JP2019109795A - Driving support device and driving support system - Google Patents

Abstract

To provide a driving support device capable of quickly and reliably notifying other vehicles of a dangerous situation such as jumping out.SOLUTION: When an on-vehicle apparatus according to the present invention detects a jumping out P around the own vehicle M1, the on-vehicle apparatus notifies a first warning about the jumping out P to all unspecified vehicles Q1, Q2, and Q3 around the own vehicle via an inter-vehicle communication; after the notification of the first warning, identifies a vehicle Q that is a target of jumping out P; and notifies a second warning to the specified vehicle Q. In this way, a loss time required to specify the target vehicle Q is eliminated, and a time until notification of the warning of the jumping out P is notified is minimized.SELECTED DRAWING: Figure 6

Description

  The present invention relates to a driving support apparatus using inter-vehicle communication, and more particularly to a method for notifying another vehicle of a dangerous situation.

  In order to prevent collisions between vehicles in advance, it is considered to share information such as the position of the vehicle, the traveling speed, the traveling direction, etc. among the vehicles using inter-vehicle communication. Using such inter-vehicle communication, target information detected in the vicinity of another vehicle is compared with target information detected in the vicinity of the host vehicle to extract target information of the blind spot of the host vehicle. Patent Document 1 discloses a driving support device for notifying the driver of Further, Patent Document 2 discloses a technique for notifying another vehicle of the danger when an object around the own vehicle may pose a danger to the other vehicle.

JP 2008-293099 A JP, 2009-157438, A

  When traveling on a narrow road, a busy road with few traffic streets, etc., it is easy for an accident due to a small child or a bicycle jumping out. It is considered to install a camera on a road with a lot of traffic, to provide information captured by the camera by communication between the vehicle and the camera to the vehicle, and to prevent the occurrence of an accident. Monitoring with a camera is practically difficult and very expensive. In particular, narrow alleys such as life roads have many popping out accidents, but it is not expected to install equipment such as a camera.

  On the other hand, as disclosed in Patent Documents 1 and 2, etc., there is a driving support system in which danger information is notified between vehicles using inter-vehicle communication, and this is shared. In this system, when a vehicle detects a dangerous situation such as popping out by using an on-vehicle camera or an on-vehicle sensor, a vehicle having a possibility of causing an accident is identified, and a warning is notified to the target vehicle.

  FIG. 1 shows an operation flow of warning notification using conventional inter-vehicle communication. For example, when the host vehicle detects a dangerous situation such as jumping out in front of the host vehicle (S100), the position coordinate at which the dangerous situation may occur is confirmed (S102), and then the dangerous vehicle is identified. A search is made (S104). In the search for a danger applicable vehicle, for example, a vehicle traveling on the opposite lane, a rear vehicle of the own vehicle, a turn signal light, and a vehicle overtaking the own vehicle are searched using an imaging camera, an obstacle sensor or the like. When the target vehicle is found as a result of the search for the risk applicable vehicle (S106), a warning indicating that there is a dangerous situation for the target vehicle is transmitted (S108), and the target vehicle receives the warning. (S110), the driver is notified of the warning (S112). On the other hand, when the target vehicle can not be found or missed in the danger applicable vehicle search, the notification of the warning is not performed (S114)

  However, the warning notification method as described above has the following problems. For example, as shown in FIG. 2 (A), when the host vehicle M detects a jumping out P of a child etc. in front of the host vehicle, it identifies a target vehicle Q to be a target of a warning. "Time loss of a car for specifying a target vehicle" occurs, and the timing of notifying a warning is delayed. Also, as shown in FIG. 2 (B), when the vehicle M is traveling on the left lane with two lanes on one side, if there is an obstacle such as another vehicle S traveling on the next lane, it is a warning target It becomes difficult to identify the target vehicle Q traveling in a certain opposite lane, and the target vehicle Q can not be found or overlooked, and a warning can not be notified.

  An object of the present invention is to provide a driving assistance apparatus and a driving assistance system capable of solving the above-mentioned conventional problems and notifying other vehicles of warnings for dangerous situations such as pop-up quickly and surely.

