JP2012088904A - Driving support device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a driving support device capable of preventing a delay of driving support services by detecting a start of a right/left turn of a vehicle at an early stage.SOLUTION: A driving support device 10 includes: collision possibility determination means 16 for determining whether or not there is a possibility of collision of own vehicle with another vehicle; and information providing means 14, when the collision possibility determination means determines that there is the possibility of the collision of the own vehicle with the other vehicle, notifying it to a driver of the own vehicle. This driving support device further includes acceleration detecting means 31 for detecting an acceleration of the own vehicle. The collision possibility determination means detects the start of the right/left turn of the own vehicle based on the acceleration detected by the acceleration detecting means, and determines whether or not there is a possibility of the collision of the own vehicle with the other vehicle based on right/left turn start information.

Description

  The present invention relates to a driving support device, and more particularly, to a driving support device that can notify a warning of turning left or right of a vehicle at an early stage so that the driving support is not delayed.

When a vehicle turns left at a T-junction or turns right at an intersection, the vehicle detects an object (four-wheeled vehicle / two-wheeled vehicle, etc.) that approaches the vehicle and determines the possibility of a collision. Some are equipped with a driving support device that alerts the driver and alerts the driver when the vehicle is expensive.
As shown in FIG. 19, the conventional driving support apparatus 101 includes a vehicle-to-vehicle communication unit 102, a road-to-vehicle communication unit 103, a host vehicle position information acquisition unit 104, an information providing unit 105, a power source / grounding / vehicle. Some include vehicle-side means 106 for inputting a signal and collision possibility determination means 107.
The inter-vehicle communication means 102 includes an inter-vehicle communication antenna 108 and an inter-vehicle communication device 109. The road-vehicle communication means 103 includes a road-vehicle communication antenna 110 and a road-vehicle communication device 111. The own vehicle position information acquisition unit 104 includes a GPS signal receiving antenna 112 and a GPS signal receiving circuit 113. The information providing unit 105 includes a monitor 115 and a speaker 116 of the navigation device 114. Collision possibility determination means 107 and GPS signal reception circuit 113 are configured as a set as device unit 117, and input information from each means 102-106.
The driving support device 101 inputs information from each of the units 102 to 106, and determines whether or not there is a possibility of collision between the host vehicle and the other vehicle by the collision possibility determination unit 107. Is notified to the driver of the host vehicle through the monitor 115 and the speaker 116 of the information providing means 105.
Thus, the conventional driving support device calculates the possibility of collision with another vehicle (such as a four-wheeled vehicle) approaching the host vehicle, and if the possibility is high, (1). A warning sound (“Peen” etc.) is emitted from the speaker (2). Display a warning image on a monitor of a navigation device or a dedicated monitor; (3). The company provides driving support services such as “speaking from the right” through the speaker.

  The conventional driving support device detects acceleration in the front-rear and left-right directions of the vehicle, determines the driving condition of the vehicle based on the acceleration detection result, and calculates driving characteristics in the determination result of the driving condition based on the acceleration detection result. The driver determines the necessity of the alarm based on the determination result of the driving characteristics, and issues an alarm to the driver based on the determination result of the alarm necessity so that the unnecessary alarm is not performed, and the driver Some provide driving support services that do not make them feel bothersome. (Patent Document 1)

JP 2003-312410 A

By the way, in the conventional driving assistance device, since the behavior of the vehicle is detected based on the GPS information acquired by the own vehicle position information acquisition means, the GPS data update period (for example, 1 sec) is about a certain time (1 sec). Delay may occur. For this reason, the conventional driving support system detects early changes in vehicle behavior (acceleration / deceleration, right / left turn, etc.) in situations such as encounters at T-junctions and when turning right at a crossroads. There are cases where it is not possible.
For this reason, for example, there is a sufficient distance to the collision with the other vehicle on the own vehicle system between the own vehicle that is going to turn right at the intersection and the other vehicle that is approaching by accelerating the opposite lane. Even if it is judged, it may actually be approaching close. As a result, since the start of the right / left turn of the vehicle cannot be detected at an early stage, the provision of the driving support service is delayed, and the driving support service cannot be provided at an effective timing.

  An object of the present invention is to realize a driving support device that can detect the start of a right or left turn of a vehicle at an early stage and can prevent a driving support service from being delayed.

  According to the present invention, there is a possibility that the own vehicle and the other vehicle may collide with each other by the collision possibility determining unit that determines whether or not the own vehicle and the other vehicle may collide with each other. A driving support device comprising information providing means for notifying the driver of the host vehicle when it is determined to include acceleration detecting means for detecting the acceleration of the host vehicle, wherein the collision possibility determining means is the acceleration detecting means. Detecting the start of right / left turn of the own vehicle based on the acceleration detected by the vehicle, and determining whether there is a possibility of collision between the own vehicle and another vehicle based on the right / left turn start information. .

  The driving support device according to the present invention can detect the start of the vehicle's right or left turn at an early stage, so that the driving support service can be prevented from being delayed, and the driving support service can be provided at an effective timing. .

