JP4513557B2 - Information providing apparatus for vehicle and information providing method thereof - Google Patents

Description

  The present invention belongs to the technical field of a vehicle information providing apparatus that notifies a driver of an approach with another vehicle.

As a conventional vehicle information providing device, in order to accurately determine the possibility of a collision with another vehicle, the time during which the vehicle and the other vehicle exist in the intersection area is predicted, and the vehicle can be approached according to the degree of overlap. An encounter collision prevention support system that determines sex and provides information on other vehicles to a driver has been proposed (see, for example, Patent Document 1).
JP 2002-163789 A

  However, in the above prior art, when there is a possibility of approaching another vehicle at an intersection, the driver is always informed of the approach of the other vehicle to the driver of the own vehicle. For example, the driver can visually observe the approach of the other vehicle. Even in a scene where approach information of other vehicles is unnecessary, such as an intersection with good visibility, the approach of other vehicles is notified. This may seem annoying for the driver. Similarly, at an intersection where visibility is not good, if the vehicle moves forward and reaches a position where the other vehicle can be seen, the driver can already see the other vehicle, even though the other vehicle is already visible. Since the approach is notified, the driver may feel troublesome.

  The present invention has been made paying attention to the above-mentioned problem, and an object of the present invention is to provide a vehicle information providing apparatus that can notify only information necessary for the driver and prevent notification of unnecessary information. is there.

In order to achieve the above object, the present invention provides:
A driver driving condition estimating means for estimating the driving condition of the driver;
Based on the driver driving condition estimated by the driver driving condition estimating means, the driving condition recognized by the driver and the driving condition not recognized are estimated, and information corresponding to the driving condition not recognized by the driver is provided. Information providing content selection means for selecting content;
Information providing means for providing driving information to the driver based on the information providing content selected by the information providing content selecting means;
A radio that transmits and receives data between the vehicle and the surrounding vehicles,
Equipped with a,
The driver traveling state estimating means includes
A stop intersection presence / absence detecting means for detecting the presence / absence of an intersection to be temporarily stopped in front;
Intersection recognition estimation means for estimating whether the driver recognizes the intersection;
An approaching vehicle identifying means for identifying an approaching vehicle to be notified to the driver;
Approaching vehicle recognition estimation means for estimating whether the driver recognizes an approaching vehicle;
Have
The approaching vehicle recognition estimating means sets a threshold value of the received radio wave intensity of the radio device according to a distance between the own vehicle and the approaching vehicle, and if the received radio wave intensity of the radio device is larger than the threshold value, the driver the approaching car is visible state, we characterized that you determined to be aware of the approaching vehicle.

  Therefore, in the present invention, only the driving information according to the driving situation estimated to be not recognized by the driver is provided, so only the information required by the driver can be notified, and unnecessary information is prevented from being notified. it can.

  Hereinafter, the best mode for carrying out the present invention will be described based on Examples 1 to 5.

First, the configuration will be described.
FIG. 1 is a system configuration diagram of the vehicle information providing apparatus according to the first embodiment.
The vehicle information providing apparatus according to the first embodiment includes a controller 1, a vehicle speed sensor 2, a vehicle surrounding detection radar sensor (laser radar) 3, a navigation device 4, a winker operation signal 5, a radio device 6, and display sound. And a device 7.

  The vehicle speed sensor 2 detects the speed of the host vehicle and outputs the detected host vehicle speed to the controller 1. The vehicle surrounding detection radar sensor 3 is a radar sensor that detects a vehicle around the host vehicle, and outputs a detection result to the controller 1.

  The navigation device 4 transmits to the controller 1 information on the position of the own vehicle, information on priority / non-priority of the road on which the vehicle is traveling, and information on priority / non-priority of the surrounding roads. The winker operation signal 5 is a driver winker operation signal, and determines whether the vehicle is turning right or left, and outputs the determination result to the controller 1.

  The wireless device 6 is used for the controller 1 to exchange data with surrounding vehicles, and transmits the own vehicle speed detected by the vehicle speed sensor 2 and the information obtained from the navigation device 4, and from the surrounding vehicles. Receive the information. In the first embodiment, it is assumed that surrounding vehicles are also equipped with a system similar to the system shown in FIG. The display audio device 7 is a device for notifying the driver of information.

