JP2013196595A - Vehicle travel support system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To present a detailed and appropriate travel track in a traveling path in the front in the advancing direction of a vehicle.SOLUTION: A controller 15 of a first vehicle transmits travel track data of another vehicle (preceding vehicle) generated on the basis of image data of the another vehicle obtained by imaging an outside world sensor 12 to a server device 3. A server controller 32 of the server device 3 receives the travel track data transmitted from the first vehicle and transmits the travel track data to a second vehicle traveling on the same spot as the first vehicle. A controller 15 of the second vehicle receives the travel track data transmitted from the server device 3, generates travel track information on the basis of the travel track data, and displays the travel track information on a display screen of a head-up display 14.

Description

  The present invention relates to a vehicle travel support system.

  Conventionally, for example, the width of the traveling road is recognized from an image ahead of the traveling direction obtained by shooting with a camera mounted on the own vehicle, and the travelable width and tire trajectory in which the own vehicle can travel are calculated. An apparatus that displays a result on a front window is known (see, for example, Patent Document 1).

JP 2005-78414 A

By the way, according to the apparatus according to the above prior art, it is possible to calculate the travelable width and the tire trajectory only for the travel path within the range that can be photographed by the camera of the host vehicle. Furthermore, since it aims at smoothing a narrow road driving | running | working and the other vehicle in a narrow road, it only performs a calculation process for the comparatively near range ahead of the advancing direction of the own vehicle.
As a result, a trajectory that can travel in a wide range is calculated for the entire travel path that does not fit within the shooting range of the camera of the host vehicle, such as the entire curve that exists ahead of the host vehicle in the traveling direction. The problem arises that it cannot be done.
Moreover, it is difficult to accurately and appropriately obtain a travel locus that can travel on a travel path such as a curve, an ideal travel locus, and the like only by image processing on an image obtained by photographing the camera of the host vehicle.

  The present invention has been made in view of the above circumstances, and an object thereof is to provide a vehicle travel support system capable of presenting a precise and appropriate travel locus on a travel path ahead in the traveling direction of the vehicle.

  In order to solve the above-described problems and achieve the object, a vehicle travel support system according to claim 1 of the present invention includes a first vehicle (for example, an external sensor 12 in the embodiment) (for example, an external sensor 12 in the embodiment). The first vehicle 2a) in the embodiment, the second vehicle (for example, the second vehicle 2b in the embodiment) including the display device (for example, the head-up display 14 in the embodiment), and the first A server device (for example, the server device 3 in the embodiment) that is communicably connected to the second vehicle, and the first vehicle is based on an image of another vehicle obtained by imaging of the imaging device. Traveling track data generating means (for example, a preceding vehicle detection unit 21 in the embodiment) for generating traveling locus data of the other vehicle, and first control means (for example, implementation) for transmitting the traveling locus data to the server device. The control device 15) of the first vehicle 2a in the form, wherein the server device receives the travel locus data transmitted from the first vehicle and uses the travel locus data as the first vehicle. Server control means (for example, the server control device 32 in the embodiment) for transmitting to the second vehicle traveling at the same point is provided, and the second vehicle receives the travel locus data transmitted from the server device. Then, second control means (for example, the second vehicle in the embodiment) that generates the traveling locus information of the other vehicle based on the traveling locus data and displays the traveling locus information on the display screen of the display device. 2b control device 15).

  Furthermore, in the vehicle travel support system according to claim 2 of the present invention, the second vehicle includes an imaging device, and the first control means is the other vehicle obtained by imaging of the imaging device of the first vehicle. Is extracted from the image of the outside world including the feature data, which is the data representing the feature of the shape related to the road marking line or the structure on the road, and the feature data is transmitted to the server device in association with the travel locus data. The server control means receives the travel locus data and the feature data transmitted from the first vehicle, and sends the travel locus data and the feature data to the second vehicle traveling at the same point as the first vehicle. The second control means compares the image obtained by the imaging of the second vehicle with the imaging device and the feature data received from the server device; The traveling locus data received from the server device is converted into locus data obtained from the viewpoint of the driver at the traveling position of the second vehicle, and the traveling locus information is generated based on the converted locus data. .

  Furthermore, in the vehicle travel support system according to claim 3 of the present invention, the second vehicle includes a navigation device, and the travel locus data transmitted from the first vehicle to the server device and the second from the server device. The travel locus data transmitted to the vehicle is a plurality of intermittent time-series data, and the second control means obtains information between the plurality of time-series data based on road information stored in the navigation device. The travel locus information is generated by complementing.

