JP2009140422A - Running support device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a running support device for preventing momentary fear of a driver or delay of a brake operation even when an oncoming right-turn vehicle or the like exists in an intersection in determining whether to pass through or stop at the intersection. <P>SOLUTION: A signal cycle reading part 52 reads signal cycle information from a beacon 30, and a traffic environment reading part 53 reads the traffic environment information of the oncoming right-turn vehicle from the beacon 30, and a dilemma zone passage/stop decision part 58 decides a vehicle dilemma zone based on the signal cycle information, and a driver information providing part 59 provides information related to the vehicle dilemma zone to the driver of the vehicle at a level corresponding to the traffic environment information read by the traffic environment reading part 53. Thus, the driver of the vehicle is provided with the information related to the dilemma zone at a level corresponding to the presence of the oncoming right-turn vehicle at the intersection. Thus, even when there exists the oncoming right-turn vehicle or the like at the intersection, it is possible to prevent the momentary fear of the driver or the delay of a brake operation. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a travel support device, and more particularly, travel support that reads signal cycle information, which is information related to signal transition in a traffic light transmitted from a roadside transmitter installed on a road, and performs vehicle travel support based on the signal cycle information. It relates to the device.

Conventionally, a roadside transmitter such as an optical beacon installed on a road has been used to provide information related to signal transition in a traffic signal to a vehicle. For example, in Patent Document 1, when a vehicle is traveling on a road toward an intersection with a signal, the vehicle cannot enter the intersection by the end of the yellow signal at the intersection, and is in front of the intersection. When the vehicle is in a dilemma zone, which is the vehicle position and speed area that cannot be stopped by the vehicle, the vehicle captures the signal control switching timing information such as the yellow start time set by the signal control system to the driver. By providing the limit travel speed at which the vehicle can stop before the intersection, the limit travel speed at which the vehicle can enter the intersection before the end of the yellow signal at the intersection, the vehicle can stop smoothly at the intersection, or yellow A technique for enabling entry to an intersection before the signal ends is disclosed.
JP 2006-139707 A

  By the way, the driver's decision to pass or stop at the intersection (dilemma) includes the timing of signal switching (green signal → yellow signal → red signal, etc.), as well as other vehicles such as opposite right turn cars, crossing pedestrians and crossing bicycles at the intersection. There is also the influence of traffic conditions. Based on the knowledge and experience, the skilled driver determines whether to cross or stop at the intersection according to the traffic light and traffic conditions. That is, for example, even in a case where a yellow light can enter the intersection, the probability of making a decision to stop at the intersection increases due to the presence of an oncoming right turn car, a crossing pedestrian, a crossing bicycle, and the like.

  However, in order to avoid the dilemma zone, only the signal switching timing information is provided to the driver in the technology as described above. Therefore, for a driver having little driving experience, there is an oncoming right turn vehicle or a crosswalk on the cross road. Since there is little knowledge and room to recognize the person or the like or predict their behavior, there is a possibility that a feeling of fear may be instantaneously felt or a brake operation may be delayed.

  The present invention has been made in order to solve the above-mentioned problems. The purpose of the present invention is to have an opposite right turn car, a crossing pedestrian, a crossing bicycle, etc. at the intersection when judging whether to pass or stop the intersection. An object is to provide a driving support device that can prevent a driver from feeling a fear of a moment or causing a delay in brake operation even when the driver is in the vehicle.

  The present invention relates to a signal cycle reading means for reading signal cycle information, which is information relating to signal transition in a traffic light, transmitted from a roadside transmitter installed on a road, and a traffic light transmitted from a roadside transmitter installed on a road. Based on traffic environment reading means for reading traffic environment information, which is information on any of the oncoming right turn car, crossing pedestrian and crossing bicycle at the position, and the signal cycle information read by the signal cycle reading means, The position and speed of the host vehicle that cannot pass through the stop position according to the traffic light by the end of the signal and that the host vehicle cannot stop at the stop position according to the traffic signal by the end of the yellow signal of the traffic signal The vehicle dilemma zone determining means for determining the vehicle dilemma zone that is the condition of the vehicle, and the vehicle dilemma determined by the vehicle dilemma zone determining means Information about over emissions, a driving support apparatus, comprising: a driver vehicle dilemma zone information providing means for providing the driver of the vehicle at a degree corresponding to the traffic-related information to the traffic environment reading means has read the.

