JP2015176226A - Travel support device, travel support method, and computer program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a travel support device capable of performing travel support by appropriately determining whether a self vehicle is in a travel support requiring state.SOLUTION: A travel support device 1 includes: an acquisition control section 30 for acquiring distance information indicating a distance from a self vehicle 2 to a stop line 35 where a traffic signal 3 in front of the self vehicle 2 is arranged and also signal control information to be used for the light color control of the traffic signal 3; and an output control section 31 for performing travel support by identifying switch timing for switching the light color of the traffic signal 3 from red to blue on the basis of the signal control information and outputting timing information indicating the identified switch timing to the driver of the self vehicle 2. The output control section 31 controls the output of the timing information on the basis of the distance information.

Description

  The present invention relates to a driving support device, a driving support method, and a computer program that provide information for driving support to a driver of a vehicle.

In recent years, using the Intelligent Transport System (ITS) to provide driving support information to drivers of vehicles traveling on the road to smooth the flow of traffic, and to save energy, protect the environment, and improve safety Has been made.
The information provided as the driving support information includes information related to the recommended driving speed necessary for green wave driving for realizing a smooth flow of traffic, information related to the light color of the traffic signal, and the like.

  Patent Document 1 below discloses a system that obtains a recommended traveling speed necessary for green wave traveling and provides traveling support information including information related to the recommended traveling speed to the vehicle.

JP 2011-81640 A

Green wave traveling is a method for controlling the speed of a vehicle such as an automobile so that a signal can always pass in blue and realizing a smooth flow of traffic, and is a traveling support for a traveling vehicle.
On the other hand, as a method for realizing a smooth flow of traffic, for example, driving support for a stopped vehicle or a vehicle just before the stop can be considered.

  As described above, in driving support for a stopped vehicle, it is not possible to appropriately determine whether or not the vehicle should be in driving support unless other information is used in addition to the vehicle speed. .

  The present invention has been made in view of such circumstances, and a travel support device, a travel support method, and a computer that can appropriately determine whether or not the host vehicle is in a situation where travel support should be performed and provide travel support. The purpose is to provide a program.

  A travel support apparatus according to the present invention is a travel support apparatus mounted on a vehicle, and includes distance information indicating a distance from the vehicle to a stop line on which a traffic signal in front of the vehicle is installed, and a light of the traffic signal Based on the signal control information, an acquisition unit that acquires signal control information used for color control, and a timing at which the traffic signal is switched from a stop display that restricts the progress of the vehicle to a progress permission display that permits the progress of the vehicle. And an output control unit that executes driving support by outputting timing information indicating the specified timing to the driver of the vehicle, and the output control unit, based on the distance information, Controls the output of timing information.

  In addition, the method according to the present invention is a method for providing driving assistance to a driver of a vehicle, the distance information indicating a distance from the vehicle to a stop line on which a traffic signal in front of the vehicle is installed, and the A first step of acquiring signal control information used for controlling the color of a traffic light, and a travel permission for allowing the vehicle to proceed from a stop display in which the traffic signal restricts the progress of the vehicle based on the signal control information A second step of specifying a timing for switching to display and executing driving support by outputting timing information indicating the specified timing to a driver of the vehicle, wherein the second step includes the distance information To control the output of the timing information.

  Further, a computer program according to the present invention is a computer program for causing a computer to execute a process of performing driving support for a vehicle driver, and a traffic signal in front of the vehicle is installed in the computer from the vehicle. Based on the first step of acquiring distance information indicating the distance to the stop line and signal control information used for lamp color control of the traffic signal, the traffic signal limits the progress of the vehicle based on the signal control information A second step of identifying a timing for switching from a stop display to a progress permission display for permitting the vehicle to travel, and outputting timing information indicating the identified timing to the driver of the vehicle; And the second step is based on the distance information, A computer program for controlling the output of the serial timing information.

  According to the present invention, it is possible to appropriately determine whether or not the host vehicle is in a situation where travel support is to be provided and provide travel support.

It is a top view which shows the structure of an intelligent road traffic system. It is a block diagram which shows the structure of the driving assistance apparatus mounted in the vehicle. It is a flowchart which shows an example of the procedure of the start assistance process which an output control part performs. It is an enlarged plan view of an intersection. It is a figure which shows an example of the output mode at the time of the output control part 31 outputting timing information to the display part 23. FIG. It is a figure which shows the variation of the signal remaining time display by a display part which the output control part outputs, and the audio | voice output by a speaker, (a) is a figure which shows the output mode immediately after a traffic signal starts red lighting, (b) is a diagram showing the output mode after half of the red lighting period of the traffic signal has passed, (c) is a diagram showing the output mode immediately after the switching timing has passed and the traffic signal has been switched to a green signal. is there.

  In contrast to the driving support method for a traveling vehicle represented by green wave driving, as the driving support for a stopped vehicle or a vehicle that is about to stop, a starting support that prompts a start waiting for a signal can be considered.

  This start support means that when the driver of a vehicle waiting for a signal switches from a stop display (red light) that restricts progress to a permission display (blue light) that permits progress, By outputting the switching timing, it is possible to prevent the driver from overlooking the switch to the green light and to prompt the driver to start quickly, thereby realizing a smooth traffic flow.

In performing the above-mentioned start support, in the driving support for the stopped vehicle, if other information is not used in addition to the vehicle speed, whether the vehicle is stopped waiting for a signal or not. It is impossible to determine whether or not it is a situation that should support driving, and there is a problem that it cannot be appropriately determined.
The inventors of the present application have completed the present invention by paying attention to the above points.

