JP2005352608A - Warning system and moving body terminal - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a warning system that can surely detect an intersection to approach and precisely give a warning of a collision against a transmission-side moving body even when precision of position coordinates of the current position of the transmission-side moving body is inferior, and a moving body terminal. <P>SOLUTION: Disclosed is the warning system that gives a warning of a collision of moving bodies by making a plurality of moving bodies send and receive position information on current positions, and is characterized in that a transmission-side moving body detects intersection information capable of specifying an intersection to pass soon and transmits the detected intersection information together with position information and a reception-side moving body stores map information, receives the intersection information and position information sent from the transmission-side moving body, and decides the possibility of a collision at the intersection specified with the intersection information based upon the received position information and the current position of the local moving body to give a warning of a collision when it is decided that the collision is possible. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention is an alarm system for a moving body that warns of a collision between moving bodies, in particular, in a moving body such as a vehicle, by transmitting / receiving position information of a current position between a plurality of moving bodies using short-range radio, The present invention relates to an alarm system for a mobile unit that warns of a collision between mobile units and a mobile unit terminal.

  As collisions between moving bodies, in particular, collisions between vehicles, most of them are collisions at the intersection. Therefore, knowing from what direction and at what timing other vehicles are entering the intersection is a powerful solution for preventing a collision accident at the encounter.

  One way for the driver to know from which direction and at what timing other vehicles are entering the intersection is to obtain the driving information of the vehicles near the intersection from AHS (Advanced Cruise-Asist Highway Systems). There is a way to do it. However, it is expensive and expensive to install AHS at intersections with a small amount of traffic or at intersections on narrow roads. However, there are many cases where there is no signal at intersections where traffic is small or intersections on narrow roads, and the risk of a collision accident at the encounter is high.

Therefore, recently, a system has been developed for exchanging information by inter-vehicle communication using short-range wireless to confirm the position, traveling direction, and speed of other vehicles. For example, in Patent Document 1, operation information of operation switches, position information, speed information, yaw rate, lateral acceleration, and other vehicle travel state information, and image information captured by other vehicles are communicated from other vehicles. And a technique for displaying information such as the traveling state and relative position of other vehicles existing in the vicinity of the host vehicle, image information, road conditions, signs, and the like on an alarm / display unit is disclosed. In Patent Document 1, position information from another vehicle is information for determining a traveling road of the other vehicle.
JP-A-11-195196

  However, if the accuracy of the position information from other vehicles is poor, the map information of the host vehicle does not always match the traveling road. For example, as shown in FIG. 7, when the host vehicle 70 is used, even if another vehicle is actually 71, the received position information may indicate 72 in the map information of the host vehicle. In such a case, the intersection where the other vehicle passes is determined to pass through the intersections Y1, Y2, Y3 even though the intersection is actually X1, X2, X3, and the own vehicle and the other vehicle meet. Will be misrecognized from X3 to Y3.

  In the example of FIG. 7, if the intersection that is met is erroneously recognized as Y3, there is no possibility of a collision with the other vehicle because the host vehicle 70 has passed first, so no warning is given. However, in reality, there is a high possibility of meeting at the intersection X3, and even if there is a possibility of encounter collision, there is no warning, so the risk increases. On the other hand, if the intersection where the other vehicle passes is actually Y1, Y2, or Y3 but is erroneously recognized as passing through the intersection X1, X2, or X3, an unnecessary warning is issued. .

  In this way, even if the accuracy of the position coordinates of the current position deteriorates, the current position is always detected on the transmission side and map matching is always possible on the map, so it is possible to accurately determine the road that is actually running by map matching The nature is high. Therefore, it is conceivable to transmit the position information of the current position that has been map-matched from the transmitting side, but if the maps held by both moving bodies are different, the position of the transmitting side moving body is accurately determined at the receiving side. It may not be possible to grasp. It is also conceivable to perform a map matching on the receiving side and detect the intersection where the transmitting side moving body guesses the road on which it is traveling, but only when both moving bodies are close to each other within a predetermined distance. Therefore, in order to perform map matching, the number of position coordinates to be received is so small that the road on which the mobile body on the transmission side is actually traveling cannot be accurately determined on the reception side.