  Furthermore, in the vehicle travel support system according to claim 4 of the present invention, the server device, as the travel locus data that can be transmitted to the second vehicle, has a plurality of travel locus data having different brightness with respect to the same spot. Storage means for storing the data, wherein the server control means transmits the travel locus data to be transmitted to the second vehicle from the plurality of travel locus data stored in the storage means. It selects according to the illumination intensity around the said same location to be located.

  Furthermore, in the vehicle travel support system according to claim 5 of the present invention, the server device has a plurality of different vehicle grades of the other vehicle with respect to the same point as the travel locus data that can be transmitted to the second vehicle. The server control means or the second control means stores the travel locus data transmitted from the server device to the second vehicle in the storage means. Selected from the plurality of running locus data according to the vehicle grade of the second vehicle, and the vehicle grade of the second vehicle is selected from the plurality of running locus data stored in the storage means. If there is no travel locus data corresponding to, the appropriate travel locus data is transmitted from the server device to the second vehicle among the plurality of travel locus data.

  Furthermore, in the vehicle travel support system according to claim 6 of the present invention, at least the server control unit or the second control unit is used for generating the travel locus information as the second vehicle moves. When the trajectory data is switched to the other travel trajectory data, the travel trajectory data is switched so that the travel trajectory information most closely matches before and after the switching.

According to the vehicle travel support system of the first aspect of the present invention, the second control means of the second vehicle is the other vehicle (for example, the first vehicle) obtained by the imaging device of the first vehicle that actually traveled the same spot. Travel track information of other vehicles (for example, a tire track, a vehicle width track, and a driver's seat) based on the travel track data of a preceding vehicle of the vehicle that has actually traveled on the travel path on which the second vehicle is scheduled to travel For example, the locus of the center position of.
Thus, for example, when the travel locus information of the other vehicle is generated based on, for example, an image of a travel route obtained by photographing the camera of the host vehicle or position information of the other vehicle obtained by, for example, GPS (Global Positioning System). Compared to the above, it is possible to display more detailed and appropriate travel locus information on the display screen.

  Further, according to the vehicle travel support system according to claim 2 of the present invention, the second control means of the second vehicle is a case where there is a difference in each position between the first vehicle and the second vehicle at the same point. In addition, it is possible to display on the display screen travel locus information that is appropriate for the viewpoint of the driver of the second vehicle and that is easily visible to the driver of the second vehicle.

  Furthermore, according to the vehicle travel support system according to claim 3 of the present invention, the communication amount of travel trajectory data transmitted and received between the first vehicle and the second vehicle and the server device is reduced, while being precise and appropriate. The travel locus information can be displayed on the display screen.

Further, according to the vehicle travel support system according to claim 4 of the present invention, the server control means, for example, according to the illuminance around the same point where the second vehicle is located, for example, a travel locus having the brightness closest to the illuminance. Data is selected and transmitted to the second vehicle.
Thereby, the 2nd control means of the 2nd vehicle can generate travel locus information appropriately based on travel locus data of appropriate brightness corresponding to the actual illumination around the position of the 2nd vehicle.

Further, for example, even when the image obtained by the imaging of the imaging device of the second vehicle is compared with the feature data received from the server device, and the travel locus information is generated based on the comparison result, It is possible to prevent erroneous recognition due to the difference in brightness of each data.
As a result, for example, when the travel locus data received from the server device is converted into locus data obtained from the viewpoint of the driver at the travel position of the second vehicle, it is difficult to identify the travel line, Even when matching is required, image processing can be performed with high accuracy, and fine and appropriate travel locus information can be generated.

Furthermore, according to the vehicle travel support system according to claim 5 of the present invention, when there is travel locus data corresponding to the vehicle grade of the second vehicle, a fine and appropriate travel locus is based on the travel locus data. Information can be generated.
Moreover, even when there is no travel locus data corresponding to the vehicle grade of the second vehicle, the travel locus data stored in the storage means is effectively used to generate travel locus information with desired accuracy. be able to.

  Furthermore, according to the vehicle travel support system of claim 6 of the present invention, the travel trajectory information is prevented from changing suddenly before and after switching between different travel trajectory data, and the reliability of the travel trajectory information is improved. Can do.

