JP2005182308A - Vehicle driving support device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To grasp a precedence relation between a road on which an own vehicle is located and the other road without using road side infrastructure. <P>SOLUTION: Precedence relation instruction information instructing the precedence relation with the other road which is crossing, branching or merging with the road extending in the travel direction of the own vehicle is detected from one road facility among the signal, a road sign and a mark which are installed in the road extending in the travel direction of the vehicle (S50). Precedence road information formed of the detected precedence relation instruction information and link ID constituting the road of the present position of the own vehicle is transmitted to the other vehicle (S60). The precedence relation with the other road which is crossing, branching or merging with the road extending in the travel direction of the own vehicle is determined on the basis of the detected precedence relation instruction information (S70), and a determination result is informed (S80). <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a vehicle driving support device.

Conventionally, a head-on collision prevention system using road-to-vehicle communication with roadside infrastructure has been proposed (see, for example, Patent Document 1). According to the encounter head collision prevention system disclosed in Patent Document 1, for example, when a vehicle enters the service area, after stopping at the intersection front collision prevention information providing / warning / control service or approaching the intersection Recognize that there is a service for preventing head-on collision at the start of the vehicle, and start calculating the position of the vehicle by grasping the traveling position of the vehicle and the distance to the priority road, Get vehicle information, decelerate if there is a vehicle entering the intersection on the priority road, and then provide the driver with information about the presence of the vehicle entering the intersection and the intersection at a stoppable position before the intersection, etc. Take control.
JP 2001-126198 A

  The above-described conventional encounter head collision prevention system can provide various services based on this priority relationship because the priority relationship of each road that intersects at an intersection is preset in the roadside infrastructure. However, since enormous costs are required to install roadside infrastructure, it is difficult to install roadside infrastructure at all intersections. As a result, there is an intersection where the priority relationship between the road on which the host vehicle is located and other roads cannot be grasped.

  The present invention has been made in view of such a problem, and an object of the present invention is to provide a vehicle driving support device that can grasp a priority relationship between a road on which the host vehicle is located and another road without using roadside infrastructure. .

  The vehicle driving support device according to claim 1 includes priority relationship instruction information for instructing a priority relationship between a road extending in the traveling direction of the host vehicle and another road that is in any one of a crossing, branching and merging relationship. Based on priority information detection means for detecting from at least one road equipment of traffic lights, road signs, road markings installed on the road extending in the traveling direction of the own vehicle, and priority relationship instruction information detected by the priority information detection means, Priority relationship determining means for determining a priority relationship between a road extending in the traveling direction of the vehicle and another road, and driving support means for performing driving support based on the determination result of the priority relationship determining means are provided.

  As described above, the vehicle driving support device of the present invention intersects with a road extending in the traveling direction of the host vehicle from at least one road equipment of a traffic light, a road sign, and a road marking installed on the road extending in the traveling direction of the host vehicle. In order to detect priority relationship instruction information that indicates a priority relationship with another road that is in any one of the relationship of branching, merging, and merging, the road where the vehicle is located without using roadside infrastructure as in the past And priorities with other roads. And it becomes possible to perform the driving assistance based on this grasped priority relationship.

  According to a second aspect of the present invention, there is provided a vehicle driving support device comprising: a traffic signal indicating a priority relationship with another road in any one of intersection, branching, and merging, a road sign, and at least one road facility of road marking. Priority relationship instruction information storage means for storing an image pattern and priority relationship instruction information for instructing a priority relationship with another road corresponding to the image pattern, a road extending in the traveling direction of the host vehicle, and the vicinity of the road Priority information detection, comprising: an image pickup means for picking up an image of the vehicle, and a road equipment image specifying means for specifying an image of road equipment that matches the image pattern stored in the priority relationship instruction information storage means from the image taken by the image pickup means. The means includes priority relation instruction information corresponding to an image pattern of the road equipment specified by the road equipment image specifying means as the priority relation instruction information. Characterized in that it et detected.