  In the driving support apparatus according to the present invention, the dangerous situation is detected by the detection means for detecting a dangerous situation around the host vehicle, the communication means for enabling communication with another vehicle by inter-vehicle communication, and the detection means And a warning means for notifying a warning regarding the dangerous situation via the communication means, the warning means notifying a first warning to an unspecified vehicle in the vicinity of the own vehicle, After notification of the warning, a vehicle targeted for the dangerous situation is identified, and a second warning is notified to the identified vehicle.

  In one embodiment, while notifying the first warning, the warning means executes a process of identifying a vehicle to be a target of the second warning. In one embodiment, the second alert includes control data for controlling a vehicle.

  A driving support system using inter-vehicle communication according to the present invention includes a detection unit that detects a dangerous situation around the first vehicle, and a communication unit that enables communication with another vehicle by inter-vehicle communication. And warning means for notifying surrounding unspecified vehicles of a warning including coordinate information that may cause a dangerous situation via the communication means when the dangerous situation is detected by the detection means, When it is determined that the second vehicle receiving the warning from the warning means is a determination means that determines whether the second vehicle is a warning target based on the coordinate information included in the warning, and a warning target , And notification means for notifying the driver of the warning received from the first vehicle.

  In one embodiment, the determination means determines that the second vehicle is in a dangerous situation when the second vehicle is away from a position where a dangerous situation may occur. When it is separated from the position where it may occur by a certain distance or more, it is determined that the second vehicle is not to be warned.

  According to the present invention, when a dangerous situation is detected around the host vehicle, the first warning is notified to the unspecified vehicle around the host vehicle, and the vehicle which becomes the target of the dangerous situation after the notification of the first warning As the second warning is notified to the specified vehicle, the loss time taken to specify the target vehicle can be eliminated, and the time for notifying the warning is minimized, and the warning It is possible to avoid an accident etc. due to notification delay. In addition, even when the vehicle to be the target of the second warning is missed, the first warning is notified to the nonspecific vehicle, so that the relief can be achieved. Furthermore, even if the vehicle on the receiving side does not specify the target vehicle in the dangerous situation, the false alarm can be avoided by determining whether the target vehicle is the target of the warning.

It is a flow which shows the method of the alert notification in the conventional inter-vehicle communication. It is a figure explaining the subject of the warning notification in the conventional inter-vehicle communication. It is a figure showing the schematic structure of the in-vehicle device which has the driving support function concerning the example of the present invention. It is a block diagram which shows the functional structure of the warning notification program which concerns on the 1st Example of this invention. It is a figure which shows the operation | movement flow of the alert notification which concerns on the 1st Example of this invention. It is a figure which shows an example of the warning notification by 1st Example of this invention. It is a block diagram which shows the functional structure of the alert notification program which concerns on the 2nd Example of this invention. It is a figure which shows the operation | movement flow of the alert notification which concerns on the 2nd Example of this invention.

  Next, embodiments of the present invention will be described in detail. The driving support device of the present invention can be an electronic device having a driving support function, and for example, it is fixedly mounted on a moving body such as a car or carried into a moving body. The electronic device may preferably be an on-vehicle device equipped with an inter-vehicle communication function for communicating with another vehicle, a function for detecting a dangerous situation around the host vehicle, a navigation function, and the like. In addition, such an on-vehicle apparatus has a function of reproducing audio and video data, a function of receiving television and radio broadcast, a function of communicating with a server via the Internet, etc., and a function of executing application software. You can also.

  Next, embodiments of the present invention will be described in detail with reference to the drawings. FIG. 3 is a block diagram showing the configuration of an in-vehicle apparatus having a driving support function according to an embodiment of the present invention. As shown in the figure, the on-vehicle apparatus 100 of this embodiment includes an imaging camera 110, a radar 120, a navigation unit 130, an inter-vehicle communication unit 140, a road-vehicle communication unit 150, a display unit 160, an audio output unit 170, and a storage unit. And 180 and a control unit 190. However, this configuration is an example, and the on-vehicle apparatus 100 may further include other functions.

  The imaging camera 110 is attached to, for example, the front, the side, the rear, and the like of the own vehicle, and images the periphery of the own vehicle. The imaging camera 110 can include an infrared camera capable of imaging even at night, or a stereo camera capable of measuring the distance of an object. Image data captured by the imaging camera 110 is provided to the control unit 190, and the image data is used to detect a dangerous situation occurring around the host vehicle.