[Description of Embodiment of Present Invention]
First, the contents of the embodiments of the present invention will be listed and described.
(1) A travel support device according to an embodiment of the present invention is a travel support device mounted on a vehicle, and distance information indicating a distance from the vehicle to a stop line on which a traffic signal in front of the vehicle is installed. And an acquisition unit for acquiring signal control information used for lamp color control of the traffic signal device,
Based on the signal control information, the timing at which the traffic signal is switched from a stop display that restricts the progress of the vehicle to a progress permission display that permits the progress of the vehicle is identified, and timing information indicating the identified timing is provided for the vehicle. An output control unit that executes driving support by outputting to the driver;
With
The output control unit controls the output of the timing information based on the distance information.

  According to the driving support apparatus having the above configuration, it is possible to determine whether or not the vehicle is present at a position where there is a possibility of waiting for a signal at the traffic signal, and output timing information based on the determination. Can be configured to. As a result, it is possible to appropriately determine whether or not the vehicle is in a situation where travel support is to be provided and to support travel.

(2) In the driving support apparatus, the output control unit may be configured to output the timing information when the distance information is equal to or less than a predetermined threshold. In this case, the timing is determined according to the threshold. Whether to output information can be controlled.

(3) In addition, when the vehicle is stopped due to a signal waiting in the traffic signal, the threshold value is almost the same as the timing when the traffic signal is switched to a progress permission display when the timing arrives. It is preferable to set the maximum value among the distances indicating the position of the vehicle that is highly required to start the vehicle.
In this case, when it is determined that the distance information is equal to or less than the threshold value, it can be determined that the vehicle is present at a position relatively close to the traffic signal and that the vehicle may wait for a signal at the traffic signal. Accordingly, whether or not the timing information can be output can be controlled according to whether or not the vehicle may wait for a signal at the traffic signal.
In addition, when the vehicle is stopped due to a signal waiting at the traffic signal, the vehicle is started almost without a time lag when the timing arrives and the traffic signal is switched to a progress permission display. The timing information can be output to the driver of the vehicle in a situation where the timing information is required by setting the maximum value among the distances indicating the position of the vehicle with high necessity.

(4) When the vehicle is present at a position where there is a possibility of waiting for a signal with a traffic signal and the traffic signal is in a stop display, it can be determined that the vehicle is waiting for a signal at the traffic signal. For this reason, it is preferable that the said output control part outputs the said timing information in the period when the said traffic signal is the said stop display.
In this case, the output control unit can output the timing information after appropriately determining that the vehicle is waiting for a signal.

(5) (6) If the remaining time until the timing is very short even during the traffic signal stop display, there is a possibility that the output of timing information cannot be completed by the timing.
Therefore, the output control unit may output the timing information when the traffic signal is in the stop display and the remaining time until the latest timing is a predetermined time or more, in this case The predetermined time is set to a time required to finish outputting the timing information.
In this case, timing information is not output when the remaining time until the latest timing is less than the predetermined time. Thereby, the output control part can finish outputting the timing information before reaching the latest timing, and can appropriately output the timing information to the driver.

(7) A method of performing driving support according to an embodiment of the present invention is a method of driving support for a vehicle driver,
A first step of obtaining distance information indicating a distance from the vehicle to a stop line on which a traffic signal in front of the vehicle is installed, and signal control information used for lamp color control of the traffic signal;
Based on the signal control information, the timing at which the traffic signal is switched from a stop display that restricts the progress of the vehicle to a progress permission display that permits the progress of the vehicle is identified, and timing information indicating the identified timing is provided for the vehicle. A second step of performing driving support by outputting to the driver;
Including
The second step controls the output of the timing information based on the distance information.

(8) Moreover, the computer program which is one Embodiment of this invention is a computer program for making a computer perform the process which performs driving | operation assistance with respect to the driver | operator of a vehicle,
A first step of acquiring distance information indicating a distance from the vehicle to a stop line on which a traffic signal in front of the vehicle is installed, and signal control information used for lamp color control of the traffic signal;
Based on the signal control information, the timing at which the traffic signal is switched from a stop display that restricts the progress of the vehicle to a progress permission display that permits the progress of the vehicle is identified, and timing information indicating the identified timing is provided for the vehicle. A second step of performing driving support by outputting to the driver;
A computer program for executing
The second step is a computer program for controlling the output of the timing information based on the distance information.

  According to the driving assistance method and the computer program having the above-described configuration, it is possible to appropriately determine whether or not the driving assistance state is to be provided and to provide driving assistance.

[Details of the embodiment of the present invention]
Hereinafter, preferred embodiments will be described with reference to the drawings.
[1. (Overall system configuration)
FIG. 1 is a plan view showing a configuration of an intelligent road traffic system.
The intelligent road traffic system (running support system) shown in FIG. 1 includes a vehicle 2 equipped with a driving support device 1, a plurality of traffic signals 3, a roadside communication device 4, an optical beacon 5, and a central for signal control and the like. Device 6 is included.

The traffic signal 3 and the roadside communication device 4 are installed at each of a plurality of intersections A1 to A3 provided continuously on the road R.
The traffic signal 3 and the roadside communication device 4 are communicably connected to a central device 6 installed in a traffic control center or the like via a communication line 7.

The traffic signal device 3 includes, for example, a lamp that lights in blue, yellow, and red, and includes a control unit that controls the color of the lamp.
Of the light color displays of the traffic signal 3, the blue lighting display is a progress permission display for permitting the vehicle to travel, and the red lighting display is a stop display for restricting the travel of the vehicle.
The control unit performs lamp color control based on signal control information transmitted from the central device 6 via the communication line 7.