  The controller 1 determines whether or not to notify the driver of the approach of the surrounding vehicle based on the information on the own vehicle and the surrounding vehicle and the driving situation where the driver is placed, and the driving information corresponding to the determination result, The driver is notified using the display audio device 7.

Next, the operation will be described.
[Operation information provision control processing].
FIG. 2 is a flowchart showing the flow of the driving information provision control process executed by the controller 1, and each step will be described below. This process is executed at regular intervals.

In step S1, each data of the own vehicle sensor is received, and the process proceeds to step S2.
(1) The vehicle speed vh is read from the vehicle speed sensor 2.
(2) From the navigation device 4, the own vehicle coordinates (xh, yh), the traveling direction angh, the coordinates of the intersection in front of the own vehicle (xc, yc), the road type rh of the road on which the own vehicle runs, and the intersection in front of the own vehicle The road type rhf of the road to be read is read. Here, the road type value is a variable in which a larger value is set for a road with higher priority.
(3) Read the driver's blinker operation from the blinker operation signal 5.

  Step S1 corresponds to a temporarily stopped intersection presence / absence detecting means for detecting the presence / absence of a previously stopped intersection and an intersection recognition estimating means for estimating whether or not the driver recognizes the intersection.

  In step S2, the road type rh of the road on which the vehicle travels received in step S1 is compared with the road type rhf of the road intersecting in front of the vehicle, and the process proceeds to step S3. If the priority of the road type rh of the road on which the vehicle is traveling is high, it is determined that the vehicle is on the priority road. Otherwise, it is determined that the vehicle is on a non-priority road.

In step S3, data is transmitted / received to / from surrounding vehicles using the wireless device 6, and the process proceeds to step S4. The data measured in step S1 is used as data to be transmitted. The data to be received is data of surrounding vehicles.
At this time, assuming that the data of n surrounding vehicles are received, the xy coordinates of the surrounding vehicles, the traveling direction ang, the road type r traveling, the vehicle speed v, and the radio field intensity e received wirelessly measured from the navigation device 4 are respectively obtained.
x1, y1, ang1, r1, v1, e1
x2, y2, ang2, r2, v2, e2
......
xn, yn, angn, rn, vn, en
And

In step S4, a target vehicle for calculating the approach determination of another vehicle is selected (corresponding to an approaching vehicle specifying means), and the process proceeds to step S5. A method of selecting the target vehicle will be described with reference to FIG.
(1) Select a car that intersects the direction of travel with your vehicle. As a result, vehicles other than the other vehicles 5 and 8 in FIG. 4 are selected.
(2) Select the first car in each lane from (1). As a result, the other vehicles 1, 3, 6, and 7 in FIG. 4 are selected.
(3) The driver's turn signal operation is used to predict the left or right turn of the vehicle, and the vehicle is selected accordingly. At this time, when the vehicle turns left, the vehicle approaching from the right direction is selected. Further, when the vehicle turns right or goes straight, a vehicle approaching from the left-right direction is selected.
The other car data received in step S3 is assumed as the first, second, ..., mth car selected here,
x1, y1, ang1, r1, v1,, e1
x2, y2, ang2, r2, v2, e2
......
xm, ym, angm, rm, vm, em
And re-subscript.

In step S5, the intersection arrival time of the target vehicle that calculates the approach determination selected in step S4 is calculated, and the process proceeds to step S6.
The data of the i-th car out of the 1,2, ...., m-th cars
xi, yi, angi, ri, vi, ei
The operation is performed as follows.
First, the distance di to the intersection of the i-th car is
di = sqrt {(xi-xc) ² + (yi-yc) ² }
The intersection arrival time of the i-th vehicle is obtained by the following equation.
Ti = di / vi
When the vehicle enters the intersection, the relative acceleration ari for not approaching the i-th vehicle is
ari = vi ² / (di-d0)
Here, d0 is the closest approach distance of the i-th vehicle when the own vehicle enters the intersection.
The distance dh to the intersection of own vehicle is
dh = sqrt {(xh-xc) ² + (yh-yc) ² }
The time of arrival at the intersection of the vehicle is obtained by the following equation.
Th = dh / vh

