JP2007141053A - Driving-supporting device for vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To most adequately support the starting of a vehicle from a position, at which the vehicle stops, in an intersection when the vehicle turns right or left. <P>SOLUTION: A driving-supporting device for vehicles, which indicates timing for entering a main lane on which other vehicles are running by turning right or left in an intersection, is provided with; a traveling information acquisition means which acquires traveling information on other vehicles; an other-vehicle position estimation means which estimates the positions of other vehicles based on the traveling information on other vehicles acquired by the traveling information acquisition means; a its-own-vehicle position estimation means which estimates a position of its own vehicle after its own vehicle enters a main lane; and a timing indication means which indicates timing for entering the main lane without interfering with the traveling of other vehicles based on the positions of other vehicles estimated by the other-vehicle position estimation means and the position of its own vehicle estimated by the its-own-vehicle position estimation means. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a vehicle driving support device that optimally supports starting from a stop position when turning right or left at an intersection.

  Conventionally, in order to prevent a vehicle that turns right at an intersection from colliding with a straight vehicle, a right-turn collision prevention support system that informs the driver of the presence of a vehicle entering the intersection before the intersection is known (for example, Patent Document 1). reference).

There is also known an encounter collision prevention system that obtains vehicle information on priority roads and provides information such as deceleration and stop when a vehicle traveling on a non-priority road enters the priority road (for example, patents) Reference 2).
JP 2002-269699 A JP 2001-126198 A

  In the prior art shown in Patent Document 1 and Patent Document 2, collision between vehicles is prevented. However, in order to make a right or left turn at an intersection, the influence on the traveling of other vehicles when starting from a stop position and joining the main line is not sufficiently considered. For this reason, when the own vehicle joins the main line, there is a possibility that the traveling of other vehicles may be hindered.

  The present invention has been made to solve such problems, and has as its main object to optimally support starting from a stop position when turning right or left at an intersection.

In order to achieve the above object, one embodiment of the present invention provides:
A vehicle driving support device that makes a right turn or a left turn at an intersection and instructs the timing for joining the main line on which another vehicle travels,
Travel information acquisition means for acquiring travel information of the other vehicle;
Other vehicle position estimation means for estimating the position of the other vehicle based on the travel information of the other vehicle acquired by the travel information acquisition means;
Own vehicle position estimating means for estimating the position of the own vehicle after joining the main line;
Based on the position of the other vehicle estimated by the other vehicle position estimating means and the position of the own vehicle estimated by the own vehicle position estimating means, the travel of the other vehicle is not inhibited, A vehicle driving support device comprising: timing instruction means for instructing a timing for joining the main line.

  According to this aspect, the timing instructing means is based on the position of the other vehicle estimated by the other vehicle position estimating means and the position of the own vehicle estimated by the own vehicle position estimating means. Instruct the timing to join the main line so as not to obstruct. Accordingly, the driver can make a right turn or a left turn at the intersection, and can smoothly join the host vehicle to the main line without obstructing the traveling of other vehicles. That is, it is possible to optimally support starting from the stop position when turning right or left at the intersection.

Moreover, in this one aspect, the host vehicle position estimating means includes a travel state storage unit that stores a history of the travel state of the host vehicle,
You may estimate the position of the own vehicle after joining the main line based on the history of the running state of the own vehicle stored by the running state storage unit.

  Furthermore, in this aspect, the timing instruction means is based on the position of the other vehicle estimated by the other vehicle position estimation means and the position of the own vehicle estimated by the own vehicle position estimation means. The distance between the other vehicle after merging and the host vehicle may be estimated, and when the estimated distance is greater than or equal to a predetermined distance, a start for merging to the main line may be instructed.

In this aspect, the vehicle further comprises a relative speed estimation means for estimating a relative speed of the host vehicle with respect to the other vehicle when the vehicle joins the main line.
The timing instruction means may vary the timing for joining the main line according to the relative speed of the host vehicle estimated by the relative speed estimation means.