The plurality of roadside communication devices 4 installed at the respective intersections A1 to A3 have a function of performing wireless communication (road-to-vehicle communication) with the travel support device 1 of the vehicle 2 traveling around the intersections.
The roadside communication device 4 receives various information transmitted by the driving support device 1 and transmits the received various information to the central device 6 through the communication line 7. The roadside communication device 4 transmits various information such as traffic information given from the central device 6 via the communication line 7 to the travel support device 1 of the vehicle 2 by wireless communication.
In addition, the travel support device 1 of the vehicle 2 can perform wireless communication (vehicle-to-vehicle communication) with another travel support device 1 by a CSMA (Carrier Sense Multiple Access) method or a wireless LAN method.

The optical beacon 5 is installed above the road R and has a function of performing bidirectional communication (road-to-vehicle communication) with the driving support device 1 of the vehicle 2 by optical communication using near infrared as a communication medium. ing.
The optical beacon 5 is installed on the upstream side of the lane that flows into each of the intersections A1 to A3. The optical beacon 5 is also communicably connected to the central device 6 via the communication line 7 in the same manner as the traffic signal 3 and the like.
Further, the optical beacon 5 includes a vehicle detection sensor for detecting the vehicle 2 passing directly under the optical beacon 5 in addition to a road-to-vehicle communication function with the travel support device 1 of the vehicle 2 by optical communication. The traffic volume at each point on the road R can be measured.

In addition, the optical beacon 5 generates position location information for identifying the current position of the vehicle 2 that has optically communicated with the optical beacon 5 and the position of the stop line in the traffic signal 3 installed on the downstream side, There may be a position locating function for giving position locating information to the vehicle 2.
The optical beacon 5 includes the generated position location information in travel support information described later and transmits the information to the vehicle 2.

  The central device 6 constitutes a LAN (Local Area Network) with the traffic signal device 3, the roadside communication device 4, the optical beacon 5 and the like of each intersection included in the area under its control. Therefore, the central device 6 can perform bidirectional communication with each traffic signal device 3, each roadside communication device 4, and the optical beacon 5. The central device 6 systematically controls the traffic signal 3 at the intersection belonging to its own network. The central device 6 may be installed on the road instead of the traffic control center.

  The roadside communication device 4 and the optical beacon 5 measure the traffic volume on the road R from information obtained by road-to-vehicle communication with the vehicle 2 and information obtained by sensors, and the traffic volume around the intersection where each is installed. Generates information indicating The central device 6 collects information indicating the traffic generated by the roadside communication device 4 and the optical beacon 5 through the network.

  The central device 6 has a control unit composed of a workstation (WS), a personal computer (PC), and the like. This control unit acquires various types of traffic information given from the roadside communication device 4 and the optical beacon 5, and performs processing, recording, signal control based on the information, and information provision in an integrated manner.

  The central device 6 has a function of transmitting signal control information for controlling the light color of each traffic signal 3 to the control unit of each traffic signal 3. The control unit of the traffic signal device 3 that has received the signal control information determines the distribution of the lighting time of each lamp color based on the signal control information, and performs lighting control of each lamp color accordingly.

  As described above, the signal control information is information used for lamp color control of the traffic signal 3, for example, an ID for identifying the traffic signal 3 to be controlled, a cycle length, a split, an offset, and the signal control information. Includes information indicating parameters such as the expiration date. The cycle length is a time required for the light color display of the traffic light 3 to make a round (one cycle). The split is a value obtained by dividing the blue lighting time of the traffic signal 3 by the cycle length. The offset is a value indicating a difference between the start time of one cycle (for example, the blue lighting start time) and the reference time.

  The central device 6 can determine each of the above parameters based on information indicating the traffic volume given from the roadside communication device 4 or the optical beacon 5 and generate signal control information. The central device 6 generates signal control information corresponding to each traffic signal 3 and gives it to each traffic signal 3.

  Further, the central device 6 has a function of providing the travel support information including the acquired traffic information and the generated signal control information to the roadside communication device 4 and the optical beacon 5 and providing the travel support device 1 through the road-to-vehicle communication. Have.

  The optical beacon 5 and the roadside communication device 4 that have received the driving support information from the central device 6 transmit the driving support information to the driving support device 1 of the vehicle 2 traveling in the control section E by road-to-vehicle communication. .

Here, the control section E is a section where the driving support control set in the predetermined section on the road R is to be executed, and is set in advance.
As driving support control, in addition to providing the vehicle driver with information such as signal information related to the light color of the traffic signal 3 in the traveling direction, it is possible to realize driving that allows the signal to always pass in blue (green wave driving). Providing the vehicle speed (recommended travel speed) to the driver, offset control that realizes a smooth flow of traffic by controlling the color of the traffic light 3, and the driver of the vehicle 2 that is stopped waiting for the signal Thus, there is a start support that prompts the driver to start by outputting a timing when the light color of the traffic light 3 switches from red to blue.

  In this way, the central device 6 provides the driving support information to the vehicle 2 via the optical beacon 5 and the roadside communication device 4 by transmitting the driving support information to the optical beacon 5 and the roadside communication device 4. It is configured as follows.

[2. Regarding the configuration of the driving support device)
FIG. 2 is a block diagram illustrating a configuration of the driving support device 1 mounted on the vehicle 2.
The travel support device 1 is a device having a function of performing travel support for a driver of a vehicle 2 (own vehicle 2) on which the travel support device 1 is mounted. For example, a smartphone, a tablet terminal, a portable computer Etc.

  The driving support device 1 of the present embodiment has a vehicle navigation function, a function of providing traffic information acquired by road-to-vehicle communication, road-to-road communication, and the like as a driving support function, as well as a vehicle 2 in the control section E. The function of outputting signal information related to the light color of the traffic signal 3 in front of the vehicle to the driver and the switching timing when the light color display of the traffic signal 3 in front of the host vehicle 2 is switched from red (stop display) to blue (progress permission display). It has a function (start support) that identifies and outputs timing information indicating the identified switching timing to the driver.