In step S6, it is determined whether or not the target vehicle for which the approach determination selected in step S4 is calculated can be viewed (corresponding to approaching vehicle recognition estimation means), and the process proceeds to step S7.
In the first embodiment, based on the radio field strength of communication between radios when the other vehicle can be seen from the own vehicle and when it cannot be seen, the radio field strength threshold value according to the distance is mapped in advance as shown in FIG. deep. The radio field strength eih received from the i-th car and the distance between the vehicle and the i-th car,
dih = sqrt {(xi-xh) ² + (yi-yh) ² }
5 is plotted on the top of FIG. 5, and if the point is above the threshold value, it is determined that it is visible, and if it is below, it is determined that it cannot be viewed. Steps S1 to S6 constitute a driver travel state estimating means for estimating the driver travel state.

  In step S7, the vehicle speed vh read in step S1, the vehicle determined in step S2 is on a priority road or a non-priority road, and whether or not the vehicle driver determined in step S4 can see other vehicles Depending on the value calculated in step S5, the notification content to the driver of the vehicle is selected, and the driving information corresponding to the selected notification content is notified to the driver, and the process proceeds to return.

[Information content selection control]
FIG. 3 is a flowchart showing the flow of the information content selection control process executed in step S7 of FIG. 2, and each step will be described below.

  In step S701, it is determined whether there is an intersection ahead of the vehicle. If YES, the process moves to step S702, and if NO, the process moves to step S707. Here, when the distance between the vehicle position (xh, yh) read in step S1 in FIG. 2 and the coordinates (xc, yc) of the intersection ahead of the vehicle is equal to or less than a predetermined value, it is determined that there is an intersection.

  In step S702, it is determined whether or not the driver recognizes the intersection. If YES, the process moves to step S703, and if NO, the process moves to step S708. Here, based on the vehicle speed vh read in step S1 in FIG. 2, the vehicle coordinates (xh, yh), and the intersection coordinates (xc, yc), the vehicle speed of the vehicle is below a predetermined speed at which it can stop before the intersection. If it is, it is determined that the intersection is recognized.

  In step S703, it is determined in step S4 in FIG. 2 whether or not a target vehicle for calculating the approach determination of another vehicle has been selected. If YES, the process moves to step S704, and if NO, the process moves to step S709.

  In step S704, it is determined whether or not the vehicle is on the priority road based on the determination result of step S2 in FIG. If YES, the process moves to step S705, and if NO, the process moves to step S706.

  In step S705, it is determined based on the determination result in step S6 of FIG. If YES, the process moves to step S710, and if NO, the process moves to step S711. Here, it is determined that the other vehicle cannot be seen when the intersection arrival time of the own vehicle is equal to or less than a predetermined value and the intersection arrival time of the other vehicle is equal to or less than the predetermined value.

  In step S706, it is determined whether or not the driver can see the other vehicle by the same method as in step S705. If YES, the process proceeds to step S712. If NO, the process proceeds to step S713. Steps S701 to S706 constitute information provision content selection means for selecting information provision content to the driver based on the driving situation.

  In step S707, no operation information is notified, and the process proceeds to return.

  In step S708, “intersection present” is notified to the driver as information provision contents for supporting the recognition of the intersection, and the process proceeds to return.

  In step S709, no driving information is notified, and the process proceeds to return.

  In step S710, no operation information is notified, and the process proceeds to return.

  In step S711, the driver is informed of the approach of another vehicle as driving information for supporting the approach to the intersection, and the process proceeds to return. Specifically, the arrival time Ti to the intersection of the target vehicle calculated in step S5 in FIG. 2 is notified.

  In step S712, as the driving information for supporting the approach to the intersection, the driver is informed whether or not the intersection may be entered, and the process proceeds to return. Specifically, if the relative acceleration ari calculated in step S5 in FIG. 2 for preventing the vehicle from approaching the i-th approaching vehicle when it enters the intersection is less than a predetermined value, the vehicle may enter the intersection. Is determined and notified to the driver. If not, the driver is informed not to enter the intersection. Further, when the approaching vehicle stops before the intersection or decelerates to a predetermined extremely low speed range, it is determined that the approaching vehicle is willing to give way to the own vehicle, and the approaching vehicle gives way to the own vehicle. Inform the driver that there is a will.