  Thus, as in the past, the road extending in the traveling direction of the host vehicle is crossed, branched, and merged based on the road facility image captured by the imaging means without using roadside infrastructure. The priority relationship with a certain other road can be grasped.

  According to a third aspect of the present invention, there is provided a vehicle driving support apparatus comprising: a traffic signal indicating a priority relationship with another road in any one of intersection, branching, and merging, a road sign, and at least one road facility of road marking. Priority relationship instruction information storage means for storing the installation position and priority relationship instruction information for instructing a priority relationship with other roads corresponding to the road equipment, and own vehicle position detection means for detecting the current position of the own vehicle The priority information detection means detects priority relation instruction information corresponding to the road at the current position of the host vehicle from the priority relation instruction information storage means as priority relation instruction information.

  As a result, the road extending in the traveling direction of the host vehicle and any one of intersection, branching and merging based on the priority instruction information stored in the priority relationship instruction information storage means without using roadside infrastructure as in the past. It is possible to grasp the priority relationship with other roads in one relationship.

  The vehicle driving support device according to claim 4 extends in the traveling direction of the host vehicle, road data storage means for storing road data including a road position and a link ID given to each link constituting the road. Priority road information consisting of own vehicle link ID acquisition means for acquiring road link ID from road data storage means, link ID acquired by own vehicle link ID acquisition means, and priority relationship instruction information detected by priority information detection means Transmission means for transmitting to other vehicles around the host vehicle. Thereby, it is possible to provide a priority relationship (priority road or non-priority road) between the road on which the host vehicle is located and the road on which the host vehicle is located with respect to other vehicles existing around the host vehicle.

  The vehicle driving support device according to claim 5 intersects or branches a receiving means for receiving the priority road information transmitted by the transmitting means and a road extending in the traveling direction of the own vehicle among the priority road information received by the receiving means. , And priority road information extracting means for extracting priority road information of link IDs constituting other roads that are in one of the merged relations, and the priority relation determining means is a priority extracted by the priority road information extracting means A priority relationship between a road extending in the traveling direction of the host vehicle and another road is determined based on the road information.

  Thereby, based on the priority road information from the other vehicle, it is possible to grasp the priority relationship between the road extending in the traveling direction of the own vehicle and the other road in any one of the intersection, branching, and merging. .

  According to the vehicle driving support apparatus of the sixth aspect, the driving support means includes notifying means for notifying the determination result of the priority relation determining means. As a result, it is possible to grasp the priority relationship between the road extending in the traveling direction of the host vehicle and the other road in any one of the intersection, branching, and merging.

  According to a seventh aspect of the present invention, in the vehicle driving support device, the road extending in the traveling direction of the host vehicle is a non-priority road by the driving operation detecting unit that detects the driving operation of the driver of the host vehicle and the priority relationship determining unit. When the determination is made, the driving operation detecting means includes a driving operation determining means for determining whether or not the driving operation to be performed before any one of the intersection, branching and merging is detected. The support means alerts the driver of the host vehicle when the driving operation determining means determines that the driving operation to be performed before any one of the intersection, branching and merging points is not detected. It is characterized by comprising a stimulating means.

  For example, a vehicle that travels on a non-priority road by alerting the driving operation detection means when it is determined that the operation to close the accelerator or the operation of applying the brake pressure is not detected by the driving operation detection means The driver can be made to pay attention to at least one road equipment of a traffic light, a road sign, and a road sign.

  The vehicle driving support device according to claim 8, wherein the road extending in the traveling direction of the host vehicle is a non-priority road by the driving operation detecting unit that detects the driving operation of the driver of the host vehicle and the priority relationship determining unit. When the determination is made, the driving operation detecting means includes a driving operation determining means for determining whether or not the driving operation to be performed before any one of the intersection, branching and merging is detected. The support means, when it is determined by the driving operation determination means that the driving operation to be performed before any one of the intersection, branching and merging is not detected, the travel limiting means for limiting the traveling of the host vehicle It is characterized by providing. Thereby, the potential danger at the point where the priority road intersects, branches, or merges can be reduced.