  The radar 120 is attached to, for example, the front, the side, and the rear of the own vehicle, and detects an object (for example, another vehicle, a person, an obstacle, etc.) existing around the own vehicle. The information detected by the radar 120 includes the distance to the object, the movement amount or movement direction of the object, and the like. The detection result of the radar 120 is provided to the control unit 190, and the detection result is used to detect a dangerous situation occurring around the host vehicle.

  The navigation unit 130 calculates the vehicle position from the GPS signal transmitted from the GPS satellite, the angular velocity sensor, the acceleration sensor, etc., and guides the road map around the vehicle position. In addition, the route data to the destination is searched using the map data. In addition, the own vehicle position calculated by the navigation unit 130 is notified to other vehicles in inter-vehicle communication, or used to specify the absolute position or the like of a dangerous situation occurring around the own vehicle.

  The inter-vehicle communication unit 140 mutually communicates the traveling position, the traveling speed, the traveling direction, and the like of the own vehicle with other vehicles existing within a certain range from the own vehicle. In one embodiment, the inter-vehicle communication unit 140 transmits inter-vehicle data in a predetermined format. The inter-vehicle data includes, for example, a header portion and a content portion. The header portion includes a transmission destination address, a transmission source address, position information of the vehicle, etc. The content portion is a danger occurring around the vehicle. Includes information about the situation, etc. The transmission destination address is an address of the specific vehicle (for example, identification information of the specific vehicle or identification information of the inter-vehicle communication unit 140 mounted on the specific vehicle) when transmitting the inter-vehicle data to the specific vehicle is there. The transmission source address is an address of the own vehicle (for example, identification information of the own vehicle or identification information of the inter-vehicle communication unit 140 mounted on the own vehicle). Moreover, the positional information on the own vehicle contained in a header part can use what was calculated by the navigation part 130, for example.

  The inter-vehicle communication unit 140 has a function of transmitting inter-vehicle data to an unspecified vehicle, in addition to the function of transmitting inter-vehicle data to a specific vehicle. When transmitting inter-vehicle data to a non-specific vehicle, the inter-vehicle communication unit 140 sets the transmission destination address of the header portion to a predetermined special address.

  When the inter-vehicle communication unit 140 receives inter-vehicle data transmitted from another vehicle, it analyzes the header of the inter-vehicle data and determines whether the transmission destination address of the header matches the address of the own vehicle. If they match, it is determined that the inter-vehicle data is for the subject vehicle, and the data in the content section is processed. On the other hand, when the transmission destination address does not match the address of the own vehicle, the inter-vehicle data is not addressed to the own vehicle, so the data of the content portion is not processed and is not taken inside. However, if the transmission destination address is a special address for a non-specific vehicle, the inter-vehicle data communication unit 140 processes the data of the content unit and takes the information therein.

  The inter-vehicle communication unit 140 also has a function of transmitting inter-vehicle data at a constant interval, for example, to notify other vehicles that there is a vehicle capable of inter-vehicle communication. In this case, the destination address is either unset or default. The vehicle that has received the inter-vehicle data whose transmission destination address is not set simply decodes the source address of the header (address of the vehicle that transmitted the inter-vehicle data) and its position information, and the inter-vehicle communication Know that possible other vehicles exist.

  The road-vehicle communication unit 150 transmits and receives data to and from a roadside machine for data distribution set on a road or an imaging device installed on the road. For example, when passing through the roadside device, the road-to-vehicle communication unit 150 receives the information on the dangerous situation transmitted from the roadside device or the like, and provides the information to the control unit 190.

  The display unit 160 displays a road map around the vehicle position when the navigation unit 130 is executed, or displays a warning screen when a dangerous situation is detected as described later. The voice output unit 170 outputs a voice of route guidance by the navigation unit 130 or outputs a warning voice when a dangerous situation is detected.

  The storage unit 180 can store software executed by the control unit 190, data necessary for the in-vehicle apparatus 100, map data required for the navigation unit 130, and the like. The control unit 190 controls each unit of the in-vehicle apparatus 100. In a preferred embodiment, the control unit 190 is configured of a microcontroller or the like including a ROM, a RAM, etc., and the ROM or RAM stores a program for controlling each unit. In the present embodiment, the control unit 190 executes an alarm notification program when a dangerous situation is detected, as a part of the driving support function.