  In step S713, the driver is informed as to whether or not the vehicle can be advanced to a position where the vehicle can be seen as driving information for supporting the approach to the intersection, and the process proceeds to return. Specifically, if the arrival time Ti to the intersection of the other vehicle calculated in step S5 in FIG. 2 is equal to or greater than a predetermined value, it is determined that the host vehicle can be advanced to a position where it can be visually observed, and the driver is notified. . If not, the driver is informed not to advance the car. Steps S707 to S713 constitute information providing means for providing driving information to the driver based on the selected information providing content.

[Information content selection action according to driver driving conditions]
(When the driver does not recognize the intersection)
When the driver does not recognize the intersection, in the flowchart of FIG. 3, the process proceeds from step S701 to step S702 to step S708. In step S708, the driver is informed of the driving information “there is an intersection”. The presence of

(When there is no approaching vehicle at the intersection)
If there is no approaching vehicle at the intersection, the process proceeds from step S701 to step S702, step S703, and step S709. In step S709, nothing is reported to the driver, and unnecessary driving information is not notified to the driver.

(When the driver recognizes the intersection and there is an approaching vehicle at the intersection)
When the driver recognizes the intersection and there is an approaching vehicle at the intersection, different driving information is notified depending on whether the vehicle is a priority road or a non-priority road.

1. If your vehicle is a priority road
(a) If the driver recognizes an approaching vehicle, the process proceeds from step S701 to step S702, step S703, step S704, step S705, and step S710 in the flowchart of FIG. Since nothing is notified, unnecessary driving information is not notified to the driver.

  (b) If the driver does not recognize an approaching vehicle, the process proceeds from step S701 to step S702 to step S703 to step S704 to step S705 to step S711 in the flowchart of FIG. The time Ti for the vehicle to reach the intersection is notified, and the driver can be notified of the proximity time with the approaching vehicle.

2. If your vehicle is a non-priority road
(a) If the driver recognizes an approaching vehicle, the process proceeds from step S701 to step S702, step S703, step S704, step S706, and step S712 in the flowchart of FIG. It is notified whether or not it is possible to enter the intersection. Therefore, it is possible to assist the driving determination when the driver enters the intersection.

  (b) If the driver does not recognize an approaching vehicle, the process proceeds to step S701 → step S702 → step S703 → step S704 → step S706 → step S713 in the flowchart of FIG. Since it is notified whether or not the host vehicle can be advanced to a position where it can be visually confirmed, it is possible to assist the driver in making a driving judgment when the driver advances the host vehicle to a position where the vehicle can be viewed at the intersection.

  As described above, in the vehicle information providing apparatus according to the first embodiment, unnecessary information is notified to the driver in order to change the notification content to the driver based on whether or not the driver can visually check other vehicles. Can be prevented. In addition, since the information provision content is changed slightly before the driver changes from a state where the other vehicle cannot be seen to a state where the driver can see the vehicle, information necessary for the driver can be provided without delay.

Next, the effect will be described.
In the vehicle information providing apparatus according to the first embodiment, the following effects can be obtained.

  (1) The driver recognizes based on the driver driving situation estimation means (steps S1 to S6) for estimating the driving situation where the driver is placed and the driver driving situation estimated by the driver driving situation estimation means. Information provision content selection means (steps S701 to S706) for estimating a travel situation and a travel situation that is not recognized, and selecting information provision contents according to the travel situation that the driver does not recognize; and information provision content selection means Information providing means (steps S707 to S713) for providing driving information to the driver based on the information providing content selected by the user, so that only the information required by the driver can be reported, and unnecessary information is reported. Can be prevented.

  (2) The driver travel state estimating means includes a temporarily stopped intersection presence / absence detecting means (step S1) for detecting presence / absence of an intersection to be temporarily stopped ahead, and an intersection recognition estimating means for estimating whether or not the driver recognizes the intersection. (Step S1), an approaching vehicle specifying means (Step S4) for specifying an approaching vehicle to be notified to the driver, an approaching vehicle recognition estimating means (Step S6) for estimating whether the driver recognizes an approaching vehicle, Therefore, only the information necessary for the driver can be selected according to the driving situation of the driver at the intersection.