As shown in the figure, an optical communication device 10 and a wireless communication device 11 provided in the host vehicle 2 are connected to the driving support device 1 by communication.
The optical communication device 10 includes a projector / receiver, and has a function as a transmitter / receiver that performs optical communication with the optical beacon 5. The optical communication device 10 further has a function of communicating with the driving support device 1 by wireless communication such as wireless LAN or Blue Tooth (registered trademark), or by wire.
The driving support device 1 has a function of performing optical communication with the optical beacon 5 and performing road-to-vehicle communication via the optical communication device 10 that can be connected to the driving support device 1.

The wireless communication device 11 has a function as a transceiver that performs wireless communication with the roadside communication device 4. The wireless communication device 11 further has a function of connecting to the driving support device 1 by wireless or wired communication.
The driving support device 1 has a function of performing wireless communication with the roadside communication device 4 via the wireless communication device 11 that can be connected to the driving support device 1 and performing road-to-vehicle communication.

  As illustrated in FIG. 2, the driving support device 1 includes a control unit 20, a storage unit 21 that stores necessary information, an operation unit 22, a display unit 23, a speaker 24, a GPS receiver 25, a gyro sensor 26, and a communication unit. 27.

The operation unit 22 is a functional unit for receiving an operation input by an operator of the travel support device 1 and is configured by an input device such as an operation key.
The display unit 23 is a functional unit for visually displaying information given from the control unit 20 and outputting the information, and is configured by an output device such as a liquid crystal display or a touch panel. When the display unit 23 is configured by a touch panel, the display unit 23 is configured to have the function of the operation unit 22.
The speaker 24 has a function of outputting information given from the control unit 20 as sound.

A GPS receiver 25 (GPS: Global Positioning System) receives a GPS signal and provides it to the control unit 20.
The gyro sensor 26 detects the direction of the driving support device 1 and gives an output related to the detection result to the control unit 20.
The control unit 20 obtains the absolute position of the driving support device 1 (own vehicle 2) from the GPS signal received by the GPS receiver 25, outputs related to the detection result of the gyro sensor 26, and the vehicle control unit 13 of the own vehicle 2. Based on the information on the speed of the host vehicle 2 acquired from the above, the position and direction are complemented, and the accurate current position and direction of the driving support device 1 (host vehicle 2) can be always grasped.

  The communication unit 27 has a function for establishing communication connection with the above-described optical communication device 10, the wireless communication device 11, or the like by wireless communication such as wireless LAN or Blue Tooth (registered trademark), or by wire. Yes. The travel support device 1 exchanges information with the optical communication device 10, the wireless communication device 11, and the like via the communication unit 27.

The storage unit 21 stores a control program for controlling and functioning each functional unit described above, a program for realizing a driving support function, a program for realizing a car navigation function, and the like.
The storage unit 21 stores a road map database. In the road map database, reference data on the road map, node data such as intersections, and road data such as link data related to road sections connecting the nodes are registered in association with IDs for identifying the nodes and links. Has been.
Further, the storage unit 21 also stores information on the road shape corresponding to each node and link registered in the road map database, position information of stop lines provided at the locations where the traffic signal 3 is installed, and the like. doing. The storage unit 21 stores information necessary for reproducing road information of an area represented by a specific node and link as an image.
The control unit 20 can output a necessary road map image on the display unit 23 by referring to the road map database.

  The road map database can also be acquired from the outside by road-to-vehicle communication or the data communication function of the travel support device 1 without being stored in the storage unit 21.

  The control unit 20 has a function of performing communication control processing related to optical communication (road-to-vehicle communication) performed via the optical communication device 10. In addition, the control unit 20 has a function of performing communication control processing relating to wireless communication (road-to-vehicle communication and vehicle-to-vehicle communication) performed via the wireless communication device 11. Furthermore, the control unit 20 has a function of performing communication control related to communication with each device (the optical communication device 10 and the wireless communication device 11) connected to the travel support device 1 via the communication unit 27. .

  Therefore, the control unit 20 acquires the travel support information given from the central device 6 and the optical beacon 5 by the optical communication device 10 that performs road-to-vehicle communication and the wireless communication device 11 through the communication unit 27, and further the communication unit 27. To get through. That is, the communication unit 27 has a function of acquiring travel support information.

The control unit 20 functionally includes an acquisition control unit 30 and an output control unit 31 in addition to the functions described above and a function for executing car navigation.
The acquisition control unit 30 has a function of acquiring distance information indicating a distance from the own vehicle 2 to a stop line where the traffic signal 3 in front of the own vehicle 2 is installed, and signal control information of the traffic signal 3. ing.

The acquisition control unit 30 acquires the position location information generated by the optical beacon 5 from the travel support information acquired by the communication unit 27. The position determination information is information indicating the positional relationship between the reception position (the position of the host vehicle 2) that has received the position determination information and the stop line in the traffic signal 3 installed downstream thereof.
If the acquisition control unit 30 obtains the amount of movement or the like that the host vehicle 2 has moved from the reception position of the position determination information, the acquisition control unit 30 stops the front of the host vehicle 2 from the current position of the host vehicle 2 based on the position determination information. The distance information can be obtained by obtaining the distance to the line.
When acquiring the position determination information, the acquisition control unit 30 acquires the distance based on the position determination information.

  Further, the acquisition control unit 30 is based on the current position of the host vehicle 2 obtained from the GPS signal received by the GPS receiver 25 and the stop line position information stored in the storage unit 21. It is also possible to obtain the distance information by obtaining the distance to the stop line on which the traffic signal 3 is installed.

