JP2009176221A - Driving support device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To prevent safety from being compromised by forced deceleration, steering, or the like by preventing a driver from being disturbed. <P>SOLUTION: This driving support device 1 is provided with an ECU 2, road/vehicle communication equipment 3 for acquiring signal light color cycle information, a vehicle speed sensor 4 for detecting a vehicle speed of one's own vehicle, and a warning device 5. In the ECU 2, an arriving time calculating part 6 calculates an arriving time TTC up to arriving at an intersection, a passing acceptance/rejection determining part 7 determines a signal light color when the vehicle advances into the intersection, and a safety stop determining part 8 determines whether the arriving time TTC is a threshold Tc or below. When a signal light color is red when the vehicle arrives at the intersection, vehicle stop warning is performed, and further, when the arriving time TTC is the threshold Tc or below, vehicle stop warning is inhibited, and advance danger warning is performed. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a driving support device that issues a warning to a driver when the vehicle cannot pass through an intersection.

Conventionally, driving assistance that predicts the signal light color when entering an intersection based on the light color cycle information of the traffic light and the speed of the host vehicle, and issues a vehicle stop alarm that prompts the vehicle to stop when it is determined that the vehicle cannot pass the intersection An apparatus is known (see, for example, Patent Document 1).
JP 2002-373396 A

  By the way, in order to stop the vehicle safely by this vehicle stop warning, it is necessary to issue the vehicle stop warning before the time required for the driver to stop the vehicle safely. However, when the driver starts decelerating near the intersection, it may actually be determined that the vehicle cannot pass the intersection after this time.

  In this case, the conventional driving assistance device always gives a vehicle stop warning when it is determined that the vehicle cannot pass through the intersection, so that the driver may be upset and confused when the intersection approaches. There is. For this reason, there has been a problem that traveling becomes unstable due to excessive braking operation or the like, and the possibility of a rear-end collision from a subsequent vehicle increases.

  Therefore, an object of the present invention is to provide a driving support device that does not cause confusion to the driver.

  The driving support apparatus according to the present invention includes an intersection determination unit for determining whether or not the vehicle can pass an intersection where a traffic signal is installed based on the signal light color cycle information of the traffic signal and the vehicle speed information, and an intersection at the intersection determination unit. If it is determined that the vehicle cannot pass, the alarm processing means for issuing a vehicle stop alarm that prompts the vehicle to stop, and the safety stop that determines whether the arrival time to the intersection determined based on the vehicle speed information is equal to or less than a predetermined time Determining means, and the alarm processing means performs a vehicle stop alarm when the safety stop determining means determines that the arrival time is not less than a predetermined time.

  In the driving support device according to the present invention, it is possible to predict the signal light color of the traffic light when the vehicle reaches the intersection based on the signal light color cycle information and the vehicle speed information, thereby whether or not the vehicle can pass through the intersection. Can be determined. Further, by comparing the arrival time to the intersection with a predetermined time, it can be determined whether or not the driver can safely stop the vehicle before the vehicle reaches the intersection. A vehicle stop alarm is issued when it is determined that the vehicle cannot pass through the intersection due to the signal light color of the traffic light, and when it is determined that the arrival time to the intersection is not less than a predetermined time. For this reason, if it is determined that the arrival time to the intersection is less than or equal to a predetermined time, there is no time to reach the intersection. For example, no vehicle stop alarm is issued or other alarms are issued. It is possible to suppress the confusion that occurs to the driver.

  In this case, it is preferable that the warning processing unit prohibits the vehicle stop warning when the safety stop determination unit determines that the arrival time to the intersection is equal to or shorter than a predetermined time. According to this driving support device, when it is determined that the vehicle cannot pass the intersection due to the signal light color of the traffic light, and the arrival time to the intersection is determined to be less than or equal to the predetermined time, the vehicle reaches the intersection. The vehicle stop warning is prohibited because there is not enough time to complete. Thereby, the confusion which arises in a driver | operator can be suppressed and a driver | operator can operate a vehicle by his judgment, without being confused by a vehicle stop warning.

  In addition, the warning processing means, when the safety stop determination means determines that the arrival time to the intersection is less than or equal to a predetermined time, it replaces the vehicle stop alarm and notifies that the approach to the intersection is dangerous. A danger notification alarm may be performed. In this driving support device, when the arrival time to the intersection is less than or equal to a predetermined time, the vehicle stop alarm is prohibited, and an approach danger notification alarm is performed instead. For this reason, the vehicle can be operated at his / her own judgment while recognizing that it is dangerous to enter the intersection as it is.