  In view of the above-described conventional problems, the present invention can reliably recognize the intersection that is heading even if the accuracy of the position coordinates of the current position of the moving body on the transmitting side is poor, and the movement on the transmitting side. Provided are an alarm system and a mobile terminal that accurately execute a collision alarm with a body.

  In order to solve this problem, the alarm system of the present invention includes a first mobile terminal included in a first mobile body and a second mobile terminal included in a second mobile body, wherein the first mobile terminal includes the first mobile terminal. An alarm that warns of a collision between the first and second mobile bodies based on positional information of the mobile body that is transmitted and received when the separation distance is equal to or less than a predetermined distance between the mobile terminal and the second mobile terminal In the system, the first mobile terminal is configured to store a first position of a current position of the first mobile body by first storage means for storing map information and a matching process using the map information. Based on the first detection means for detecting coordinates, the first position coordinates detected by the first detection means, and the map information, it is possible to identify the intersection where the first moving body is about to pass. Extracting means for extracting the intersection information and the previous intersection information Transmission means for transmitting together with the position coordinates of the first, and the second mobile terminal detects the position coordinates of the current position of the second mobile body and the second storage means for storing the map information. 2 at the intersection based on the detection means, the reception means for receiving the intersection information and the first position coordinates, the intersection information and the first position coordinates, and the map information and the second position coordinates. It is characterized by comprising determination means for determining the possibility of collision, and alarm means for warning of collision when the determination means determines that there is a possibility of collision.

  Here, the intersection information includes an arrival time for the moving body to reach the intersection. Further, the transmission means transmits intersection information of a plurality of intersections ahead on the travel route.

  In addition, the mobile terminal of the present invention is provided in each mobile body, and warns of a collision between mobile bodies based on position information of each mobile body that is transmitted and received when the distance between the mobile bodies is a predetermined distance or less. A mobile terminal that stores map information; a detection means that detects a position coordinate of the current position of the mobile body by a matching process using the map information; and a self-detection detected by the detection means. Based on the position coordinates of the moving object and the map information, the extracting means for extracting the intersection information that can identify the intersection that the own moving object is about to pass, and the intersection information of the own moving object A transmission means that transmits the position coordinates together with the position information of the other mobile body and the position information of the other mobile body that is transmitted from the mobile terminal of the other mobile body and that can identify the intersection that the other mobile body is about to pass through. A receiving unit; a determining unit that determines a possibility of a collision at an intersection based on the map information and the position coordinates of the own moving body; and the received intersection information and position coordinates of the other moving body; and the determining unit And a warning means for warning a collision when it is determined that there is a possibility of a collision.

  According to the present invention, by transmitting the intersection information from the transmission side, it is possible to reliably detect the intersection that is heading even if the accuracy of the position coordinates of the current position of the mobile body on the transmission side is poor. Thus, it is possible to accurately execute a collision warning with a mobile unit on the transmission side. In other words, even if the accuracy of the current position deteriorates, a collision warning can be generated by detecting and transmitting the intersection that will be reached on the transmission side that can detect the road that is actually running more accurately by the matching process. It can be executed with high accuracy.

  According to the invention of claim 2, by transmitting the arrival period from the transmission side to the intersection, it is possible to accurately predict the possibility of collision with the mobile body on the transmission side, and the collision warning with the mobile body on the transmission side It can be executed with higher accuracy.

  According to the invention of claim 3, by transmitting a plurality of intersection information ahead on the travel route from the transmission side, the possibility of collision with the mobile body on the transmission side can be predicted in a wider range, and the transmission side The collision warning with the moving object can be executed without error.

  Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the drawings. However, the relative arrangement of components, the display screen, and the like described in this embodiment are not intended to limit the scope of the present invention only to those unless otherwise specified.