Furthermore, the acquisition control unit 30 acquires signal control information of the traffic signal device 3 that acquired the distance information from the driving support information acquired by the communication unit 27.
The acquisition control unit 30 executes acquisition of distance information and signal control information as needed, and provides the acquired distance information and signal control information to the output control unit 31.
Thus, the acquisition control unit 30 acquires the distance information indicating the distance to the stop line where the traffic signal 3 in front of the host vehicle 2 is installed, and the signal control information used for the light color control of the traffic signal 3. Is configured.

  The function of the output control unit 31 will be described in detail later.

  Part or all of the functions of the control unit 20 of the driving support device 1 may be configured by a hardware circuit, or part or all of the functions may be realized by a computer program. When some or all of the functions of the control unit 20 are realized by a computer program, the driving support device 1 includes a computer, and the computer program executed by the computer is stored in the storage unit 21.

The computer program that realizes the function of the control unit 20 can be generated by using an SDK (Software Development Kit) for generating the computer program.
The SDK switches the light color of the traffic signal 3 from red display to blue display based on a program module for causing a computer to execute a function as an acquisition unit that acquires the distance information and signal control information, and signal control information. Necessary program modules generated in advance such as program modules for specifying the switching timing and causing the computer to execute a function of outputting timing information indicating the specified switching timing to the driver of the host vehicle 2 are collected. Therefore, by using a program module included in the SDK, a computer program that realizes the function of the control unit 20 can be easily generated.

[3. About start support processing)
The output control unit 31 of the control unit 20 has a function of providing start support to the driver. As described above, the start support is a process (start support process) that outputs a switching timing at which the light color of the traffic signal 3 is switched from red to blue to the driver of the vehicle 2 that is stopped due to a signal waiting or the like. . By performing this start support process, the driver of the vehicle 2 that is stopped while waiting for a signal can be provided to the driver of the vehicle 2 that is stopped while waiting for a signal. A smooth flow of traffic can be realized by preventing overlooking the switch of the traffic light to the blue color and prompting the driver to start quickly.

FIG. 3 is a flowchart illustrating an example of a procedure of a start support process performed by the output control unit 31.
First, the output control unit 31 determines whether or not distance information indicating the distance to the stop line ahead of the host vehicle 2 is acquired by the acquisition control unit 30 (step S1).
When it determines with distance information not being acquired, the output control part 31 returns to step S1 again (step S1). Therefore, the output control unit 31 performs the determination in step S <b> 1 until the distance information is acquired by the acquisition control unit 30 and the stop line in which the traffic signal device 3 is installed in front of the host vehicle 2 is specified.

  If it determines with distance information having been acquired in step S1, the output control part 31 will determine whether the signal control information of the traffic signal 3 corresponding to a front stop line was acquired (step S2).

If it is determined in step S2 that the signal control information of the traffic signal 3 has not been acquired, the output control unit 31 returns to step S1 again and repeats the same processing as described above. This is because if there is no signal control information, it is not possible to specify the switching timing at which the traffic light 3 switches from red to blue.
When it is determined in step S2 that the signal control information of the traffic signal 3 has been acquired, the output control unit 31 determines that the distance D to the stop line where the traffic signal 3 ahead indicated by the distance information is installed is a preset threshold value. It is determined whether or not it is equal to or less than Th1 (step S3).

  Here, the threshold value Th <b> 1 is the vehicle with almost no time lag when the traffic light 3 switches from red to blue when the vehicle 2 is stopped due to a signal waiting in the traffic signal 3 in front of the host vehicle 2. 2 is set to the maximum value among the distances indicating the position of the vehicle 2 that is highly required to start.

FIG. 4 is an enlarged plan view of the intersection.
In FIG. 4, the light color of the traffic signal 3 installed at the intersection A4 is red, and a plurality of vehicles 2 are stopped in front of the stop line 35 to wait for a signal.
When the traffic light 3 switches from red to blue, the maximum distance F indicating the position of the vehicle 2 that is most likely to start without a time lag is based on the stop line 35 as shown in the figure. It is set along the road R toward the upstream side of the stop line 35.
Among the vehicles 2 arranged on the upstream side of the stop line 35 from the stop line 35, the vehicle 2 positioned within the range defined by the distance F is stopped by the traffic signal 3 when waiting for a signal in the traffic signal 3. It is a vehicle 2 that has a high necessity to start with almost no time lag when the lamp color changes from red to blue.
In the present embodiment, this distance F is set as the threshold Th1.

  The distance F is the extent to which the vehicle 2 that will start with almost no time lag is positioned upstream from the stop line 35 toward the upstream side when the light color of the traffic signal 3 in front changes from red to blue. Is determined in advance and is set in advance by considering the result.

  The range defined by the distance F set as described above is set to a range relatively close to the stop line 35. For this reason, when it is determined that the distance D indicated by the distance information is equal to or less than the threshold Th1, the output control unit 31 is located within the range defined by the distance F, and the own vehicle 2 is less than a traffic signal. Therefore, it can be determined that there is a possibility that the own vehicle 2 may wait for a signal at the traffic signal 3.

Returning to FIG. 3, if it is determined in step S3 that the distance D is not equal to or smaller than the threshold Th1, the output control unit 31 returns to step S1 again and repeats the same processing as described above.
When the distance D is not less than or equal to the threshold Th1, that is, when the distance D is greater than the threshold Th1, the output control unit 31 indicates that the host vehicle 2 has not approached the traffic signal 3 ahead and the signal has not yet been received at the traffic signal 3. It can be determined that it is located at a point where the possibility of waiting is low. Therefore, in this case, the output control unit 31 does not proceed to the subsequent processing, returns to step S1, and repeats the same processing as described above.