  ADVANTAGE OF THE INVENTION According to this invention, the start from the stop position at the time of the right and left turn of an intersection can be optimally supported.

  Hereinafter, the best mode for carrying out the present invention will be described with reference to the accompanying drawings. In addition, since it is known to those skilled in the art about basic concepts, such as a navigation device for vehicles, an in-vehicle communication device, a main hardware configuration, an operation principle, a basic control method, etc., detailed description is omitted.

  FIG. 1 is a schematic block diagram showing an example of a system configuration of a vehicle driving support apparatus according to an embodiment of the present invention. The vehicle driving support device 1 according to the present embodiment is mainly configured by a driving support ECU (Electronic Control Unit) 2 that performs control processing for driving support.

  The driving support ECU 2 is composed of a microcomputer, and executes various processes according to control and calculation programs, and controls a CPU (Central Processing Unit) for controlling each part of the device, and a ROM (CPU for storing an execution program for the CPU). It has a read only memory (RAM), a readable / writable RAM (Random Access Memory) for storing calculation results, a timer, a counter, an input / output interface (I / O), and the like.

  An in-vehicle communication device 3 that transmits and receives data to and from an external communication device is connected to the driving support ECU 2. The in-vehicle communication device 3 includes a transmission unit 3a that transmits data to an external communication device, a reception unit 3b that receives data from the external communication device, a control unit 3c that performs communication control, an antenna 3d, and the like.

  For example, the in-vehicle communication device 3 receives the traveling information of the other vehicle such as the vehicle speed, acceleration, current position, and brake information of the other vehicle from the other vehicle, and detects the vehicle speed, acceleration, current position, brake information, etc. So-called inter-vehicle communication is performed in which vehicle travel information and the like are transmitted to other vehicles.

  The driving support ECU 2 is connected to a navigation device 4 that detects the current position of the host vehicle and provides route guidance to a set destination. The navigation device 4 includes a GPS (Global Positioning System) receiving unit 4a for detecting the current position of the vehicle, a map information input unit 4b for inputting map information, an input unit 4c for operating the device, and map information And a display unit 4d such as a liquid crystal display, and a traveling state storage unit 4e that stores a history of the traveling state of the vehicle.

  The GPS receiver 4a receives signals from a plurality of GPS satellites and measures the absolute position of the vehicle. The map information input unit 4b reads a storage medium including map matching data for detecting the position of the vehicle with high accuracy and road data representing road connections. As the storage medium, for example, a CD-ROM, DVD, memory card or the like is used. The traveling state storage unit 4e is made of a magnetic disk or the like, and stores a traveling state history of the vehicle such as a traveling route, speed and acceleration on the traveling route.

  A vehicle speed sensor 5 that detects the vehicle speed is connected to the driving assistance ECU 2. The driving assistance ECU 2 is connected to an acceleration sensor 6 that detects the acceleration of the vehicle. Note that the driving assistance ECU 2 may perform a differentiation process or the like on the vehicle speed detected by the vehicle speed sensor 5 to calculate the acceleration of the vehicle.

  The driving support ECU 2 is connected to a direction indicating sensor 7 that detects the direction indicated by a direction indicator such as a blinker by the driver. Based on the indication direction detected by the direction indication sensor 7, the driving assistance ECU 2 can recognize whether the driver performs a direction indication operation and is making a left turn or a right turn.

  A driving instruction device 8 is connected to the driving assistance ECU 2 to instruct the driver to perform a driving operation. As the driving instruction device 8, for example, an audio output device such as a speaker that gives an instruction to the driver by voice, a light device that gives an instruction to the driver by lighting / flashing of a light, a message, etc., is displayed to instruct the driver. Examples thereof include a display device, a steering device, an accelerator pedal, a seat, and the like that give vibrations to give instructions to the driver. Moreover, the structure which gives an instruction | indication to a driver | operator combining these apparatuses arbitrarily may be sufficient.