FIG. 1 is a block diagram showing a system configuration of the driving support apparatus. (Example) FIG. 2 is a diagram showing installation positions of a display unit, an alarm output unit, detection means, an antenna, and the like in the vehicle interior. (Example) FIG. 3 is a diagram showing an example of traveling of the host vehicle when turning left on a T-shaped road. (Example) FIG. 4 is a diagram showing an example of traveling of the host vehicle when turning right at an intersection. (Example) FIG. 5 is a diagram showing an acceleration state of another vehicle when making a right turn at an intersection. (Example) FIG. 6 is a diagram showing the timing of the host vehicle / other vehicle (acceleration) when making a right turn at an intersection. (Example) FIG. 7 is a diagram showing the traveling state of the host vehicle at the timing A in FIG. (Example) FIG. 8 is a diagram illustrating a traveling state of the host vehicle at the timing B in FIG. (Example) FIG. 9 is a diagram illustrating a traveling state of the host vehicle at the timing C in FIG. (Example) FIG. 10A is a diagram showing a right turn start determination when making a right turn from a stop, and FIG. 10B is a diagram showing a right turn start decision when making a right turn from low speed running. (Example) FIG. 11 is a diagram showing acceleration start determination in the case of acceleration traveling. (Example) FIG. 12 is a diagram showing a left turn situation of another vehicle when making a right turn at an intersection. (Example) FIG. 13 is a diagram showing the timing of another vehicle (left turn) when making a right turn at an intersection. (Example) FIG. 14 is a part of a flowchart of a driving support service for a right / left turn / meeting. (Example) FIG. 15 is a flowchart of the driving support service for right turn / meeting after the flowchart of FIG. (Example) FIG. 16 is a flowchart of the driving support service for the left turn / meeting after the flowchart of FIG. (Example) FIG. 17 is a block diagram showing a system configuration of an integrated driving support apparatus. (Modification) FIG. 18 is a diagram illustrating an installation position in the vehicle interior of the integrated driving support device. (Modification) FIG. 19 is a block diagram illustrating a system configuration of the driving support apparatus. (Conventional example)

  Embodiments of the present invention will be described below with reference to the drawings.

1 to 16 show an embodiment of the present invention. In FIG. 2, 1 is a vehicle, 2 is a passenger compartment, 3 is an instrument panel, 4 is a right pillar, 5 is a left pillar, 6 is a front window, 7 is a steering wheel, 8 is a meter panel, and 9 is a room mirror. . As shown in FIG. 1, the vehicle 1 is equipped with a driving support device 10.
The driving support device 10 includes an inter-vehicle communication unit 11, a road-to-vehicle communication unit 12, an own vehicle position information acquisition unit 13, an information providing unit 14, a vehicle side unit 15, and a collision possibility determination unit 16. ing.
The vehicle-to-vehicle communication means 11 includes a vehicle-to-vehicle communication antenna 17 and a vehicle-to-vehicle communication device 18, and transmits / receives information between the host vehicle 1A and the other vehicle 1B (see FIGS. 3 and 4). The road-to-vehicle communication means 12 includes a road-to-vehicle communication antenna 19 and a road-to-vehicle communication device 20, and transmits and receives information between the host vehicle 1A and the roadside device. The own vehicle position information acquisition means 13 includes a GPS signal receiving antenna 21 and a GPS signal receiving circuit 22 and receives GPS signals to obtain information on the own vehicle position. The information providing unit 14 includes a display unit 23 that displays light such as an LED and a speaker 24 that outputs sound and the like. The vehicle side means 15 inputs a power source, grounding, and a vehicle signal. The collision possibility determination means 16 and the GPS signal receiving circuit 22 are configured as a set as an apparatus unit 25, and input information from each means 11-15.
As shown in FIG. 2, the driving support apparatus 10 has a display unit 23 and a speaker 24 installed at the center of the instrument panel 3, and the inter-vehicle communication antenna 17, the road-to-vehicle communication antenna 19, and the GPS signal receiving antenna 21 are connected to the instrument panel. 3 or the room mirror 9.
The driving support device 10 inputs information from each of the units 11 to 15, and determines whether or not the host vehicle 1 </ b> A and the other vehicle 1 </ b> B may collide by the collision possibility determination unit 16. When it is determined that the host vehicle 1A and the other vehicle 1B may collide and the driving support service is required, the driving support device 10 uses the display unit 23 and the speaker 24, which are information providing means, (1) . Alert sound, (2). Light flashing display such as LED, (3). A driving support service for alerting the driver of the vehicle 1A with light, sound, or the like is performed by voice output or the like.