  According to this configuration, the signal cycle reading unit reads the signal cycle information transmitted from the roadside transmitter installed on the road, and the traffic environment reading unit transmits the opposite right turn car transmitted from the roadside transmitter installed on the road. The vehicle's dilemma zone determining means determines the vehicle's dilemma zone based on the signal cycle information, and the driver's vehicle dilemma zone information providing means provides information on the vehicle's dilemma zone to the traffic environment. In order to provide the driver of the own vehicle with the degree according to the traffic environment information read by the reading means, the driver of the own vehicle is related to the dilemma zone at a level according to the existence of an opposite right turn vehicle or a crossing pedestrian at the intersection, etc. Even if there is an oncoming right turn car, a crossing pedestrian, a crossing bicycle, etc. at the intersection, the driver will be instantly intimidated. Jill it and, it is possible to prevent the results in a delay of the brake operation.

  In this case, the driver's own vehicle dilemma zone information providing means provides information related to the own vehicle's dilemma zone at an earlier timing as the number of oncoming right turn cars, crossing pedestrians and crossing bicycles at the traffic light indicated by the traffic environment information increases. Is preferably provided to the driver of the host vehicle.

  According to this configuration, the driver's own vehicle dilemma zone information providing means provides information on the own vehicle dilemma zone to the driver of the own vehicle at an earlier timing as the quantity of oncoming right turn cars indicated by the traffic environment information increases. As the number of oncoming right turn cars and crossing pedestrians that require time and room for judgment, the driver of the own vehicle will be provided with information on the dilemma zone earlier, and the driver will be instantly afraid It is possible to further prevent a feeling of feeling and a delay in brake operation.

  On the other hand, based on either the inter-vehicle distance and the head time between the preceding vehicle and the host vehicle, and the signal cycle information read by the signal cycle reading means, the preceding vehicle stops according to the traffic light by the end of the yellow signal of the traffic light. A preceding vehicle dilemma zone, which is a condition of the preceding vehicle's position and speed, that cannot pass through the position and that the preceding vehicle cannot stop at the stop position according to the traffic light by the end of the yellow signal of the traffic light. Information about the preceding vehicle dilemma zone determining means and the preceding vehicle dilemma zone determined by the preceding vehicle dilemma zone determining means is provided to the driver of the host vehicle in a degree corresponding to the traffic environment information read by the traffic environment reading means. It is preferable to include a driver preceding vehicle dilemma zone information providing means.

  According to this configuration, when the host vehicle is a subsequent vehicle, the preceding vehicle dilemma zone determining means determines the following distance between the preceding vehicle and the host vehicle and the vehicle head time (that is, the vehicle following the position where the preceding vehicle passes). The vehicle preceding the vehicle dilemma zone is determined based on the signal cycle information and the preceding vehicle dilemma zone information providing means is determined by the preceding vehicle dilemma zone determining means. In order to provide information related to the vehicle dilemma zone to the driver of the host vehicle in accordance with the traffic environment information read by the traffic environment reading means, the driver of the host vehicle, which is a subsequent vehicle, must make a right turn or crossing at the intersection. Information on the dilemma zone of the following vehicle will be provided at a level according to the presence of pedestrians, etc. Even if the preceding vehicle brakes early when there is a vehicle, etc., the driver may feel a moment of fear or delay the braking operation to avoid a rear-end collision with the preceding vehicle. Can be prevented.

  In this case, the driver preceding vehicle dilemma zone information providing means provides information on the preceding vehicle dilemma zone at an earlier timing as the quantity of any of the oncoming right turn car, crossing pedestrian, or crossing bicycle at the traffic light indicated by the traffic environment information increases. Is preferably provided to the driver of the host vehicle.