  In the following embodiments, a vehicle is described as an example of a moving body. However, a technique for performing an alarm for preventing a collision of a plurality of moving bodies can be applied to another moving body, a ship, an airplane, a person, and the like. Therefore, the same effect can be achieved and is included in the present invention.

<Configuration example of collision alarm system for moving body of this embodiment>
In FIG. 1, the structural example of the collision alarm system for moving bodies of this embodiment is shown. Although FIG. 1 shows a system composed of vehicles capable of transmitting and receiving two intersection information and collision warning, a system composed of a vehicle capable of transmitting intersection information and a vehicle capable of receiving collision information and receiving intersection information. Or a combination thereof. Further, as shown in FIG. 5, there are actually a plurality of vehicles that transmit the intersection information to the receiving vehicle 40, not a single vehicle, and FIG. 1 shows only one of them. Note that map matching in the present embodiment includes a function of specifying a road on which the vehicle is moving from the position coordinates of the vehicle and map information. The position information used below is basically the position coordinates of the vehicle.

  In FIG. 1, 10a and 10b are ECUs for controlling the vehicle. The ECU is composed of a CPU for arithmetic processing, a ROM for storing fixed data and programs, a RAM for temporarily storing data and programs, and the like. 11a and 11b are various sensors necessary for control of the ECUs 10a and 10b, and sensors such as engine control are included. Sensors used in the collision alarm processing of this example are vehicle speed sensors, brake switches, turn signal switches, and the like. It is. Reference numerals 12a and 12b denote GPS / navigation systems for detecting position information of the vehicle and for the ECUs 10a and 10b to acquire intersection information. The GPS / navigation systems 12a and 12b store map information.

  13a and 13b are information providing units including an image output unit and an audio output unit that provide navigation information and perform a collision warning in this example, and in this example have an alarm unit as a part thereof. Reference numerals 14a and 14b denote transmission / reception data storage units for storing data to be transmitted / received by inter-vehicle communication, and may be shared with the RAMs of the ECUs 10a and 10b. A configuration example of the transmission / reception data storage units 14a and 14b in this example will be described below with reference to FIG.

  Reference numerals 15a and 15b denote inter-vehicle communication units capable of inter-vehicle communication at a short distance, for example, 200 m. Any method may be used for such inter-vehicle communication. However, if a simple method is used, a fixed-length method is preferable for transmission data, and a variable-length method is preferable if the amount of transmission data is to be reduced. These selections are selected in relation to communication capability, ECU processing capability, and the like.

<Configuration example of transmission / reception data storage unit>
FIG. 2 is a diagram illustrating a configuration example of the transmission / reception data storage units 14a and 14b. FIG. 2 shows only data that is directly used in the processing of the present embodiment, but other data can be transmitted and received. Further, since the received data is the same as the transmitted data, details are not shown. Note that a mobile unit having only a function of transmitting data does not require a reception data storage area, whereas a mobile unit having only a function of receiving data and issuing a collision warning does not need a transmission data storage area.

  21 is a storage area for storing the vehicle state quantity of the host vehicle. In this example, for example, the position (latitude and longitude) 211 of the own vehicle detected by GPS, the vehicle speed 212 obtained from the vehicle speed sensors of the various sensors 11a and 11b, the vehicle orientation sensor or the vehicle obtained from the movement of the position. The direction 213 and the like are stored. The position (latitude, longitude) 211 of the host vehicle may be position information obtained by map-matching information detected by GPS based on map information.

  Reference numeral 22 denotes a storage area for storing the operation state of the driver of the host vehicle. In this example, for example, a brake signal 221 indicating whether or not the brake is stepped on, a blinker signal 222 indicating whether the blinker is blinking, right or left, and the like are stored.

  Reference numeral 23 denotes a storage area for storing intersection information obtained from the position of the host vehicle obtained from GPS and map information. Such intersection information includes at least information on the intersection position. If the arrival time to the intersection calculated with reference to the vehicle speed, the road, etc. is included, it is preferable in order to more accurately predict the intersection to meet. FIG. 2 stores a plurality of intersection information from the intersection position / arrival time (1) to the intersection position / arrival time (n).