The situations requiring the driving support service include those shown in FIGS.
FIG. 3 shows a case where the own vehicle 1A makes a left turn on the T-junction, and the own vehicle 1A blinks the left turn signal 26 and stops at the temporary stop line 27 (P11), and advances slowly to a position with good visibility. (P12), the vehicle stops at a position where the line of sight is good (P13), then starts and starts a left turn (P14).
In this situation, the high eaves 28 on the left side of the host vehicle 1A becomes an obstacle that blocks the view of the other vehicle 1B approaching from the left direction with respect to the host vehicle 1A, and the tall building 29 on the right side of the host vehicle 1A is This is an obstacle that blocks the field of view of the other vehicle 1B from the right direction with respect to the host vehicle 1A.
FIG. 4 shows a case where the host vehicle 1A makes a right turn at the intersection, and the host vehicle 1A that makes a right turn at the intersection stops by waiting for a traffic light with the right turn signal blinking 30 (P21), and starts to the right turn lane in the intersection. Advance to the tip (P22), stop at the temporary stop line 27 at the tip of the right turn lane in the intersection (P23), advance slowly to a position with good visibility (P24), stop at a position with good visibility (P25), After that, the car started and started a right turn (crossing the intersection) (P26).
In this situation, two other vehicles 1B that are parked on the opposite lane in the right turn waiting state with respect to the own vehicle 1A that is about to turn right are two other vehicles 1B that approach the own vehicle 1A on the opposite lane (for example, , Automobiles and motorcycles, etc.).
In this way, when the host vehicle 1A makes a left turn on a T-junction or turns right at an intersection, if there is an obstacle that obstructs the field of view with respect to the other vehicle 1B, there is a possibility of collision, so a driving support service is necessary. Situation. In FIG. 3, it is necessary to perform a driving support service at the timing of P11 to P13. In FIG. 4, it is necessary to provide the driving support service at the timings P21 to P25.

As shown in FIG. 1, the driving support apparatus 10 includes an acceleration detection unit 31 that detects the acceleration of the host vehicle 1A, an angular velocity detection unit 32 that detects an angular velocity of the host vehicle 1A, and a steering angle of the host vehicle 1A. Steering angle detection means 33 for detecting the vehicle, accelerator opening detection means 34 for detecting the accelerator opening of the host vehicle 1A, and brake operation amount detection means 35 for detecting the brake operation amount of the host vehicle 1A. .
The collision possibility determination unit 16 determines whether or not the host vehicle 1A and the other vehicle 1B may collide as follows based on information input from the units 31 to 35.

For example, the collision possibility determination unit 16 detects the start of the right / left turn of the host vehicle 1A based on the acceleration detected by the acceleration detection unit 31, and the host vehicle 1A and the other vehicle 1B determine whether the host vehicle 1A and the other vehicle 1B are based on the right / left turn start information. Determine if there is a possibility of a collision.
The collision possibility determination unit 16 detects the start of the left / right turn of the host vehicle 1A based on the angular velocity detected by the angular velocity detection unit 32, and the host vehicle 1A and the other vehicle 1B collide based on the right / left turn start information. Determine whether there is a possibility.
The collision possibility determination unit 16 detects the start of the right / left turn of the host vehicle 1A based on the steering angle detected by the steering angle detection unit 33, and the host vehicle 1A and the other vehicle 1B are detected based on the right / left turn start information. Determine if there is a possibility of a collision.

  Further, the collision possibility determination means 16 transmits the right / left turn start information of the own vehicle 1A to the other vehicle 1B by the inter-vehicle communication means 11 and receives the right / left turn start information of the other vehicle 1B. Based on the start information, it is determined whether or not the host vehicle 1A and the other vehicle 1B may collide.

Further, the collision possibility determination unit 16 detects the acceleration / deceleration start of the host vehicle 1A based on the acceleration detected by the acceleration detection unit 31, and based on the acceleration / deceleration start information, the host vehicle 1A and the other vehicle 1B Determine if there is a possibility of a collision.
The collision possibility determination means 16 detects the acceleration / deceleration start of the host vehicle 1A based on the accelerator opening detected by the accelerator opening detection means 34 and the brake operation amount detected by the brake operation amount detection means 35. Based on the acceleration / deceleration start information, it is determined whether or not there is a possibility of collision between the host vehicle 1A and the other vehicle 1B.

  Furthermore, the collision possibility determination unit 16 transmits the acceleration / deceleration start information of the host vehicle 1A to the other vehicle 1B by the inter-vehicle communication unit 11 and receives the acceleration / deceleration start information of the other vehicle 1B. Based on the deceleration start information, it is determined whether or not the host vehicle 1A and the other vehicle 1B may collide.

The collision possibility determination means 16 detects the start and stop of the host vehicle 1A based on the acceleration detected by the acceleration detection means 31, and the start / stop information of the host vehicle 1A is obtained from the other vehicle 1B by the inter-vehicle communication means 11. And the start / stop information of the other vehicle 1B is received, and it is determined whether or not the own vehicle 1A and the other vehicle 1B may collide based on the start / stop information of the other vehicle 1B.
The collision possibility determination means 16 detects the start or stop of the host vehicle 1A based on the accelerator opening detected by the accelerator opening detection means 34 and the brake operation amount detected by the brake operation amount detection means 35. The start / stop information of the own vehicle 1A is transmitted to the other vehicle 1B by the inter-vehicle communication means 11 and the start / stop information of the other vehicle 1B is received. Based on the start / stop information of the other vehicle 1B, the own vehicle 1A and the other vehicle 1B Determine if there is a possibility of a collision.
In addition, as signal information for determination, in addition to the signal information of each of the means 31 to 35, turn signal signal information and vehicle speed signal information can be taken from the vehicle side means 15 and used.