  According to the present invention, it is possible to prevent the driver from being confused and to prevent the safety from being damaged due to excessive deceleration or steering.

  DESCRIPTION OF EMBODIMENTS Hereinafter, a preferred embodiment of a driving assistance apparatus according to the present invention will be described in detail with reference to the drawings. In the drawings, the same or corresponding parts are denoted by the same reference numerals.

[First Embodiment]
FIG. 1 is a diagram illustrating a block configuration of the driving support apparatus according to the first embodiment. As shown in the figure, the driving support device 1 of this embodiment performs driving support by giving a warning when it is determined that the vehicle cannot pass an intersection ahead in the traveling direction. The driving support device 1 includes an ECU (Electronic Control Unit) 2. A road-vehicle communication device 3, a vehicle speed sensor 4, and an alarm device 5 are connected to the ECU 2.

  The road-vehicle communication device 3 is an in-vehicle communication device that can communicate with a roadside communication device (not shown) such as an optical beacon device. The road-to-vehicle communication device 3 receives traffic information around the road-side communication device through a downlink from the road-side communication device. This traffic information includes position information of an intersection in front of the traveling direction (including a stop line before the intersection) and signal light color cycle information of a traffic light installed at the intersection.

  The vehicle speed sensor 4 is a sensor that detects the vehicle speed (traveling speed) of the host vehicle. The alarm device 5 is a device that notifies the driver of an alarm by voice.

  Then, the ECU 2 is based on the signal light color cycle information acquired by the road-to-vehicle communication device 3 and the position information of the intersection, and the vehicle speed information of the host vehicle detected by the vehicle speed sensor 4. It is determined whether or not it can pass through, and the alarm device 5 is caused to issue an alarm based on the determination result. For this reason, the ECU 2 includes functions of an arrival time calculation unit 6, a pass / fail determination unit 7, a safe stop determination unit 8, and an alarm processing unit 9. The ECU 2 is mainly configured by a computer including a CPU, a ROM, and a RAM, for example.

  The arrival time calculation unit 6 starts from the current position when traveling at the current vehicle speed based on the position information of the intersection acquired by the road-to-vehicle communication device 3 and the vehicle speed information of the host vehicle detected by the vehicle speed sensor 4. An arrival time TTC (Time To Collision) until reaching the intersection is calculated (predicted).

  Based on the signal light color cycle information acquired by the road-to-vehicle communication device 3 and the arrival time TTC calculated by the arrival time calculation unit 6, the passability determination unit 7 determines the signal light color when reaching the intersection, It is determined whether or not the intersection can be passed.

  The safe stop determination unit 8 determines whether the arrival time TTC is equal to or less than the threshold Tc based on the arrival time TTC calculated by the arrival time calculation unit 6 and the threshold Tc. The threshold value Tc is a time during which the driver can perform a normal deceleration operation and can safely stop the vehicle on the stop line before the intersection. For this reason, the safe stop determination unit 8 can safely stop the vehicle before reaching the stop line before the intersection by the driver's normal deceleration operation by comparing the arrival time TTC and the threshold Tc. It can be determined whether or not it is possible.

  The warning processing unit 9 causes the warning device 5 to issue a warning to the driver based on the determination result of the pass / fail determination unit 7 and the determination result of the safe stop determination unit 8. That is, the warning processing unit 9 determines that the vehicle stop warning (e.g., “red signal”) that prompts the vehicle to stop if the signal light color when reaching the intersection is determined to be red (red signal) by the passage determination unit 7. Please stop the vehicle for "announcement". However, when the safe stop determination unit 8 determines that the arrival time TTC is equal to or less than the threshold Tc, that is, the vehicle cannot be stopped safely before reaching the stop line before the intersection, the vehicle stop alarm is executed. Instead, an approach danger warning is issued to notify that it is dangerous to decelerate the vehicle and enter the intersection. That is, when the warning processing unit 9 determines that the signal lamp color is red, the warning processing unit 9 issues a vehicle stop warning only when the arrival time TTC is not equal to or less than the threshold value Tc, and when the arrival time TTC is equal to or less than the threshold value Tc, Is prohibited and an approach danger warning is issued instead (alarm method is changed).

  Next, the processing operation of the driving support device 1 according to the present embodiment will be described with reference to FIGS. 2 and 3. FIG. 2 is a flowchart showing the processing operation of the ECU, and FIG. 3 is a diagram showing the relationship among the vehicle speed, time, and signal lamp color.

  The driving support device 1 starts processing when the driver turns on the ignition and repeats the following processing until the ignition is turned off.

