returns G.
Check whether the O-deday is “101” (step 204).
). That is, it is checked whether the current direction of travel and the basic direction of travel at a point after a distance corresponding to S (=2) are the same.

If the GO date is 101'', it is assumed that the vehicle has not reached the vicinity of the traveling direction switching point, and the basic traveling direction at the current position is the forward direction (check whether it is Fl or not in step 205). Display driver 17
to turn on the rFWDJ part 19b of the display 19 (step 206), and similarly if the rFWDJ part 19b of the display 19 is lit.
EV" portion 19b is turned on (step 207).

Next, the processor checks whether the actual steering wheel rotation amount HA and the basic steering wheel rotation amount H8 are equal (step 208), and if they are equal, in the display W419, the processor displays the index 31. is turned on (step 209).

However, if HA≠H8, then H = H - H. The corrected rotation amount H is determined by the following formula, and an index corresponding to the corrected rotation amount H is stored in the non-volatile memory 12 and calculated from the corrected rotation amount/index table. , 0 to H are all lit (step 210). That is, if H is positive, indicators SR1 to SR, on the left side of FIG. lights up to indicate the left handle correction rotation amount. As a result, when the steering wheel is rotated in a direction in which the steering wheel correction rotation amount decreases, for example, as shown in FIG.
If you turn the steering wheel counterclockwise when it is lit, the indicator will change to SL as the steering wheel correction rotation amount decreases, →
The light gradually goes out in the order of SL, SL3, SL2, and SL, and finally, the corrected rotation amount becomes zero, and only the index SI0 lights up.

Next, the wheel sensor 15 monitors whether such a distance pulse is output (Step 211), and if a distance pulse is generated, steps the address step 212). In other words, check whether the memory data indicating the basic travel trajectory has been completed (step 213), and if so, the tracking process ends.However, if the memory data remains, step 201)
Repeat the following process.

The above process is repeated, and if the Go date becomes "010" in step 204 (the GO date becomes "010" at point 9 in Fig. 7), in other words, the current traveling direction and S (=2) If the basic traveling direction after the address is different, the processor 11 notifies that the vehicle has arrived near the traveling direction switching point (step 214). In addition, the advance direction change notice will be announced by a sound such as a buzzer, or by a display@
19 can be used for recognition.

In response to the above advance direction change notice, the driver continues the follow-up driving while slowing down to 9-speed, and in parallel, repeats the process from step 205 onward (Gorose, Sosa 111).
Notice will continue).

Then, when the car moves further and reaches the traveling direction switching point (point 11 in Fig. 7), in step 2.3, DAf
-D8, that is, the actual traveling direction and the basic traveling direction no longer match. As a result, Brosse-Fusa Ji1. Sound the buzzer 18 to notify that you have reached the direction switching point (step 215). Note that the switching notice disappears upon reaching the traveling direction switching location.

After that, the driver applies the brakes to stop the car, and
The direction of travel of the vehicle is changed by operating the shift lever and follow-up driving is continued, and the processor performs the processing shown in FIG. 4 in parallel. Furthermore, the buzzer sound should disappear when the shift lever becomes 0A=D.

Finally, the car is moved and stopped exactly at the desired location. In addition, just before the completion of parking, a notice to change the traveling direction is given to notify the driver that the completion of parking in the garage is near.

For convenience of explanation, in the above, the warning occurrence position was set at a distance of 2 addresses before the direction switching point, but in actual driving, taking into account the driver's operation play, it is located about 50 to 60 cm before the direction switching point. It is better to give advance notice. As a result, the driver can concentrate on steering wheel operation under normal conditions, and can drive carefully while fully controlling the speed with the brakes so that he can stop at any time with advance notice from 50 to 60 cm before the switching point. (The buzzer sounds) The vehicle can be stopped immediately and overruns can be reduced. In the past, the vehicle moved at a relatively high speed and suddenly stopped, causing an overrun of 50 cm or more, but with the present invention, the overrun can be reduced to less than 1/10 of the conventional amount.

In addition, in the basic traveling trajectory registration process of FIG. 3, when the Go day at a predetermined distance before the traveling direction switching point is changed to "010" (see FIG. 5) after the basic traveling operation is completed (after step 109). However, it is also possible to configure the system so that the GO data shown in FIG. 5 (bl) is generated and stored while the basic driving operation is being performed. FIG. amount H, and direction of travel D8
is delayed by the S address in the delay means DEL and stored in the storage area of the memory 12, and the Go data indicating the presence or absence of data and the change in the traveling direction are not delayed (by storing, editing after the basic driving operation is possible). It should be possible not to perform this process.In addition, when performing the follow-up driving process, it is assumed that the basic travel data is read from the initial address A0.

