JP4684960B2 - Vehicle collision prevention support system - Google Patents

Description

  The present invention relates to a vehicle collision prevention support system that supports prevention of a collision accident by a preceding vehicle by inter-vehicle communication.

  In recent years, in order to improve the traffic situation and safety of vehicles such as automobiles, the construction of people, roads and vehicles as an integrated system using electronics technology, advanced navigation systems, automatic toll collection for toll roads, etc. Technical development of ITS (Intelligent Transport Systems) is underway to establish systems, support safe driving, optimize traffic management, and improve road management efficiency.

  In addition, as a car that supports ITS technology, it is equipped with various sensors and information recognition devices for collecting various information such as the driving environment around the vehicle and road conditions, and the driver's safety based on the collected information and recognition results. Development of ASV (Advanced Safety Vehicle) that supports driving is also underway.

  The ITS and ASV technology development flow assumes road-to-vehicle communication that communicates various information such as traffic congestion information, weather information, and traffic control information for specific areas from road incidental equipment to vehicles using light or radio beacons. However, since large-scale infrastructure development is required, vehicle-to-vehicle communication technology that can easily support vehicle travel by communicating information between vehicles is considered promising. .

As a technique using such inter-vehicle communication technology and information recognition technology using a vehicle-mounted sensor, for example, there is a prior art disclosed in Patent Document 1. This prior art captures an image behind the vehicle with a camera to acquire the relative position, relative speed, and operation state of the following vehicle, and also acquires information about the subsequent vehicle through inter-vehicle communication, so The risk of rear-end collision of the following vehicle is predicted based on the predicted course of the vehicle. If there is a risk of rear-end collision, a warning to the driver of the own vehicle, driving assistance and intervention, warning to the following vehicle, The avoidance action to be taken by the following vehicle is transmitted.
JP 2005-62912 A

  However, in the technique of Patent Document 1, it is assumed that the host vehicle and the following vehicle can communicate with each other. If the following vehicle is a vehicle that cannot perform vehicle-to-vehicle communication, how much the driver of the following vehicle is. It is difficult to grasp whether the vehicle is ahead, and it is impossible to send a warning to the following vehicle and avoidance action that the following vehicle should take.

  Therefore, in a vehicle incapable of inter-vehicle communication as described above, there is a risk that the driver will suddenly step on the brake due to a recognition delay or the like, and conversely, the host vehicle travels behind such a vehicle incapable of inter-vehicle communication. In such a case, there is a risk that the own vehicle will collide, and in the worst case, if the vehicle collides with a previous vehicle, the own vehicle or another vehicle may be involved.

  The present invention has been made in view of the above circumstances, and assists in preventing a collision accident caused by a vehicle that cannot travel between vehicles traveling in front of the host vehicle by using vehicle-to-vehicle communication with another vehicle, thereby improving preventive safety. An object of the present invention is to provide a vehicle collision prevention support system.

In order to achieve the above object, a first vehicle collision prevention support system according to the present invention recognizes a situation outside a vehicle and detects a preceding vehicle existing ahead of the host vehicle, and surroundings of the host vehicle. Vehicle-to-vehicle communication means capable of communicating with a vehicle of the vehicle and exchanging vehicle information; and determining means for determining whether or not a radio wave is received from the preceding vehicle detected by the preceding vehicle detecting means. When it is determined by the determining means that inter-vehicle communication with the preceding vehicle detected by the preceding vehicle detecting means is impossible, the vehicle information of the other vehicle acquired by inter-vehicle communication with other vehicles around the preceding vehicle; The collision risk of the preceding vehicle is determined based on the vehicle information of the preceding vehicle acquired by the preceding vehicle detecting means, and when it is determined that inter-vehicle communication with the preceding vehicle is possible, Other vehicle Characterized in that a repeated collision determining means determines the collision probability based on the vehicle information of both information and the preceding vehicle.
The second vehicle collision prevention support system according to the present invention also includes a preceding vehicle detection means for recognizing a situation outside the vehicle and detecting a preceding vehicle existing in front of the own vehicle, and between the vehicle and the vehicle around the own vehicle. The vehicle-to-vehicle communication means capable of communicating and exchanging vehicle information, the determination means for determining whether or not the radio wave from the preceding vehicle detected by the preceding vehicle detection means has been received, and the determination means When it is determined that the vehicle-to-vehicle communication with the preceding vehicle detected by the preceding vehicle detection means is impossible, the vehicle information of the other vehicle acquired by the vehicle-to-vehicle communication with other vehicles around the preceding vehicle, and the preceding vehicle detection On the other hand, the collision risk of the preceding vehicle is determined based on the vehicle information of the preceding vehicle acquired by the means, and when it is determined that inter-vehicle communication with the preceding vehicle is possible, the vehicle with the other vehicle Skip inter-vehicle communication Rutotomoni, the preceding vehicle is characterized in that a safety traveling is possible with the determined collision determination means using the information from other vehicles by inter-vehicle communication.