  For example, as shown in FIG. 5, the number of intersection information is an intersection within a radius of 200 m from the own vehicle, more preferably within 200 m on the route in the traveling direction of the own vehicle (or within a predetermined time, for example, 9, 10 seconds, etc. It is only necessary to have information on the intersection within the distance reached by These correspond to the communicable distance between vehicles and the distance and time range targeted by the vehicle that performs the collision warning. If the number of intersection information is reduced, the amount of communication data can be reduced. .

  For example, intersections A, B, and C are stored and transmitted for the vehicle 41, intersection D is stored for the vehicle 44, and intersections G, E, and C are stored and transmitted for the vehicle 50. In this case, when the vehicle 44 is being navigated so as to turn left at the intersection D, the intersection F may be stored / transmitted. However, in order to avoid complicated processing, the traveling direction It is desirable to store and transmit the intersection F after turning left at the intersection D.

  The transmission data shown in FIG. 2 is an example, and may include information with which the arrival time at each intersection can be recognized or calculated more accurately. For example, a road situation (for example, congestion situation) in front of the host vehicle may be considered.

<Operation Example of the Collision Warning System for Moving Objects of this Embodiment>
Hereinafter, the operation example by the structure of the collision alarm system for moving bodies of the said embodiment is demonstrated.

  FIG. 3 is a flowchart showing an example of an operation procedure of the moving object collision warning system of the present embodiment. In the following description, the left side of FIG. 1 will be described as the transmitting side and the right side as the receiving side.

  On the transmission side, the vehicle position obtained by GPS in step S31 or the vehicle position obtained by map matching using map information is stored in the transmission / reception data storage unit 14a. In step S32, intersection position information within 200 m (or within a distance reached in 9 seconds) on the route in the traveling direction is acquired from the own vehicle position obtained by map matching using map information and the map information, and transmitted / received data is obtained. Store in the storage unit 14a. Next, in step S33, the arrival time at each intersection detected from the vehicle speed, road conditions, and the like is calculated and stored in the transmission / reception data storage unit 14a. Note that the storage of other transmission data is omitted. Here, it is assumed that preparation of transmission data as shown in FIG. 2 is completed.

  In step S34, the transmission data stored in the transmission data storage area is transmitted. This transmission does not determine the transmission partner, but, for example, broadcasts to an unspecified number of partners existing in a 200 m square.

  Note that the transmission in step S34 is performed, for example, every 100 ms. In the flowchart of FIG. 3, the transmission side is described as a loop, which is a schematic diagram. Actually, there is a procedure of inserting a subroutine in the middle of other control or measuring 100 ms. Here, it is not shown in order to avoid complexity.

  On the receiving side, first, in step S41, the vehicle position is detected by GPS and stored in the transmission / reception data storage unit 14b. In step S42, intersection position information within 200 m (or within a distance reached in 9 seconds) on the route in the traveling direction is acquired from the own vehicle position and map information, and stored in the transmission / reception data storage unit 14b.

  In step S43, it is determined whether or not there is reception. If there is no reception, the process proceeds to the next process. If there is reception, data including intersection information is received in step S44 and stored in the transmission / reception data storage unit 14b. In FIG. 3, only one transmission-side vehicle is illustrated, but reception is performed from a plurality of vehicles within a 200 m range.

  In step S45, it is determined whether or not a collision warning is necessary from the intersection position (and arrival time) from the transmitting vehicle and the intersection position (and arrival time) of the host vehicle. This determination is made from, for example, a time difference that takes the vehicle speed into account when the vehicle passes through the same intersection or the difference in arrival time at the intersection is within a predetermined time.

  In the above embodiment, an example is shown in which the reception side also uniquely acquires the intersection information from the own vehicle position and the map information. However, since the accuracy of the intersection information sent from the transmission side is high, the own vehicle passes through it. If it is configured to extract the intersection information to be processed, the processing can be simplified. In this case, in step S451 of FIG. 4 below, intersection information from another vehicle is read, and in step S452, intersection information on which the vehicle will pass in the future is selected from the read intersection information.