  According to this configuration, the driver preceding vehicle dilemma zone information providing means sends information related to the preceding vehicle dilemma zone to the driver of the own vehicle at an earlier timing as the quantity of oncoming right turn cars at the traffic light indicated by the traffic environment information increases. Therefore, the driver of his / her own vehicle has information on the dilemma zone of the preceding vehicle earlier in the situation where there are many opposite right-turn cars etc. at the intersection and the situation where the preceding vehicle is likely to brake early. As a result, it is possible to further prevent the driver from feeling instantly feared by the early braking operation of the preceding vehicle and delaying the braking operation for avoiding a rear-end collision with the preceding vehicle.

  According to the driving support apparatus of the present invention, when a decision is made to pass or stop at an intersection, even if an opposite right turn car, a crossing pedestrian, a crossing bicycle, or the like is present at the intersection, the driver is instantly afraid. It is possible to prevent the driver from feeling that the brake has been operated and the delay in brake operation.

  Hereinafter, a driving support device according to an embodiment of the present invention will be described with reference to the accompanying drawings. FIG. 1 is a diagram illustrating a situation where the driving support apparatus according to the embodiment is applied, and FIG. 2 is a functional block diagram illustrating the driving support apparatus according to the embodiment.

  As shown in FIGS. 1 and 2, the driving support device 50 of the present embodiment is for being mounted on, for example, a preceding vehicle A and a following vehicle B that travel in the same lane. The driving support device 50 according to the present embodiment includes signal cycle information that is information related to signal transition in the traffic light 10 from the beacons (roadside transmitters) 30 and 40, and the facing from the beacons 30 and 40 detected by the infrastructure sensor 20. Based on the traffic environment information related to the right turn car C, the opposite right turn car D, the crossing pedestrian P, and the crossing bicycle Q, the driving support for the preceding vehicle A and the following vehicle B is performed.

  As shown in FIG. 2, the intersection traffic environment recognition unit 21 of the infrastructure sensor 20 includes an oncoming right turn car recognition sensor / ECU 22 for recognizing the oncoming right turn car C, and an oncoming right turn car for recognizing the oncoming right turn car following vehicle D. The vehicle includes a following vehicle sensor / ECU 23, a crossing pedestrian recognition sensor / ECU 24 for recognizing a crossing pedestrian P, and a crossing bicycle recognition sensor / ECU 25 for recognizing a crossing bicycle Q. Information regarding the oncoming right turn car C, the oncoming right turn following vehicle D, the crossing pedestrian P, and the crossing bicycle Q is transmitted to the beacons 30 and 40 as traffic environment information.

  As shown in FIG. 2, the driving support device 50 mounted on the preceding vehicle A and the following vehicle B includes a road-to-vehicle communication device 51, a signal cycle reading unit 52, a traffic environment reading unit 53, a vehicle information recognition unit 54, an own vehicle speed. A recognition ECU 55, an autonomous sensor 56, an inter-vehicle communication device 57, a dilemma zone passage / stop determination unit 58, and a driver information providing unit 59 are provided.

  The road-to-vehicle communication device 51 is for receiving road-to-vehicle communication data transmitted in the form of infrared communication from the beacons 30 and 40 installed on the road.

  The signal cycle reading unit 52, when the road-to-vehicle communication device 51 receives the signal cycle information that is information on the transition of the signal in the traffic light 10 or the beacons 30 and 40 from the road-to-vehicle communication data received in the form of infrared communication. This is for reading information relating to the distance between the host vehicle and the stop position corresponding to the traffic light (intersection) 10. The signal cycle reading unit 52 functions as a signal cycle reading unit described in the claims.

  The traffic environment reading unit 53 uses the road-to-vehicle communication data received in the form of infrared communication by the road-to-vehicle communication device 51, and the opposite right turn C, the opposite right turn following vehicle D, the crossing pedestrian P, and the crossing bicycle at the position of the traffic light 10. This is for reading traffic environment information which is information on any of Q. The traffic environment reading unit 53 functions as traffic environment reading means described in the claims.

  The vehicle information recognition unit 54 is for recognizing the vehicle speed of the host vehicle by the host vehicle speed recognition ECU 55 connected to the vehicle speed sensor. Moreover, the vehicle information recognition part 54 detects the present position of the own vehicle by GPS (Global Positioning System).