  (3) The approaching vehicle identification means identifies the vehicle approaching from the right direction when turning left as the approaching vehicle to inform the driver, so the target vehicle to be provided to the driver when other vehicles approach from multiple directions. Information can be narrowed down and the amount of information can be reduced, making it easier for the driver to recognize the information.

  (4) Since the approaching vehicle identification means identifies the leading vehicle in each lane as the approaching vehicle that should be notified to the driver, information on the target vehicle to be provided to the driver can be narrowed down, reducing the amount of information. This makes it easier for the driver to recognize the information.

  (5) The approaching vehicle recognition estimating means is information on the target vehicle to be provided to the driver in order to estimate whether the driver recognizes the approaching vehicle based on whether or not the driver can see the approaching vehicle. This makes it easier for the driver to recognize information. Further, only information required by the driver can be notified, and notification of unnecessary information can be prevented.

  (6) The information provision content selection means (step S701) does not select the information provision content when the intersection to be temporarily stopped in front is not detected (step S707), so that unnecessary information is notified to the driver. Can be prevented.

  (7) The information providing content selection means (step S702) supports the recognition of the intersection when it is estimated that the driver has not recognized the intersection when the intersection to be temporarily stopped is detected ahead. Since the provision contents are selected (step S708), the driver can be notified of the existence of the intersection.

  (8) The information provision content selection means (step S703) detects information when an intersection that should be temporarily stopped in front is detected, and an approaching vehicle to be notified to the driver is not detected when the driver recognizes the intersection. Since provision contents are not selected (step S709), unnecessary driving information can be prevented from being notified to the driver.

  (9) The information provision content selection means (step S705, step S706) detects when an intersection to be temporarily stopped is detected ahead, the driver recognizes the intersection, and an approaching vehicle to be notified to the driver is detected. When it is estimated that the approaching vehicle is not recognized, the information providing content that supports the recognition of the approaching vehicle is selected (steps S711 and S713). Therefore, when the host vehicle is traveling on the priority road, the driver can be made to recognize the approaching vehicle. In addition, when the host vehicle is traveling on a non-priority road, it is possible to provide information that assists in driving determination when the driver safely advances the host vehicle to a position where the driver can see the intersection safely.

  (10) The information provision content selection means (step S705, step S706) detects an intersection to be temporarily stopped ahead, the driver recognizes the intersection, an approaching vehicle to be notified to the driver is detected, and the driver is an approaching vehicle. When the information is recognized, the information providing content that supports the approach to the intersection is selected (steps S710 and S712). Therefore, when the vehicle is traveling on the priority road, it is possible to prevent the driver from being notified of unnecessary driving information. In addition, when the vehicle is traveling on a non-priority road, it is possible to provide information that assists in driving determination when the driver enters the intersection.

  (11) The information providing means (step S711) provides the presence of an approaching vehicle as driving information when the information providing content supporting the recognition of the approaching vehicle is selected. I can inform you.

  (12) The information providing means (step S711), when the information providing content supporting the recognition of the approaching vehicle is selected, provides the arrival time Ti to the intersection of the approaching vehicle as driving information. It is possible to provide information that assists in determining driving when a driver enters an intersection.

  (13) The information providing means (step S713) provides, as driving information, whether or not the vehicle can advance to a position where the approaching vehicle can be seen when the information providing content that supports recognition of the approaching vehicle is selected. Therefore, it is possible to provide information that assists the driver in judging driving when the driver advances the vehicle to a position where the intersection can be seen.

  (14) The information providing means (step S712) determines the relative acceleration ari necessary for not approaching the approaching vehicle when the vehicle enters the intersection when the information providing content supporting the approach to the intersection is selected. Since the size is provided as the driving information, it is possible to provide information for assisting the driving judgment when the driver enters the intersection, and the driving burden can be reduced.