  FIG. 4 shows a detailed flowchart of an example of alarm determination in step S45.

  First, in step S451, the intersection information of the other vehicle received in step S44 and the intersection information of the own vehicle acquired in step S42 are read. In step S452, it is determined whether the same intersection exists. If there is no same intersection as the other vehicle in the intersection information in each other, the process proceeds to step S456, where it is determined whether there is another vehicle that has not been determined to collide. Check the relationship with.

  If there is the same intersection as the target other vehicle, the process proceeds to step S453, and the arrival times of the target other vehicle and the host vehicle at the intersection are compared. In step S454, it is determined whether or not the difference in arrival time is less than a predetermined threshold value Th. If it is greater than the threshold value Th, it is determined that there is no possibility of collision, and the flow proceeds to step S456. If it is less than the threshold value Th, alarm information is created in step S455.

  Note that the arrival time in step S453 is preferably one that receives the arrival time from another vehicle as in this example, but the arrival time of the other vehicle can be calculated by the own vehicle from the current position and speed of the other vehicle. If there is a limitation due to the communication capability or method of the vehicle, it is possible to determine the possibility of collision if there is a current position and speed of the other vehicle even if the arrival time is not transmitted.

  In determining whether or not there is the same intersection, it is desirable to delete the intersection if there is no possibility in consideration of whether there is a possibility of passing through each intersection as well as a simple comparison. .

  For example, if the host vehicle is the vehicle 50 in FIG. 5, the vehicle behind the vehicle 50 (not shown) (downward in the drawing) is deleted although it is related to the speed. Also, when there is no possibility of a collision when the vehicle 58 or 60 travels straight on a traveling road, it is also deleted. As described above, this can also be achieved by limiting the intersection information to be transmitted to a straight range. Also, the vehicles 53 and 59 shown in FIG. 5 are vehicles that are traveling in the same direction on the same road, and there is no possibility of encounter collision in this example. In this case, it may be deleted. Moreover, since it is the intersection B with a signal that the vehicles 51 and 52 may meet the host vehicle 50, this may be deleted. Further, for example, when the vehicle 51 is making a turn signal for turning left or right, or when the vehicle 52 is making a turn signal for turning left, there is no possibility of encounter collision, so this case may be deleted. Furthermore, it is possible to determine that there is no possibility of encounter collision based on information such as left turn or right turn prohibition from map information, or information on roads with many lanes or roads with separation zones. The above example is a few examples of the condition of the intersection to be deleted, and various other conditions can be considered. The determination of the possibility of collision of these encounters is determined from the relationship between the accuracy of the alarm and the burden on the ECU in relation to the comparison and calculation of the following arrival times.

  In addition, although the arrival times are compared in step S453, even if the arrival times received from other vehicles are simply compared, it is further determined depending on data such as other vehicle conditions of other vehicles, driver operations, road conditions, etc. You may make it compare the time after calculating arrival time correctly.

  Returning to FIG. 3, in step 46, it is determined whether or not to issue an alarm from the determination result in step S <b> 45, and in the case of an alarm, alarm processing and screen and sound output are performed in step S <b> 47.

<Specific example of collision warning>
FIG. 6 shows an example when the collision warning is performed on the screen. FIG. 5 is an example of a bird's-eye view of road conditions when the host vehicle is the vehicle 50. In FIG. 5, 51 to 60 are other vehicles within a radius of 200 m from the vehicle 50, and A to G are intersections. There are signals at intersections A and B.

  FIG. 6 is an example of a collision warning output on the navigation screen in the vehicle 50 of FIG. Within 200 m ahead of the traveling road of the vehicle 50, there are intersections F, D, and B in the traveling order. Among these, the vehicle 57 from the right and the vehicle 56 from the left are met at the intersection F, and the vehicle 54 is met from the right at the intersection D. At the intersection B, the vehicle 51 from the left and the vehicle 52 from the right meet, but there is a signal at the intersection B, so it is not displayed.