  The autonomous sensor 56 is specifically a laser sensor or the like, and detects the current position of the preceding vehicle A, the distance between the preceding vehicle A, the relative approach speed, and the vehicle head time when the host vehicle becomes the following vehicle B. Is to do. The inter-vehicle communication device 57 is used for inter-vehicle communication between the preceding vehicle A and the following vehicle B, and exchanges information such as the position, vehicle speed, acceleration (deceleration), and whether or not a brake operation is scheduled. Is to do. Based on the information acquired by the road-to-vehicle communication device 51 from the autonomous sensor 56, the inter-vehicle communication device 57, and the beacons 30, 40, the traveling support device 50 for the preceding vehicle A and the following vehicle B determines whether the own vehicle is the preceding vehicle A. It becomes possible to recognize whether the vehicle is a following vehicle.

  When the host vehicle is the preceding vehicle A, the dilemma zone passing / stop determining unit 58 is based on the signal cycle information read by the signal cycle reading unit 52 and the information on the distance to the stop position according to the traffic light 10. The vehicle cannot pass the stop position corresponding to the traffic light (intersection) 10 by the end of the yellow signal of the traffic light, and the stop position of the own vehicle according to the traffic light (intersection) 10 by the end of the yellow signal of the traffic light This is for determining the own vehicle dilemma zone which is a condition of the position and speed of the own vehicle that cannot be stopped by the vehicle. The dilemma zone passage / stop determination unit 58 functions as the vehicle dilemma zone determination means described in the claims.

  The dilemma zone passing / stop determining unit 58 uses the road-to-vehicle communication data received from the beacon 40 by the road-to-vehicle communication device 51 or the autonomous sensor 56 and the vehicle-to-vehicle communication device 57 when the host vehicle is the following vehicle B. Information such as the head time of the acquired preceding vehicle A and the following vehicle B that is the own vehicle, the current position of the own vehicle, the current position of the preceding vehicle A, the distance between the preceding vehicle A, the relative approach speed with the preceding vehicle A, etc. Based on the above, the preceding vehicle A cannot pass the stop position according to the traffic light by the end of the yellow signal of the traffic light, and the stop position according to the traffic light by the preceding vehicle A by the end of the yellow signal of the traffic light This is for determining the preceding vehicle dilemma zone, which is the condition of the position and speed of the preceding vehicle A that cannot be stopped at. The dilemma zone passage / stop determination unit 58 also functions as a preceding vehicle dilemma zone determination unit described in the claims.

  Specifically, the driver information providing unit 59 is a GPS liquid crystal display or an audio speaker, and when the host vehicle is the preceding vehicle A, information on the host vehicle dilemma zone determined by the dilemma zone passage / stop determination unit 58. Is provided to the driver of the host vehicle that is the preceding vehicle A at a timing according to the traffic environment information read by the traffic environment reading unit 53.

  In the present embodiment, the timing according to the traffic environment information indicates that the quantity of any of the oncoming right turn car C, the oncoming right turn car following vehicle D, the crossing pedestrian P, and the crossing bicycle Q at the position of the traffic light 10 indicated by the traffic environment information. It is set to be corrected at an earlier timing as the number increases. FIG. 3 shows the amount of correction of the information provision timing for the presence or absence of an oncoming right turn car, crossing pedestrian / bicycle. For example, there is an oncoming right turn car C at the intersection, and the crossing pedestrian P, crossing bicycle Q Is present (lower row in the table), the timing correction amount is set to be “medium”. In addition, when there are two vehicles, an oncoming right turn car C and an oncoming right turn car oncoming vehicle D, at the intersection, and there is either a crossing pedestrian P or a crossing bicycle Q (lower row in the table on the right), the timing correction amount Is set to be “large”. The driver information providing unit 59 functions as a driver's own vehicle dilemma zone information providing unit described in the claims.