If it is determined in step S3 that the distance D is equal to or less than the threshold Th1, the output control unit 31 proceeds to step S4, and the light color of the traffic signal device 3 is red based on the signal control information acquired by the acquisition control unit 30. The switching timing for switching from blue to blue is specified (step S4).
Moreover, the output control part 31 also specifies the timing (red start timing) at which the lamp color of the traffic signal device 3 is switched to red based on the signal control information. That is, the output control unit 31 specifies the red lighting period as the lamp color.

  After specifying the switching timing, the output control unit 31 specifies the timing at which the traffic light 3 is switched to red (start timing of red) and the traffic light 3 is switched from red to blue. Based on the switching timing, it is determined whether or not the current lamp color in the traffic signal 3 in front of the host vehicle 2 is red and the remaining time until the latest switching timing is 10 seconds or more (step S5).

In step S5, when it is determined that the current traffic light 3 is red and the remaining time until the latest switching timing is 10 seconds or more, the traffic light 3 in front of the host vehicle 2 is red.
Therefore, in this case, since the own vehicle 2 exists at a position where there is a possibility of waiting for a signal at the traffic signal 3 and the light color of the traffic signal 3 is red, the output control unit 31 causes the own vehicle 2 to 2 It can be determined that the traffic signal 3 ahead is stopped for waiting for a signal.

  Therefore, when the output control unit 31 determines in step S5 that the current lamp color of the traffic light 3 is red and the remaining time until the most recent switching timing is 10 seconds or more, timing information indicating the switching timing is automatically determined. Output to the driver of the vehicle 2 (step S6).

  FIG. 5 is a diagram illustrating an example of an output mode when the output control unit 31 outputs timing information to the display unit 23.

In FIG. 5, the output control unit 31 outputs the timing information to the driver by displaying the signal remaining time display 40 on the display unit 23.
The display unit 23 displays a road map image 41 indicating the vicinity of the current position where the host vehicle 2 is traveling.
The output control unit 31 refers to the road map database stored in the storage unit 21, identifies the node or link corresponding to the current position of the host vehicle 2, and the road shape of the road R based on the identified node or link. Is displayed on the display unit 23.

  Further, the output control unit 31 displays a pointer 42 indicating the current position of the host vehicle 2 on a road portion 43 indicating the road R in the road map image 41. The direction of the tip of the pointer 42 indicates the traveling direction of the host vehicle 2.

The output control unit 31 displays the remaining signal time display 40 superimposed on the road map image 41.
The signal remaining time display 40 indicates the remaining time for the lamp color display 45 indicating the current lamp color of the traffic signal 3 in front of the host vehicle 2 installed at the intersection A5 and the lighting time of the lamp color currently lit. And a remaining time display 46.
The lamp color display 45 displays the lamp color of the traffic signal 3 in front of the host vehicle 2 according to the color.
The remaining time display 46 displays the remaining time related to the lighting time of the lamp color in a bar graph shape. The remaining time display 46 is displayed with the length gradually reduced in accordance with the remaining time of the lighting time of the lamp color.

The output control unit 31 displays the remaining time display 46 on the display unit 23, thereby outputting the switching timing at which the traffic light 3 switches from red to blue to the driver of the host vehicle 2.
The output control unit 31 also outputs the timing information by sound through the speaker 24, as will be described later.
As described above, the output control unit 31 outputs the timing information to the driver of the host vehicle 2, thereby preventing the driver from overlooking the switch of the traffic light 3 to the blue color and prompting the driver. You can prompt the start.

In step S6, when the timing information is output to the driver of the host vehicle 2 by display and sound by the display unit 23, the output control unit 31 updates the distance information (step S7).
When the host vehicle 2 is moving, the host vehicle 2 may move to a position outside the range defined by the distance F. That is, the host vehicle 2 may pass through the traffic signal 3, In step S7, the output control unit 31 obtains the current position of the host vehicle 2 again, and obtains and updates the current distance information.

In step S5, when it is determined that the current traffic light 3 is not red, or the remaining time until the most recent switching timing is less than 10 seconds even if the color is red, the output control unit In step S8, the timing information is output only by display on the display unit 23, and the process proceeds to step S7.
That is, in step S5, when it is determined that the current lamp color of the traffic light 3 is not red, or the remaining time until the most recent switching timing is less than 10 seconds even if the lamp color is red, the output control unit 31 stops outputting the timing information by voice, and proceeds to step S7.

  When the current color of the traffic signal 3 is not red, the color is blue or yellow, and the vehicle 2 does not need a switching timing for switching the color of the traffic signal 3 from red to blue. The control unit 31 does not output timing information by sound.

In addition, even if the traffic light 3 is red, if the remaining time until the most recent switching timing is less than 10 seconds, the traffic light 3 is switched to blue for the output of the timing information by voice. May not be able to finish by. For this reason, the output control unit 31 does not output the timing information by sound when the remaining time until the latest switching timing is less than 10 seconds.
As a result, the output control unit 31 can finish outputting the timing information by sound before reaching the latest switching timing, and can appropriately output the timing information to the driver.
Here, “10 seconds” as the predetermined time is set as the time required to finish outputting the timing information.
In step S8, the timing information is output only by display on the display unit 23, and the output of the timing information by voice is stopped. However, in step S8, the output of the timing information by the display unit 23 may be stopped. .

In step S7, when the distance information is updated, the output control unit 31 returns to step S3, and determines whether or not the distance D is equal to or less than a preset threshold Th1 (step S3).
When the own vehicle 2 moves, the own vehicle 2 passes through the traffic signal 3, deviates from the side road, and moves to a position deviated from the range defined by the distance F, the output control unit 31 As a result of the determination in step S3, the process returns to step S1 to newly acquire distance information and signal control information.