  First, in step S <b> 1, the ECU 2 acquires signal light color cycle information and intersection position information from the traffic information received by the road-to-vehicle communication device 3. In step S <b> 2, the ECU 2 acquires vehicle speed information of the host vehicle detected by the vehicle speed sensor 4.

  Next, in step S3, the ECU 2 calculates the arrival time TTC based on the position information of the intersection acquired in step S1 and the vehicle speed information of the host vehicle acquired in step S2. That is, in step S3, the time required to reach the intersection is calculated assuming that the vehicle travels at the current vehicle speed, and this calculated time is defined as the arrival time TTC.

  Next, in step S4, the ECU 2 compares the arrival time TTC calculated in step S3 with the threshold Tc, and determines whether the arrival time TTC is equal to or less than the threshold Tc. That is, in step S4, it is determined whether or not the time point before reaching the intersection is a threshold Tc time or more.

  And when it determines with arrival time TTC being below threshold value Tc (step S4: YES), ECU2 progresses to step S5 and sets a flag to ON. Note that the flag set in step S4 is set, for example, in a memory area where the ECU 2 can write and read.

  On the other hand, when it is determined that the arrival time TTC is longer than the threshold value Tc (step S4: NO), the ECU 2 proceeds to step S6 without performing step S5.

  Next, in step S6, the ECU 2 determines the signal lamp color when entering the intersection based on the signal lamp color cycle information acquired in step S1 and the arrival time TTC calculated in step S3. That is, in step S6, the signal lamp color at the time of entering the intersection is determined by calculating the signal lamp color after the arrival time TTC has elapsed from the current time. When the signal lamp color when entering the intersection is red, it is determined that the vehicle cannot pass through the intersection, and when the signal lamp color when entering the intersection is other than red, it is determined that the vehicle can pass through the intersection.

  And when it determines with the signal lamp color at the time of an intersection approach not being red (step S6: NO), ECU2 returns to step S2 and repeats the said process again.

  On the other hand, when it is determined that the signal lamp color when entering the intersection is red (step S6: YES), the ECU 2 proceeds to step S7 and determines whether or not the flag is set to ON. Note that the flag determined in step S7 is the flag set in step S5.

  And when it determines with the flag not being set to ON (step S7: NO), ECU2 returns to step S2 and repeats the said process again.

  On the other hand, when it is determined that the flag is set to ON (step S7: YES), the ECU 2 proceeds to step S8 and determines whether or not the flag has been set to ON in the previous process of step S7. . In step S8, when the flag is not set to ON in the previous processing in step S7, the arrival time TTC is determined to be equal to or less than the threshold Tc when the signal lamp color at the time of entering the intersection is determined to be red. This is the case. On the other hand, in step S8, when the flag was set to ON in the previous processing in step S7, after the arrival time TTC was determined to be equal to or less than the threshold Tc, the signal light color at the time of entering the intersection was determined to be red. Is the case.

  If the ECU 2 determines that the flag has not been set to ON in the previous process of step S7 (step S8: NO), the ECU 2 proceeds to step S9 and issues a vehicle stop alarm that is a normal alarm to the alarm device 5. Make it.

  On the other hand, if it is determined that the flag has been set to ON in the previous processing of step S7 (step S8: YES), the ECU 2 does not perform a vehicle stop alarm (prohibits execution of the vehicle stop alarm), step S10. Then, the warning device 5 is made to issue an approach danger warning.

  And if an alarm is given in step S9 or step S10, a process will once be complete | finished and a process will be repeated from step S1 again.

  Here, the relationship among the vehicle speed, the time, and the signal lamp color will be described with reference to FIG. FIG. 3A shows a traveling pattern L1 that enters the intersection at the time of C1 in a traveling state in which the vehicle travels at a constant speed at the vehicle speed v1. FIG. 3B shows a traveling pattern L2 that enters the intersection at the time of C2 in a traveling state in which the vehicle travels at a constant speed at the vehicle speed v2. FIG. 3 (3) shows a traveling pattern L3 that enters the intersection at C3 in a traveling state where the vehicle travels at a constant speed up to P at a vehicle speed v1 and then decelerates.

  As shown in FIG. 3 (a), in the case of the driving pattern L1, the signal processing color of the traffic light when entering the intersection (C1) is yellow, the alarm processing unit 9 determines that the intersection can pass, No alarm is given.

  As shown in FIG. 3B, in the case of the running pattern L2, the warning signal processing unit 9 determines that it cannot pass through the intersection because the signal light color of the traffic light when entering the intersection (C2) is red. Thus, when the arrival time TTC until reaching C2 reaches the threshold value Tc (W2), a vehicle stop alarm is given.