<Effects of the Invention> According to the present invention, the switching point can be recognized before the driver reaches the switching point, so the driver can prepare for the next operation (stopping operation), and therefore the driving speed can be adjusted. By lowering the switch sufficiently in front of the driver, the vehicle can be stopped immediately after reaching the switching point, reducing overruns.

According to the present invention, overrun can be reduced, so
Even if the basic driving trajectory is a complicated driving trajectory that includes many points where the direction of travel is changed, the tracking accuracy can be improved, and the stopping position and vehicle inclination can be faithfully approximated to that of the basic driving trajectory, reducing accidents caused by collisions with buildings. can be eliminated.

[Brief explanation of the drawing]

Fig. 1 is a block diagram of the driving guidance instruction device according to the present invention, Fig. 2 is a correspondence table between steering wheel correction rotation amount and lighting indicator, Fig. 3 is a flowchart of basic driving trajectory registration processing, and Fig. 4 is a flowchart of the registration process of the basic driving trajectory. A flowchart of the driving process, FIG. 5 is an explanatory diagram of basic traveling trajectory data, FIG. 6 is an explanatory diagram of another registration process of the basic traveling trajectory, and FIGS. 7 to 11 are explanatory diagrams of the background of the present invention, FIG. 7 is an explanatory diagram of the basic traveling locus, FIG. 8 is a diagram of the basic traveling locus data structure, FIG. 9 is an external view of the display, and FIG. 10 is an explanatory diagram of conventional defects. 11...Go4 sensor, 12...Non-volatile memory 14...Handle sensor, 15...Wheel sensor, 16...Direction of travel sensor, ]8...Display device patent applicant Alpine Co., Ltd. agent Patent attorney Sen Saito Trunk Figure 2 Figure 3 Figure 5 (a)
(b) Figure 6 Figure 7 Army Figure 8 East Figure 9 Figure 10 ffK July 1, 1999 1, Display of $ 1986 Patent Application No. 310372 2, Title of Invention Advance Direction Switching Advance Notice System 3. Relationship with the case of the person making the amendment Patent Applicant Address No. 1-8, Nishigotanda 1r, Parts Ward, Tokyo Name: Representatives of Albin Co., Ltd. Kutsuzawa Sotabe 4, Agent address: 10+ Chiyoda-ku, Tokyo Kajicho 2-5-14 Nippon Denki Building 2nd floor Telephone 03 (258) 0450
Name (8471) Patent Attorney Sai J Body 2F Trunk 5, Date of Amendment Order June 12, 1999 (All sending dates 1998
July 4, 1) 6. Subject of amendment [Column for brief explanation of drawings of Ming Ji1m] 7. Contents of amendment [Figures 7 to 11 are from the main text] Page 27, line 4 of the specification of the present application "Background explanatory diagram of the invention" is corrected to "Figures 7 to 10 are background explanatory diagrams of the present invention."

Claims (1)

[Scope of Claims] In a traveling direction switching advance notice method in a driving guidance and instruction device for a vehicle that stores a basic driving trajectory in a memory and causes the vehicle to drive in accordance with the basic driving trajectory, The address in the memory is incremented according to the distance traveled, and data indicating the amount of steering wheel rotation and direction of travel at that time, as well as change point information indicating whether the direction of travel will change at a point after a predetermined distance from the current point, are stored at the address. The basic steering wheel rotation amount, traveling direction data, and change point information are read from the memory area indicated by the memory address, which is stored in the memory area indicated by the memory address, and is incremented according to the distance traveled by the car during actual follow-up driving.
In addition to displaying the direction of travel using the traveling direction data, it also displays the corrected steering wheel rotation amount for driving that follows the basic travel trajectory based on the basic steering wheel rotation amount and the actual steering wheel rotation amount.Furthermore, it displays the steering wheel correction rotation amount for driving that follows the basic travel trajectory based on the basic steering wheel rotation amount and the actual steering wheel rotation amount. A traveling direction switching advance notice system characterized in that a advance direction switching advance notice is given when a direction change is instructed.