5 to 11 show the timing of the driving support service by the driving support device 10 when the vehicle stops after waiting for a signal and then stops twice in the intersection and turns right (no preceding vehicle).
In FIG. 5, there are two other vehicles (opposed vehicles) 1B that are parked in the opposite lane waiting for a right turn, and the opposite lane is accelerated and approached to the own vehicle 1A. There is another vehicle (opposite vehicle) 1B.
In this situation, when the host vehicle 1A starts making a right turn, or when the other vehicle 1B of the oncoming vehicle accelerates near the intersection and increases in speed, the GPS signal receiving antenna 21 of the host vehicle position information acquisition unit 13 and Based on the positioning, azimuth, and speed information obtained by the GPS signal receiving circuit 22, the vehicle position information can be detected only at every GPS data cycle (for example, 1 sec). For this reason, changes (acceleration / deceleration, right / left turn, etc.) of the host vehicle 1A / other vehicle 1B cannot be detected immediately, and the timing for issuing the driving support service is affected as follows.

・ Example 1) When the vehicle turns right:
Since the detection of the start of the right turn (start) is delayed and the relative distance from the other vehicle is actually shortened, the timing for issuing the driving support service is delayed.
・ Example 2) When the vehicle traveling straight (oncoming vehicle) accelerates:
The detection of acceleration is delayed, and the distance from the front right turn vehicle is actually shorter than the own vehicle (opposite vehicle) position transmitted by inter-vehicle communication.

  As a countermeasure example, the behavior change (start) of the host vehicle 1A is always detected by the acceleration detecting means 31 and transmitted by inter-vehicle communication by the inter-vehicle communication means 11, and as shown in FIG. Issue a driving assistance service (second time) to encourage the driver to watch again (to stay on foot).

As shown in FIG. 6, the driving assistance device 10, when there is another vehicle 1 </ b> B approaching the host vehicle 1 </ b> A that is going to turn right by accelerating the oncoming lane toward the host vehicle 1 </ b> A (see FIG. 5), When the vehicle 1A decelerates, stops at a signal, starts to turn right, and moves forward to the right turn lane tip in the intersection, the right turn behavior is detected by the longitudinal acceleration and the lateral acceleration of the vehicle 1A. If it is determined that a right turn starts, the first driving support service is issued (timing A, see FIG. 7). This driving support service (first time) prompts the driver to stop with care.
When the vehicle 1A that moves forward stops at the temporary stop line 27 at the tip of the right turn lane in the intersection and then moves forward slowly to make a right turn to a position with a good view, the driving support device 10 moves forward and backward. The right turn behavior is detected by the acceleration in the direction and the acceleration in the left and right direction, and it is determined that the right turn starts. After this right turn start determination, the driving assistance device 10 starts acceleration of the other vehicle 1B that travels straight in the oncoming lane, and transmits the acceleration information detected by the other vehicle 1B with the acceleration in the front-rear direction through inter-vehicle communication. When acceleration information is received and acceleration of the other vehicle 1B is detected, a second driving support service is issued (timing B, see FIG. 8). In this driving support service (second time), the driver is encouraged to stop again with caution.
The driving support device 10 ends the driving support service when the other vehicle 1B in the opposite lane to be accelerated passes through the intersection. The driver starts the own vehicle 1A stopped by the second driving support service, and starts a right turn (crossing the intersection) (see timing C, FIG. 9).

A determination example of the right turn start at the timing A and the timing B is shown in FIG.
The determination of the right turn start is determined as the right turn start when changes in acceleration, vehicle speed, and GPS information are detected in the following two traveling patterns 1) and 2). However, in patterns 1) and 2), since it may take time to detect changes in (3) and (4), it is determined that a right turn starts when changes in (1) and (2) are detected. You may do it. Generally, it changes in the order of (1) → (2) → (3) or (1) → (2) → (4). When turning left, the direction of change in acceleration (left and right) is reversed, but the rest is the same.

1) Example of right turn start determination after stopping (Fig. 10 (A))
(1) Acceleration (back and forth direction) change: 0 → Increase over specified value (2) Acceleration (left and right direction) change: 0 → Increase over specified value (when turning right)
(3) Change in vehicle speed: 0 → Increase over specified value (4) GPS positioning / change in azimuth 2) Right turn start determination example at low speed travel (Fig. 10 (B))
(1) Acceleration (back and forth direction) change: 0 → Decrease over specified value (2) Acceleration (left and right direction) change: 0 → Increase over specified value (when turning right)
(3) Vehicle speed change: 0 → Decrease by more than the specified value (4) GPS positioning / direction change

A determination example of the acceleration start at the timing B is shown in FIG.
The acceleration start is determined as a right turn start when a change in acceleration, vehicle speed, or GPS data is detected in one of the following travel patterns. However, since it may take time to detect the changes in (3) and (4), it may be determined that the acceleration has started when the change in (1) + no change in (2) is detected. . Generally, it changes in the order of (1) → (3) or (1) → (4). When decelerating, the direction of change in acceleration (front-rear direction) is reversed, but the rest is the same. The start / stop start determination is the same except that the vehicle speed becomes 0 km / h.