1 is a configuration diagram of a vehicle travel support system according to an embodiment of the present invention. It is a figure which shows operation | movement of the 1st vehicle and 2nd vehicle which drive | work the same point of a driving path in the vehicle travel assistance system which concerns on embodiment of this invention. In the vehicle travel support system according to the embodiment of the present invention, travel locus data based on image data output from the external sensor of the first vehicle, image data output from the external sensor of the second vehicle, and the second vehicle It is a figure which shows the driving | running track information produced | generated by the running track information generation part. It is a figure which shows the driving | running | working position of the 1st vehicle and the 2nd vehicle which drive | work the same point of a driving path in the vehicle driving assistance system which concerns on embodiment of this invention. It is a figure which shows the driving locus information produced | generated by the running locus information generation part of a 2nd vehicle in the vehicle driving assistance system which concerns on embodiment of this invention.

Hereinafter, an embodiment of a vehicle travel support system of the present invention will be described with reference to the accompanying drawings.
As shown in FIG. 1, for example, the vehicle travel support system 1 according to the present embodiment includes a plurality of vehicles 2 and a server device 3 that can communicate with the plurality of vehicles 2. 3 constitutes a client-server type wireless network system for transmitting and receiving various kinds of information.

  The vehicle 2 includes, for example, a navigation device 11, an external sensor 12, a vehicle communication device 13, a head-up display 14, and a control device 15.

The navigation device 11 receives a positioning signal such as a GPS (Global Positioning System) signal for measuring the position of the vehicle 2 using, for example, an artificial satellite, and detects the current position of the vehicle 2 based on the positioning signal. To do.
Further, the navigation device 11 can detect the current position of the vehicle 2 by using a calculation process of autonomous navigation based on the speed and yaw rate of the vehicle 2 together.

The navigation device 11 stores map data for displaying a map on a display screen such as the head-up display 14.
The map data includes, for example, road coordinate data indicating position coordinates on a road required for map matching processing based on the current position of the vehicle 2, road data required for processing such as route search and route guidance, It is equipped with.
The road data includes, for example, a node that is a coordinate point composed of latitude and longitude at a predetermined position on the road such as an intersection and a branch point, a link that is a line connecting each node, a road shape and a road type, and a road width. With data and speed limit.

For example, the navigation device 11 performs map matching on the stored map data based on information on the current position of the vehicle 2 and controls display of the map on the display screen and the current position of the vehicle 2.
Further, the navigation device 11 executes processing such as route search and route guidance of the vehicle 2 and adds various types of information such as destination and route information to the map display on the display screen. To do.

The external sensor 12 includes, for example, an imaging device (not shown) provided with a camera, a radar device (not shown) using an electromagnetic wave such as an infrared laser or millimeter wave, and the like.
For example, the imaging device performs predetermined image processing on an image obtained by imaging an imaging region set in the outside world of the vehicle 2 (such as the outside world ahead in the traveling direction), and performs image data (for example, a moving image or time-series data). A plurality of intermittent still images, etc.) are generated and this image data is output.

  In addition, for example, the radar apparatus divides a detection target area set in the outside world of the vehicle 2 (such as the outside world ahead in the traveling direction) into a plurality of angle areas, and scans each angle area to transmit an electromagnetic wave transmission signal. To send. And each transmission signal receives the reflection signal which arose by being reflected by the object (for example, other vehicles, structures, etc.) outside the vehicle 2, and a pedestrian, and from an radar object to an external object and a pedestrian A detection signal related to the distance is generated.

  The vehicle communication device 13 is capable of bidirectional communication with, for example, the server device 3 outside the vehicle 2 and the other vehicle 2 and transmits and receives various types of information.

  The head-up display 14 performs display by, for example, projection using a predetermined area of the front window FW or an area superimposed on the outside world through the front window as viewed from the driver as a display screen.

  The control device 15 includes, for example, a preceding vehicle detection unit 21, a vehicle communication control unit 22, a travel locus information generation unit 23, and a display control unit 24.

The preceding vehicle detection unit 21 detects a preceding vehicle that travels ahead in the traveling direction of the vehicle 2 based on the image data output from the external sensor 12 and the detection signal.
And based on the image data output from the external sensor 12, while generating the locus | trajectory data of a preceding vehicle, the shape and position regarding objects, such as a traveling division line on the traveling path where a preceding vehicle travels, or a structure around a traveling path Feature data, which is data representing the characteristics of the vehicle, is extracted, and the travel locus data and the feature data are associated with each other.
The image data output from the external sensor 12 includes at least a preceding vehicle that travels forward in the traveling direction of the vehicle 2 and a travel path on which the preceding vehicle travels as an imaging target in the imaging region.