  By the way, in places where vehicles cross roads such as T-shaped roads and crossroads (hereinafter referred to as intersections), there are cases in which a left turn or a right turn is made and a main line on which another vehicle travels joins. In this case, it is natural that the own vehicle does not collide with the other vehicle, but the other vehicle is obstructed (for example, a state in which the other vehicle is interrupted immediately before the other vehicle decelerates unnaturally). Therefore, it is preferable to join the host vehicle to the main line from the viewpoint of safety and fuel efficiency.

  Therefore, the vehicle driving support device 1 according to the present embodiment makes a right turn or a left turn at the intersection, and joins the main line so as not to obstruct the traveling of the other vehicle when joining the main line where the other vehicle travels. Instruct the timing for Hereinafter, the timing instruction method will be described in detail.

  First, an example in which the host vehicle turns right from the temporary stop position and joins the main line on the T-shaped road will be described.

  In FIG. 2, it is assumed that the other vehicle A approaches the main road from the left side with respect to the T-shaped road, and the own vehicle M joins the main line in front of the other vehicle A. FIG. 3 is a flowchart showing an example of a control processing flow of the vehicle driving support apparatus 1 when the host vehicle M turns right from the temporary stop position and joins the main line.

  Based on the current position of the host vehicle M from the navigation device 4 and the direction indicated by the direction indicating sensor 7, the driving support ECU 2 temporarily stops the host vehicle M at the T-junction stop line, It is determined that a right turn is about to be made (S100).

  Next, based on the map information from the navigation device 4, the driving assistance ECU 2 makes a right turn and detects the main road width W to be merged (S110).

Thereafter, the driving support ECU 2 acquires travel information such as the vehicle speed V _A0 and the position of the other vehicle A that approaches the T-shaped road on the main line via the in-vehicle communication device 3 (S120).

  The driving support ECU 2 joins the host vehicle M to the main line based on the traveling information of the other vehicle A and the traveling information of the host vehicle M on the T-shaped road stored in the traveling state storage unit 4e of the navigation device 4. The position of the host vehicle M and the position of the other vehicle A are estimated (S130).

The position XM of the host vehicle M and the position XA of the other vehicle A are estimated as follows, for example. In addition, the host vehicle M starts from the temporary stop position (t = 0), and after t = T seconds, the host vehicle M joins the main line, and the vehicle speed V _M1 of the host vehicle M and the vehicle speed V _{A0 of the} other vehicle A are the same. Assume that (V _M1 = V _A0 ).

  The position XA of the other vehicle A after T seconds is calculated by the following equation (1).

XA = V _A0 × T−L _a (1) Equation (1) In the above equation (1), L _a is the distance in the main line direction between the own vehicle M and the other vehicle A when t = 0 (hereinafter referred to as the own vehicle M). And the distance from the other vehicle A). The driving support ECU 2 acquires the position of the other vehicle A through the in-vehicle communication device 3 by inter-vehicle communication, and based on the position of the other vehicle A, between the host vehicle M and the other vehicle A. to calculate the distance _{L a.}

  The position XM of the host vehicle M after T seconds is calculated by the following equation (2).

XM = a / 2 × T ² − (1/4) × 2π × (3W / 4) + 3W / 4 (2) Equation (2) In the above equation (2), the host vehicle M has a turning radius R = 3W / 4. Although it turns like a circle and makes a right turn and merges with the main line, it may make a right turn with an arbitrary curve such as an ellipse. Further, after the start vehicle M from the stop point, accelerated with the acceleration a, the speed of the vehicle M is assumed to be V _M1 after T seconds. Therefore, T can be calculated by the following equation (3).

T = V _A0 / a (3) The acceleration a is set based on the history of acceleration in the T-shaped road stored in the traveling state storage unit 4e of the navigation device 4.