1) Example of acceleration start determination from constant speed running (1) Acceleration (back and forth direction) change: 0 → Increase over specified value (2) Acceleration (left and right direction) change: 0 (no change)
(3) Vehicle linkage change: Constant speed → Increase over specified value (4) GPS positioning change

12-13 has shown the left turn timing of the other vehicle 1B in the case of turning right at the own vehicle 1A intersection.
In FIG. 12, there are two other vehicles (oncoming vehicles) 1B that are parked on the oncoming lane waiting for a right turn against the host vehicle 1A that is about to make a right turn. There is an other vehicle 1B that deviates from the service target vehicle, and an other vehicle 1B that turns left into the oncoming lane and becomes the target vehicle for the driving support service.
In this situation, when the other vehicle 1B turns left before the intersection and exits the oncoming lane, the vehicle 1A issues a driving support service, but there is no possibility of a collision and the driving support service is unnecessary. Become. The driver of the host vehicle 1A may be distrusted by the driving support device 10 because the driving support service is issued but the other vehicle 1B is not found. On the other hand, if there is another vehicle 1B that turns left from the road in front of the intersection and is approaching the direction of the host vehicle 1A, it is necessary to provide the driving support service at an early stage. The time until the vehicle 1B appears in the oncoming lane becomes extremely short, and the driving support service may not work effectively. The same applies when the other vehicle 1B parked on the road in a nearby oncoming lane starts.
As an example of countermeasures, as shown in FIG. 13, it is detected as a left turn behavior by the acceleration detection detecting means 31 of the target other vehicle 1B that the other vehicle 1B that is the target of the oncoming lane has started to turn right and left before the intersection. Then, it is transmitted by inter-vehicle communication, the information is received by the own vehicle 1A, and the fact that there is no other target vehicle 1B (not subject) is announced by voice of the driving support service. On the other hand, for a new other vehicle 1B that turns left before the intersection and enters the oncoming lane and approaches the host vehicle 1A, it is detected early as a left turn behavior by the acceleration detecting means 31 of the other vehicle 1B. The vehicle is transmitted by inter-vehicle communication, received by the host vehicle 1A, and immediately provided with a driving support service to prompt the driver to watch out (to make a right turn).

Next, a driving support service for turning right / left by the driving support device 10 / meeting will be described with reference to FIGS.
In FIG. 14, the driving support device 10 is in the middle of driving the own vehicle 1 </ b> A (S <b> 01). (Infrastructure) information is received, and information such as the position / velocity of the host vehicle 1A is transmitted to the surrounding other vehicle 1B by inter-vehicle communication (S02), and the acceleration information of the acceleration detecting means 31 or the GPS signal receiving antenna 21 and GPS It is determined whether or not the behavior of the host vehicle 1A is changed only in the front-rear direction based on the GPS information of the host vehicle position information acquisition unit 13 including the signal receiving circuit 22 (S03).
If this determination (S03) is YES, it is determined whether the start of acceleration is detected (S04). If this determination (S04) is YES, it is determined whether a start (forward / rear) is detected (S05). If this determination (S05) is YES, the fact that the host vehicle 1A has started (forward / rear direction) is transmitted by inter-vehicle communication (S06), and the process returns to determination (S03). When this determination (S05) is NO, the fact that the host vehicle 1A has started acceleration is transmitted by inter-vehicle communication (S06), and the process returns to determination (S03).
If the determination (S04) is NO, it is determined whether a deceleration start is detected (S08). If this determination (S08) is YES, it is determined whether a stop has been detected (S09). If this determination (S09) is YES, the fact that the host vehicle 1A has started to stop is transmitted by inter-vehicle communication (S10), and the process returns to determination (S03). If this determination (S09) is NO, the fact that the host vehicle 1A has started deceleration is transmitted by inter-vehicle communication (S11), and the process returns to determination (S03).
When the determination (S03) is NO, and when the determination (S08) is NO, the process shown in FIG. 15 is performed.

In FIG. 15, the driving support device 10 determines whether there is a change in the left-right direction in the behavior of the host vehicle 1A based on the acceleration information of the acceleration detection unit 31 or the GPS information of the host vehicle position information acquisition unit 13 (S12). If this determination (S12) is NO, the process returns to the determination (S03) of FIG. If this determination (S12) is YES, it is determined whether a right turn start is detected (S13). When this determination (S13) is YES, the fact that the host vehicle 1A has started a right turn is transmitted by inter-vehicle communication (S14), and the other vehicle 1B from the opposite side where the collision condition is satisfied (target vehicle of the collision condition) Is determined (S15).
When this determination (S15) is YES, the driving support service (first time) at the time of right turn is performed at a specified timing by the sound and display of the display unit 23 and the speaker 24 (S16), and the behavior of the other vehicle 1B is accelerated or decelerated. It is determined whether there is no (S17).
If this determination (S17) is NO, a driving support service (second time) is provided by the acceleration / deceleration change of the other vehicle 1B (S18), and it is determined whether there is a right / left turn / stop / start in the behavior of the other vehicle 1B. (S19). When the first half judgment (S17) is YES, it is judged whether there is no right / left turn / stop / start in the behavior of the other vehicle 1B (S19).
When this determination (S19) is NO, a driving support service (second time) is performed by turning left / right / stop / start of the other vehicle 1B (S20), and it is detected that there is no other vehicle 1B, or the own vehicle It is determined whether the right turn end of 1A is detected (S21). When the first half judgment (S19) is YES, it is judged whether it is detected that there is no other vehicle 1B or the end of the right turn of the host vehicle 1A is detected (S21).
When this judgment (S21) is NO, it returns to the driving support service (S16) by voice and display. If this determination (S21) is YES, the driving support service by voice and display is terminated (S22), and the process returns to the determination (S03) in FIG.
On the other hand, if the determination (S15) is NO, it is determined whether the right turn end of the host vehicle 1A is detected (S23). If this determination (S23) is NO, the process returns to the determination (S15). If this determination (S23) is YES, the process returns to the determination (S03) in FIG.
If the determination (S13) is NO, the process shown in FIG. 16 is performed.