The vehicle communication control unit 22 controls transmission / reception of various information by the vehicle communication device 13.
For example, the vehicle communication control unit 22 transmits information on the current position of the vehicle 2 detected by the navigation device 11 to the server device 3 at an appropriate timing.

  Further, for example, when the preceding vehicle detection unit 21 detects the presence of the preceding vehicle, for example, the vehicle communication control unit 22 outputs the traveling locus data and the feature data output from the external sensor 12, the traveling locus data, Information on the current position of the vehicle 2 (position information) at the time when the image data related to the feature data is generated by the external sensor 12 is transmitted to the server device 3 in association with each other.

  For example, when the vehicle communication control unit 22 transmits the travel locus data, the feature data, and the position information to the server device 3, the vehicle communication control unit 22 further adds additional information, for example, the image data related to the travel locus data and the feature data. Information on brightness, information on the vehicle 2 and other vehicles imaged in the image data, and the like can be transmitted.

The information related to the brightness of the image data is, for example, information such as date and time and weather at the time when the image data is generated by the external sensor 12.
Moreover, the information regarding the vehicle 2 and the information regarding the other vehicle imaged by image data are information, such as a vehicle case, a vehicle type, an external dimension, a driving history, a driver | operator's age, and sex, for example.
In particular, information regarding other vehicles can be detected based on image data and detection signals output from the external sensor 12, or can be acquired from the outside (for example, vehicle-to-vehicle communication with other vehicles).

  Further, for example, the vehicle communication control unit 22 is based on the information on the current position of the vehicle 2 detected by the navigation device 11, and further relates to the brightness (illuminance, etc.) of the external environment around the vehicle 2 as necessary. The image data and the position information stored in the server device 3 are received based on the information and information on the vehicle 2 and other vehicles imaged in the image data.

As will be described later, the travel locus information generation unit 23 generates travel locus information based on the travel locus data and the feature data transmitted from the server device 3.
Note that these travel trajectory data and feature data are obtained from the other vehicle 2 (first vehicle 2a) that has traveled at the same point as the current position of the vehicle 2 (own vehicle), for example, as shown in FIG. Is a plurality of intermittent time-series data transmitted to.

The image data used for the calculation of the travel locus data and the extraction of the feature data is at least the other vehicle traveling in front of the first vehicle 2a (following vehicle) in the traveling direction (that is, the preceding vehicle A of the first vehicle 2a). The traveling area on which the preceding vehicle A travels is included in the imaging region as an imaging target.
The travel trajectory information generation unit 23 includes travel trajectory data (that is, data on the travel trajectory of another vehicle on which the host vehicle has actually traveled) and characteristic data (that is, on the travel path on which the other vehicle travels). Travel trajectory information of the second vehicle 2b with respect to the travel path on which the vehicle 2 (the host vehicle: the second vehicle 2b) is scheduled to travel, based on the travel division line or the shape characteristics of the structure around the travel path). Is generated.

  As will be described later, the display control unit 24 displays the travel locus information of the vehicle 2 (host vehicle: second vehicle 2b) generated by the travel locus information generation unit 23 on the display screen of the head-up display 14.

The server device 3 includes, for example, a communication device 31 and a server control device 32.
The communication device 31 can communicate with the vehicle communication device 13 of the vehicle 2 and transmits and receives various types of information by direct wireless communication connection to the vehicle communication device 13 of the vehicle 2 or communication connection via a predetermined communication network. To do.

  The server control device 32 includes, for example, a communication control unit 41, an information storage unit 42, and a server control unit 43.

For example, the communication control unit 41 controls transmission / reception of various types of information by the communication device 31.
For example, the communication control unit 41 acquires travel locus data, feature data, position information, and additional information transmitted from each vehicle 2 and received by the communication device 31, and outputs them to the information storage unit 42.
For example, the communication control unit 41 transmits the travel locus data, the feature data, the position information, and the additional information stored in the information storage unit 42 from the communication device 31 to the vehicle communication device 13 of the vehicle 2.

  The information storage unit 42 stores travel locus data, feature data, and position information received by the communication device 31.

  For example, the server control unit 43 may convert the traveling locus data and feature data transmitted to each vehicle 2 by the communication control unit 41 into a plurality of traveling locus data and feature data stored in the information storage unit 42 as necessary. It selects from among these suitably.

  The vehicle travel support system 1 according to the present embodiment has the above-described configuration. Next, the operation of the vehicle travel support system 1 will be described.