  FIG. 4 shows a functional configuration of the alarm notification program according to the first embodiment of the present invention. The alarm notification program 200 of the present embodiment includes a dangerous situation detection unit 210, a first alarm notification unit 220, and a second alarm notification unit 230.

  The dangerous situation detection unit 210 includes image data captured by the imaging camera 110, detection results of the radar 120, position information and map information obtained from the navigation unit 130, information obtained from the inter-vehicle communication unit 140, and the road-vehicle communication unit 150. Based on the information obtained from the vehicle, etc., to detect a dangerous situation occurring around the vehicle. Whether or not any situation or event is dangerous is defined in advance, and the dangerous situation detection unit 210 determines one that falls under this definition as a dangerous situation.

  For example, as shown in FIG. 2, when a child jumps out in front of the host vehicle M, the child moving toward the road is detected by analyzing the image data captured by the imaging camera 110, and the radar At 120, the distance from the host vehicle M to the child, the moving direction of the child, the moving speed of the child, etc. are detected. From the information, the dangerous situation detection unit 210 determines that there is a possibility of a child jumping out in front of the host vehicle M and that it is a dangerous situation. In addition, in the case where a camera installed on the road captures a shooting out of a child, it is also determined whether such information is in a dangerous situation, even if the jumping out of a child is detected by a vehicle ahead of the own vehicle. Can be referred to.

  In dangerous situations, in addition to the above, when falling objects such as tires and luggage are detected on the road ahead, the vehicle ahead of the own vehicle turns on the hazard lamp and stops while traveling on the expressway etc. In this case, when a motorcycle or the like is traveling on the side of the host vehicle, a dangerous situation may occur when a vehicle behind the host vehicle turns on a blinker to move to the overtaking lane. In particular, events that occur in areas that are blind to other vehicles are likely to be dangerous situations for other vehicles. For example, as shown in FIG. 2A, when a child's jumping out P occurs, the other vehicle Q traveling in the opposite lane, if there is a forward vehicle traveling in front of the own vehicle M, the child's jumping out P This jumping out P is a very dangerous situation for the other vehicle Q because it becomes a blind spot. Also in the case of FIG. 2 (B), the other vehicle Q traveling in the opposite lane is in a very dangerous situation because the child's jumping out P becomes a blind spot due to the presence of the vehicle S.

  The first warning notifying unit 220 warns at the same time to unspecified other vehicles existing around the host vehicle M via the inter-vehicle communication unit 140 where the dangerous situation detecting unit 210 detects a dangerous situation. To notify. That is, the first warning notification unit 220 sets the transmission destination address of the header section to a special address for an unspecified vehicle, and, for example, position information at which a dangerous situation occurs and the warning level of the first stage in the content section. Warning information to be shown, code information representing a dangerous situation if possible, is set, and such inter-vehicle data is broadcasted simultaneously via the inter-vehicle communication unit 140. When the other vehicle present around the own vehicle receives the broadcasted inter-vehicle data, the inter-vehicle data is processed and taken in because the transmission address is a special address.

  The second warning notification unit 230 transmits the inter-vehicle data to the other vehicle after specifying the other vehicle to be warned, as in the conventional case. That is, the transmission destination address of the header portion is set to the address of the identified other vehicle, and the content portion, for example, position information where a dangerous situation occurs, warning information indicating the second degree of warning, Code information representing a dangerous situation is set, and such inter-vehicle data is transmitted via the inter-vehicle communication unit 140. In a preferable aspect, while the first warning notification unit 220 notifies the first warning, the second warning notification unit 230 performs processing for specifying another vehicle to which the second warning should be notified in parallel.