On the other hand, when the own vehicle 2 is stopped by waiting for a signal in the traffic signal 3, the own vehicle 2 hardly moves. Therefore, in step S3, the output control unit 31 determines that the distance D is equal to or less than a preset threshold Th1. It will be determined that there is. Thereafter, the output control unit 31 executes the processes after step S4.
In this way, the output control unit 31 repeats steps S3 to S7 and executes the start support process until the traffic light 3 turns blue and the host vehicle 2 starts moving.

[4. Timing information output mode)
As described above, the output control unit 31 determines in step S6 (FIG. 3) that the traffic signal 3 is a period in which red is lit as the lamp color and the remaining time until the latest switching timing is 10 seconds or more. Then, timing information indicating the switching timing is output to the driver of the host vehicle 2.

  FIG. 6 is a diagram showing variations in the signal remaining time display 40 by the display unit 23 and the sound output by the speaker 24 output by the output control unit 31, and (a) shows that the traffic light 3 starts to light red. The figure which shows the output mode immediately after, (b) is the figure which shows the output mode after half of the red lighting period in the traffic signal 3 passes, (c) is the switching timing, and the traffic signal 3 is green signal It is a figure which shows the output mode immediately after switching to.

  When the traffic signal 3 is immediately after the red lighting starts, the output control unit 31 displays the lamp color display 45 of the signal remaining time display 40 by the display unit 23 in red, as shown in FIG. The remaining time display 46 is displayed with the longest length. As a result, the output control unit 31 displays that the switching timing is after the lapse of the entire red lighting period.

  In addition, the output control unit 31 notifies the lamp color information that “It is a red signal now” by the sound from the speaker 24. In this case, timing information is not included in the audio output.

  As described above, the output control unit 31 outputs the timing information regarding the switching timing by the remaining time display 46 in the display unit 23.

When half of the red lighting period in the traffic signal 3 has passed, the output control unit 31 displays the lamp color display 45 of the signal remaining time display 40 by the display unit 23 in red, as shown in FIG. The remaining time display 46 is displayed by shortening the length so as to be a length corresponding to the remaining time of the red lighting period. As a result, the output control unit 31 displays that the switching timing is after the remaining time of the red lighting period, which is represented by the length of the remaining time display 46.
Further, the output control unit 31 informs that the information on the light color and the switching timing are about to be reached, “Please pay attention to the signal that will soon turn blue” by the sound from the speaker 24.
In this case, the output control unit 31 outputs the timing information regarding the switching timing by the remaining time display 46 on the display unit 23 and the sound from the speaker 24.

Thus, the output control part 31 of this embodiment changes the output mode of timing information according to the remaining time of the red lighting period in the traffic signal 3, and outputs it.
Thereby, timing information can be provided to the driver of the host vehicle 2 in an appropriate manner corresponding to the remaining time of the red lighting period.

When the switching timing elapses and the traffic light 3 switches to a green signal, the output control unit 31 displays the lamp color display 45 of the signal remaining time display 40 by the display unit 23 in blue as shown in FIG. The remaining time display 46 is displayed with the longest length. As a result, the output control unit 31 displays the remaining time of the blue lighting period. Therefore, in this case, the signal remaining time display 40 does not include timing information.
Further, the output control unit 31 notifies the light color information that “Please be careful about the signal that is a green signal right now” by the sound from the speaker 24. Therefore, the sound output from the speaker 24 also does not include timing information.
Thus, the output control part 31 will complete | finish the output of the timing information regarding switching timing, if switching timing passes.

[5. (Effect)
The travel support device 1 of the present embodiment includes distance information indicating the distance from the own vehicle 2 to the stop line 35 where the traffic signal 3 in front of the own vehicle 2 is installed, and signal control used for the light color control of the traffic signal 3 Based on the acquisition control unit 30 for acquiring information and the signal control information, the switching timing at which the light color of the traffic signal device 3 switches from red to blue is specified, and the timing information indicating the specified switching timing is provided to the driver of the host vehicle 2 And an output control unit 31 that executes driving support by outputting to the vehicle, and the output control unit 31 is configured to control the output of timing information based on the distance information.

  According to the travel support device 1 having the above configuration, it is possible to determine whether or not the host vehicle 2 is present at a position where there is a possibility of waiting for a signal at the traffic signal 3 ahead based on the distance information. And output timing information. As a result, it is possible to appropriately determine whether or not the situation should support driving and to support driving.

  Further, in the present embodiment, the output control unit 31 outputs timing information when the distance information is equal to or less than the threshold value Th1, and therefore it is possible to control whether to output timing information according to the threshold value Th1.

Furthermore, in the present embodiment, the threshold Th1 is set to approximately the time lag when the switching timing arrives and the light color of the traffic signal 3 switches to blue when the vehicle 2 is stopped due to the signal waiting in the traffic signal 3. When the distance D indicated by the distance information is determined to be equal to or less than the threshold value Th1 because the maximum value of the distance indicating the position of the vehicle 2 that is highly necessary to start the vehicle 2 is set (step S3). The output control unit 31 is located within a range defined by the distance F, the own vehicle 2 is present at a position relatively close to the traffic signal signal 3 below the traffic signal, and the own vehicle 2 is signaled by the traffic signal signal 3. It can be determined that there is a possibility of waiting.
Accordingly, whether or not the timing information can be output can be controlled according to whether or not the host vehicle 2 may wait for a signal at the traffic light 3.

  In addition, when the vehicle 2 is stopped due to a signal waiting in the traffic signal 3 when the threshold value Th1 is reached, when the switching timing arrives and the light color of the traffic signal 3 is switched to blue, the vehicle 2 is set with almost no time lag. A vehicle located in a range defined by the distance F (FIG. 4) in which the timing information should be required by setting the maximum value among the distances indicating the position of the vehicle 2 that is highly required to start. Timing information can be output to two drivers.