  The vehicle collision prevention support system according to the present invention is based on the detected vehicle information of the preceding vehicle and the vehicle information of the other vehicle acquired by the inter-vehicle communication when the preceding vehicle that cannot communicate between the vehicles is detected ahead of the host vehicle. Since the collision risk of the preceding vehicle is determined, it is possible to prevent a collision accident due to a recognition delay of the preceding vehicle, and to improve preventive safety.

  Embodiments of the present invention will be described below with reference to the drawings. 1 to 3 relate to an embodiment of the present invention, FIG. 1 is a basic configuration diagram of a collision prevention support system, FIG. 2 is a flowchart of a collision prevention support process, and FIG. 3 shows the relationship between the host vehicle and a preceding vehicle. It is explanatory drawing shown.

  A collision prevention support system 1 shown in FIG. 1 is a system that is mounted on a vehicle such as an automobile and is capable of communicating with a surrounding vehicle, a communication device or a communication center installed on a road shoulder, etc. Based on the information acquired by this inter-vehicle communication and the information obtained by the outside vehicle recognition function of the own vehicle, the inter-vehicle communication existing in front of the own vehicle is impossible. The possibility of collision of the preceding vehicle is determined, and information is presented to the host vehicle and other vehicles capable of inter-vehicle communication. The collision prevention support system 1 mainly includes a collision prevention support device 50, and includes a vehicle outside recognition device 10, a navigation device 20, a communication device 30, a vehicle control device 40, and an alarm device 60. Each of the devices 10 to 60 is connected to be capable of bidirectional communication via an in-vehicle communication system 65 such as a CAN (Controller Area Network).

  The vehicle outside recognition device 10 acquires information about other vehicles and obstacles existing around the host vehicle using a sensor that detects the vehicle outside situation such as a camera or a laser, and a three-dimensional object such as a preceding vehicle or a side wall, and Recognize road shapes (straight or curved curvature). Further, the vehicle exterior recognition device 10 estimates the vehicle lane based on information such as the road shape and side walls, the traveling state information of the vehicle, and the like, and from among the three-dimensional objects existing on the estimated vehicle lane. A three-dimensional object located closest to the host vehicle is captured as a preceding vehicle, and the relative distance and relative speed, and acceleration / deceleration of the captured preceding vehicle are recognized. Thus, the vehicle exterior recognition apparatus 10 has a function as a preceding vehicle detection means. The recognition information by the outside recognition device 10 is sent to the in-vehicle communication system 65 and taken into the corresponding device that needs information.

  FIG. 1 shows an example of sensor fusion in which a monocular or stereo camera 11 and a radar unit 12 such as a millimeter wave radar or an infrared laser radar are used in combination as a sensor for detecting a situation outside the vehicle. For example, when the camera 11 is a stereo camera and the radar unit 12 is a millimeter wave radar, the vehicle recognition apparatus 10 performs triangulation from the positional deviation (parallax) of the same object in a stereo image pair captured by the camera 11. Based on the distance data to the object calculated using the principle of the above, a white line on the road, a side wall such as a guardrail or curbstone existing along the road, and a three-dimensional object such as a vehicle are extracted from the radar unit 12. A radar image composed of two-dimensional distribution information is generated by receiving the transmitted reflected millimeter wave, and a portion where distance values on the radar image are continuous is extracted as one solid object.

  Then, the final three-dimensional object recognition is performed by fusing the three-dimensional object extracted based on the stereo image and the three-dimensional object extracted based on the radar image. Specifically, based on the position and moving speed of the three-dimensional object by the image and the three-dimensional object by the radar, the same probability is determined for all combinations of the three-dimensional object by the image and the three-dimensional object by the radar. The best matching combination is recognized as a three-dimensional object by sensor fusion between a stereo image and millimeter wave radar. Thereby, a three-dimensional object composed of any one of a three-dimensional object by an image, a three-dimensional object by a radar, and a three-dimensional object by a combination of an image and a radar can be recognized in front of the host vehicle.