Further, the own vehicle M after the confluence, the distance L ₁ between the vehicle M and other vehicle A can be calculated by the following equation (4).

L ₁ = XM−XA (4) Further, the following expression (5) is derived from the above expressions (1) to (4).

L _a = L ₁ + (3π−6) / 8 × W + a / 2 × (V _A0 / a) ² (5) Formula: The own vehicle M can join the main line without obstructing the traveling of the other vehicle A. distance between the vehicle M and other vehicle a (hereinafter, referred to as timing determination threshold _value) if _{L a0,} as L a _{= L a0,} by equation (5) can calculate the timing decision threshold _{L a0.}

If the driving support ECU 2 instructs the driver to start, if the driver actually reacts and there is a time lag of the predetermined time TD until the own vehicle M starts, the predetermined time TD The distance traveled by the other vehicle A may be considered in the above equation (5). In this case, the timing determination threshold value _La0 can be calculated by the following equation (6).
L _a0 = L ₁ + (3π−6) / 8 × W + a / 2 × (V _A0 / a) ² + V _A0 × TD (6) The driving support ECU 2 is based on the calculated timing determination threshold L _a0. In order for the own vehicle M to join the main line, the driver is instructed about the timing of starting from the temporary stop position. Specifically, the driving assistance ECU 2 calculates _a distance La between the host vehicle M and the other vehicle A based on the received position of the other vehicle A via the in-vehicle communication device 3, and this distance L It is determined whether or not _a is a timing determination threshold value L _a0 or more (L _a ≧ L _a0 ) (S140).

Driving support ECU2 is, (Yes in S140) when the calculated distance _{L a} is determined to be the timing determination threshold _{L a0} above, transmits an instruction signal to the driver indicating device 8. When receiving the instruction signal from the driving assistance ECU 2, the driving instruction device 8 outputs, for example, a voice or a message indicating that it can start from the temporary stop position and join the main line (S150).

  For example, if the driver starts the host vehicle M from the temporary stop position and makes a right turn in accordance with the start instruction output from the driving instruction device 8, the driver smoothly goes to the main line without obstructing the traveling of the other vehicle A. Can join.

On the other hand, the driving support ECU2, when the calculated distance _{L a} is determined as the timing smaller determination threshold value _{L a0} (S140 No) of, transmits a stop signal to the operation instructing device 8. When the driving instruction device 8 receives the stop signal from the driving support ECU 2, for example, the driving instruction device 8 starts from the temporary stop position and outputs a voice or message indicating that it cannot join the main line (S160).

  For example, if the driver waits for the start of the host vehicle M in accordance with the start impossible instruction output from the driving instruction device 8, for example, the driver may interrupt the front of the other vehicle unnaturally and hinder the traveling of the other vehicle A. There is no.

  In the case of the above (No in S140), the driving instruction device 8 does not particularly output an instruction to the driver, and may output an instruction to the driver only in the above case (Yes in S140). Good.

  Further, as described above, the case where the other vehicle A approaches the intersection from the left side to the intersection and the own vehicle M makes a right turn and joins the main line in front of the other vehicle A is described. However, when the main line approaches the intersection from the right side and the own vehicle M makes a left turn and merges with the main line in front of the other vehicle B, the detailed description is omitted.

Above, the vehicular driving support apparatus 1 according to this embodiment, the driving support ECU2, when the calculated distance L _a is determined to be the timing determination threshold L _a0 above, transmits an instruction signal to the driver indicating device 8 . When receiving the instruction signal from the driving support ECU 2, the driving instruction device 8 instructs the timing of starting such as starting from the temporary stop position and being able to join the main line. Accordingly, the driver can make a right turn or a left turn at the intersection, and can smoothly join the host vehicle M to the main line without obstructing the traveling of the other vehicle A. That is, it is possible to optimally support starting from the stop position when turning right or left at the intersection.