  For example, as shown in FIG. 2, first, the vehicle communication control unit 22 of the vehicle 2 (first vehicle 2 a) traveling on an appropriate travel path, when the preceding vehicle A is detected by the preceding vehicle detection unit 21, Information on the current position (position information) detected by the navigation device 11 and the appropriate addition of the travel locus data and feature data calculated and extracted by the preceding vehicle detection unit 21 based on the image data output from the sensor 12 The information is transmitted to the server device 3 together with the general information.

  Note that the image data used for the calculation of the travel locus data and the extraction of the feature data is at least another vehicle that travels forward in the traveling direction of the first vehicle 2a (following vehicle) (that is, the preceding vehicle A of the first vehicle 2a). ) And the travel path on which the preceding vehicle A travels are included in the imaging region as imaging targets.

  Then, the communication control unit 41 of the server device 3 receives the travel locus data, the feature data, the position information, and the additional information transmitted from the first vehicle 2a, and stores them in the information storage unit 42 in association with each other. To do.

  And the server control part 43 of the server apparatus 3 memorize | stores in the information storage part 42 based on the positional information transmitted from the vehicle 2 (2nd vehicle 2b) which drive | works the same spot of the driving | running route where the 1st vehicle 2a drive | worked. From the travel locus data and feature data that have been set, the travel locus data and feature data associated with the same position information as the position information of the second vehicle 2b are extracted and transmitted to the second vehicle 2b.

  Further, when the server device 3 stores travel locus data and feature data related to a plurality of pieces of image data having different brightness for the same spot in the information storage unit 42, the plurality of travel locus data and From the feature data, the travel locus data and the feature data related to the image data of the brightness corresponding to the illuminance around the position of the second vehicle 2b (that is, the same point as the first vehicle 2a) are selected, and the second It can be transmitted to the vehicle 2b.

  Further, the server device 3 is information related to the vehicle at the same point (for example, information related to other vehicles imaged in the image data, and includes a vehicle case, a vehicle type, an external dimension, a driving history, a driver's age, and sex. In the case where traveling locus data and feature data relating to a plurality of image data having different information are stored in the information storage unit 42, the second vehicle 2b is selected from the plurality of traveling locus data and feature data. It is possible to select the travel locus data and the feature data related to the image data associated with the information equivalent to the information related to the information and transmit it to the second vehicle 2b.

Note that the vehicle communication control unit 22 of the second vehicle 2b receives information on the current position (position information) detected by the navigation device 11 prior to transmission of the travel locus data and feature data from the server device 3, and the second information. 2 Based on information on the brightness (illuminance, etc.) of the external environment around the vehicle 2b, information on the second vehicle 2b, and the like, traveling locus data and feature data relating to image data in which the same information as these pieces of information is associated May be requested to the server device 3.
In this case, for example, when the travel locus data and the feature data relating to the image data associated with the same information in the information other than the position information are not stored in the information storage unit 42 of the server device 3, the same It is requested to obtain appropriate traveling locus data and feature data from among a plurality of traveling locus data and feature data associated with the position information.

  Then, the travel trajectory information generation unit 23 of the second vehicle 2b compares the image data obtained by the external sensor 12 of the second vehicle 2b with the feature data received from the server device 3 and receives it from the server device 3. The travel trajectory data is converted into trajectory data obtained from the viewpoint of the driver at the travel position of the second vehicle 2b, and travel trajectory information is generated based on the converted trajectory data.

  For example, the image data obtained by the external sensors 12 of the first vehicle 2a and the second vehicle 2b shown in FIGS. 3A and 3B are the first vehicle 2a at the same point as shown in FIG. And the difference in travel position of the second vehicle 2b (for example, in the road width direction between the first vehicle 2a traveling near the shoulder of the travel path and the second vehicle 2b traveling near the center of the travel path). Due to the position difference L or the like, the camera coordinate system (the coordinate system viewed from the camera position of the external sensor 12) is different.

  For example, the preceding vehicle detection unit 21 of the first vehicle 2a travels the preceding vehicle A based on a plurality of time-series image data (for example, image data shown in FIG. 3A) output from the external sensor 12. Trajectory data Wa is generated. Further, feature data that is data representing features of the shape and position regarding the travel division line La on the travel path on which the preceding vehicle A travels and the structure Ma around the travel path is extracted. Then, the travel locus data Wa and the feature data are associated with each other, and the position information of the first vehicle 2a at the time when the image data is generated by the external sensor 12 is associated with each other and transmitted to the server device 3.