It should be noted that the vehicle 2 positioned in the downstream side range of the range of the distance F (FIG. 4) depends on the vehicle 2 that stops in front of the vehicle 2, and therefore there is a high possibility that a time lag will occur when starting. Become.
For this reason, it is less necessary to give information related to starting support to the driver of the vehicle 2 located in the range downstream of the range of the distance F. Therefore, in this embodiment, when located in the range downstream from the range of the distance F, the driving support device 1 is configured not to output timing information.
However, by appropriately adjusting the setting range of the distance F, the timing information may be set to be output to the driver of the vehicle 2 that is less required to provide information related to starting support.

  Further, as described above, when the vehicle 2 is present at a position where there is a possibility of waiting for a signal at the traffic signal 3 and the light color of the traffic signal 3 is red, the vehicle 2 is waiting for a signal at the traffic signal 3. It can be determined that In this respect, the output control unit 31 outputs timing information during the lighting period in which the traffic light 3 is red, so that the timing information is output after appropriately determining that the vehicle is waiting for the signal. Can do.

[6. Conclusion)
Each said embodiment is an illustration and is not restrictive.
For example, in step S5 in FIG. 3, it is determined whether or not the current lamp color in the traffic signal 3 ahead of the host vehicle 2 is red and the remaining time until the most recent switching timing is 10 seconds or more. “10 seconds” can be appropriately changed according to the output mode of the timing information in step S6. Further, the predetermined time can be set to “0 seconds”.

In the above embodiment, in step S5 of FIG. 3, if the remaining time until the most recent switching timing is less than 10 seconds even if the traffic light 3 is red, the timing information is output by voice. However, the output of the timing information by voice may be continued as it is.
At this time, until the light color of the traffic light 3 becomes blue, the output control unit 31 outputs the timing information by continuing the output mode shown in FIG.
In other words, the output control unit 31 displays the remaining time display 46 by shortening the length so as to correspond to the remaining time of the red lighting period, and “soon to turn blue by the sound from the speaker 24”. Please pay attention to the signal ", it will inform you that the information of the lamp color and the switching timing will be soon.
In this case, the output control unit 31 can output the timing information regarding the switching timing by the remaining time display 46 on the display unit 23 and the sound from the speaker 24 until immediately before the traffic light 3 switches to blue.

  The embodiment disclosed this time should be considered as illustrative in all points and not restrictive. The scope of the present invention is defined by the terms of the claims, rather than the meanings described above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

1 Driving support device 2 Vehicle (own vehicle)
DESCRIPTION OF SYMBOLS 3 Traffic signal device 4 Roadside communication device 5 Optical beacon 6 Central apparatus 7 Communication line 10 Optical communication device 11 Wireless communication device 13 Vehicle control part 20 Control part 21 Storage part 22 Operation part 23 Display part 24 Speaker 25 Receiver 26 Gyro sensor 27 Communication Section 30 Acquisition control section 31 Output control section 35 Stop line 40 Time display 41 Road map image 42 Pointer 43 Road portion 45 Light color display 46 Time display A1 to A5 Intersection E Control section

Claims (8)

A driving support device mounted on a vehicle,
An acquisition unit that acquires distance information indicating a distance from the vehicle to a stop line where a traffic signal in front of the vehicle is installed, and signal control information used for lamp color control of the traffic signal,
Based on the signal control information, the timing at which the traffic signal is switched from a stop display that restricts the progress of the vehicle to a progress permission display that permits the progress of the vehicle is identified, and timing information indicating the identified timing is provided for the vehicle. An output control unit that executes driving support by outputting to the driver;
With
The output control unit is a travel support device that controls output of the timing information based on the distance information.   The driving support device according to claim 1, wherein the output control unit outputs the timing information when the distance information is equal to or less than a predetermined threshold.   The threshold is required to start the vehicle with almost no time lag when the timing signal arrives and the traffic signal switches to a progress permission display when the vehicle is stopped due to a signal waiting at the traffic signal. The driving support device according to claim 2, wherein the driving support device is set to a maximum value among distances indicating a position of the vehicle having high performance.   The travel support apparatus according to claim 2 or 3, wherein the output control unit outputs the timing information during a period in which the traffic signal is the stop display.   The driving support device according to claim 4, wherein the output control unit outputs the timing information when the traffic signal is in the stop display and the remaining time until the latest timing is a predetermined time or more. .   The driving support device according to claim 5, wherein the predetermined time is a time required to finish outputting the timing information. A method for providing driving assistance to a driver of a vehicle,
A first step of obtaining distance information indicating a distance from the vehicle to a stop line on which a traffic signal in front of the vehicle is installed, and signal control information used for lamp color control of the traffic signal;
Based on the signal control information, the timing at which the traffic signal is switched from a stop display that restricts the progress of the vehicle to a progress permission display that permits the progress of the vehicle is identified, and timing information indicating the identified timing is provided for the vehicle. A second step of performing driving support by outputting to the driver;
Including
The second step is a driving support method for controlling an output of the timing information based on the distance information. A computer program for causing a computer to execute processing for driving support for a vehicle driver,
A first step of acquiring distance information indicating a distance from the vehicle to a stop line on which a traffic signal in front of the vehicle is installed, and signal control information used for lamp color control of the traffic signal;
Based on the signal control information, the timing at which the traffic signal is switched from a stop display that restricts the progress of the vehicle to a progress permission display that permits the progress of the vehicle is identified, and timing information indicating the identified timing is provided for the vehicle. A second step of performing driving support by outputting to the driver;
A computer program for executing
The second step is a computer program for controlling the output of the timing information based on the distance information.

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