  According to the vehicle driving support apparatus of the ninth aspect, the travel restriction means restricts the operation of the host vehicle toward the opening side of the accelerator. Thereby, for example, the impact in the case of colliding with another vehicle traveling on the priority road can be reduced.

  According to the vehicle driving support apparatus of the tenth aspect, the host vehicle includes automatic braking means that automatically drives the braking device, and the travel restriction means drives the braking device by the automatic braking means. To do. Thereby, the own vehicle can be stopped in front of a point where the priority road intersects, branches, or merges.

  Hereinafter, a vehicle driving support device of the present invention will be described based on the drawings. In FIG. 1, the whole structure of the vehicle driving assistance device in this embodiment is shown. As shown in the figure, the vehicle driving support device 200 includes an accelerator sensor 10, a steering sensor 20, a laser radar sensor 30, a yaw rate sensor 40, a vehicle speed sensor 50, a camera 60, a brake sensor 70, a navigation device 72, and an external storage device. 74, each of which is connected to a computer 80.

  The vehicle driving support device 200 further includes a throttle driver 90, a brake driver 100, a steering driver 110, an automatic transmission controller 120, a display device 130, an input device 140, an alarm device 150, and a communication device 160. Provided, each connected to a computer 80.

  The computer 80 includes an input / output interface (I / O) (not shown) and various drive circuits. Since these hardware configurations are general, a detailed description of the configuration will be omitted.

  This computer 80 is one of traffic lights, road signs, road markings installed on a road extending in the traveling direction of the own vehicle, and any one of intersection, branching, and merging with the road extending in the traveling direction of the own vehicle. Priority relationship instruction information indicating a priority relationship with other roads in one relationship is detected. The priority road information including the detected priority relationship instruction information and the link ID constituting the road extending in the traveling direction of the host vehicle is transmitted to the surroundings of the host vehicle including the same vehicle driving support device 200 as the host vehicle via the communication device 160. Priority is transmitted to the other vehicle, and the priority relationship between the road extending in the traveling direction of the host vehicle and the other road is determined based on the priority relationship instruction information, and the determination result is notified to the driver of the host vehicle. A relational notification process is executed.

  In addition, when the communication device 160 receives priority road information from another vehicle that includes the same vehicle driving support device 200 as the host vehicle, the computer 80 indicates the traveling direction of the host vehicle in the received priority road information. Extracting the priority road information of the link ID that constitutes a road that is in any one of the intersection, branching, and merge with the extending road, the link ID constituting the other road included in the extracted priority road information, and The priority relationship notification process is executed based on the priority relationship instruction information.

  The accelerator sensor 10 detects the amount of operation of the accelerator pedal by the driver. The detected accelerator pedal operation amount signal is sent to the computer 80. The steering sensor 20 detects a change amount of the steering angle of the steering wheel, and a relative steering angle is detected from the value.

  The brake sensor 30 detects the amount of operation of the brake pedal by the driver. The detected brake pedal operation amount signal is sent to the computer 80. The yaw rate sensor 40 detects an angular velocity around the vertical direction of the vehicle. The vehicle speed sensor 50 is a sensor that detects a signal corresponding to the rotational speed of the wheel.

  The camera 60 is an optical camera, and is provided at a position where an image of road equipment such as a road extending in the traveling direction of the own vehicle and traffic lights, road signs, road markings, and the like installed around the road can be taken. . The camera 60 is configured to be able to adjust the shutter speed, frame rate, and the like in accordance with an instruction from the computer 80.