  Further, when the host vehicle is the succeeding vehicle B, the driver information providing unit 59 uses the traffic environment reading unit as described above with reference to the information related to the preceding vehicle dilemma zone determined by the dilemma zone passing / stop determining unit 58 as shown in FIG. It is for providing to the driver | operator of the own vehicle which is the succeeding vehicle B at the timing according to the traffic environment information which 53 read. The driver information providing unit 59 also functions as a driver preceding vehicle dilemma zone information providing unit described in the claims.

  The driver information providing unit 59 is one of an oncoming right turn car C, an oncoming right turn car following vehicle D, a crossing pedestrian P, and a crossing bicycle Q at the position of the traffic light 10 indicated by the traffic environment information read by the traffic environment reading unit 53. The larger the quantity, the earlier the timing of information provision, the strength of information provision to the driver (frequency of information provision, etc.), or the severity (volume, brightness), etc. may be increased. .

  Hereinafter, the operation of the driving support apparatus of the present embodiment will be described. In the following description, as shown in FIG. 1, a preceding vehicle A and a following vehicle B traveling in the same lane equipped with the driving support device 50 of this embodiment are an opposite right turn car C, an opposite right turn car following vehicle D, and a crossing. A description will be given assuming that one of the pedestrian P and the crossing bicycle Q enters an intersection.

  FIG. 4 is a flowchart illustrating the operation of the travel support apparatus according to the embodiment. As shown in FIG. 4, the driving support device 50 mounted on the preceding vehicle A and the following vehicle B receives road-to-vehicle communication data from the beacons 30 and 40 by the road-to-vehicle communication device 51, respectively, and a signal cycle cycle reading unit 52. Thus, the information on the signal cycle information of the traffic light 10 and the distance between the own vehicle when passing through the beacons 30 and 40 and the stop position corresponding to the traffic light (intersection) 10 is acquired (S11). In addition, the driving support device 50 mounted on the preceding vehicle A and the following vehicle B uses the traffic environment reading unit 53 to determine the traffic environment near the traffic light (intersection) 10 from the road-vehicle communication data received by the road-vehicle communication device 51. Recognize (S12). The own vehicle speed recognition ECU of the vehicle information recognition unit 54 recognizes the own vehicle speed of the own vehicle (S13).

  Here, from the information acquired by the road-to-vehicle communication device 51 from the autonomous sensor 56, the inter-vehicle communication device 57, and the beacons 30, 40, the dilemma zone passage / stop determination unit 58 determines that there is no preceding vehicle in the host vehicle. In this case, that is, when the host vehicle is the preceding vehicle A (S14), the dilemma zone passing / stop determining unit 58 determines whether or not the host vehicle falls within the host vehicle dilemma zone (S15).

  Hereinafter, the dilemma zone will be described with reference to FIGS. The dilemma zone is the position of a vehicle that cannot enter the intersection before the end of the yellow signal at the intersection and cannot stop before the intersection when the vehicle is traveling on the road toward the intersection with a signal. It refers to the area of speed. FIG. 5 is a graph for explaining the dilemma zone, and is a graph showing the relationship between the distance to the stop line and the vehicle speed when no information is provided. The vertical axis represents the vehicle speed, and the horizontal axis represents the distance from the vehicle position to the stop line at the intersection.

  In FIG. 5, a curve L1 represents a relationship between travel speed and distance (stop condition) that can be stopped at a stop line when the vehicle is decelerated, and a straight line L2 is a yellow signal when the vehicle is traveling. It represents the relationship between the traveling speed and the distance (entrance condition) that the vehicle can reach the stop line of the intersection within the yellow traffic light time (before it becomes red).

  Here, the vehicle in the region on the left side of the curve L1 and the straight line L2 cannot stop before the stop line at the current traveling speed and distance, but can reach the stop line within the yellow traffic light time. It is. Therefore, the driver of the vehicle in the left region of the curve L1 and the straight line L2 determines that the vehicle will cross the intersection when a yellow signal is generated during traveling.

  Further, the vehicle in the area on the right side of the curve L1 and the straight line L2 can stop before the stop line at the travel speed and distance at that time, but when the vehicle reaches the stop line, the yellow signal time has already been reached. Is over (red light). Therefore, the driver of the vehicle in the region on the right side of the curves L1 and L2 determines that the vehicle is to decelerate and stop at the intersection when a yellow signal is generated during traveling.