  The navigation device 20 performs various operations for route guidance of the driver, such as searching for an optimum route from the current position of the host vehicle to the destination and outputting route guidance of the set route. Measure the position of the vehicle, calculate and synthesize the position of the vehicle and the map information, and respond to operation inputs such as changing the scale of the map, displaying detailed place names, and switching the display of area information. A map of the position and its surroundings is displayed on the display, and various information such as road / traffic information received via the communication device 30 is displayed. The position of the own vehicle is the position of the own vehicle based on radio waves from positioning satellites such as GPS (Global Positioning System), and the position of the own vehicle by dead reckoning navigation based on signals from the geomagnetic sensor and the wheel speed sensor. Then, positioning is performed based on information acquired via the communication device 30. This positioning information is also transmitted to other devices in the host vehicle via the in-vehicle communication system 65, and further transmitted to other vehicles by inter-vehicle communication via the communication device 30.

  The communication device 30 is a device compatible with, for example, ITS (Intelligent Transport Systems), receives light and radio wave beacons from road incidental facilities, receives traffic congestion information, weather information, traffic regulation information in a specific area, and the like. The vehicle functions as vehicle-to-vehicle communication means for obtaining vehicle information and performing vehicle-to-vehicle communication with other vehicles traveling around the host vehicle. In vehicle-to-vehicle communication in this embodiment, communication with a vehicle existing in a communicable area is performed using a carrier signal in a predetermined frequency band, and positioning information, vehicle type, vehicle position, vehicle speed, acceleration / deceleration, brake operation Information such as status and winker status is exchanged.

  The vehicle control device 40 is formed from various control controllers such as engine control, transmission control, and VDC (Vehicle Dynamics Control), and is controlled at a constant speed at a constant vehicle speed and travels in front of the host vehicle. It has control functions such as follow-up control for the preceding vehicle to be decelerated and deceleration by automatic braking. Driving conditions such as the engine speed, speed, gear position, and brake operating state of the host vehicle in the vehicle control device 40 are sent to the in-vehicle communication system 65.

  The collision prevention support device 50 has a function as a collision determination unit that determines the danger of collision caused by a preceding vehicle that cannot communicate between vehicles, and when there is a vehicle that cannot communicate between vehicles, Based on information from the recognition device 10, the behavior of the vehicle that cannot communicate is monitored, and a collision accident may occur due to the presence of a monitored vehicle (approach to another vehicle) or recognition delay of the outside condition of the monitored vehicle. Judging sex. Further, when the collision prevention support device 50 determines that the possibility of a collision accident caused by the monitored vehicle is high, the collision prevention support device 50 issues a warning by display display, voice, or the like via the warning device 60 of the own vehicle, Information about danger is presented to vehicles that can communicate with each other by inter-vehicle communication, and direct and indirect accident prevention support is provided.

  In addition, as a warning, you may make it utilize the display output and audio | voice output of the navigation apparatus 20, and the warning apparatus 60 can be shared by the navigation apparatus 20. FIG.

  Hereinafter, the collision prevention support processing by the collision prevention support system 1 will be described with reference to FIGS.

  The flowchart of the collision prevention support process shown in FIG. 2 shows the program process executed in the collision prevention support apparatus 50 which is the center of the collision prevention support system 1. In the first step S1, the outside recognition by the camera 11 and the radar unit 12 is performed. The recognition result of the situation outside the vehicle from the device 10 is read to check whether or not a preceding vehicle is detected. When the preceding vehicle C1 is detected in front of the host vehicle C as shown in FIG. 3 through the loop in step S1, as shown in FIG. 3, the process proceeds to step S2 and the vehicle-to-vehicle communication from the preceding vehicle C1 is performed. Check if a radio wave has been received.

  When receiving the radio wave from the preceding vehicle C1 by the vehicle-to-vehicle communication, the preceding vehicle C1 determines that the vehicle can safely travel using information from another vehicle by the vehicle-to-vehicle communication, and information on the own vehicle C Is sent to finish this process. On the other hand, when it is impossible to receive the vehicle-to-vehicle communication radio wave from the preceding vehicle C1, it is determined that the preceding vehicle C1 is a vehicle that does not include the vehicle-to-vehicle communication device (or does not transmit radio waves). The process proceeds to step S3 and subsequent steps in order to monitor the traveling state of the preceding vehicle C1.

  In step S3, another vehicle information is received by attempting inter-vehicle communication with a vehicle other than the preceding vehicle C1 existing around the own vehicle C, and inter-vehicle communication other than the preceding vehicle C1 is ahead of the own vehicle C. It is checked whether or not a possible vehicle (hereinafter referred to as “communication vehicle”) C2 is detected. If the communication vehicle C2 is not detected, the process returns to step S1 to continue monitoring the preceding vehicle C1, and if the communication vehicle C2 is detected, the process proceeds to step S4, where the communication vehicle C2 recognizes the preceding vehicle C1. It is determined whether there is a risk of sudden braking or rear-end collision due to a delay or the like, and whether or not there is a possibility that the communication vehicle C2 or the host vehicle C is indirectly in danger.