  The camera 60 also outputs to the computer 80 a captured image signal including a horizontal / vertical synchronization signal of the captured image and an RGB signal indicating the brightness of each pixel of the captured image. In this RGB signal, the color of each pixel of the image is expressed by a combination (r, g, b) of red (R), green (G), and blue (B) which are the three primary colors of light.

  For example, when an 8-bit element (0 to 255) is given as an expression of each color, 16.67 million colors are expressed by 24 bits, which is a total of 8 bits for all three primary colors. If each color is 255, the color is pure white. Conversely, if each color is 0, the color is pure black.

  As is well known, the navigation device 72 detects the current position of the host vehicle and displays a map display function for displaying a map around the host vehicle, a peripheral facility search function for searching for peripheral facilities, and guides a route to the destination. It is a device that executes various functions such as a route guidance function.

  The navigation device 72 includes a position detector, a map data input device, and the like (not shown). Among these, the position detectors all have a known geomagnetic sensor, gyroscope, distance sensor, and GPS receiver for GPS (Global Positioning System) that detects the position of the vehicle based on radio waves from the satellite. doing. Since these have errors of different properties, they are configured to be used while being complemented by a plurality of sensors. Depending on the accuracy of each sensor, the position detector may be configured as a part of the above.

  The map data input device is a device for inputting map data. As a storage medium for storing the map data, a CD-ROM, a DVD-ROM, or the like is used based on the amount of data, but a writable storage medium such as a memory card or a hard disk may be used. The map data is composed of road data composed of link data and node data, and peripheral facility data used for searching for peripheral facilities. Here, the details of the road data will be described.

  First, the link of the link data is to divide each road on the map at a plurality of nodes such as intersections, branches and merge points, and to define each link as a link and connect each link. Thus, a road is constructed. The link data is composed of data such as a unique number (link ID) for identifying the link, a link length indicating the length of the link, start and end node coordinates (latitude / longitude) of the link, road name, road width, and the like. .

  The node data describes node IDs, node coordinates, node names, and link IDs of all links connected to the nodes for each node where roads on the map intersect, merge and branch. It consists of data such as connection link ID, intersection type, and traffic signal installation position.

  The navigation device 72 acquires a link ID of the current position of the host vehicle in response to a request from the computer 80 and transmits information about the acquired link ID to the computer 80.

  For example, as shown in FIG. 3, the external storage device 74 has a traffic signal indicating a road priority relationship, a road sign, an image pattern of a road marking, and information on a priority relationship instruction content corresponding to each image pattern (priority relationship). Instruction information) is stored.

  That is, generally, a priority road is instructed to be a priority road by blinking a yellow light by a traffic light or a road sign indicating a priority road. On the other hand, non-priority roads are not prioritized by flashing red lights by traffic lights, road signs indicating pause or slowing down, and road markings indicating pause or forward priority roads (so-called paint on the road) Shown to be a road.

  In the present embodiment, an image pattern of a traffic signal, a road sign, and a road sign indicating a road priority relationship stored in the external storage device 74 from a road extending in the traveling direction of the host vehicle taken by the camera 60 and surrounding images. The image of the road equipment that matches is specified, and the priority relationship instruction information corresponding to the specified road equipment image is detected.

  Thereby, based on the road facility image captured by the camera 60 without using the roadside infrastructure as in the prior art, the road extending in the traveling direction of the host vehicle is crossed, branched, or merged. The priority relationship with a certain other road can be grasped.

  The throttle driver 90, the brake driver 100, the steering driver 110, and the automatic transmission controller 120 are all driven according to instructions from the computer 80. The throttle driver 90 controls the output of the internal combustion engine by adjusting the opening of the throttle valve. The brake driver 100 adjusts the brake pressure, and the steering driver 110 drives the steering by generating rotational torque in the steering. The automatic transmission controller 120 selects the gear position of the automatic transmission necessary for controlling the speed of the vehicle.