  On the other hand, the area d indicated by the oblique line between the curve L1 and the straight line L2 is called a dilemma zone, and it can stop smoothly (safely) at the stop line, or enter the intersection before the yellow signal ends. It is an area that cannot be done. For example, as shown by a curve L3 in FIG. 5, when the traffic light changes from a green signal to a yellow signal in the area d of the dilemma zone and the driver starts a brake operation in the area d of the dilemma zone, the deceleration is larger than usual. Is required.

  In this case, as shown by the curve L4 in FIG. 6, the timing before the traffic light corresponding to the area d of the dilemma zone changes from the green signal to the yellow signal (timing when the blue signal is lit) as in the apparatus of Patent Document 1 described above. ), If the driver is provided with a limit travel speed at which the vehicle can stop before the intersection, and a limit travel speed at which the vehicle can enter the intersection by the end of the yellow signal at the intersection, Thus, it is possible to perform deceleration with a margin that does not enter the region d of the dilemma zone.

  As described above, the pass / stop determination that does not ignore the signal when the signal is switched (blue to yellow) depends on the yellow lighting time and is whether or not the stop line is passed during the yellow signal. Even if the red signal lights up immediately after passing the stop line, at the intersection, all traffic lights in the traveling lane, the oncoming lane, and the intersection lane are controlled to become a red signal, so that the intersection can be passed.

  However, as shown in FIG. 1, when the opposite right turn car C exists in the opposite lane, the driver of the opposite right turn car C is the same as the opposite side when the traffic light is not a type having a right turn arrow lamp or a time difference type. In order to follow signal switching (blue → yellow → red), when the yellow signal lights up, we expect the oncoming vehicle to stop and want to turn right soon.

  When the opposite right turn following vehicle D is present in the opposite right turn C, the driver of the opposite right turn C considers that the right turn of the opposite right turn subsequent vehicle D is completed, From the sense of urgency due to the fact that the following vehicle D is approaching the rear part of the host vehicle, it is desired to make a right turn faster and stronger than when the oncoming right turn following vehicle D does not exist.

  Furthermore, at signalized intersections, crossing pedestrians P, crossing bicycles Q, and the like tend to follow signals more blindly than vehicle progress (vehicles that cannot stop). In particular, as shown in FIG. 1, crossing pedestrians P, crossing bicycles Q, etc. beyond the intersection with respect to the preceding vehicle A tend not to pay attention because the stop line of the preceding vehicle A is far away. Some begin to cross at the same time the signal turns green.

  Many skilled drivers whose own vehicle is in the state of the preceding vehicle A make a pass or stop determination according to the signal and the traffic situation based on the knowledge and experience that the above-mentioned event occurs. That is, even if it is possible to enter the intersection with a yellow signal, the probability of making the determination on the stop side increases due to the presence of the oncoming right turn car C, the crossing pedestrian P of the intersection road, and the like.

  On the other hand, young people who have little driving experience or drivers who have little driving experience even after obtaining a driver's license can recognize the existence of oncoming right turn vehicles, crossing pedestrians on crossing roads, etc. and predict their behavior. Because there is little knowledge and room to spare, there is a possibility that a feeling of fear may be instantaneously felt and a brake operation may be delayed.

  In addition, when the host vehicle is in the state of the following vehicle B, even if the driver is an expert, the presence of the oncoming right turn car C or the crossing pedestrian P on the crossing road is determined as the preceding vehicle A. Therefore, it is impossible to accurately recognize the vehicle, and it is impossible to predict a stopping action with a margin of the preceding vehicle A, which may cause a delay in brake operation.

  Therefore, in the present embodiment, the driver information providing unit 59 determines the information provision timing correction amount shown in FIG. 3 based on the traffic environment information read by the traffic environment reading unit 53 (S16). Further, the driver information providing unit 59 gives the driver of the preceding vehicle A, which is the own vehicle, rather than avoiding the dilemma zone at the timing corrected according to the presence of the oncoming right turn car C, the crossing pedestrian P, etc. Information is provided to prompt the stop judgment at an early stage (S17).