  In the case of the traveling pattern L3 shown in FIG. 3C, since the vehicle travels at a constant speed v1 up to P as in the traveling pattern L1, the alarm processing unit 9 determines that the vehicle can pass through the intersection during this time. No alarm is given. However, if the vehicle decelerates after passing P, it takes longer to reach the intersection. Therefore, at the time of W3, the signal light color of the traffic light when entering the intersection (C3 ′) changes from yellow to red. . For this reason, the warning processing unit 9 determines that it cannot pass through the intersection at the time of W3. However, since the arrival time TTC is already equal to or less than the threshold value Tc at the time point W3, the alarm processing unit 9 issues an approach danger alarm without performing a vehicle stop alarm.

[Second Embodiment]
Next, a second embodiment will be described. The driving support device according to the second embodiment is basically the same as the driving support device according to the first embodiment, and only a part thereof is different. For this reason, below, only a different part from the driving assistance device concerning a 1st embodiment is explained.

  The arrival time calculation unit 6 of the ECU 2 is configured to travel in the current traveling state based on the position information of the intersection acquired by the road-to-vehicle communication device 3 and the vehicle speed information of the host vehicle detected by the vehicle speed sensor 4. The arrival time TTC from the current position to the intersection is calculated. That is, the acceleration / deceleration is calculated from the time change of the vehicle speed detected by the vehicle speed sensor 4, and the current running state is detected. Then, the arrival time TTC when the vehicle travels in a state where the traveling state (acceleration / deceleration, etc.) is maintained is calculated.

  FIG. 4 is a flowchart showing the processing operation of the ECU in the second embodiment.

  As shown in FIG. 4, the ECU 2 acquires signal light color cycle information and intersection position information from the traffic information received by the road-to-vehicle communication device 3 in step S1, and is detected by the vehicle speed sensor 4 in step S2. Get the vehicle speed information of your own vehicle.

  In step S13, the ECU 2 calculates the arrival time TTC based on the intersection position information acquired in step S1 and the vehicle speed information of the host vehicle acquired in step S2. That is, in step S13, acceleration / deceleration and the like are calculated from the time change of the vehicle speed detected by the vehicle speed sensor 4, and the current running state is detected. Then, the time required to reach the intersection is calculated on the assumption that the vehicle travels in a state where the traveling state (acceleration / deceleration, etc.) is maintained, and this calculated time is defined as an arrival time TTC.

  Thereafter, similarly to the first embodiment, steps S4 to S8 are performed.

  If it is determined in step S8 that the flag has not been set to ON in the previous processing in step S7 (step S8: NO), the ECU 2 proceeds to step S9, and the alarm device 5 is a normal alarm. A vehicle stop alarm is issued.

  On the other hand, if it is determined in step S8 that the flag has been set to ON in the previous processing in step S7 (step S8: YES), the ECU 2 proceeds to step S11, and whether the lap time Tr is greater than or equal to a predetermined threshold value. Determine whether or not. The lap time Tr is the time required for the vehicle to pass through the intersection (or the vehicle enters the intersection) after the signal lamp color of the traffic light changes from yellow to red.

  If it is determined that the lap time Tr is equal to or longer than the predetermined threshold (step S11: YES), the ECU 2 proceeds to step S9 and causes the alarm device 5 to perform a vehicle stop alarm. Thereafter, the process is temporarily terminated, and the process is repeated again from step S1.

  On the other hand, when it is determined that the lap time Tr is less than the predetermined threshold (step S11: NO), the ECU 2 returns to step S2 without performing the vehicle stop alarm (prohibiting execution of the vehicle stop alarm), The process is repeated again from step S2.

  In the case of the traveling pattern L3 shown in FIG. 3 (c) described above, since the vehicle travels at a constant speed at the vehicle speed v1 up to P as in the traveling pattern L1, the alarm processing unit 9 determines that it can pass through the intersection during this time. No alarm is given. And if you decelerate past P, it takes longer time to reach the intersection, so at the time of W3, the signal light color of the traffic light when entering the intersection (C3 ′) changes from yellow to red . For this reason, the warning processing unit 9 determines that it cannot pass through the intersection at the time of W3. However, since the arrival time TTC is already equal to or less than the threshold Tc at the time point W3, the alarm processing unit 9 further compares the lap time Tr with a predetermined value. When the lap time Tr is equal to or greater than the predetermined value, the alarm processing unit 9 issues a vehicle stop alarm, and when the lap time Tr is less than the predetermined value, the alarm processing unit 9 ends the process without issuing any alarm.