In FIG. 16, the driving assistance device 10 determines whether the left turn start is detected (S24). If this determination (S24) is NO, the process returns to the determination (S03) of FIG. If this determination (S24) is YES, the fact that the host vehicle 1A has started a left turn is transmitted by vehicle-to-vehicle communication (S25), and the other vehicle 1B from the left and right that satisfies the collision condition (target vehicle for the collision condition) (S26).
If this determination (S26) is YES, the driving support service (first time) is performed at the specified timing by the sound and display of the display unit 23 and the speaker 24 (S27), and acceleration / deceleration is added to the behavior of the other vehicle 1B. It is determined whether there is nothing (S28).
If this determination (S28) is NO, a driving support service (second time) is performed by the acceleration / deceleration change of the other vehicle 1B (S29), and it is determined whether there is no right / left turn / stop / start in the behavior of the other vehicle 1B. (S30). If this determination (S28) is YES, it is determined whether there is no right / left turn / stop / start in the behavior of the other vehicle 1B (S30).
If this determination (S30) is NO, a driving support service (second time) is performed by changing the left / right turn / stop / start of the other vehicle 1B (S31) and it is detected that there is no other vehicle 1B, or the own vehicle It is determined whether the left turn end of 1A is detected (S32).
When this judgment (S32) is NO, it returns to the driving assistance service (S27) by voice and display. If this determination (S32) is YES, the driving support service by voice and display is terminated (S22), and the process returns to the determination (S03) in FIG.
On the other hand, if the determination (S26) is NO, it is determined whether the left turn end of the host vehicle 1A is detected (S33). If this determination (S33) is NO, the process returns to the determination (S26). If this determination (S33) is YES, the process returns to the determination (S03) of FIG.

As described above, the driving support device 10 causes the acceleration detection unit 31 to detect the vehicle position information acquisition unit 13 including the GPS signal reception antenna 21 and the GPS signal reception circuit 22 within a GPS information update period (for example, 1 sec). The start timing of the behavior change (acceleration / deceleration / right / left turn, etc.) of the vehicle 1A / other vehicle 1B is detected early. When the host vehicle 1A makes a right or left turn at the intersection, the driving support device 10 quickly calculates the relative distance between the host vehicle 1A and the other vehicle 1B approaching, including the start of the host vehicle 1A. The timing for issuing the driving support service can be provided without delay.
In addition, when the other vehicle 1B is accelerating toward the intersection, the driving support device 10 makes a right turn (left turn) at the intersection indicating that the position is actually shorter than the position transmitted from the other vehicle 1B. The driver of the host vehicle 1A at an early stage knows that the host vehicle 1A that is going to receive and calculates the acceleration start information from the other vehicle 1B is accelerating and approaching the other vehicle 1B that is facing. To alert you.
In FIGS. 14 to 16, the behavior change of the vehicle 1 is detected by the acceleration detection means 31, but it can also be detected by other detection means as described below.

  The driving support apparatus 10 includes an information providing unit 14 and a collision possibility determining unit 16, and an acceleration detecting unit 31 and an angular velocity detecting unit 32 in order to notify the driver of the vehicle 1 </ b> A at an early stage and call attention. Based on the vehicle behavior change start information input from the steering angle detection means 33, the accelerator opening detection means 34, and the brake operation amount detection means 35, the collision possibility determination means 16 and the other vehicle 1A and the like as described below. It is determined whether or not there is a possibility of collision with the vehicle 1B.

The collision possibility determination unit 17 detects the start of the left / right turn of the host vehicle 1A based on the acceleration detected by the acceleration detection unit 31, and the host vehicle 1A and the other vehicle 1B collide based on the right / left turn start information. Determine whether there is a possibility.
The collision possibility determination unit 16 detects the start of the left / right turn of the host vehicle 1A based on the angular velocity detected by the angular velocity detection unit 32, and the host vehicle 1A and the other vehicle 1B collide based on the right / left turn start information. Determine whether there is a possibility.
The collision possibility determination unit 16 detects the start of the right / left turn of the host vehicle 1A based on the steering angle detected by the steering angle detection unit 33, and the host vehicle 1A and the other vehicle 1B are detected based on the right / left turn start information. Determine if there is a possibility of a collision.
Thereby, since the driving assistance apparatus 10 can detect the start of the right / left turn of the vehicle 1 at an early stage, the driving assistance service can be prevented from being delayed.

Further, the collision possibility determination means 16 transmits the right / left turn start information of the own vehicle 10 to the other vehicle 1B by the inter-vehicle communication means 11 and receives the right / left turn start information of the other vehicle 1B. Based on the start information, it is determined whether or not the host vehicle 1A and the other vehicle 1B may collide.
Thereby, since the driving assistance apparatus 10 detects the start of the right / left turn of the vehicle 1 at an early stage and transmits information to surrounding vehicles by inter-vehicle communication, the driving assistance service can be prevented from being delayed. In addition, since the driving support device 10 detects the start of the right / left turn of the vehicle 1 at an early stage and transmits information to the surrounding vehicles through inter-vehicle communication, the driver has been informed that there is a possibility of a collision. However, it is possible to notify the driver that there is no possibility of a collision.