  On the other hand, when the dilemma zone passage / stop determination unit 58 determines from the information acquired by the road-vehicle communication device 51 from the autonomous sensor 56, the vehicle-to-vehicle communication device 57, and the beacons 30, 40 that the host vehicle has a preceding vehicle. That is, when the host vehicle is the following vehicle B (S14), the dilemma zone passage / stop determination unit 58 determines whether the preceding vehicle A falls under the preceding vehicle dilemma zone (S18).

  The driver information providing unit 59 determines the correction amount of the information providing timing shown in FIG. 3 based on the traffic environment information read by the traffic environment reading unit 53 (S19). Further, the driver information providing unit 59 provides information related to the preceding vehicle dilemma zone to the driver of the preceding vehicle A at the timing corrected according to the presence of the oncoming right turn car C, the crossing pedestrian P and the like by the correction amount. And predicting an early stop action of the preceding vehicle A, and providing information that prompts the driver of the following vehicle B, which is the host vehicle, to be aware of the deceleration operation of the preceding vehicle A (S20).

  According to this embodiment, the signal cycle reading unit 52 reads the signal cycle information transmitted from the beacons 30 and 40 installed on the road, and the traffic environment reading unit 53 is transmitted from the beacons 30 and 40 installed on the road. The traffic environment information such as the opposite right turn car is read, the dilemma zone passing / stop determining unit 58 determines the own vehicle dilemma zone based on the signal cycle information, and the driver information providing unit 59 is related to the own vehicle dilemma zone. In order to provide information to the driver of the host vehicle in accordance with the traffic environment information read by the traffic environment reading unit 53, the driver of the host vehicle is in the presence of an opposite right turn car C or a crossing pedestrian P at the intersection. Even if there is an oncoming right turn car C, crossing pedestrian P, crossing bicycle Q, etc. at the intersection, information on the dilemma zone will be provided at the corresponding level And that the driver feel the moment to fear, it is possible to prevent the results in a delay of the brake operation.

  Further, according to the present embodiment, the driver information providing unit 59 provides information on the own vehicle dilemma zone to the driver of the own vehicle at an earlier timing as the quantity of the oncoming right turn car C indicated by the traffic environment information increases. Therefore, the driver of the own vehicle is provided with information on the dilemma zone earlier as the number of oncoming right turn cars C and crossing pedestrians P that require time and margin for judgment increases. It is possible to further prevent a feeling of fear and a delay in brake operation.

  On the other hand, according to the present embodiment, when the host vehicle is the following vehicle B, the dilemma zone passage / stop determination unit 58 uses either the inter-vehicle distance between the preceding vehicle and the host vehicle or the head time and the signal cycle information. Based on the traffic environment information read by the traffic environment reading unit 53, the driver information providing unit 59 determines the preceding vehicle dilemma zone based on the information on the preceding vehicle dilemma zone determined by the dilemma zone passing / stop determining unit 58. In order to provide the driver of the own vehicle with a certain degree, the driver of the own vehicle, which is the following vehicle B, has a dilemma zone of the following vehicle B at a level according to the presence of an opposite right turn car C, a crossing pedestrian P, etc. Information on the vehicle, and if there is an oncoming right turn car C, a crossing pedestrian P, a crossing bicycle Q, etc. Even if it is possible to prevent the arising and that the driver feel the moment to fear, the delay of the brake operation in order to avoid a rear-end collision with a preceding vehicle A.

  In addition, according to the present embodiment, the dilemma zone passage / stop determination unit 58 provides information on the preceding vehicle dilemma zone to the driver of the own vehicle at an earlier timing as the quantity of the oncoming right turn vehicle P indicated by the traffic environment information increases. Therefore, the driver of the own vehicle has many opposite right turn cars C at the intersection, and the higher the possibility that the preceding vehicle A will brake early, the earlier the dilemma zone of the preceding vehicle A Information will be provided, and the driver will feel a moment of fear due to the early braking operation of the preceding vehicle A, and a delay in the braking operation to avoid a rear-end collision with the preceding vehicle A will occur. Can be further prevented.

  Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and various modifications can be made.