  As mentioned above, although the best mode for carrying out the present invention has been described using one embodiment, the present invention is not limited to such one embodiment, and within the scope not departing from the gist of the present invention, Various modifications and substitutions can be made to the above-described embodiment.

  For example, in the above-described embodiment, an example in which the present invention is applied to a T-shaped road has been described. However, as described above, the present invention can be applied to any intersection such as a crossroad.

  FIG. 4 is a diagram illustrating an example of a state in which the host vehicle M turns right from the temporary stop position and joins the main line at the crossroads. In FIG. 4, the other vehicle A approaches the crossroad from the left side of the main line, and the other vehicle C approaches the crossroad from the front of the own vehicle M, and the own vehicle M becomes the main line in front of the other vehicle A. Assume the case of merging.

Note that the timing determination threshold value _La0 for allowing the host vehicle M to smoothly join the main line without obstructing the traveling of the other vehicle A is the same as that of the T-shaped road described above. However, in this case, a timing determination for making a right turn and joining the main line so as not to hinder the traveling of the other vehicle C approaching from the front of the host vehicle M (for example, a state in which the other vehicle C decelerates unnaturally). It is necessary to consider the threshold value L _c0 . Hereinafter, a method of calculating the timing determination threshold value L _c0 will be described.

First, the time T _C0 until the host vehicle M starts from the temporary stop position and exits the crossroads is calculated by the following equation (7).

T _C0 = (3π × W / 4 / a) ^1/2 (7) Equation (7) In the above equation (7), as in the case of the T-shaped road, the host vehicle M is a circle having a turning radius R = 3W / 4. In this way, the vehicle turns right and merges with the main line. However, the vehicle may turn right using an arbitrary curve such as an ellipse. Further, exiting a crossroad refers to, for example, a position where a right turn of the host vehicle M is completed and a collision with another vehicle C is avoided.

Next, the time T ₀ until the other vehicle C enters the crossroad can be calculated by the following equation (8).

T ₀ = L _c / V _c0 (8) Equation (8) In the above equation (8), L _c is the relationship between the other vehicle C and the crossroad when t = 0 (when the host vehicle M starts from the temporary stop position). V _c0 indicates the vehicle speed of the other vehicle C.

The time TT _c from when the host vehicle M passes the crossroads until the other vehicle C reaches the crossroads can be calculated by the following equation (9).

TT _c = T ₀ −T _c0 (9) Expression By substituting the above expressions (7) and (8) into the above expression (9), TT _c becomes the following expression (10).

TT _c = L _c / V _c0 − ((3π × W / 4 / a) ^1/2 × V _c0 (10) Eq. (10) Also, when viewed from other vehicle C, if time T ₁ has a margin, TT _c = T ₁ , the timing determination threshold value L _c0 can be calculated by the following equation (11) using the above equation (10).

Here, the certain time T ₁ of this margin, for example, another vehicle C of the driver without feeling fear of collision with the vehicle M, also such as not to unnatural deceleration time can afford Point to. As described above, by calculating L _{c0 based} on the time T ₁ with a margin, compared to the case where L _c0 is calculated based on the distance, it is less affected by the speed V _c0 of the other vehicle. Therefore, the timing described later can be determined with higher accuracy.

L _c0 = T ₁ + (3π × W / 4 / a) ^1/2 × V _c0 (11) Here, similarly to the above-described _{La 0} , L _c0 may be calculated in consideration of the time lag TD.

Driving support ECU2 the distance _{L a} between the vehicle M and other vehicle A is not less timing determination threshold _{L a0} above, and the vehicle M and the distance _{L c} of the other vehicle C is timing determination threshold _{L c0} more Is determined that the host vehicle M can join the main line without obstructing the traveling of the other vehicles A and C, and an instruction signal is transmitted to the driving instruction device 8.