Further, the collision possibility determination unit 16 detects the acceleration / deceleration start of the host vehicle 1A based on the acceleration detected by the acceleration detection unit 31, and based on the acceleration / deceleration start information, the host vehicle 1A and the other vehicle 1B Determine if there is a possibility of a collision.
The collision possibility determination means 16 detects the acceleration / deceleration start of the host vehicle 1A based on the accelerator opening detected by the accelerator opening detection means 34 and the brake operation amount detected by the brake operation amount detection means 35. Based on the acceleration / deceleration start information, it is determined whether or not there is a possibility of collision between the host vehicle 1A and the other vehicle 1B.
Thereby, since the driving assistance apparatus 10 can detect the start of the acceleration / deceleration of the vehicle 1 at an early stage, the driving assistance service can be prevented from being delayed.

Furthermore, the collision possibility determination unit 16 transmits the acceleration / deceleration start information of the host vehicle 1A to the other vehicle 1B by the inter-vehicle communication unit 11 and receives the acceleration / deceleration start information of the other vehicle 1B. Based on the deceleration start information, it is determined whether or not the host vehicle 1A and the other vehicle 1B may collide.
Thereby, since the driving assistance apparatus 10 detects the start of the acceleration / deceleration of the vehicle 1 at an early stage and transmits information to the surrounding vehicles 1 by inter-vehicle communication, the driving assistance service can be prevented from being delayed.

The collision possibility determination means 16 detects the start and stop of the host vehicle 1A based on the acceleration detected by the acceleration detection means 31, and the start / stop information of the host vehicle 1A is obtained from the other vehicle 1B by the inter-vehicle communication means 11. And the start / stop information of the other vehicle 1B is received, and it is determined whether or not the own vehicle 1A and the other vehicle 1B may collide based on the start / stop information of the other vehicle 1B.
The collision possibility determination means 16 detects the start or stop of the host vehicle 1A based on the accelerator opening detected by the accelerator opening detection means 34 and the brake operation amount detected by the brake operation amount detection means 35. The start / stop information of the own vehicle 1A is transmitted to the other vehicle 1B by the inter-vehicle communication means 11 and the start / stop information of the other vehicle 1B is received. Based on the start / stop information of the other vehicle 1B, the own vehicle 1A and the other vehicle 1B Determine if there is a possibility of a collision.
Thereby, since the driving assistance apparatus 10 detects the start and stop of the vehicle 1 at an early stage and transmits information to the surrounding vehicles 1 by inter-vehicle communication, the driving assistance service can be prevented from being delayed. In addition, since the driving support device 10 detects the start or stop of the vehicle 1 at an early stage and transmits information to the surrounding vehicle 1 through inter-vehicle communication, the driver is informed that there is a possibility of a collision. However, it is possible to notify the driver that there is no possibility of a collision.

  Note that the driving support device 10 of the above-described embodiment includes the vehicle unit communication unit 11, the road-to-vehicle communication unit 12, and the own vehicle position in the device unit 25 including the collision possibility determination unit 16 and the GPS signal reception circuit 22. Although the information acquisition means 13 and the information provision means 14 are assembled as separate bodies, as shown in FIG. 17, all of them including the inter-vehicle communication antenna 17 and the like can be integrated into the apparatus unit 25. In this case, as shown in FIG. 18, the integrated device unit 25 can be installed in the center, left or right of the instrument panel 3, in the meter panel 8, the room mirror 9, or the like.

  The present invention can detect the start of a right or left turn of a vehicle at an early stage so that the driving support service is not delayed, and can be used not only for a four-wheeled vehicle but also for a two-wheeled vehicle.

DESCRIPTION OF SYMBOLS 1 Vehicle 1A Own vehicle 1B Other vehicle 10 Driving support apparatus 11 Inter-vehicle communication means 12 Road-to-vehicle communication means 13 Own vehicle position information acquisition means 14 Information providing means 15 Vehicle side means 16 Collision possibility judging means 17 Inter-vehicle communication antenna 18 cars Vehicle-to-vehicle communication device 19 Road-to-vehicle communication antenna 20 Road-to-vehicle communication device 21 GPS signal receiving antenna 22 GPS signal receiving circuit 23 Display unit 24 Speaker 25 Device unit 31 Acceleration detecting means 32 Angular velocity detecting means 33 Steering angle detecting means 34 Steering angle detecting means 34 Accelerator opening degree detecting means 35 Brake operation amount detection means

Claims (9)