  As described above, the driving support device 1 according to the above embodiment can predict the signal light color of the traffic light when the vehicle reaches the intersection based on the signal light color cycle information and the vehicle speed information. It can be determined whether or not can pass through the intersection. Further, by comparing the arrival time TTC with the threshold value Tc, it can be determined whether or not the driver can safely stop the vehicle before the vehicle reaches the intersection. And since the signal lamp color when arriving at the intersection is red, it cannot pass through the intersection, but when it is determined that the arrival time TTC is not less than the threshold Tc, a vehicle stop warning is performed, so that the vehicle can be safely Can be stopped. On the other hand, if the signal lamp color when reaching the intersection is red, the signal cannot pass through the intersection, and if it is determined that the arrival time TTC is less than or equal to the threshold Tc, the time allowance until the intersection is reached Therefore, the vehicle stop warning is prohibited. As a result, the driver is prevented from being upset and confused by the vehicle stop warning being issued even though the vehicle cannot be stopped safely. The vehicle can be operated. As a result, it is possible to prevent the safety of traffic from being damaged by an unreasonable operation due to confusion. For example, it is possible to avoid a vehicle from stopping in an intersection due to a sudden deceleration, or a sudden deceleration. The rear-end collision of the following vehicle can be avoided.

  Further, in the driving support device 1, when the arrival time TTC is equal to or less than the threshold Tc, the vehicle stop alarm is prohibited from being executed, and instead, the approach danger notification alarm is performed, so that the driver decelerates as it is. The vehicle can be operated at its own judgment while recognizing that it is dangerous to enter the intersection. For this reason, for example, if the signal light color at the time of entering the intersection changes to red due to the driver performing a deceleration operation, the signal light color changes to red by canceling the deceleration operation and performing the accelerator operation again. You can safely pass through the intersection before.

  Further, in the driving support device 1 according to the second embodiment, even if the signal lamp color when reaching the intersection is red, the vehicle stop alarm is not performed when the lap time Tr is less than a predetermined value (execution of the vehicle stop alarm). Therefore, it is possible to prevent the risk of approaching the intersection from increasing due to further deceleration. For this reason, for example, by performing the accelerator operation based on the driver's own judgment, it is possible to safely pass through the intersection before the signal lamp color changes to red.

  The preferred embodiment of the present invention has been described above, but the present invention is not limited to the above embodiment. For example, in the above embodiment, the warning is described when the signal lamp color when entering the intersection is red. However, the warning may be performed when the signal lamp color is yellow instead of red.

  Moreover, in the said embodiment, although demonstrated as what alert | reports with an audio | voice, for example, you may make it alert | report by displaying an image etc. on a display apparatus.

  Further, in the first embodiment, when the signal light color of the traffic light at the time of passing through the intersection is red and the arrival time TTC is equal to or less than the threshold Tc, the execution of the vehicle stop warning is prohibited and the approach danger warning is performed. However, the approach danger alarm may not be performed, and another alarm may be performed.

It is the figure which showed the block configuration of the driving assistance device which concerns on 1st Embodiment. It is a flowchart which shows processing operation of ECU. It is a figure which shows the relationship between a vehicle speed, time, and a signal lamp color. It is a flowchart which shows the processing operation of ECU in 2nd Embodiment.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Driving assistance device, 2 ... ECU (passability determination means, alarm processing means, safe stop determination means), 7 ... Passability determination section, 8 ... Safe stop determination section, 9 ... Alarm processing section.

Claims (3)

Passability determination means for determining whether or not the traffic light can pass through the intersection where the traffic light is installed based on the signal light color cycle information and the vehicle speed information of the traffic light,
An alarm processing means for performing a vehicle stop alarm for urging the vehicle to stop when it is determined by the passability determination means that the vehicle cannot pass through the intersection;
Safe stop determination means for determining whether or not the arrival time to the intersection determined based on the vehicle speed information is a predetermined time or less,
The said driving | running | working assistance apparatus characterized by the said warning process means performing the said vehicle stop warning, when it determines with the said arrival time not being below the said predetermined time by the said safe stop determination means.   2. The driving support according to claim 1, wherein the warning processing unit prohibits the vehicle stop warning when the arrival time to the intersection is determined to be a predetermined time or less by the safe stop determination unit. apparatus. The warning processing means notifies that the approach to the intersection is dangerous instead of the vehicle stop warning when the arrival time to the intersection is determined to be a predetermined time or less by the safety stop determination means. The driving support device according to claim 2, wherein an approach danger notification warning is performed.

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