  Based on this instruction signal, the driving instruction device 8 instructs the driver the timing of starting from the temporary stop position. If the driver starts his own vehicle M from the temporary stop position and makes a right turn in accordance with the start instruction output from the driving instruction device 8, the driver smoothly goes to the main line without obstructing the traveling of the other vehicles A and C. Can join. Since other configurations and operations are substantially the same as in the case of the T-junction, detailed description is omitted.

  In the above embodiment, the driving assistance ECU 2 acquires travel information of the other vehicles A and C through the in-vehicle communication device 3 by inter-vehicle communication, but through the communication device installed on the road, The traveling information of the other vehicles A and C may be acquired by so-called road-to-vehicle communication. Further, the driving support ECU 2 may detect travel information such as the vehicle speed and position of the other vehicles A and C by an ultrasonic sensor such as a millimeter wave sensor provided with the host vehicle M, a laser radar, a camera, or the like. .

In the above embodiment, the driving assistance ECU 2 estimates the relative speed of the host vehicle M with respect to the other vehicle A when the host vehicle M joins the main line, and sets the timing determination threshold value _La0 according to the estimated relative speed. It may be increased or decreased. For example, the driving assistance ECU 2 may increase the timing determination threshold value _La0 as the estimated relative speed decreases. The increase / decrease value of the timing determination threshold according to the relative speed is calculated by a map or the like set in advance experimentally.

  The present invention can be used for a vehicle driving support device that supports driving of a vehicle. The appearance, weight, size, running performance, etc. of the vehicle to be mounted are not limited.

1 is a schematic block diagram illustrating an example of a system configuration of a vehicle driving support apparatus according to an embodiment of the present invention. It is a figure which shows an example of the state which the own vehicle turns right from a temporary stop position, and joins a main line in a T-shaped road. It is a flowchart which shows an example of the control processing flow of the driving assistance device for vehicles at the time of the own vehicle turning right from a temporary stop position, and joining a main line. It is a figure which shows an example of the state which the own vehicle turns right from a temporary stop position, and joins a main line in a crossroad.

Explanation of symbols

1 vehicle driving support device 2 driving support ECU
3 In-vehicle communication device 4 Navigation device 5 Vehicle speed sensor 6 Acceleration sensor 7 Direction indication sensor 8 Driving indication device

Claims (4)

A vehicle driving support device that makes a right turn or a left turn at an intersection and instructs the timing for joining the main line on which another vehicle travels,
Travel information acquisition means for acquiring travel information of the other vehicle;
Other vehicle position estimation means for estimating the position of the other vehicle based on the travel information of the other vehicle acquired by the travel information acquisition means;
Own vehicle position estimating means for estimating the position of the own vehicle after joining the main line;
Based on the position of the other vehicle estimated by the other vehicle position estimating means and the position of the own vehicle estimated by the own vehicle position estimating means, the travel of the other vehicle is not inhibited, A vehicle driving support apparatus comprising: timing instruction means for instructing a timing for joining the main line. The vehicle driving support device according to claim 1,
The own vehicle position estimating means has a running state storage unit for storing a history of the running state of the own vehicle,
A vehicle driving support device that estimates the position of the host vehicle after joining the main line based on the traveling state history of the host vehicle stored by the traveling state storage unit. The vehicle driving support device according to claim 1 or 2,
The timing instruction means is based on the position of the other vehicle estimated by the other vehicle position estimation means and the position of the own vehicle estimated by the own vehicle position estimation means. A vehicle driving support apparatus that estimates a distance between the vehicle and the host vehicle and instructs a start to join the main line when the estimated distance is equal to or greater than a predetermined distance. The vehicle driving support device according to any one of claims 1 to 3,
A relative speed estimating means for estimating a relative speed of the own vehicle with respect to the other vehicle when the vehicle joins the main line;
The vehicle driving support apparatus according to claim 1, wherein the timing instruction means varies the timing for joining the main line according to the relative speed of the host vehicle estimated by the relative speed estimation means.

Images