  (15) The information providing means (step S712) determines the approach when the approaching vehicle stops before the intersection or decelerates to a predetermined extremely low speed range when the information providing content supporting the approach to the intersection is selected. It is determined that the vehicle is willing to give way to the vehicle and assists the driver when driving into the intersection in order to provide information as driving information that the approaching vehicle is willing to give way to the vehicle. Information can be provided.

  (16) A wireless device 6 that transmits and receives data between the host vehicle and surrounding vehicles is provided, and the approaching vehicle recognition estimating means determines whether or not the driver can see the approaching vehicle, and determines whether or not the received signal from the wireless device 6 is received. Since the determination is based on the strength, it is possible to determine whether or not the wireless device 6 can be viewed with an inexpensive configuration.

  The second embodiment is an example in which whether or not the target vehicle can be visually checked is determined based on the positional relationship between the intersection, the own vehicle, and the approaching vehicle. In addition, since the structure of Example 2 is the same as that of Example 1, description is abbreviate | omitted.

Next, the operation will be described.
In the second embodiment, in step S6 in FIG. 2, the visual availability determination is determined based on the own vehicle position (xh, yh), the other vehicle position (xi, yi), and the road map. The vehicle and other vehicles are plotted on the road map and connected with a straight line. If the straight line connecting the vehicle and the other vehicle protrudes from the road as shown in FIG. As shown in (b), it is determined that the straight line connecting the host vehicle and the other vehicle is visible when it does not protrude from the road (corresponding to approaching vehicle recognition estimation means).

Next, the effect will be described.
In the vehicle information providing apparatus of the second embodiment, in addition to the effects (1) to (15) of the first embodiment, the following effects can be obtained.

  (17) The approaching vehicle recognition estimation means (step S6) determines whether or not the driver can see the approaching vehicle based on the positional relationship between the intersection, the own vehicle, and the approaching vehicle. It is possible to determine whether or not the structure can be viewed based on information from the wireless device 6.

  The third embodiment is an example in which whether or not the target vehicle can be visually checked is determined based on the relationship among the intersection, the speed of the host vehicle, and the speed of the other vehicle. In addition, since the structure of Example 3 is the same as that of Example 1, description is abbreviate | omitted.

Next, the operation will be described.
In the third embodiment, in step S6 of FIG. 2, the visual availability determination is performed using the differential values dxh / dt, dyh / dt of the own vehicle position and the differential values dxi / dt, dyi / dt of the other vehicle position.
T1 seconds later vehicle position xh + dxh / dt * T1, yh + dyh / dt * T1
Other car position after T1 seconds xi + dxi / dt * T1, yi + dyi / dt * T1
Plot the position of your vehicle and other vehicle's position after T1 seconds on the road map and connect them with a straight line. If the straight line connecting your vehicle and the other vehicle protrudes from the road as shown in Fig. 6 (a), If it is determined that the vehicle cannot be seen, and the straight line connecting the host vehicle and the other vehicle does not protrude from the road as shown in FIG. 6B, it is determined that the vehicle can be seen (corresponding to approaching vehicle recognition estimation means).

  Therefore, it is possible to obtain a result of determining whether or not it can be viewed T1 seconds earlier than when it can actually be viewed, and this value may be used as a determination of whether or not it can be viewed.

Next, the effect will be described.
In the vehicle information providing apparatus of the third embodiment, in addition to the effects (1) to (15) of the first embodiment, the following effects can be obtained.

  (18) The approaching vehicle recognition estimation means (step S6) determines whether or not the driver can see the approaching vehicle according to the positional relationship between the intersection, the host vehicle, and the approaching vehicle. It is possible to determine whether or not the structure can be viewed based on information from the wireless device 6.

  The fourth embodiment is an example in which whether or not the target vehicle can be visually checked is determined from the detection result of the laser radar. In addition, since the structure of Example 4 is the same as that of Example 1, description is abbreviate | omitted.

Next, the operation will be described.
In the fourth embodiment, in step S6 of FIG. 2, whether or not visual recognition is possible is determined based on the detection result of the vehicle surrounding detection radar sensor 3. As shown in FIG. 7, the vehicle (other vehicle 2 in FIG. 7) detected by the vehicle surrounding detection radar sensor 3 is visible, and the vehicle is not detected by being blocked by a wall or the like (other vehicle 1 in FIG. 7). Is determined to be invisible (corresponding to approaching vehicle recognition estimation means).