  The determination of the collision risk by the preceding vehicle C1 is performed by information on the preceding vehicle C1 acquired by the vehicle outside recognition device 10 using the camera 11 or the radar unit 12 of the own vehicle C, and information on the communication vehicle C2 acquired by inter-vehicle communication. That is, based on the relative distance between the preceding vehicle C1 and the communication vehicle C2 with respect to the own vehicle C, the relative vehicle speed of the preceding vehicle C1 and the communication vehicle C2 with respect to the own vehicle C, and the acceleration and deceleration of each of the preceding vehicle C1 and the communication vehicle C2. The determination is made according to the driving situation.

  For example, in the case of the traveling state illustrated in FIG. 3, that is, the other vehicle is not detected between the communication vehicle C2 and the preceding vehicle C1 by the outside recognition device 10 of the own vehicle, and the communication vehicle C2 is the preceding preceding vehicle. In this case, the inter-vehicle distance and relative speed between the preceding vehicle C1 and the communication vehicle C2 are determined based on the information on the preceding vehicle C1 acquired by the vehicle recognition device 10 and the information on the communication vehicle C2 acquired by inter-vehicle communication. calculate. And the safe inter-vehicle distance set from the relative speed of the preceding vehicle C1 and the communication vehicle C2, the deceleration of each vehicle (the preceding vehicle C1 and the communication vehicle C2), and the inter-vehicle distance between the preceding vehicle C1 and the communication vehicle C2. When the inter-vehicle distance is equal to or less than the safe inter-vehicle distance, it is determined that there is a possibility of sudden braking or rear-end collision of the preceding vehicle C1, and the danger to the own vehicle C and the communication vehicle C2 is great.

  Further, in a driving situation in which a preceding vehicle exists in front of the preceding vehicle C1 and the communication vehicle C2 is traveling in parallel in a travel lane adjacent to the preceding vehicle, the preceding vehicle C1 is the preceding vehicle. In the case of a rear-end collision, the communication vehicle C2 may be involved in an accident. For this reason, when such a driving | running | working condition is detected, it is judged that there exists an indirect risk spreading to the own vehicle C and the communication vehicle C2. The detection of the above-described traveling situation is based on the positional relationship between the preceding vehicle and the communication vehicle C2 based on the information on the information on the preceding vehicle acquired by the vehicle recognition device 10 and the information on the communication vehicle C2 acquired by inter-vehicle communication. This is performed by determining whether or not the calculated positional relationship is a predetermined positional relationship.

  In this case, the preceding preceding vehicle traveling ahead of the preceding vehicle C1 can be detected, for example, by enlarging the imaging field of view by installing the camera 11 in front of the own vehicle roof.

  Further, in a traveling situation in which another communication vehicle C3 travels ahead on the travel lane next to the preceding vehicle C1 and the preceding vehicle C1 exists in the rear blind spot area of the communication vehicle C3, the driver of the communication vehicle C3 May change the lane toward the preceding vehicle C1 without being aware of the presence of the preceding vehicle C1. When the lane change is performed, there is a possibility that the communication vehicle C3 collides with the preceding vehicle C1 and the preceding vehicle C1 may suddenly brake. For this reason, when the above-mentioned traveling state is detected, it is determined that there is a risk of collision in the communication vehicle C3 and an indirect risk of spreading to the host vehicle C. The detection of the driving situation calculates the positional relationship between the preceding vehicle C1 and the communication vehicle C3 based on the information on the preceding vehicle C1 acquired by the outside recognition device 10 and the information on the communication vehicle C3 acquired by inter-vehicle communication. This is done by determining whether or not the calculated positional relationship is a predetermined positional relationship. In this case, when two communication vehicles are detected, that is, the communication vehicle C3 and the communication vehicle C2 as the preceding vehicle as described above, the two communication vehicles C2 and C3 are respectively detected. Determine the risk.

  As a result of the determination process in step S4, when it is determined that there is no danger due to the preceding vehicle C1, the process returns from step S4 to step S1, and the inter-vehicle communication with the communication vehicle C2 is performed after monitoring the preceding vehicle C1. Continue the process of sending and receiving information. On the other hand, if it is determined in step S4 that there is a risk of a collision such as a sudden brake or a rear-end collision of the preceding vehicle C1, the process proceeds from step S4 to step S5, an alarm is issued in the host vehicle, and danger information is presented. Call the driver's attention. Further, in step S6, danger information such as a warning about the approach of the following vehicle is transmitted to the communication vehicle C2, and information on the risk of occurrence of a collision accident is presented.