It is a figure which shows the condition where the driving assistance device which concerns on embodiment is applied. It is a functional block diagram which shows the driving assistance apparatus which concerns on embodiment. It is a table | surface which shows the correction amount of the information provision timing with respect to the presence or absence of an opposite right turn vehicle, a crossing pedestrian, and a bicycle. It is a flowchart which shows operation | movement of the driving assistance apparatus which concerns on embodiment. It is a graph which shows the relationship between the distance to a stop line in case there is no information provision, and a vehicle speed. It is a graph which shows the relationship between the distance to a stop line in case there exists information provision, and a vehicle speed.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 ... Traffic light, 20 ... Infrastructure sensor, 21 ... Intersection traffic environment recognition part, 22 ... Opposite right turn car recognition sensor and ECU, 23 ... Opposite right turn car follower sensor / ECU, 24 ... Crossing pedestrian recognition sensor / ECU, 25 ... Crossing bicycle recognition sensor / ECU, 30, 40 ... beacon, 50 ... travel support device, 51 ... road-to-vehicle communication device, 52 ... signal cycle reading unit, 53 ... traffic environment reading unit, 54 ... vehicle information recognition unit, 55 ... self Vehicle speed recognition ECU, 56 ... autonomous sensor, 57 ... inter-vehicle communication device, 58 ... dilemma zone passing / stop determining unit, 59 ... driver information providing unit, A ... preceding vehicle, B ... following vehicle, C ... opposite right turn vehicle, D ... Following right turn car, P ... Pedestrian crossing, Q ... Crossed bicycle.

Claims (4)

A signal cycle reading means for reading signal cycle information, which is information relating to signal transition in a traffic light, transmitted from a roadside transmitter installed on a road;
Traffic environment reading means that reads traffic environment information that is transmitted from a roadside transmitter installed on the road and is information on any of the oncoming right turn car, crossing pedestrian, and crossing bicycle at the position of the traffic signal;
Based on the signal cycle information read by the signal cycle reading means, the host vehicle cannot pass the stop position corresponding to the traffic signal by the end of the yellow signal of the traffic signal, and the host vehicle is not in the traffic light. A vehicle dilemma zone determining means for determining a vehicle dilemma zone that is a condition of the vehicle position and speed, the vehicle cannot be stopped at a stop position according to the traffic light by the end of the yellow signal;
Driver's own vehicle dilemma zone information that provides information related to the own vehicle's dilemma zone determined by the own vehicle's dilemma zone determining means to the driver of the own vehicle to a degree corresponding to the traffic environment information read by the traffic environment reading means. Providing means;
A driving support device comprising:   The driver's own vehicle dilemma zone information providing means relates to the own vehicle's dilemma zone at an earlier timing as the quantity of any one of an oncoming right turn car, a crossing pedestrian, and a crossing bicycle at the traffic light indicated by the traffic environment information increases. The travel support apparatus according to claim 1, wherein information is provided to a driver of the host vehicle. Based on either the inter-vehicle distance and the head time between the preceding vehicle and the host vehicle and the signal cycle information read by the signal cycle reading means, the preceding vehicle responds to the traffic signal by the end of the yellow signal of the traffic light. This is a condition of the position and speed of the preceding vehicle that cannot pass through the stopped position and that the preceding vehicle cannot stop at the stop position corresponding to the traffic light by the end of the yellow signal of the traffic light. A preceding vehicle dilemma zone determining means for determining a preceding vehicle dilemma zone;
Driver preceding vehicle dilemma zone information that provides information on the preceding vehicle dilemma zone determined by the preceding vehicle dilemma zone determining means to the driver of the host vehicle in a degree corresponding to the traffic environment information read by the traffic environment reading means. The travel support apparatus according to claim 1, further comprising a providing unit.   The driver preceding vehicle dilemma zone information providing means relates to the preceding vehicle dilemma zone at an earlier timing as the quantity of any one of an oncoming right turn car, a crossing pedestrian, and a crossing bicycle at the traffic light indicated by the traffic environment information increases. The travel support apparatus according to claim 1, wherein information is provided to a driver of the host vehicle.

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