  The display device 130 is configured by a liquid crystal display, for example, and is installed near the center console in the vehicle interior. The display device 130 includes map display image data output from the navigation device 72 and an image output from the computer 80 based on a determination result of a priority relationship between a road extending in the traveling direction of the host vehicle and another road. Data and the like are input, and an image corresponding to each image data is displayed.

  As the input device 140, for example, a touch switch or a mechanical switch integrated with the display device 130 is used, and is used for various inputs such as character input. The alarm device 150 is a device that generates an alarm sound for alerting the driver, and outputs an alarm according to an instruction from the computer 80.

  For example, as shown in FIG. 4, the communication device 160 performs inter-vehicle communication with another vehicle Vb existing in an area A having a radius of a predetermined distance (for example, about several tens of meters) centered on the own vehicle Va. It is a communication device for performing.

  The communicator 160 transmits to the other vehicle priority road information including a link ID that configures a road at the current position of the host vehicle and priority relationship instruction information based on an image of road equipment photographed by the camera 60. . Thereby, it is possible to provide a priority relationship (priority road or non-priority road) between the road on which the host vehicle is located and the road on which the host vehicle is located with respect to other vehicles existing around the host vehicle.

  Moreover, the communication device 160 receives priority road information transmitted from another vehicle. When the priority road information from the other vehicle is received, among the received priority road information, based on the connection link ID of the node data of the navigation device 72, the road extending in the traveling direction of the own vehicle intersects, branches, The priority road information given to the link IDs constituting the roads to be merged is extracted. Thereby, based on the priority road information transmitted from the other vehicle, to grasp the priority relationship between the road extending in the traveling direction of the own vehicle and the other road in any one of the intersection, branch, and merge Can do.

  Next, a control block diagram of the computer 80 is shown in FIG. As shown in the figure, the control processing of the computer 80 includes an input unit 81, an edge detection unit 82, a road facility image specifying unit 83, a priority relationship information detection unit 84, a priority road information transmission / reception unit 85, a priority relationship determination unit 86, And it is divided into each block of the priority relationship output unit 87. The input unit 81 inputs signals output from various sensors.

  The edge detection unit 82 performs edge detection for detecting images of road facilities such as roads taken in the traveling direction of the host vehicle photographed by the camera 60 and traffic lights, road signs, road markings and the like installed around the roads.

  First, the edge detection unit 82 compares the RGB signal indicating the brightness of each pixel of the captured image from the camera 60 with a preset edge threshold value, and extracts a pixel position indicating a pixel value equal to or higher than the edge threshold value. Perform edge detection. As the edge threshold, for example, a yellow or red light signal normally photographed by the camera 60, a road sign such as a priority road, a temporary stop, a slow-down, a road sign such as a stop, a forward priority road, etc. Only the pixels corresponding to the road facilities are extracted by using the set edge threshold value.

  The road facility image specifying unit 83 uses a combination of pixel positions extracted by the edge detection unit 82 to match the image pattern of traffic signals, road signs, and road markings that indicate the priority relationship of roads stored in the external storage device 74. Identify equipment images. In addition, about a traffic light, in order to confirm that the yellow or red light is blinking, it judges from the specific result performed several times.

  The priority relationship information detection unit 84 detects priority relationship instruction information corresponding to an image pattern that matches the road facility image specified by the road facility image specification unit 83 from the external storage device 74.

  The priority road information transmission / reception unit 85 includes a link ID constituting a road extending in the traveling direction of the host vehicle, and priority relationship instruction information detected by the priority relationship information detection unit 84 that indicates the priority relationship of the road of the link ID. While transmitting priority road information to other surrounding vehicles, priority road information from other vehicles is received.

  The priority road information extraction unit 86 constitutes a road that intersects, branches, and merges with a road extending in the traveling direction of the host vehicle when the priority road information transmission / reception unit 85 receives priority road information from another vehicle. The priority relationship instruction information given to the link ID is extracted.