Next, the effect will be described.
In the vehicle information providing apparatus of the fourth embodiment, in addition to the effects (1) to (15) of the first embodiment, the following effects can be obtained.

  (19) The vehicle surrounding detection radar sensor 3 for detecting an obstacle ahead of the host vehicle is provided, and the approaching vehicle recognition estimation means (step S6) determines whether or not the driver can see the approaching vehicle. Therefore, it is possible to accurately determine whether the driver can see the other vehicle.

  The fifth embodiment is an example of determining whether or not the target vehicle is visible based on the detection result of the camera.

  FIG. 8 is a system configuration diagram of the vehicular information providing apparatus according to the fifth embodiment. The vehicular information providing apparatus according to the fifth embodiment includes cameras 8 and 8 that capture an image of the vehicle right front and the vehicle left front.

  The controller 1 detects other vehicles from the images in front of the vehicles obtained from the cameras 8 and 8, and determines that the other vehicle is visible when it is detected. When the other vehicle is not detected, it cannot be viewed. Judge.

Next, the operation will be described.
In the fifth embodiment, in step S6 of FIG. 2, the visual availability determination is determined based on the detection result of the camera 8. As shown in FIG. 7, the vehicle (the other vehicle 2 in FIG. 7) detected by the images of the cameras 8 and 8 can be seen, and the vehicle (the other vehicle 1 in FIG. 7) that is not detected by being blocked by a wall or the like. ) Is determined not to be visible (corresponding to approaching vehicle recognition estimation means).

Next, the effect will be described.
In the vehicle information providing apparatus of the fifth embodiment, in addition to the effects (1) to (15) of the first embodiment, the following effects can be obtained.

  (20) Cameras 8 and 8 that capture the front of the vehicle are provided, and the approaching vehicle recognition estimation means (step S6) determines whether or not the driver can see the approaching vehicle based on the detection result of the cameras 8 and 8. Therefore, it can be accurately determined whether or not the driver can see the other vehicle.

(Other examples)
As mentioned above, although the best form for implementing this invention was demonstrated based on Examples 1-5, the concrete structure of this invention is not limited to Examples 1-5, For example, implementation In Examples 1 to 5, information provision in a traveling scene passing through an intersection has been described. However, the present invention can be applied to all traveling scenes such as a three-way road that may approach another vehicle.

1 is a system configuration diagram of a vehicle information providing apparatus according to a first embodiment. 3 is a flowchart showing a flow of driving information provision control processing executed by a controller 1. It is a flowchart which shows the flow of the information content selection control process performed by step S7 of FIG. It is a figure which shows the selection method of the object vehicle of Example 1. FIG. It is a threshold value map of distance and field intensity. It is a figure which shows the visual acceptance determination method of Example 2. FIG. It is a figure which shows the visual acceptance determination method of Example 4. FIG. FIG. 10 is a system configuration diagram of a vehicle information providing apparatus according to a fifth embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Controller 2 Vehicle speed sensor 3 Vehicle surrounding detection radar sensor 4 Navigation apparatus 5 Winker operation signal 6 Radio | wireless machine 7 Display audio | voice apparatus

Claims (14)