  Next, the warning notification operation of the present embodiment will be described with reference to the flow of FIG. The steps from step S100 to step S112 are substantially the same as the conventional steps shown in FIG. First, when a dangerous situation is detected by the dangerous situation detection unit 210 (S100), the first warning notification unit 220 sends a first-step warning to all unspecified vehicles in the vicinity of the own vehicle (S100). S120). Specifically, as described above, the first warning communication unit 220 sets the transmission address to the special address, and the location information where the dangerous situation occurs, the code information indicating the dangerous situation, the warning of the first stage Send inter-vehicle data including:

  An example of notification by the first warning notification unit 220 is shown in FIG. When the host vehicle M detects a dangerous situation in which the child P jumps forward, it detects the inter-vehicle data including the position information at which the pop P occurred and the warning at the first stage to all vehicles Q1, Q2, Q3 around the host vehicle. send. The inter-vehicle communication unit 140 of each of the other vehicles Q1, Q2, and Q3 identifies that the header portion of the inter-vehicle data is a special address, and processes the inter-vehicle data. In the first stage of warning, the degree of warning is relatively low, and the other vehicles Q1, Q2 and Q3 are warned from the display unit 160 and / or the voice output unit 170, such as "Please drive carefully" Output to alert the driver. Also, if the inter-vehicle data includes code information representing a dangerous situation, the code information is deciphered, and a warning such as "May be jumped out. Please drive with caution." May be output.

  While the first warning notification unit 220 is notified of the first-stage warning, the second warning notification unit 230 checks the coordinates at which the dangerous situation is detected (S102), and searches for a vehicle corresponding to the danger. (S104). When a dangerous situation occurs in front of the host vehicle as shown in FIG. 6, another oncoming vehicle Q3 approaching the occurrence of the dangerous situation is searched. The search method includes, for example, image data captured by the imaging camera 110, detection results of the radar 120, map data of the navigation unit 130, and other vehicles present in an area that can communicate with the vehicle by the inter-vehicle communication unit 140. It is done using information.

  When the second warning notification unit 220 specifies the target vehicle (S106), the second warning notification unit 220 sets the address of the target vehicle in the transmission destination address of the header section, and the position information where the dangerous situation occurs in the content section, the code indicating the dangerous situation The inter-vehicle data including the information and the warning of the second stage is created and sent to the target vehicle (S108). When the target vehicle receives the inter-vehicle data directed to the host vehicle (S110), the target vehicle decodes the data of the content section, and outputs a second step warning from the display section 160 and / or the audio output section 170 (S112). In the second stage of warning, the degree of warning is relatively high, and the target vehicle gives a more specific warning than the first stage of warning, and further controls the operation of the target vehicle in the content part of the inter-vehicle data. Control data (for example, reducing the speed of the target vehicle, controlling the brakes of the target vehicle, etc.) may be included, and vehicle control may be performed in the target vehicle according to the control data.

  An example of notification by the first warning notification unit 230 is shown in FIG. As shown in the figure, the host vehicle M searches for another vehicle Q3 traveling in the opposite lane as a target vehicle, and transmits inter-vehicle data including a warning at the second stage to the other vehicle Q3. The other vehicle Q3 receives the inter-vehicle data, and notifies in accordance with the content of the second stage warning contained therein, or implements control regarding the traveling of the other vehicle Q3.

  As described above, according to the present embodiment, the warning of the first stage is notified before specifying the target vehicle, so that the loss time required to specify the target vehicle can be eliminated, and the warning is notified. Time can be minimized and other vehicles can be quickly alerted. This enables other vehicles to perform a response action with a margin for dangerous situations. Furthermore, since the first stage warning notification is given to all the vehicles, if the second stage warning target vehicle can not be found or missed, the relief should be provided. Can.

  Next, a second embodiment of the present invention will be described. FIG. 7 shows a functional configuration of the warning notification program 200A according to the second embodiment. Although the warning notification program 200A includes the dangerous situation detection unit 210 and the first warning notification unit 220, unlike the first embodiment, the warning notification program 200A does not include the second warning notification unit, and instead the warning target determination unit 240 Including. The dangerous situation detection unit 210 and the first warning notification unit are the same as in the first embodiment, and thus the description thereof is omitted here.

  The warning target determination unit 240 operates when receiving the inter-vehicle data. That is, when a dangerous situation is detected, the first warning notification unit 220 creates inter-vehicle data including position coordinates at which a dangerous situation may occur, and transmits this to the vehicles around the vehicle. . On the other hand, in the other vehicle that has received the inter-vehicle data, the warning target determination unit 240 checks position coordinates at which the dangerous situation included in the inter-vehicle data may occur, and determines whether it is a warning target from its own traveling situation. Determine your own. For example, if the user is at a standstill, if the user is gradually away from the position where a dangerous situation may occur, the user is at a certain distance or more from the position where the dangerous situation may occur. If it does, it determines that it is not the target of the alert and does not notify the driver of the alert.