  The priority relationship determination unit 87 is the priority relationship instruction information based on the road equipment installed on the road extending in the traveling direction of the host vehicle detected by the priority relationship information detection unit 84 or the host vehicle extracted by the priority road information extraction unit 86 A relationship that intersects, branches, and merges with a road that extends in the traveling direction of the host vehicle based on priority instruction information from another vehicle that is located on another road that intersects, branches, or merges with a road that extends in the traveling direction (1) Whether the road extending in the traveling direction of the vehicle is a priority road or a non-priority road is determined.

  The priority relationship output unit 88 notifies the determination result of the priority relationship determination unit 87 to the driver of the host vehicle. For example, the current position of the host vehicle and the surrounding road map are displayed on the display device 130, and the priority relationship (priority road or non-priority road) of the road extending in the traveling direction of the host vehicle is superimposed on the road map and displayed. To do. As a result, it is possible to grasp the priority relationship between the road extending in the traveling direction of the host vehicle and the other road in any one of the intersection, branching, and merging.

  Next, priority relationship notification processing by the vehicle driving support apparatus 200 relating to the characteristic part of the present embodiment will be described with reference to the flowchart shown in FIG. First, in step (hereinafter referred to as S) 10 shown in FIG. 5, it is determined whether or not priority road information from another vehicle has been received. If the determination is affirmative, the process proceeds to S20. If the determination is negative, the process proceeds to S30.

  In S20, priority relationship instruction information for roads that intersect, branch, and merge with roads extending in the traveling direction of the host vehicle is extracted from priority road information from other vehicles. If this priority relationship instruction information is extracted, the process proceeds to S70.

  In S <b> 30, edge detection is performed to detect an image of road equipment from an image taken by the camera 60. In S40, a road facility image that matches the image pattern of a traffic signal, a road sign, and a road marking indicating the priority relationship of the road is specified. In S50, priority relationship instruction information corresponding to the image pattern that matches the road facility image specified in S40 is detected.

  In S60, priority road information including a link ID constituting a road extending in the traveling direction of the host vehicle and priority relationship instruction information for instructing a priority relationship of the road of the link ID is transmitted to other vehicles around the host vehicle.

  In S70, priority relationship instruction information based on road equipment installed on a road extending in the traveling direction of the host vehicle, or another vehicle on a road that intersects, branches, or merges with a road extending in the traveling direction of the host vehicle Priority relationship with other roads that intersect, branch, or merge with the road extending in the traveling direction of the host vehicle based on the priority relationship instruction information from (whether the road extending in the traveling direction of the host vehicle is a priority road) Or a non-priority road). In S80, the determination result in S70 is notified to the driver of the host vehicle.

  As described above, the vehicle driving support apparatus 200 according to the present embodiment includes a road extending in the traveling direction of the host vehicle from at least one road equipment of a traffic light, a road sign, and a road marking installed on the road extending in the traveling direction of the vehicle. Priority relationship instruction information for instructing a priority relationship with another road in any one of intersection, branching, and merging is detected, and based on the detected priority relationship instruction information, the vehicle extends in the traveling direction of the host vehicle. A priority relationship with another road that is in any one of the intersection, branching, and merging with the road is determined, and the determination result is notified.

  Thus, for example, as shown in FIG. 6, when approaching an intersection that intersects the priority road ahead of the road extending in the traveling direction of the host vehicle, a temporary stop sign provided on the road extending in the traveling direction of the host vehicle (Stp) is detected, and a prioritized relationship with the preceding priority road indicated by the stop sign (Stp) (that the road extending in the traveling direction of the host vehicle is a non-priority road) is notified. Thus, the priority relationship between the road on which the host vehicle is located and other roads can be grasped without using roadside infrastructure.

  And by this priority relationship notification, the driver of the own vehicle can recognize that it is necessary to stop temporarily before the intersection that intersects with the priority road, and as a result, other vehicles traveling on the priority road. Even in the case where there is, it is possible to prevent the other vehicles on the priority road from being obstructed.