The traveling locus information generating unit 23 of the second vehicle 2b that has received the traveling locus data Wa, the feature data, and the position information from the server device 3 receives the image data output from the external sensor 12, the received feature data, and The matching processing is performed based on the traveling division lines and structures of the common traveling road.
For example, matching is performed based on an inclination angle with respect to a predetermined direction in the image data with respect to the common lane markings La and Lb.
Further, for example, matching is performed on the common structures Ma and Mb based on the position in the image data.
Based on this matching process, the travel locus data calculated in the first vehicle 2a is converted into locus data (camera coordinate conversion locus data) corresponding to the image data in the camera coordinate system of the second vehicle 2b. .

Further, the travel locus information generation unit 23 converts the camera coordinate system based on the difference in position between the camera position of the external sensor 12 in the second vehicle 2b and the viewpoint of the driver seated on the driver seat. The trajectory data (camera coordinate conversion trajectory data) is converted into trajectory data in a coordinate system viewed from the viewpoint of the driver of the second vehicle 2b.
The position of the driver's viewpoint may be a fixed position stored in advance, or may be detected by an occupant camera or the like.

  Then, the travel locus information generation unit 23 is another vehicle (that is, the preceding vehicle A of the first vehicle 2a) in the locus data after the coordinate system is converted (that is, the locus data from the viewpoint of the driver of the second vehicle 2b). Travel locus information for the second vehicle 2b is generated on the basis of the travel locus (for example, a tire track or a locus of both ends of the vehicle width).

Note that the travel locus information includes, for example, the tire trace Wb of the second vehicle 2b as shown in FIG. 3C, the locus of the vehicle width both ends of the second vehicle 2b, and the driver seat of the second vehicle 2b. For example, the locus of the center position of the seated driver.
For example, the travel trajectory information indicating turning right at an intersection is a travel trajectory such as a tire trace capable of recognizing a specific travel position in the intersection, unlike the display by arrows such as turn-by-turn.

  The display control unit 24 of the second vehicle 2b then superimposes the travel locus information for the second vehicle 2b generated by the travel locus information generation unit 23 on, for example, the outside world through the front window. On the display screen. Alternatively, the image data obtained by superimposing the travel locus information on the image data obtained by the external sensor 12 of the second vehicle 2 b is displayed on the display screen of the head-up display 14.

  In addition, the traveling locus information generation unit 23, when the image data of the first vehicle 2a is a plurality of intermittent still images, the traveling locus data is a plurality of intermittent time series data. Based on the road data stored in the navigation device 11 of the second vehicle 2b, the information between the plurality of time-series data is complemented to generate travel locus information.

  The travel locus information generation unit 23 switches the travel locus data used for generating the travel locus information to the travel locus data associated with other position information as the second vehicle 2b moves. Then, the traveling locus data is switched so that the traveling locus information most closely matches before and after switching (that is, the traveling locus information after switching most closely matches the traveling locus information before switching).

Along with this, the server control unit 43 of the server device 3 selects the travel trajectory data and the travel trajectory data that best matches the travel trajectory information before and after the switching from the travel trajectory data and the feature data stored in the information storage unit 42. The feature data is extracted and transmitted to the second vehicle 2b.
Alternatively, the vehicle communication control unit 22 of the second vehicle 2b is such that the travel locus information most closely matches before and after switching from the travel locus data and the feature data stored in the information storage unit 42 of the server device 3. The server apparatus 3 is requested to acquire the travel locus data and the feature data.

For example, as shown in FIG. 5, the travel locus information generation unit 23 associates the same position information with the position information of the second vehicle 2 b over a section of a predetermined distance or more of the travel path of the second vehicle 2 b. If the travel locus data and the feature data are not stored in the information storage unit 42 of the server device 3, the generation of the travel locus information may be stopped with this section as the data disqualification section.
Accordingly, the display control unit 24 of the second vehicle 2b stops the display of the travel locus information in the data disqualification section.

  In addition, the traveling locus information generation unit 23 includes, for example, a plurality of traveling locus data and feature data associated with the same position information as the position information of the second vehicle 2b in an appropriate section of the traveling path of the second vehicle 2b. When stored in the information storage unit 42 of the server device 3, a plurality of travel locus information may be generated based on a plurality of travel locus data and feature data using this section as a data overlapping section.

  In this case, the display control unit 24 of the second vehicle 2b may display a plurality of pieces of traveling locus information generated by the traveling locus information generation unit 23 in the data overlap section, or among the plurality of pieces of traveling locus information. Only the traveling locus information that most closely matches the traveling locus information of the section before the data overlapping section may be displayed.