A collision possibility determination means for determining whether or not there is a possibility of collision between the host vehicle and another vehicle;
In a driving support device comprising information providing means for notifying a driver of the own vehicle when it is determined by the collision possibility judging means that the own vehicle and another vehicle may collide,
An acceleration detecting means for detecting the acceleration of the host vehicle;
The collision possibility determination means detects the start of a right / left turn of the own vehicle based on the acceleration detected by the acceleration detection means, and the own vehicle and another vehicle may collide based on the right / left turn start information. A driving support device that determines whether or not there is a driving support device. A collision possibility determination means for determining whether or not there is a possibility of collision between the host vehicle and another vehicle;
In a driving support device comprising information providing means for notifying a driver of the own vehicle when it is determined by the collision possibility judging means that the own vehicle and another vehicle may collide,
Provided with angular velocity detection means for detecting the angular velocity of the host vehicle,
The collision possibility determination means detects the start of a left or right turn of the host vehicle based on the angular speed detected by the angular speed detection means, and the host vehicle and another vehicle may collide based on the right / left turn start information. A driving support device that determines whether or not there is a driving support device. A collision possibility determination means for determining whether or not there is a possibility of collision between the host vehicle and another vehicle;
In a driving support device comprising information providing means for notifying a driver of the own vehicle when it is determined by the collision possibility judging means that the own vehicle and another vehicle may collide,
A steering angle detection means for detecting the steering angle of the host vehicle;
The collision possibility determination means detects the start of a right / left turn of the own vehicle based on the steering angle detected by the steering angle detection means, and the own vehicle and another vehicle may collide based on the right / left turn start information. A driving support device that determines whether or not there is a characteristic. Vehicle-to-vehicle communication means for transmitting and receiving information between the host vehicle and other vehicles,
The vehicle-to-vehicle communication means transmits right and left turn start information of the own vehicle to other vehicles, and receives right and left turn start information of other vehicles,
The said collision possibility determination means determines whether there exists a possibility that the own vehicle and an other vehicle will collide based on the right / left turn start information of an other vehicle. The driving support device according to any one of the above. A collision possibility determination means for determining whether or not there is a possibility of collision between the host vehicle and another vehicle;
In a driving support device comprising information providing means for notifying a driver of the own vehicle when it is determined by the collision possibility judging means that the own vehicle and another vehicle may collide,
An acceleration detecting means for detecting the acceleration of the host vehicle;
The collision possibility determination unit detects the start of acceleration / deceleration of the host vehicle based on the acceleration detected by the acceleration detection unit, and the host vehicle and another vehicle may collide based on the acceleration / deceleration start information. A driving support device that determines whether or not there is a driving support device. A collision possibility determination means for determining whether or not there is a possibility of collision between the host vehicle and another vehicle;
In a driving support device comprising information providing means for notifying a driver of the own vehicle when it is determined by the collision possibility judging means that the own vehicle and another vehicle may collide,
Accelerator opening detection means for detecting the accelerator opening of the host vehicle;
A brake operation amount detection means for detecting the brake operation amount of the host vehicle,
The collision possibility determining means detects the start of acceleration / deceleration of the host vehicle based on the accelerator opening detected by the accelerator opening detecting means and the brake operation amount detected by the brake operation amount detecting means. A driving support apparatus that determines whether or not there is a possibility of collision between the host vehicle and another vehicle based on deceleration start information. Vehicle-to-vehicle communication means for transmitting and receiving information between the host vehicle and other vehicles,
While transmitting the acceleration / deceleration start information of the own vehicle to the other vehicle by the inter-vehicle communication means, receiving the acceleration / deceleration start information of the other vehicle,
The said collision possibility determination means determines whether there exists a possibility that the own vehicle and an other vehicle will collide based on the acceleration / deceleration start information of an other vehicle, The Claim 5 or Claim 6 characterized by the above-mentioned. The driving assistance apparatus as described. A collision possibility determination means for determining whether or not there is a possibility of collision between the host vehicle and another vehicle;
In a driving support device comprising information providing means for notifying a driver of the own vehicle when it is determined by the collision possibility judging means that the own vehicle and another vehicle may collide,
An acceleration detecting means for detecting the acceleration of the host vehicle;
The collision possibility determination means detects the start and stop of the host vehicle based on the acceleration detected by the acceleration detection means,
Vehicle-to-vehicle communication means for transmitting and receiving information between the host vehicle and other vehicles,
While transmitting start / stop information of the own vehicle to other vehicles by the inter-vehicle communication means, receiving start / stop information of other vehicles,
The driving support apparatus according to claim 1, wherein the collision possibility determination unit determines whether or not the host vehicle and the other vehicle may collide based on start / stop information of the other vehicle. A collision possibility determination means for determining whether or not there is a possibility of collision between the host vehicle and another vehicle;
In a driving support device comprising information providing means for notifying a driver of the own vehicle when it is determined by the collision possibility judging means that the own vehicle and another vehicle may collide,
Accelerator opening detection means for detecting the accelerator opening of the host vehicle;
A brake operation amount detection means for detecting the brake operation amount of the host vehicle,
Detecting the start or stop of the host vehicle based on the accelerator opening detected by the accelerator opening detecting means and the brake operation amount detected by the brake operation amount detecting means;
Vehicle-to-vehicle communication means for transmitting and receiving information between the host vehicle and other vehicles,
While transmitting start / stop information of the own vehicle to other vehicles by the inter-vehicle communication means, receiving start / stop information of other vehicles,
The driving support apparatus according to claim 1, wherein the collision possibility determination unit determines whether or not the host vehicle and the other vehicle may collide based on start / stop information of the other vehicle.

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