  In addition, the vehicle driving support device 200 according to the present embodiment exists in the vicinity of the host vehicle because the priority road information including the link ID and the priority relationship instruction information that configures the road at the current position of the host vehicle is transmitted to the other vehicle. For other vehicles, the road on which the host vehicle is located and the priority relationship between the roads (priority road or non-priority road) can be provided.

(Modification 1)
In this embodiment, the determination result of the priority relationship is notified to the driver of the host vehicle. When the determination result of the priority relationship is a result determined to be a non-priority road, the traveling direction of the host vehicle It is determined whether or not a driving operation that should be performed before the intersection, branching, or merging point with the road that has priority over the road extending to is detected, and this determination should be performed before the above point. When it is determined that the driving operation is not detected, the driver of the own vehicle may be alerted.

  For example, when it is determined that an operation for closing the accelerator or an operation for applying a brake pressure is not detected, the alarm device 150 generates an alarm for alerting the driver to travel on a non-priority road. The driver of the host vehicle can be directed to at least one road facility including a traffic light, a road sign, and a road sign.

(Modification 2)
In the first modified example, when it is determined that the driving operation to be performed before the above point is not detected, the driver of the own vehicle is alerted. It differs in that it adds restrictions.

  For example, as a method of restricting traveling, an instruction to restrict (invalidate) the operation of the accelerator opening (accelerator on) to the throttle driver 90 is issued, so that the operation to the accelerator opening side of the host vehicle is performed. Limiting or automatically driving the brake driver 100 to perform automatic braking. As a result, it is possible to alleviate the impact when colliding with another vehicle traveling on the priority road, or to stop the host vehicle in front of a point where it intersects, branches or merges with the priority road. .

(Modification 3)
The vehicle driving support device 200 according to the present embodiment detects priority relationship instruction information instructed by a road facility from an image of the road facility provided on a road extending in the traveling direction of the host vehicle taken by the camera 60. For example, as map data of the navigation device 72, there are additionally installed positions of road equipment such as traffic lights, road signs, road markings, etc. indicating road priority relations and priority relation instruction information corresponding to the road equipment. The priority relationship instruction information corresponding to the road at the current position of the host vehicle may be detected from the detection result of the current position of the host vehicle. As a result, it is possible to grasp the priority relationship between the road extending in the traveling direction of the host vehicle and the other road in any one of intersection, branching, and merging without using roadside infrastructure as in the past. it can.

1 is a block diagram showing an overall configuration of a vehicle driving support device 200. FIG. It is a control block diagram of the computer 80 which comprises the vehicle driving assistance device 200. It is a figure which shows the image pattern of the traffic signal which instruct | indicates the priority relationship of the road which the external memory | storage device 74 memorize | stores, a road sign, and a road marking. It is an image figure in the case of performing the inter-vehicle communication with the other vehicle Vb existing in the area A centering on the host vehicle Va. 5 is a flowchart showing a flow of priority relationship notification processing by the vehicle driving support device 200. It is the image figure seen from the driver | operator of the own vehicle in the case of approaching the intersection which crosses a priority road ahead of the road extended in the advancing direction of the own vehicle.

Explanation of symbols

DESCRIPTION OF SYMBOLS 81 Input part 82 Edge detection part 83 Road equipment image specification part 84 Priority relation information detection part 85 Priority road information transmission / reception part 86 Priority road information extraction part 87 Priority relation determination part 88 Priority relation output part

Claims (10)