As described above, according to the vehicle travel support system 1 according to the present embodiment, the control device 15 of the second vehicle 2b is, for example, an image of a travel path ahead in the traveling direction obtained by photographing with a camera of the host vehicle, for example, Compared to the case where travel locus information is generated based on the position information of other vehicles (preceding vehicles) obtained by GPS (Global Positioning System), etc., it is more precise and appropriate for a wider range of travel routes Traveling track information can be displayed.
This makes it possible to display an appropriate travel position in the travel path, for example, for a travel path that travels for the first time, and a wide range of travel paths such as the entire curve that exists ahead of the traveling direction. Also, it is possible to display appropriate travel locus information.

  Furthermore, even if there is a difference in the travel positions of the first vehicle 2a and the second vehicle 2b at the same point, by generating travel locus information viewed from the viewpoint of the driver of the second vehicle 2b, The traveling locus information that can be easily visually recognized by the driver of the second vehicle 2b can be displayed.

Furthermore, the traveling locus data and features transmitted / received between the plurality of vehicles 2 and the server device 3 by making traveling locus data and feature data used for generating the traveling locus information into a plurality of intermittent time series data. The amount of data communication can be reduced.
In addition, since the travel locus information is generated by complementing information between a plurality of time-series data based on the road data, it is possible to generate detailed and appropriate travel locus information.

  Further, according to the illuminance around the same spot where the second vehicle 2b is located, for example, by generating the travel locus information based on the travel locus data and the feature data having the brightness closest to the illuminance, the difference in brightness is achieved. Can prevent the occurrence of misrecognition due to the road, improve the accuracy of the matching process based on the road division line, roadside structure, etc., and improve the reliability of the generated travel path information be able to.

Further, in addition to the position information of the second vehicle 2b, the travel locus information is generated based on the travel locus data and the feature data having the same additional information, thereby generating detailed and appropriate travel locus information. Can do.
Further, even when the traveling locus data and the feature data having the same additional information are not present in the information storage unit 42 of the server device 3, the appropriate traveling locus data and the feature data are obtained. The travel locus data and the feature data stored in the information storage unit 42 can be effectively used to generate travel locus information with desired accuracy.

  Furthermore, even when the travel locus data used for generating the travel locus information is switched along with the movement of the second vehicle 2b, the travel locus information rapidly changes before and after the switching between the travel locus data. Can be prevented, and the reliability of the travel locus information can be improved.

The server control unit 43 of the server device 3 or the vehicle communication control unit 22 of the second vehicle 2b is information related to other vehicles captured in the image data related to the travel locus data and feature data used for generating the travel locus information. And various filtering processes may be executed.
For example, travel locus data and features relating to image data in which other vehicles of model driving, other vehicles equivalent to the second vehicle 2b, other vehicles equivalent to the driver of the second vehicle 2b, and the like are imaged. Filtering processing is performed so that the data is preferentially used by the travel locus information generation unit 23.

The other vehicles of the exemplary driving are, for example, other vehicles with low frequency of lateral acceleration and sudden deceleration, other vehicles without accidents and violations, and other vehicles with high actual fuel consumption.
Thereby, driving | running | working safety | security and driving | running | working economical efficiency can be improved.

Other vehicles equivalent to the second vehicle 2b are, for example, other vehicles having the same vehicle width, other vehicles having the same vehicle grade (light car, compact, sedan, minivan, etc.), and the same vehicle type (for example, Other models, etc.), such as models with a large cumulative sales volume.
Thereby, the optimal travel locus information for the second vehicle 2b can be displayed.

The other vehicle of the driver equivalent to the driver of the second vehicle 2b is, for example, another vehicle having the same travel route based on the route guidance set by the driver or the same travel lane selected by the driver. Vehicles, other vehicles with the same date and day of driving, and other vehicles with the same age and gender of the driver.
Thereby, the optimal travel locus information can be displayed for the driver of the second vehicle 2b.

Note that the display control unit 24 of the second vehicle 2b may be capable of changing the display form of the travel locus information based on information related to other vehicles captured in the image data used for generating the travel locus information. .
For example, the display control unit 24 displays the display color of the travel locus information, the display shade, the line width according to the speed of the other vehicle, the presence or absence of a brake operation, the presence or absence of an accelerator pedal operation, the presence or absence of a slip state, etc. Etc. may be changed.