A driver driving condition estimating means for estimating the driving condition of the driver;
Based on the driver driving condition estimated by the driver driving condition estimating means, the driving condition recognized by the driver and the driving condition not recognized are estimated, and information corresponding to the driving condition not recognized by the driver is provided. Information providing content selection means for selecting content;
Information providing means for providing driving information to the driver based on the information providing content selected by the information providing content selecting means;
A radio that transmits and receives data between the vehicle and the surrounding vehicles,
Equipped with a,
The driver traveling state estimating means includes
A stop intersection presence / absence detecting means for detecting the presence / absence of an intersection to be temporarily stopped in front;
Intersection recognition estimation means for estimating whether the driver recognizes the intersection;
An approaching vehicle identifying means for identifying an approaching vehicle to be notified to the driver;
Approaching vehicle recognition estimation means for estimating whether the driver recognizes an approaching vehicle;
Have
The approaching vehicle recognition estimating means sets a threshold value of the received radio wave intensity of the radio device according to a distance between the own vehicle and the approaching vehicle, and if the received radio wave intensity of the radio device is larger than the threshold value, the driver wherein a ready visual approach vehicles, recognize and are estimated to vehicle information providing device according to claim Rukoto the approaching vehicle. The vehicle information providing device according to claim 1,
The approaching vehicle specifying means specifies a vehicle approaching from the right direction when turning left as an approaching vehicle to inform the driver. The vehicle information providing device according to claim 1 or 2,
The vehicle approaching information providing device characterized in that the approaching vehicle identifying means identifies the leading vehicle in each lane as an approaching vehicle to be notified to the driver. The vehicle information providing device according to any one of claims 1 to claim 3,
The information provision device for a vehicle, wherein the information provision content selection means does not select the information provision content when an intersection to be temporarily stopped in front is not detected. The vehicle information providing apparatus according to any one of claims 1 to 4,
The information provision content selection means selects the information provision content that supports the recognition of the intersection when it is estimated that the driver has not recognized the intersection when an intersection that should be stopped in front is detected. A vehicle information providing apparatus characterized by the above. The vehicle information providing device according to any one of claims 1 to 5,
The information provision content selection means does not select the information provision content when an intersection that should be stopped in front is detected and the driver recognizes the intersection and no approaching vehicle to be notified to the driver is detected. A vehicle information providing apparatus characterized by the above. The vehicle information providing apparatus according to any one of claims 1 to 6 ,
The information provision content selection means presumes that the driver has not recognized the approaching vehicle when the intersection to be temporarily stopped is detected, the driver recognizes the intersection, and the approaching vehicle to be notified to the driver is detected. If so, an information providing device for a vehicle, which selects information providing content that supports recognition of an approaching vehicle. The vehicle information providing device according to any one of claims 1 to 7 ,
In the case where the information providing content selection means detects an intersection to be temporarily stopped ahead, the driver recognizes the intersection, an approaching vehicle to be notified to the driver is detected, and the driver recognizes the approaching vehicle, An information providing device for a vehicle, wherein information providing contents for supporting approach to an intersection are selected. In the vehicle information provision device according to claim 7 ,
The information providing device according to claim 1, wherein the information providing means provides the presence of an approaching vehicle as driving information when the information providing content for supporting the recognition of the approaching vehicle is selected. In the vehicle information providing device according to claim 7 or 9 ,
The information providing device provides an arrival time to the intersection of the approaching vehicle as driving information when the information providing content supporting the recognition of the approaching vehicle is selected. In the vehicle information provision device according to claim 7, claim 9, or claim 10 ,
The information providing means provides, as driving information, whether or not the host vehicle can advance to a position where the approaching vehicle can be seen when the information providing content for supporting recognition of the approaching vehicle is selected. Vehicle information providing device. The vehicle information providing device according to claim 8 ,
The information providing means provides, as driving information, the magnitude of relative acceleration necessary to prevent the vehicle from approaching an approaching vehicle when the vehicle has entered the intersection when the information providing content supporting the approach to the intersection is selected. An information providing device for a vehicle. The vehicle information providing apparatus according to claim 8 or 12 ,
The information providing means, when the information providing content supporting the approach to the intersection is selected, when the approaching vehicle stops before the intersection or decelerates to a predetermined extremely low speed range, The vehicle information providing apparatus is characterized in that it is determined that the vehicle is willing to transfer the vehicle, and information indicating that the approaching vehicle is willing to give way to the vehicle is provided as driving information. An information providing method for an information providing device for a vehicle that selects information providing contents to a driver based on an estimation result of a driver driving situation and provides driving information based on the selected information providing contents to the driver,
Detect the presence or absence of an intersection to stop in front of you,
Estimate whether the driver recognizes the intersection,
Identify the approaching vehicle to inform the driver,
According to the distance between the host vehicle and the approaching vehicle, a threshold value of a radio wave reception strength of a radio that transmits and receives data between the host vehicle and surrounding vehicles is set, and the radio wave reception strength of the radio device is set to the threshold value. If it is larger than that, it is presumed that the driver is in a state in which the approaching vehicle can be seen, and that the approaching vehicle is recognized.

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