  In FIG. 6, the entire area within 200 m ahead of the road is displayed. However, when the host vehicle speed is low, it is useless to display up to 200 m, and each display becomes fine and difficult to see. For example, when the host vehicle speed is low, a position reached a predetermined time ahead (for example, 9 seconds or 10 seconds ahead) may be displayed.

  Although the present invention is not an invention relating to the way of alarming, it will not be described in detail, but for example, it is possible to display it in an identifiable manner according to the difference in possibility of collision or urgency. For example, the distance to the intersection, the speed and braking state of other vehicles, the left and right directions on a wide road, and the like are conditions for determining the possibility and the degree of urgency.

  Further, the collision warning is not limited to the screen display, and for example, in the case of high urgency, other methods such as warning by sound or vibrating the seat are possible.

<Other embodiments>
In the above embodiment, the system has been described in which both the own vehicle and the other vehicle transmit / receive intersection information to / from each other and can issue a collision warning with each other. A collision warning is possible, but there is a case where the vehicle cannot transmit intersection information, or the vehicle that can use transmission / reception information for the collision warning and the vehicle that cannot transmit the traffic information are not bidirectional but unidirectional. The present invention also includes these.

It is a figure showing an example of composition of a collision warning system concerning this embodiment. It is a figure which shows the structural example of the transmission / reception data storage part of FIG. It is a flowchart which shows the operation example of the transmission side vehicle and the receiving side vehicle in the collision warning system which concerns on this embodiment. It is a flowchart which shows the detail of warning determination (S45) of FIG. It is a bird's-eye view of a road situation for explaining operation of a collision warning system concerning this embodiment. It is a figure which shows the example of a display of the collision warning which concerns on this embodiment. It is an overhead view of the road condition for demonstrating the conventional problem.

Claims (4)

A first mobile terminal included in the first mobile body, and a second mobile terminal included in the second mobile body, the first mobile terminal being separated from the second mobile terminal An alarm system that warns of a collision between the first and second moving bodies based on position information of the moving body that is transmitted and received when the distance is equal to or less than a predetermined distance,
The first mobile terminal is
First storage means for storing map information;
First detecting means for detecting a first position coordinate of a current position of the first moving body by a matching process using the map information;
Extraction means for extracting intersection information that can identify an intersection that the first moving body is about to pass based on the first position coordinates detected by the first detection means and the map information;
Transmission means for transmitting the previous intersection information together with the first position coordinates,
The second mobile terminal is
Second storage means for storing map information;
Second detection means for detecting position coordinates of a current position of the second moving body;
Receiving means for receiving the intersection information and the first position coordinates;
Determination means for determining the possibility of a collision at an intersection based on the intersection information and the first position coordinates, and the map information and the second position coordinates;
An alarm system comprising: an alarm unit that issues an alarm of a collision when the determination unit determines that there is a possibility of a collision.   The alarm system according to claim 1, wherein the intersection information includes an arrival time for the moving body to reach the intersection.   The alarm system according to claim 1 or 2, wherein the transmission means transmits intersection information of a plurality of intersections ahead on the travel route. Each mobile unit is provided with each mobile unit, and is a mobile terminal that warns a collision between mobile units based on positional information of each mobile unit transmitted and received when the separation distance between the mobile units is a predetermined distance or less,
Storage means for storing map information;
By means of the matching process using the map information, detection means for detecting the position coordinates of the current position of the moving body;
Based on the position coordinates of the mobile body detected by the detection means and the map information, extraction means for extracting intersection information that can identify the intersection that the mobile body is about to pass through;
Transmitting means for transmitting intersection information of the mobile body together with position coordinates of the mobile body;
Receiving means for receiving the intersection information transmitted from the mobile terminal of the other mobile body and capable of specifying the intersection from which the other mobile body is about to pass, and the position coordinates of the other mobile body;
Determination means for determining the possibility of a collision at an intersection based on the map information and the position coordinates of the own mobile body and the received intersection information and position coordinates of the other mobile body;
A mobile terminal comprising alarm means for giving a warning of a collision when the judgment means judges that there is a possibility of a collision.

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