  As described above, in the collision prevention support system of the present embodiment, the behavior of a preceding vehicle that cannot communicate between vehicles is monitored using the vehicle outside recognition function of the host vehicle, and the preceding vehicle information acquired by the vehicle outside recognition function, Based on information acquired from other vehicles that can communicate with other vehicles around the vehicle, the risk of collision accidents due to the recognition delay of the driver of the preceding vehicle is judged, so communication between the vehicle and the vehicle is possible By giving warnings to surrounding vehicles, it is possible to support risk avoidance of the host vehicle and the surrounding vehicles, and preventive safety can be improved.

  In the above-described embodiment, an example in which it is determined whether or not there is another vehicle between the communication vehicle C2 and the preceding vehicle C1 to specify that the communication vehicle C2 is a preceding vehicle. Although described above, the present invention is not limited to this. For example, the relative distance D1 between the host vehicle C and the preceding vehicle C1 detected by the outside recognition device 10 and the host vehicle acquired by inter-vehicle communication can be simply described. The communication vehicle C2 may be specified as the preceding vehicle by comparing the relative distance D2 and the determination threshold Dr between C and the communication vehicle C2. Specifically, the threshold Dr is set as a relative distance with respect to the host vehicle C that is set based on the inter-vehicle distance according to the vehicle speed in a normal traveling state, and when D1 <D2 <Dr, that is, the preceding vehicle C1. When the communication vehicle C2 exists within a distance less than the set value ahead, the communication vehicle C2 is identified as the preceding vehicle.

Configuration diagram of collision prevention support system Flow chart of collision prevention support process Explanatory diagram showing the relationship between the host vehicle and the vehicle ahead

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Collision prevention assistance system 10 Outside vehicle recognition apparatus 20 Navigation apparatus 30 Communication apparatus 40 Vehicle control apparatus 50 Collision prevention assistance apparatus 60 Alarm apparatus C Own vehicle C1 Predecessor vehicle C2, C3 Communication vehicle

Claims (4)

A preceding vehicle detection means for recognizing a vehicle outside situation around the vehicle and detecting a preceding vehicle existing ahead of the host vehicle;
Vehicle-to-vehicle communication means capable of communicating with vehicles around the host vehicle and exchanging vehicle information;
A determination means for determining whether or not a radio wave from the preceding vehicle detected by the preceding vehicle detection means is received by inter-vehicle communication;
When it is determined by the determining means that inter-vehicle communication with the preceding vehicle detected by the preceding vehicle detecting means is impossible, the vehicle information of the other vehicle acquired by inter-vehicle communication with other vehicles around the preceding vehicle; The collision risk of the preceding vehicle is determined based on the vehicle information of the preceding vehicle acquired by the preceding vehicle detecting means, and when it is determined that inter-vehicle communication with the preceding vehicle is possible, A collision prevention support system for a vehicle, comprising: a collision determination unit that omits the determination of the collision risk based on vehicle information of another vehicle and vehicle information of the preceding vehicle .   The collision determination means outputs an alarm signal for warning the driver of the own vehicle when it is determined that the risk of a collision between the preceding vehicle and another vehicle or a collision of the own vehicle with the preceding vehicle is large. The vehicle collision prevention support system according to claim 1.   The said collision determination means transmits an alarm signal to a vehicle capable of inter-vehicle communication around the own vehicle when it is determined that the risk of a collision between the preceding vehicle and another vehicle is large. The vehicle collision prevention support system according to 2. A preceding vehicle detection means for recognizing a vehicle outside situation around the vehicle and detecting a preceding vehicle existing ahead of the host vehicle;
Vehicle-to-vehicle communication means capable of communicating with vehicles around the host vehicle and exchanging vehicle information;
A determination means for determining whether or not a radio wave from the preceding vehicle detected by the preceding vehicle detection means is received by inter-vehicle communication;
When it is determined by the determining means that inter-vehicle communication with the preceding vehicle detected by the preceding vehicle detecting means is impossible, the vehicle information of the other vehicle acquired by inter-vehicle communication with other vehicles around the preceding vehicle; , based on the vehicle information of the preceding vehicle obtained by the preceding vehicle detection means, while determining the collision probability of the preceding vehicle, when the inter-vehicle communication with the preceding vehicle is determined to be the above-mentioned Collision determination means for omitting inter-vehicle communication with another vehicle, and determining that the preceding vehicle can safely travel using information from the other vehicle by inter-vehicle communication ;
A vehicle collision prevention support system characterized by comprising:

Images