In the above-described embodiment, the display control unit 24 may display the travel locus information on the display screen of another display device such as an MID (multi-information display) instead of the head-up display 14.
The MID (multi-information display) is a display that displays on a meter panel including instruments such as a vehicle speedometer and a tachometer at a position corresponding to the front of the driver's seat on the instrument panel.

  In the above-described embodiment, when a plurality of traveling locus data and feature data of a predetermined number or more are stored in the information storage unit 42 of the server device 3, the vehicle 2 other than the first vehicle 2a The execution of the operation related to the preceding vehicle detection unit 21 can be omitted.

  In the above-described embodiment, for example, the first vehicle 2a is external image data including other vehicles obtained by imaging of the imaging device of the external sensor 12 in addition to the characteristic data or as the characteristic data itself. May be transmitted to the server device 3. In this case, in the matching process in the second vehicle 2b that acquired the image data from the server device 3, the processing accuracy can be further improved.

DESCRIPTION OF SYMBOLS 1 Vehicle travel assistance system 2 Vehicle 2a 1st vehicle 2b 2nd vehicle
3 Server device 11 Navigation device 12 External sensor 14 Head-up display (display device)
15 Control device (first control means, second control means)
21 Leading vehicle detection unit (running locus data generating means)
32 Server control device (server control means)

Claims (6)

A first vehicle including an imaging device; a second vehicle including a display device; and a server device communicably connected to the first vehicle and the second vehicle;
The first vehicle generates travel locus data generating means for generating travel locus data of the other vehicle based on an image of the other vehicle obtained by imaging by the imaging device;
First control means for transmitting the travel locus data to the server device,
The server device includes server control means for receiving the travel locus data transmitted from the first vehicle and transmitting the travel locus data to the second vehicle traveling on the same spot as the first vehicle,
The second vehicle receives the traveling locus data transmitted from the server device, generates traveling locus information of the other vehicle based on the traveling locus data, and displays the traveling locus information on a display screen of the display device. A vehicle travel support system comprising second control means for displaying. The second vehicle includes an imaging device,
The first control means is data that represents a feature of a shape related to a road marking line or a structure on a road from an image of the outside world including the other vehicle obtained by imaging of the imaging device of the first vehicle. While extracting data, the feature data is transmitted to the server device in association with the travel locus data,
The server control means receives the travel locus data and the feature data transmitted from the first vehicle, and transmits the travel locus data and the feature data to the second vehicle traveling at the same point as the first vehicle. And
The second control means compares the image obtained by the imaging of the second vehicle with the imaging device and the feature data received from the server device, and determines the travel locus data received from the server device. The trajectory information obtained from the viewpoint of the driver at the travel position of the second vehicle is converted into trajectory data, and the travel trajectory information is generated based on the trajectory data after the conversion. Vehicle driving support system. The second vehicle includes a navigation device,
The travel locus data transmitted from the first vehicle to the server device and the travel locus data transmitted from the server device to the second vehicle are a plurality of intermittent time series data,
The said 2nd control means complements the information between these time series data based on the road information memorize | stored in the said navigation apparatus, The said driving | running | working locus information is produced | generated. The vehicle travel support system according to 2. The server device includes storage means for storing a plurality of travel locus data having different brightness with respect to the same spot as the travel locus data that can be transmitted to the second vehicle,
The server control means uses the travel locus data to be transmitted to the second vehicle as illuminance around the same point where the second vehicle is located from among the plurality of travel locus data stored in the storage means. The vehicle travel support system according to any one of claims 1 to 3, wherein the selection is made according to The server device includes storage means for storing a plurality of traveling locus data of different vehicle grades of the other vehicle at the same point as the traveling locus data that can be transmitted to the second vehicle,
The server control unit or the second control unit is configured to convert the travel locus data transmitted from the server device to the second vehicle from the plurality of travel locus data stored in the storage unit. It is selected according to the vehicle type of the second vehicle,
When the travel locus data corresponding to the vehicle grade of the second vehicle does not exist among the plurality of travel locus data stored in the storage means, the appropriate one of the plurality of travel locus data is The vehicle travel support system according to any one of claims 1 to 4, wherein travel locus data is transmitted from the server device to the second vehicle. At least the server control means or the second control means, when the travel locus data used for generating the travel locus information is switched to the other travel locus data as the second vehicle moves. 6. The vehicle travel support system according to any one of claims 1 to 5, wherein the travel locus data is switched so that the travel locus information most closely matches before and after switching.

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