  FIG. 8 is a flow for explaining the warning notification operation according to the second embodiment. Here, for convenience, the vehicle on the side of detecting a dangerous situation is referred to as a "danger detecting vehicle", and the vehicle on the side of receiving inter-vehicle data is referred to as a "receiving side vehicle".

  First, in the danger detection vehicle, a dangerous situation is detected by the dangerous situation detection unit 210 (200), and the first warning notification unit 220 checks position coordinates at which the detected dangerous situation may occur ((2) S202). For example, based on the absolute position of the vehicle of the danger detection vehicle and the relative position to the object detected by the radar 120 of the danger detection vehicle, position coordinates at which a dangerous situation may occur are specified. The position coordinates do not have to be points, but may be coordinates indicating a two-dimensional space. As in the case of the first embodiment, the first warning communication unit 220 sets a special address for an unspecified vehicle as a transmission destination address of the header unit, and there is a possibility that a dangerous situation may occur in the content unit. Vehicle-to-vehicle data in which a certain position coordinate, code information indicating a dangerous situation, and contents of the first stage warning are set is created, and the created vehicle-to-vehicle data is transmitted to vehicles around the vehicle (S204).

  The receiving vehicle receives the inter-vehicle data (S206), analyzes the header portion, recognizes that it is the inter-vehicle data transmitted to the unspecified vehicle, and analyzes the data of the content portion. The warning target determination unit 240 checks coordinates at which a dangerous situation may occur (S208), and determines whether or not the self is a warning target (S210). When it is determined that the warning is to be issued, a warning is output from the display unit 160 and / or the voice output unit 170 to alert the driver. On the other hand, when it is determined that the warning is not to be issued, the warning is not notified from the display unit 160 and the voice output unit 170 (S214).

  According to this embodiment, since the danger detection vehicle does not need to specify the vehicle to be warned, the target vehicle is prevented from missing. In addition, since the receiving side vehicle itself determines whether or not it is a warning target, it is possible to avoid an erroneous warning notification.

  Although the preferred embodiments of the present invention have been described above in detail, the present invention is not limited to the specific embodiments, and various modifications may be made within the scope of the present invention as set forth in the claims. Modifications and changes are possible.

100: in-vehicle device 110: imaging camera 120: radar 130: navigation unit 140: inter-vehicle communication unit 150: road-vehicle communication unit 160: display unit 170: voice output unit 180: storage unit 190: control unit

Claims (5)

Detection means for detecting a dangerous situation around the host vehicle;
Communication means for enabling communication with other vehicles by inter-vehicle communication;
And warning means for notifying of a warning regarding the dangerous situation via the communication means when the dangerous situation is detected by the detection means;
The warning means notifies a first warning to an unspecified vehicle in the vicinity of the host vehicle, identifies the vehicle to be a target of the dangerous situation after notifying the first warning, and The driving support device that notifies the warning of 2. The driving support device according to claim 1, wherein the warning unit executes a process of specifying a vehicle to be a target of the second warning while notifying the first warning. The driving support device according to claim 1, wherein the second warning includes control data for controlling a vehicle. A driving support system using inter-vehicle communication,
The first vehicle is
Detection means for detecting a dangerous situation in the vicinity;
Communication means for enabling communication with other vehicles by inter-vehicle communication;
And warning means for notifying surrounding unspecified vehicles of a warning including coordinate information that may cause a dangerous situation via the communication means when the dangerous situation is detected by the detection means,
The second vehicle that has received the warning from the warning means is:
A determination unit that determines whether the second vehicle is a warning target based on the coordinate information included in the warning;
And a notification unit that notifies the driver of the warning received from the first vehicle when it is determined that the warning is to be issued. The determination means may, when the second vehicle is at a standstill, move the second vehicle from the position where a dangerous situation may occur, the second vehicle may cause a dangerous situation. The driving support system according to claim 4, wherein the second vehicle is determined not to be a target of warning when it is separated from a certain position by a predetermined distance or more.

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