Priority relationship instruction information that indicates a priority relationship with a road that extends in the traveling direction of the host vehicle and another road that is in any one of intersection, branching, and merging is installed on the road that extends in the traveling direction of the host vehicle. Priority information detection means for detecting from at least one road equipment of traffic lights, road signs, road markings;
Priority relationship determination means for determining a priority relationship between a road extending in the traveling direction of the host vehicle and the other road based on priority relationship instruction information detected by the priority information detection means;
A vehicle driving support apparatus comprising driving support means for performing driving support based on a determination result of the priority relationship determination means. An image pattern of at least one road equipment such as a traffic signal, a road sign, and a road marking indicating a priority relationship with another road in any one of intersection, branch, and merge, and another corresponding to the image pattern Priority relationship instruction information storage means for storing priority relationship instruction information for instructing a priority relationship with a road;
An imaging means for capturing an image of a road extending in the traveling direction of the host vehicle and an area around the road;
Road equipment image specifying means for specifying an image of road equipment that matches an image pattern stored in the priority relationship instruction information storage means from an image taken by the imaging means;
The priority information detecting means detects, as the priority relation instruction information, priority relation instruction information corresponding to an image pattern of the road equipment specified by the road equipment image specifying means from the priority relation instruction information storage means. The vehicle driving support device according to claim 1. A traffic signal indicating a priority relationship with another road in any one of intersection, branching, and merging, road sign, installation position of at least one road equipment of road marking, and other corresponding to the road equipment Priority relationship instruction information storage means for storing priority relationship instruction information for instructing a priority relationship with a road;
Own vehicle position detecting means for detecting the current position of the own vehicle;
The priority information detection unit detects priority relationship instruction information corresponding to a road at the current position of the host vehicle from the priority relationship instruction information storage unit as the priority relationship instruction information. Vehicle driving support device. Road data storage means for storing road data including a road position and a link ID given to each link constituting the road;
Own vehicle link ID obtaining means for obtaining a link ID of a road extending in the traveling direction of the own vehicle from the road data storage means;
A transmission unit that transmits the priority road information including the link ID acquired by the host vehicle link ID acquisition unit and the priority relationship instruction information detected by the priority information detection unit to other vehicles around the host vehicle. The vehicle driving support apparatus according to any one of claims 1 to 3, wherein Receiving means for receiving priority road information transmitted by the transmitting means;
From the priority road information received by the receiving means, extract the priority road information of the link ID that constitutes another road that has any one of the intersection, branch, and merge with the road extending in the traveling direction of the host vehicle. Priority road information extraction means to
The priority relationship determination unit determines a priority relationship between a road extending in a traveling direction of the host vehicle and the other road based on priority road information extracted by the priority road information extraction unit. Item 5. The vehicle driving support device according to Item 4.   The vehicle driving support apparatus according to any one of claims 1 to 5, wherein the driving support means includes notification means for notifying a determination result of the priority relationship determination means. Driving operation detection means for detecting the driving operation of the driver of the host vehicle;
When it is determined by the priority relationship determination means that the road extending in the traveling direction of the host vehicle is a non-priority road, the driving operation detection means is in front of any one of the intersection, branch and merge points. Driving operation determination means for determining whether or not a driving operation to be performed is detected,
When it is determined by the driving operation determination unit that a driving operation to be performed before any one of the intersection, branching, and merging is not detected, the driving support unit The vehicle driving support device according to any one of claims 1 to 6, further comprising a warning means for calling attention. Driving operation detection means for detecting the driving operation of the driver of the host vehicle;
When it is determined by the priority relationship determination means that the road extending in the traveling direction of the host vehicle is a non-priority road, the driving operation detection means is in front of any one of the intersection, branch and merge points. Driving operation determination means for determining whether or not a driving operation to be performed is detected,
The driving support means is limited to traveling of the host vehicle when it is determined by the driving operation determination means that a driving operation to be performed before any one of the intersection, branching and merging is not detected. The vehicle driving assistance device according to any one of claims 1 to 6, further comprising travel restriction means for adding   The vehicle driving support device according to claim 8, wherein the travel restriction means restricts an operation of the host vehicle toward an opening side of an accelerator. The host vehicle includes automatic braking means for automatically driving a braking device,
9. The vehicle driving support device according to claim 8, wherein the travel restriction unit drives a braking device by the automatic braking unit.

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