JP2019032573A5

JP2019032573A5 -

Info

Publication number: JP2019032573A5
Application number: JP2017151384A
Authority: JP
Filing date: 2017-08-04
Publication date: 2019-04-11
Anticipated expiration: 2037-08-04

Description

運転支援システム１００は、路側機２００と、運転支援装置３００とを含む。路側機２００は、運転支援対象の各交差点に設置される。運転支援装置３００は、例えば、車両に搭載されたカーナビゲーション装置に含まれる車載器である。運転支援装置３００は、カーナビゲーション機能を備えるモバイル端末であってもよい。 Driving support system 100 includes a roadside device 200, and a driving support apparatus 300. The roadside machine 200 is installed at each intersection to be driven. The driving support device 300 is, for example, a vehicle-mounted device included in a car navigation device mounted on a vehicle. The driving support device 300 may be a mobile terminal having a car navigation function.

進入方路判定部６０２は、自車位置とノードｎ−１とを結ぶ直線と、ノードｎ−１、ノードｎ間を結ぶ直線とが成す角度θαが９０度より小さいか否かを判定する（ステップＳ１５）。角度θαが９０度より小さい場合（ステップＳ１５のＹＥＳ）には、進入方路判定部６０２は、自車位置とノードｎとを結ぶ直線と、ノードｎ、ノードｎ−１間を結ぶ直線とが成す角度θβが９０度より小さいか否かを判定する（ステップＳ１６）。角度θβが９０度より小さい場合（ステップＳ１６のＹＥＳ）には、進入方路判定部６０２は、ステップＳ１４で抽出した２点のノードｎ−１、ノードｎ間を自車が通過中と判定する（ステップＳ１７）。 Approach route determining unit 602 determines a straight line connecting the vehicle position and the node n-1, the node n-1, whether or not an angle θα formed between straight line connecting the node n is less than 90 degrees ( Step S15). When the angle θα is smaller than 90 degrees (YES in step S15), the approach route determination unit 602 generates a straight line connecting the vehicle position and the node n and a straight line connecting the node n and the node n−1. It is determined whether or not the formed angle θβ is smaller than 90 degrees (step S16). In the case the angle θβ is less than 90 degrees (YES in step S 16), enters route determining unit 602, a node n-1 two points extracted in step S14, the nodes n and passing the host vehicle determined (Step S 17 ).

このため、ＧＰＳ受信機８１１の精度に強く依存される自車位置の情報のみならず、道路線形情報から算出される流入方路の道路幅に含まれるか判定することにより、進入方路を判定することができるため、進入方路の判定精度を向上させることができる。そのため、例えば、自車が走行経路に隣接する駐車場内を走行経路に沿って走行しているにもかかわらず、走行経路を走行していると誤判定するリスクを低減することができる。そして、この精度の高い進入方路の判定結果を用いた運転支援を行うことができる。 For this reason, the approach route is determined by determining whether it is included in the road width of the inflow route calculated from the road alignment information as well as the vehicle position information that strongly depends on the accuracy of the GPS receiver 811. Therefore, it is possible to improve the determination accuracy of the approach route. Therefore, for example, it is possible to reduce the risk of erroneously determining that the vehicle is traveling along the travel route even though the vehicle travels along the travel route in a parking lot adjacent to the travel route. And driving assistance using the determination result of this approach route with high accuracy can be performed.

また、本実施形態の運転支援装置３００では、自車位置としてマップマッチングにより位置精度が向上した自車位置情報を用いて進入方路が判定される。このためＧＰＳ受信機８１１により出力される位置情報よりも精度の高い位置情報を用いて、道路幅に含まれるか否かの判定を行うことができる。その結果、進入方路の判定精度を向上させることができる。 Moreover, in the driving assistance apparatus 300 of this embodiment, an approach route is determined using the own vehicle position information whose position accuracy is improved by map matching as the own vehicle position. Thus by using the position information accurate than the position information output by the GPS receiver 811 can be performed is determined whether or not included in the road width. As a result, the determination accuracy of the approach route can be improved.

Claims

Information indicating the positions of a plurality of nodes configured along each road constituting the intersection satin, a road shape information obtaining unit for obtaining road shape information including the information about the road width of the road,
Among the positions of the multiple nodes, it calculates a line segment connecting the position of any two points close to the vehicle position indicating the current position of the vehicle, the shortest distance between the vehicle position, the minimum distance If, on the basis of the information about the road width of the road at the location of the arbitrary two points, wherein the ingress side determines the approach route is the road vehicle both enters road determination unit among the road When,
A driving support apparatus comprising:

The approach route determination unit, and the line segment, and the angle formed between a line segment connecting the one end and the vehicle position of the line segment, based on the distance until said vehicle position from said one end, said driving support apparatus according to claim 1, characterized in that to calculate the shortest distance.

Information about the road width of the road may include information representing the number of lanes of the road,
The said approach route determination part calculates the road width of the said road based on the information showing the said lane number, and determines the said approach route based on the said road width and the said shortest distance. Item 3. The driving support device according to item 1 or 2.

The approach route determination unit further includes
The driving support device according to any one of claims 1 to 3 , wherein it is determined whether or not the vehicle is passing between the two arbitrary positions .

Obtaining road alignment information including information indicating the positions of a plurality of nodes set along each road constituting the intersection and information on the road width of the road ;
Among the positions of the multiple nodes, it calculates a line segment connecting the position of any two points close to the vehicle position indicating the current position of the vehicle, the shortest distance between the vehicle position,
And the minimum distance, on the basis of the information about the road width of the road at the location of the arbitrary two points, the process of determining the approach route is the road which the vehicle both enters among the road A driving support program that is executed by a computer.

Obtaining road alignment information including information indicating the positions of a plurality of nodes set along each road constituting the intersection and information on the road width of the road ;
Among the positions of the multiple nodes, it calculates a line segment connecting the position of any two points close to the vehicle position indicating the current position of the vehicle, the shortest distance between the vehicle position,
And the minimum distance, on the basis of the information about the road width of the road at the location of the arbitrary two points, the process of determining the approach route is the road which the vehicle both enters among the road A driving support method executed by a computer.

A driving support system including a roadside machine and a driving support device,
The roadside machine
To the driving support device, information indicating the position of a plurality of nodes set along each road constituting the intersection of the driving support target, and road linear information including information on the road width of the road ,
The driving support device includes:
A road alignment information acquisition unit for acquiring the road alignment information transmitted from the roadside machine;
Among the positions of the multiple nodes, it calculates a line segment connecting the position of any two points close to the vehicle position indicating the current position of the vehicle, the shortest distance between the vehicle position, the minimum distance If, on the basis of the information about the road width of the road at the location of the arbitrary two points, wherein the ingress side determines the approach route is the road vehicle both enters road determination unit among the road When,
A driving support system comprising: