JP4985110B2 - Vehicle driving support system, driving support device, vehicle, and vehicle driving support method - Google Patents

Description

  The present invention relates to vehicle driving assistance, and more particularly to a vehicle driving assistance system that safely stops or passes a vehicle at an intersection, a driving assistance device that constitutes the vehicle driving assistance system, a vehicle equipped with the driving assistance device, and vehicle driving It relates to support methods.

  Many technologies are applied to safe driving support for vehicles, such as technology related to stop control that decelerates and stops a running vehicle, technology related to dilemma control that takes signal switching time into account, and technology that detects the position of the vehicle. Yes.

  For example, in order to stop the vehicle at the stop line before the intersection, the stop line is detected based on the image obtained from the camera, the vehicle is controlled by the vehicle speed or acceleration / deceleration information, and the vehicle is stopped at the stop line. Has been disclosed (see Patent Document 1 and Patent Document 2).

  Also, from the communication device installed upstream of the intersection, the signal switching timing information of the intersection and the distance to the stop line of the intersection (or the position information of the stop line) are acquired by the in-vehicle device, and the vehicle enters the dilemma zone. A safe speed providing method for providing a limit traveling speed for escape from the dilemma zone is disclosed (see Patent Document 3).

  On the other hand, there are self-contained navigation, satellite navigation, map matching, hybrid navigation, and the like as methods for detecting the position of a vehicle widely used in navigation. Self-contained navigation uses a distance sensor, an azimuth sensor, an angular velocity sensor, etc., for example, based on the azimuth angle of the vehicle traveling with respect to an orthogonal coordinate system based on the longitude-latitude coordinate system and the traveling distance per unit time. Although it is calculated, consistency with the road is not taken into consideration, and there is a problem that errors in the vehicle position accumulate as the travel distance increases.

  Satellite navigation uses GPS (Global Positioning System), and the detected position includes an error of about 10 to 20 m. Since GPS is used, an in-vehicle sensor such as a distance sensor, an azimuth sensor, or an angular velocity sensor is unnecessary. However, on roads under elevated roads, roads between buildings, mountain roads, roadside trees, etc., radio waves cannot be received from a predetermined number of GPS satellites, and the detection accuracy is greatly degraded. is there.

  Further, the map matching method detects the position of the vehicle in consideration of the consistency (matching) between the travel locus by the self-contained navigation and the road map. That is, the most probable road is selected from a plurality of road candidates considered to be traveling while comparing the trajectory obtained by the self-contained navigation with the road map data. Then, when the number of candidate roads is limited to one, the traveling locus of the vehicle obtained by the self-contained navigation is matched with the road. However, if the limited road is wrong, there is a problem that position detection after that becomes impossible.

Hybrid navigation is a combination of satellite navigation and map matching, and it rationally estimates the position of the vehicle and identifies the road on which it is traveling, taking into account the errors between autonomous navigation and satellite navigation. Is. In hybrid navigation, for example, the position of a vehicle is detected using a map matching method in normal times. When the vehicle position cannot be detected by the map matching method, the vehicle position and direction are detected by satellite navigation to estimate the vehicle position, and the vehicle position is detected in consideration of consistency with the road map data. To do. With hybrid navigation, except for special cases, there is almost no possibility of mistaken roads on which vehicles are traveling, and the positional accuracy in the direction of the road is within an error range of about 10 m on average. If it is the purpose of the target navigation, it is an accuracy level that has almost no problem in practical use.
JP 2002-190100 A JP 2006-151014 A JP 2006-139707 A

  However, in the techniques of Patent Document 1 and Patent Document 2, since the stop line cannot be detected unless the vehicle approaches the stop line, the vehicle has reached the vicinity of the stop line when the stop line can be detected. The time margin for stopping the vehicle at the stop line is not sufficient. In this case, in order to stop the vehicle at the stop line, it is necessary to decelerate at a large deceleration, and when there is a following vehicle, there is a safety problem.

  Further, although Patent Document 3 discloses a method for performing travel control or providing information to avoid a dilemma area or an optional area sufficiently before an intersection, it also considers the behavior of a front vehicle traveling ahead of the host vehicle. Therefore, there has been a demand for a method of traveling control or providing information so as to avoid a dangerous traveling area safely and reliably.

  The present invention has been made in view of such circumstances, and determines whether or not the preceding vehicle is in a dangerous driving state, and determines whether or not the host vehicle is in a dangerous driving state according to the determination result. An object of the present invention is to provide a vehicle driving support system, a driving support device constituting the vehicle driving support system, a vehicle equipped with the driving support device, and a vehicle driving support method.

A vehicle driving support system according to a first aspect of the present invention is a vehicle that transmits signal information including a yellow signal start time and a yellow signal time of a traffic light installed at an intersection, and a vehicle that receives signal information transmitted by the transmission device. In a vehicle driving support system including a driving support device that supports a safe driving of the vehicle, the driving support device acquires a front vehicle speed acquisition unit that acquires speed information of a front vehicle, and information on a distance between the front vehicle and an intersection. A stop condition for stopping before the intersection at the start of the yellow signal of the traffic light based on the first distance information acquisition means, the distance between the preceding vehicle and the intersection, the speed of the preceding vehicle, and the signal information; A first judgment for determining whether or not the preceding vehicle is present in either the dilemma area or the option area of the preceding vehicle determined by an entry condition for entering the intersection. Means, speed acquisition means for acquiring speed information of the own vehicle, second distance information acquisition means for acquiring information relating to a distance between the host vehicle and a predetermined point, and the forward vehicle determining by the first determination means If in one of the dilemmas area and optional area where a forward vehicle, the distance between the front Symbol predetermined point of the vehicle, the speed of the vehicle, and on the basis of the signal information, previously in yellow light start time point of the traffic Kisho Second determination means for determining whether or not the host vehicle is in one of a dilemma area and an option area of the host vehicle determined by a stop condition for stopping before the fixed point and an approach condition for entering the intersection It is characterized by that.

The vehicle driving support system according to a second aspect of the present invention is the vehicle driving support system according to the first aspect, wherein the first determination means is based on a predetermined standard deceleration and the front vehicle is in one of the dilemma area and the option area of the front vehicle. It is characterized by determining whether or not.

Vehicle driving support system according to the third invention, in the first or second aspect of the invention, the driving support apparatus, before SL when it is determined that any of the dilemma regions and optional regions of the vehicle in the second judging means The apparatus further includes output means for outputting information for accelerating / decelerating the host vehicle.

Vehicle driving support system according to the fourth invention, in any one of the first invention to third invention, wherein the predetermined point is characterized in that the point of vehicle length only upstream of one minute from the intersection.

  According to a fifth aspect of the present invention, there is provided the vehicle driving support system according to the fourth aspect, wherein the driving support device includes vehicle length information acquisition means for acquiring vehicle length information of the preceding vehicle.

The vehicle driving support system according to a sixth aspect of the present invention is the vehicle driving support system according to the first or second aspect, wherein the driving support device includes third distance information acquisition means for acquiring information relating to the distance between the host vehicle and the intersection. When the preceding vehicle is not in either the dilemma area or the option area of the preceding vehicle determined by the first determining means, the determining means is the distance from the intersection of the own vehicle, the speed of the own vehicle, and the signal information based on, so as to determine whether pre-Symbol is the vehicle to one of the vehicle's dilemma area and optional area determined by entry conditions entering the stop condition and the intersection to stop before the intersection Te Yes, the second case it is determined in one of the dilemmas area and optional area of the vehicle in determining means, output means for outputting information for accelerating or decelerating the vehicle Characterized in that it comprises further.

Vehicle driving support system according to the seventh invention, in any one of the first aspect to sixth invention, the second determining means, based on a predetermined standard deceleration dilemma regions and optional regions of the host vehicle vehicle It is characterized by determining whether it exists in any of these .

Vehicle driving support system according to the eighth invention, the third aspect or the sixth shot Oite bright, and the output means, when outputting information for decelerating the host vehicle, yellow light starting point on, the vehicle Information for decelerating at the standard deceleration is further output.

The vehicle driving support system according to a ninth aspect of the present invention is the vehicle driving support system according to any one of the first to eighth aspects of the present invention, wherein the driving support device is configured such that the host vehicle moves to the predetermined location every time a predetermined time elapses or every predetermined distance travels. Stop limit speed calculating means for calculating a stop limit speed that can stop before the point, and an entry limit at which the vehicle can enter the intersection before the end of the yellow signal every time the predetermined time elapses or every predetermined distance of movement Based on the speed of the own vehicle and the stop limit speed or the approach limit speed when it is determined that the vehicle is in either the dilemma area or the option area of the own vehicle by the approach limit speed calculating means for calculating the speed and the second determining means. And a control means for controlling the acceleration / deceleration of the host vehicle.

The vehicle driving support system according to a tenth aspect of the present invention is the vehicle driving support system according to any one of the first to eighth aspects of the present invention, wherein the driving support device is configured such that the host vehicle moves to the predetermined location every time a predetermined time elapses or every predetermined distance travels. Stop limit speed calculating means for calculating a stop limit speed that can stop before the point, and an entry limit at which the vehicle can enter the intersection before the end of the yellow signal every time the predetermined time elapses or every predetermined distance of movement Based on the approach limit speed calculation means for calculating the speed, the speed of the host vehicle, and the stop limit speed or the approach limit speed, the target speed for calculating the target speed every time the predetermined time elapses or every predetermined distance of movement. When it is determined by the calculating means and the second determining means that the host vehicle is in either the dilemma area or the option area of the host vehicle, the host vehicle is determined according to the difference between the speed of the host vehicle and the target speed. And a controlling means for controlling the acceleration and deceleration of the.

  A vehicle driving support system according to an eleventh aspect of the present invention is the vehicle driving support system according to any one of the first to tenth aspects, wherein the driving support device includes road information acquisition means for acquiring road information including a road gradient, and the road information acquisition means. And determining means for determining the standard deceleration based on the acquired road information.

The vehicle driving support system according to a twelfth aspect of the present invention is the vehicle driving support system according to any one of the third , sixth and eighth aspects, wherein the driving support device includes a surrounding vehicle determining means for determining presence or absence of a surrounding vehicle, and traffic at the intersection. Traffic information acquisition means for acquiring traffic information relating to, the output means satisfying the condition that the speed when the host vehicle is accelerated is equal to or less than a predetermined speed, and that there is no approaching forward vehicle, subsequent It is configured to output information for accelerating the host vehicle when at least one of the conditions that the vehicle exists and traffic on the intersection road of the intersection is quiet is satisfied. .

A vehicle driving support system according to a thirteenth aspect of the present invention controls the acceleration / deceleration of the host vehicle based on the information output by the output means in any of the third aspect , the sixth aspect, the eighth aspect or the twelfth aspect. An acceleration / deceleration control means is provided.

A vehicle driving support system according to a fourteenth aspect of the present invention is the vehicle driving support system according to any one of the third , sixth, eighth, twelfth and thirteenth aspects, based on information output by the output means. An informing means for informing the deceleration is provided.

Vehicle driving assist system according to a fifteenth invention, in the fourteenth invention, the distance of a given land Tenma, based on the speed information and the signal information of the own vehicle, the own vehicle is determined by the second determination means A proximity determination unit that determines whether the vehicle is in the vicinity of the dilemma region or the option region of the vehicle, and the notification unit determines that the proximity determination unit is in the vicinity of the dilemma region or the option region of the own vehicle, characterized in that is arranged to the notification to the effect that enters the effect or intersection stops in front of the predetermined locations point.

A driving support apparatus according to a sixteenth aspect of the invention is a driving support apparatus that receives signal information including a yellow signal start time and a yellow signal time of a traffic light installed at an intersection and supports safe driving of the vehicle. Forward vehicle speed acquisition means, first distance information acquisition means for acquiring information on the distance between the preceding vehicle and the intersection, the distance between the preceding vehicle and the intersection, the speed of the preceding vehicle, and the signal information Based on the stop condition to stop before the intersection at the start of the yellow signal of the traffic light and the entry condition to enter the intersection, the forward vehicle is in either the dilemma area or the option area of the forward vehicle First determination means for determining whether or not, speed acquisition means for acquiring speed information of the host vehicle, and second distance for acquiring information relating to the distance between the host vehicle and a predetermined point A distribution obtaining unit, when the forward vehicle is in any one of the dilemmas area and optional area of the preceding vehicle is judged by the first judging means, the distance between the front Symbol predetermined point of the vehicle, the vehicle speed, and on the basis of the signal information, either yellow light stop condition to stop in front of the front Kisho constant point at the start and the vehicle's dilemma area and optional area determined by entry conditions entering the intersection of the traffic And a second determination means for determining whether or not the host vehicle is present.

  A vehicle according to a seventeenth aspect is equipped with the driving support apparatus according to the above-described invention.

A vehicle driving support method according to an eighteenth aspect of the present invention is the vehicle driving support method for supporting the safe driving of the vehicle by receiving the signal information including the yellow signal start time and the yellow signal time of the traffic light installed at the intersection with the driving support device. The driving support device acquires speed information of the preceding vehicle, acquires information related to a distance between the preceding vehicle and the intersection, and is based on the distance between the preceding vehicle and the intersection, the speed of the preceding vehicle, and the signal information. Whether the vehicle ahead is in one of the dilemma area and the option area of the vehicle ahead determined by the stop condition to stop before the intersection at the start of the yellow signal of the traffic light and the entry condition to enter the intersection Determining whether or not, acquiring speed information of the host vehicle, acquiring information about a distance between the host vehicle and a predetermined point, and the front vehicle is in a dilemma area and If it is determined that any of the Deployment area, the distance between the front Symbol predetermined point of the vehicle, the speed of the vehicle, and on the basis of the signal information, before Kisho constant point at yellow light start time point of the traffic It is characterized in that it is determined whether or not the host vehicle is in either the dilemma area or the option area of the host vehicle determined by the stop condition for stopping before the vehicle and the approach condition for entering the intersection.

In the first invention, the sixteenth invention, and the eighteenth invention, the driving support device acquires speed information (speed) of the preceding vehicle and information related to the distance between the preceding vehicle and the intersection. The information regarding the distance between the preceding vehicle and the intersection may be, for example, the distance between the preceding vehicle and the intersection, or the position of the preceding vehicle and the intersection. Based on the speed information of the vehicle ahead, the distance to the intersection, and the signal information including the yellow signal start time and yellow signal time of the traffic light installed at the intersection, the driving support device stops after the yellow signal starts, for example The driving condition determined by the stop condition to stop before the intersection and the entry condition to enter the intersection before the end of the yellow signal (for example, the dangerous driving condition, that is, the distance and speed to the vehicle intersection) It is determined whether or not the vehicle is in a dangerous driving area determined by the above. The dangerous driving state includes, for example, a dilemma state and an optional state. The dilemma state is a state where even if the vehicle tries to stop after displaying the yellow signal, it cannot stop before the intersection and cannot enter the intersection before the end of the yellow signal, and cannot stop or enter safely. In addition, the optional state is a state where the vehicle can stop before the intersection to stop after the yellow signal is displayed, and can enter the intersection before the end of the yellow signal, and the vehicle stops or enters depending on the characteristics of the driver. It is an unstable state that is different. The driving support device determines the traveling state (for example, dangerous traveling state) of the host vehicle based on the determination result of the preceding vehicle. For example, when it is determined that the preceding vehicle is in a dangerous driving state, it is determined whether or not the host vehicle can stop behind the preceding vehicle, assuming that the preceding vehicle stops before the intersection. Further, when it is determined that the preceding vehicle is not in a dangerous driving state, when the preceding vehicle passes through the intersection, it is determined whether or not the own vehicle can stop at the intersection. As a result, even when another vehicle travels ahead of the host vehicle, it is possible to make a determination to stop the host vehicle before the intersection safely and reliably while avoiding the dangerous driving state.
In addition, the driving support device acquires speed information (speed) of the host vehicle and information regarding the distance between the host vehicle and a predetermined point. For example, when the preceding vehicle stops before the intersection (for example, before the stop line), the predetermined point is a point upstream by the vehicle length of the preceding vehicle from the position of the intersection. Further, the information regarding the distance between the host vehicle and the predetermined point may be, for example, the distance between the host vehicle and the predetermined point, or the position of the host vehicle and the predetermined point. Driving support device, when it is determined that the preceding vehicle is in a critical driving state, the distance to the speed and the predetermined point of the vehicle, and on the basis of the signal information, the vehicle is, for example, Jo Tokoro point in the yellow signal beginning It is determined whether or not the vehicle is in a traveling state (for example, a dangerous traveling state) determined by a stop condition for stopping before the vehicle and an entry condition for entering the intersection at the end of the yellow signal, for example. In this case, the stop condition is a condition where the vehicle stops in front of Jo Tokoro point.

In the second invention, the driving support device determines whether or not the preceding vehicle is in the traveling state based on a predetermined standard deceleration. More specifically, the driving support device determines whether or not the preceding vehicle is in the traveling state based on a stop condition corresponding to the standard deceleration. The standard deceleration only indicates a change in the speed of the vehicle, and is irrelevant to the operation content of the braking operation or the operation timing. The standard deceleration is slowed down after a time (for example, 2 seconds or more) that is sufficiently longer than the reflection reaction (0.5 seconds) from the stop judgment point, for example, when the vehicle starts braking instead of the yellow signal. This means the deceleration seen when performing an operation. In other words, this means the deceleration seen when aiming at a stop with a sufficient margin without sudden braking. Note that the timing at which the driving support device performs the speed control at the standard deceleration is not limited to a time sufficiently longer than the reflection reaction or the time of the reflection reaction. In general, the standard deceleration is approximately 2 to 3 m / s ² on a flat dry road surface.

In the third aspect of the invention, the driving support device outputs information for accelerating / decelerating the host vehicle when it is determined that the host vehicle is in a dangerous driving state. That is, the driving support device provides (outputs) information for decelerating the host vehicle at a moderate deceleration when, for example, the host vehicle is stopped at a predetermined point or intersection in order to avoid a dangerous driving state. To do. However, when it is determined that the preceding vehicle is in a dangerous driving state and the vehicle passes through an intersection in order to avoid the dangerous driving state, when the host vehicle enters the intersection and avoids the dangerous driving region after passing the preceding vehicle Provides (outputs) information for accelerating the host vehicle at moderate acceleration. Thus, the vehicle can be safely stopped or passed while avoiding the dangerous driving state (dangerous driving region).

  In the fourth invention, the predetermined point is a point on the upstream side by one vehicle length from the intersection. The vehicle length for one vehicle means the vehicle length for one vehicle or the length obtained by adding the distance between vehicles when stopped. As a result, even when the preceding vehicle stops at the intersection, it can be reliably stopped behind the preceding vehicle without colliding with the preceding vehicle.

  In the fifth invention, the driving support device acquires the vehicle length information of the preceding vehicle. In addition, the vehicle length information of the preceding vehicle may be acquired from the transmission device, or may be stored in advance. In addition, the vehicle length can be obtained based on information on the preceding vehicle acquired from an in-vehicle camera or an ultrasonic sensor.

  In the sixth aspect of the invention, the driving support device acquires information related to the distance between the host vehicle and the intersection. The information regarding the distance between the host vehicle and the intersection may be, for example, the distance between the host vehicle and the intersection, or the position of the host vehicle and the intersection. When it is determined that the preceding vehicle is not in a dangerous driving state, the driving support device determines that the own vehicle is about to stop after the yellow signal starts, for example, based on the speed of the own vehicle, the distance to the intersection, and the signal information. It is determined whether or not the vehicle is in a traveling state (for example, a dangerous traveling state) determined by a stop condition for stopping before and an entry condition for entering the intersection before the end of the yellow signal. When it is determined that the host vehicle is in a dangerous driving state, the driving support device outputs information for accelerating / decelerating the host vehicle. That is, the driving assistance device provides (outputs) information for decelerating the host vehicle at a gradual deceleration when, for example, the host vehicle is stopped at an intersection in order to avoid a dangerous driving state. When the own vehicle enters the intersection (when the vehicle passes through the intersection), information for accelerating the own vehicle at a moderate acceleration is provided (output). Thus, the vehicle can be safely stopped or passed while avoiding the dangerous driving state (dangerous driving region).

In the seventh invention, the driving support device determines whether or not the host vehicle is in the traveling state based on a predetermined standard deceleration. More specifically, the driving assistance device determines whether or not the host vehicle is in the traveling state based on a stop condition corresponding to the standard deceleration. The standard deceleration only indicates a change in the speed of the vehicle, and is irrelevant to the operation content of the braking operation or the operation timing. The standard deceleration is slowed down after a time (for example, 2 seconds or more) that is sufficiently longer than the reflection reaction (0.5 seconds) from the stop judgment point, for example, when the vehicle starts braking instead of the yellow signal. This means the deceleration seen when performing an operation. In other words, this means the deceleration seen when aiming at a stop with a sufficient margin without sudden braking. Note that the timing at which the driving support device performs the speed control at the standard deceleration is not limited to a time sufficiently longer than the reflection reaction or the time of the reflection reaction. In general, the standard deceleration is approximately 2 to 3 m / s ² on a flat dry road surface.

  In the eighth aspect, when outputting information for decelerating the host vehicle, the driving support device further outputs information for decelerating the host vehicle at the standard deceleration after the yellow signal start time. That is, the driving support device provides (outputs) information for decelerating the host vehicle at the standard deceleration after the yellow light is turned on after avoiding the dangerous driving state. As a result, the vehicle can be safely stopped at the intersection without sudden deceleration.

In the ninth aspect of the invention, the driving support device stops after the start of the yellow signal, for example, every time a predetermined time (control cycle, for example, 0.05 to 1 second) elapses or every predetermined distance of movement. stop limit speed can be stopped before the predetermined locations point trying, and the vehicle is calculated ingress limit speed which can enter the intersection until the end of the yellow light. When it is determined that the host vehicle is in a dangerous driving state, the driving support device controls the acceleration / deceleration of the host vehicle based on the speed of the host vehicle and the calculated stop limit speed or approach limit speed. For example, the driving support apparatus, when it is determined that the vehicle is in a critical driving state, when stopping the vehicle at a predetermined place point, stop limit speed calculated every time the movement of each or a predetermined distance for a predetermined time elapses The deceleration control of the host vehicle is repeatedly performed so that the current speed of the host vehicle approaches the target speed with the target speed as the target speed. In addition, when the driving support device determines that the host vehicle is in a dangerous driving state, when the host vehicle enters the intersection, the driving limit device calculates the approach limit speed calculated every time a predetermined time elapses or every predetermined distance of movement. As the speed, the acceleration control of the host vehicle is repeatedly performed so that the current speed of the host vehicle approaches the target speed. As a result, the speed of the host vehicle can be gradually brought close to the stop limit speed or the approach limit speed every predetermined time or every movement of a predetermined distance, and the acceleration / deceleration is gentle without sudden deceleration or rapid acceleration. Therefore, it is possible to safely and reliably avoid dangerous driving conditions.

In the tenth aspect of the invention, the driving support device stops after the start of the yellow signal, for example, every time a predetermined time (control cycle, for example, 0.05 to 1 second) elapses or every predetermined distance of movement. stop limit speed can be stopped before the predetermined locations point trying, and the vehicle is calculated ingress limit speed which can enter the intersection until the end of the yellow light. Based on the speed of the host vehicle, the calculated stop limit speed, or the approach limit speed, the driving support device calculates the target speed every time a predetermined time elapses or every predetermined distance of movement. For example, when the speed difference between the current speed of the host vehicle and the calculated stop limit speed or approach limit speed is large, the target speed can be a value changed by a value smaller than the speed difference. This reduces the speed change when accelerating / decelerating. When it is determined that the host vehicle is in a dangerous driving state, the driving support device controls the acceleration / deceleration of the host vehicle according to the difference between the speed of the host vehicle and the target speed. For example, the acceleration / deceleration of the host vehicle can be controlled repeatedly until there is no difference. As a result, the speed of the host vehicle can be gradually brought close to the stop limit speed or the approach limit speed every predetermined time or every movement of a predetermined distance, and the acceleration / deceleration is gentle without sudden deceleration or rapid acceleration. Therefore, it is possible to safely and reliably avoid dangerous driving conditions.

  In the eleventh invention, the driving support device acquires road information including a road gradient, and determines a standard deceleration based on the acquired road information. For example, when the host vehicle travels on a downhill, the standard deceleration can be reduced, and when traveling on an uphill, the standard deceleration can be increased. Also, the standard deceleration can be changed depending on whether the road surface is dry, wet, sandy, snowy, or depending on the tire wear state. Thereby, the stop or approach of the vehicle can be controlled with higher accuracy.

  In the twelfth aspect of the invention, the driving assistance device is required that the speed when the host vehicle is accelerated is equal to or lower than a predetermined speed, and there is no approaching forward vehicle, the presence of a following vehicle, and an intersection. If the traffic on the intersection road is quiet, the information for accelerating the host vehicle is output when the essential condition is satisfied and at least one of the selection conditions is satisfied. Note that the approaching front vehicle is, for example, a case where the speed of the host vehicle and the relative speed with the front vehicle are detected from the ultrasonic sensor in a predetermined cycle, and the vehicle is accelerated to a predetermined speed based on the detected relative speed. Vehicles that exist within a range where it can be determined that there is a possibility of collision with the vehicle. As a result, it is possible to ensure safety when the host vehicle is slowly accelerated and enters (passes) the intersection.

  In the thirteenth aspect, the driving support device controls acceleration / deceleration of the host vehicle based on information output for acceleration / deceleration. That is, in order to avoid a dangerous driving state, for example, when the host vehicle is stopped at a predetermined point or an intersection, the driving support device decelerates the host vehicle at a slow deceleration, or makes the host vehicle at an intersection. When approaching (passing through an intersection), the host vehicle is accelerated at a moderate acceleration. Thus, the vehicle can be safely stopped or passed while avoiding the dangerous driving state (dangerous driving region).

  In the fourteenth aspect, the driving support device notifies the acceleration / deceleration of the host vehicle based on information output for acceleration / deceleration. That is, in order to avoid a dangerous driving state, for example, when the host vehicle is stopped at an intersection, the driving support device notifies the driver that the host vehicle decelerates at a slow deceleration or a deceleration instruction, Alternatively, when the host vehicle enters the intersection (when the host vehicle passes through the intersection), the host vehicle accelerates at a moderate acceleration or notifies the driver of an acceleration instruction. Accordingly, it is possible to reliably tell the driver that the dangerous driving state (dangerous driving region) is avoided, and it is possible to prevent the driver from performing an unexpected operation and to reliably avoid the dangerous driving state. . Further, when the driver performs a driving operation based on the instruction, it is possible to avoid the dangerous driving state (dangerous driving region) and to stop or pass the vehicle safely at the intersection.

In the fifteenth invention, the driving support device, the distance at a given place Tenma of the vehicle, based on the speed and the signal information to determine whether the vehicle is in the vicinity of the critical driving state. Determination of whether the vicinity of the critical driving state, for example, by closeness of the stop condition or entry conditions the state of the vehicle identified by the range and velocity at a given place Tenma in yellow light beginning Can be determined. In this case, the degree of closeness is an index for evaluating the degree of deviation from the stop condition or the entry condition using a distance, a path of coordinate intercept, cluster classification, and the like. Driving support apparatus, when it is determined that the vehicle is in the vicinity of the critical driving condition, the notification indicating that enters the effect or intersection stops in front of the predetermined locations point. As a result, even when the host vehicle is not in a dangerous driving state, it is possible to prevent a situation in which the host vehicle enters a dangerous driving state due to a driver's operation error.

  In the seventeenth aspect, since the vehicle includes the above-described driving support device, driving support of the vehicle can be performed.

  In the present invention, even when another vehicle travels ahead of the host vehicle, it is possible to make a determination to stop the host vehicle before the intersection safely and reliably by avoiding the dangerous driving state. it can.

  Hereinafter, the present invention will be described with reference to the drawings illustrating embodiments. FIG. 1 is a schematic diagram showing an outline of a vehicle driving support system according to the present invention. In the vehicle driving support system according to the present invention, a stop line is provided in front of the intersection where the traffic light is installed, and the road device 21 has an appropriate separation distance (for example, 200 m) from the stop line along the road. 22 is installed. Moreover, the optical beacon 10 is installed on the upstream side of the road device 21 (for example, about 300 m upstream from the road device 21).

  The on-road devices 21 and 22 are, for example, an ultrasonic sensor, an IC tag, a magnetic nail, an optical sensor, and the like, and can identify a communication point by sensing radio waves, sound waves, light, magnetism, and the like. . The road devices 21 and 22 have a communication area with an in-vehicle device (driving support device) on the road. When the vehicle passes through the communication area, the in-vehicle device receives a signal indicating that the vehicle passes through the communication area from the road devices 21 and 22. The road devices 21 and 22 may be one-way communication or two-way communication with the in-vehicle device. Further, the roadside devices 21 and 22 are not intended for communication but may simply issue a signal for measurement.

  The optical beacon 10 has a communication area with the in-vehicle device on the road. When the vehicle passes through the communication area, the in-vehicle device receives predetermined information from the optical beacon 10. The predetermined information includes, for example, communication point position information, stop line position information (for example, distance to the stop line, absolute position of the stop line, etc.), position information of the road devices 21 and 22 (for example, communication from the stop line) The distance to the area, the absolute position of the communication area, etc.), the signal information of the traffic light (for example, the yellow signal start time and the yellow signal time, etc.), the vehicle length information relating to the vehicle length, and the like. In place of the optical beacon 10, a radio wave beacon, DSRC (Dedicated Short Range Communication), or the like can be used.

  When the vehicle travels on the road toward the intersection, the in-vehicle device acquires predetermined information through communication with the optical beacon 10. For example, the in-vehicle device can confirm that the distance to the stop line at this time is, for example, 700 m. The in-vehicle device further travels on the road toward the intersection, and the in-vehicle device communicates with the on-road device 21, so that the in-vehicle device confirms that the position of the own vehicle is 400 m from the stop line. can do. That is, the in-vehicle device can correct the distance to the stop line. The same applies when the in-vehicle device communicates with the road device 22. Thereby, the vehicle-mounted apparatus can grasp | ascertain the distance to a stop line with a sufficient precision beforehand in the upstream point of an intersection.

After that, the in-vehicle device determines the speed of the forward vehicle traveling in front of the host vehicle, the distance to the stop line (intersection), the yellow signal start time and yellow signal time of the traffic light installed at the intersection, the predetermined standard deceleration, etc. Based on the dangerous driving condition (distance and speed to the stop line) determined by the stop condition in which the preceding vehicle tries to stop after the start of the yellow light and stops before the intersection and the approach condition to enter the intersection by the end of the yellow signal It is determined whether or not the vehicle is in a dangerous driving area determined by the above. The standard deceleration only indicates a change in the speed of the vehicle, and is irrelevant to the operation content of the braking operation or the operation timing. The standard deceleration is slowed down after a time (for example, 2 seconds or more) that is sufficiently longer than the reflection reaction (0.5 seconds) from the stop judgment point, for example, when the vehicle starts braking instead of the yellow signal. This means the deceleration seen when performing an operation. In other words, this means the deceleration seen when aiming at a stop with a sufficient margin without sudden braking. Note that the timing at which the driving support device performs the speed control at the standard deceleration is not limited to a time sufficiently longer than the reflection reaction or the time of the reflection reaction. In general, the standard deceleration is approximately 2 to 3 m / s ² on a flat dry road surface.

  If it is determined that the preceding vehicle is in a dangerous driving state, the in-vehicle device determines whether the host vehicle can stop behind the preceding vehicle, assuming that the preceding vehicle stops before the intersection. Further, when it is determined that the preceding vehicle is not in a dangerous driving state, when the preceding vehicle passes through the intersection, it is determined whether or not the own vehicle can stop at the intersection. In addition, the in-vehicle device performs a process for decelerating the vehicle at a moderate deceleration when, for example, the vehicle is stopped behind the front vehicle or at a stop line in order to avoid the host vehicle from a dangerous driving state. Alternatively, when the host vehicle enters the intersection (when the vehicle passes through the intersection), processing for accelerating the vehicle at a moderate acceleration is performed.

  FIG. 2 is a block diagram showing the configuration of the in-vehicle device 30. A video camera 40 mounted on the vehicle is connected to the in-vehicle device 30. For example, the video camera 40 is disposed on a front grille, a front bumper, or the like of the vehicle, and can capture images of a front vehicle traveling ahead of the vehicle and a road surface ahead. In addition, a vehicle control unit 50 that controls the traveling state of the vehicle is connected to the in-vehicle device 30. In response to the control signal output from the in-vehicle device 30, the vehicle control unit 50 accelerates / decelerates the vehicle at a required acceleration / deceleration. The in-vehicle device 30 is connected with an ultrasonic sensor 60 for detecting whether or not there is another vehicle in front of and behind the host vehicle and measuring the distance from the preceding vehicle. Instead of the ultrasonic sensor 60, other in-vehicle sensors such as a millimeter wave radar can be used.

  The in-vehicle device 30 includes a CPU that performs various types of arithmetic processing, and includes a control unit 31 that includes a timepiece for measuring a control cycle described later. Note that the control unit 31 may be configured with a dedicated hardware circuit, or may be configured to execute a computer program having a predetermined processing procedure. A communication unit 32, a positioning unit 33, a map database 34, a display unit 35, an image processing unit 36, an operation unit 37, a storage unit 38, a notification unit 39, and the like are connected to the control unit 31 via an internal bus. The positioning unit 33 includes a GPS (Global Positioning System) 331, a vehicle speed sensor 332, a gyro sensor 333, a distance meter 334 that measures a travel distance, and the like. The in-vehicle device 30 can be configured not only as a dedicated device but also as a device such as a personal computer, a PDA, a mobile phone, etc. that can be removed and used for other purposes on the ground with the functions of the above-described units. .

  The communication unit 32 has a communication function for performing road-to-vehicle communication with the optical beacon 10. Note that the communication unit 32 is not limited to narrowband communication such as optical beacon, radio wave beacon, and DSRC. For example, the communication unit 32 may be provided with a wireless LAN function such as a UHF band or a VHF band as a middle band communication, or As a wide area communication, a communication function such as a mobile phone, PHS, multiple FM broadcasting, and Internet communication may be provided. Further, the communication unit 32 has a reception function for receiving signals transmitted by the road devices 21 and 22.

  The positioning unit 33 receives radio waves from a plurality of GPS satellites by the GPS 331, and measures the position of the own vehicle. In addition, the positioning unit 33 determines the position of the host vehicle based on signals output from the vehicle speed sensor 332 and the gyro sensor 333 in order to reduce an error in the position where the radio wave from the GPS satellite does not reach or the position measured by the GPS 331. By estimating and collating with the road data of the map database 34, the position of the own vehicle is determined with higher accuracy. In addition to GPS331, DGPS (differential GPS) can also be mounted. The DGPS can receive FM broadcasts or medium waves transmitted from a reference station whose position is known in advance, can correct the positional deviation calculated by the GPS, and can improve the accuracy of the position of the host vehicle.

  The display unit 35 is a liquid crystal display panel such as a windshield display or a head-up display, or a car navigation system or a rear monitoring monitor, and displays necessary information to the driver.

  When the image processing unit 36 receives a signal for starting image processing from the control unit 31, the image processing unit 36 performs processing for detecting a stop line based on a captured image obtained by capturing an image of the road with the video camera 40. Further, the image processing unit 36 extracts the front vehicle based on the captured image, and specifies the vehicle type or size of the front vehicle. The vehicle length of the preceding vehicle is calculated according to the specified vehicle type or size. The image processing unit 36 can also calculate the distance to the vehicle ahead based on the captured image. Hereinafter, a method for detecting the position of the stop line based on the captured image will be described.

  With the lens center of the video camera 40 as the origin, the road coordinate system is (X, Y, Z), the camera coordinate system is (X ′, Y ′, Z ′), and the road coordinate system indicates the direction of travel of the road as the Y axis. The forward direction is positive, the direction on the road surface perpendicular to the road direction is the X axis (the right direction forward is positive), and the direction perpendicular to the road surface is Z (upward is positive). In the camera coordinate system, the optical axis of the camera lens is the Y ′ axis, the horizontal axis perpendicular to the optical axis is the X ′ axis, and the upward direction of the camera is the Z ′ axis. Furthermore, the rotation angle of each axis of the camera coordinate system with respect to each axis of the road coordinate system is θ (pitch angle), φ (roll angle), and ψ (yaw angle), respectively, and the direction in which the right screw advances is positive (θ : Positive upward from the horizontal plane, φ: clockwise is positive, ψ: counterclockwise is positive). In this case, the conversion equation from the road coordinate system to the camera coordinate system can be expressed by equation (1).

  Each of the coefficients P11 to P33 of the transformation matrix can be expressed by Expression (2). Further, the coordinates (x, y) on the captured image can be expressed by Expression (3), where F is the focal length of the lens.

  The presence / absence of a stop line is determined by extracting an edge point based on the pixel value of each pixel of the captured image and performing pattern matching between the edge image obtained from the extracted edge point and the shape of the stop line. be able to. The y coordinate of the point where the cut out stop line intersects with the y axis of the captured image is obtained (in this case, x = 0), and the obtained y coordinate is substituted into Equation (3), so that the distance to the stop line can be accurately calculated. can do.

  The operation unit 37 includes various operation panels and functions as a user interface between the driver and the in-vehicle device 30. For example, the operation unit 37 receives an operation for starting or stopping the operation of the in-vehicle device 30 by a driver's operation.

  The alerting | reporting part 39 is provided with a speaker, and when warning a driver | operator under control of the control part 31, the content of a warning is output with an audio | voice. For example, when the vehicle is in a dangerous driving area, which will be described later, a message indicating that automatic speed control is performed to enter the dangerous driving area (entering an automatic speed control mode) is output. Further, when the vehicle is decelerated to stop at a predetermined point or intersection, or when the vehicle is accelerated to enter (pass through) the intersection, the fact is output.

  The storage unit 38 stores predetermined information received through the communication unit 32.

  FIG. 3 is an explanatory diagram showing the concept of the dangerous driving area. In the figure, the horizontal axis indicates the distance from the stop line, and the vertical axis indicates the speed of the vehicle. The dangerous driving area is an area in which the fact that the vehicle is in a dangerous driving state can be expressed by the speed of the vehicle and the distance to the stop line. The dangerous driving area includes a dilemma area and an option area. In the dilemma area, even if the vehicle tries to stop after the yellow signal is displayed, it cannot stop before the stop line (intersection) and cannot enter the stop line by the end of the yellow signal and cannot stop or enter safely. is there. In addition, the option area is a state where the vehicle can stop before the stop line in order to stop after the yellow signal is displayed, and can enter the stop line before the end of the yellow signal, and whether the vehicle stops due to the characteristics of the driver. Or, it is an unstable state where the approach is different. That is, when it is determined that the vehicle is in a dangerous area during the yellow signal display (for example, at the start of the yellow signal), it is determined that the vehicle is in a dangerous driving state.

  In FIG. 3, the current position of the vehicle with reference to the stop line is X, the current speed is V, and the time until the yellow signal starts is t (0 <t <signal cycle). If the vehicle speed does not change (Vy = V), the vehicle position Xy at the yellow signal start time can be obtained by Expression (4). Expression (4) is a determination condition E based on the current traveling state of the vehicle.

  On the other hand, a stop condition C in which the vehicle stops safely before the stop line and waits for a signal is obtained by Expression (5). Here, g is a standard deceleration of the vehicle, and α is a time delay until the driver steps on the brake after the yellow signal. That is, the stop condition C is a curve indicating the limit of the vehicle speed at which the vehicle can stop at the stop line and the distance to the stop line if the vehicle decelerates at the standard deceleration at the start of the yellow signal.

  The entry condition L where the vehicle enters the stop line at the end of the yellow signal and does not wait for the signal is obtained by Expression (6). Here, Ty is the yellow signal time. In other words, the entry condition L is defined as the vehicle speed and the distance to the stop line that can reach the stop line within the yellow signal time (before the red signal) when the vehicle turns yellow. It is a straight line indicating the limit.

  The dilemma region is a region that does not satisfy both of the equations (5) and (6), and the option region is a region that satisfies both of the equations (5) and (6). In addition, in FIG. 3, the area | region below a dangerous driving | running | working area | region is an intersection stop area | region, and is an area | region which can be stopped safely before a stop line. In addition, the upper area of the dangerous traveling area is an intersection passing area, and is an area where the user can safely enter (pass) the stop line.

  The in-vehicle device 30 is a control for accelerating or decelerating the vehicle so as not to fall into the dangerous traveling region when the vehicle may enter the dangerous traveling region (dilemma region and option region) at the start of the yellow signal. Is repeated whenever a predetermined time (control cycle) elapses. For example, when the state (Xy, Vy) of the vehicle at the start of the yellow signal determined by the determination condition E is close to the stop condition C, the current speed is moderated so as to become the stop limit speed specified by the point P. Performs deceleration control with proper deceleration. In addition, when the vehicle state (Xy, Vy) at the time of the start of the yellow signal obtained by the determination condition E is close to the entry condition L, the current speed is moderated so as to become the entry limit speed specified by the point Q. Acceleration control with a large acceleration.

  Further, the in-vehicle device 30 substitutes the distance to the intersection of the preceding vehicle as X and the speed of the preceding vehicle as V in the above formulas (4) to (6), so that the preceding vehicle is in the dangerous traveling area. Determine whether or not. The in-vehicle device 30 determines the dangerous traveling area of the host vehicle according to the result of the dangerous traveling area determination of the preceding vehicle, and performs automatic speed control for avoiding the dangerous traveling area.

  Next, automatic speed control for avoiding a dangerous traveling area by the in-vehicle device 30 will be described. 4 to 7 are flowcharts showing the processing procedure of the in-vehicle device 30. The control unit 31 determines whether or not there is communication with the optical beacon 10 (S11). If there is no communication (NO in S11), the control unit 31 continues the process of step S11 and waits for communication with the optical beacon 10.

  When there is communication with the optical beacon 10 (YES in S11), the control unit 31 is a signal including a communication point, a stop line, position information on the roadside device, a yellow signal start time of the traffic light, and a yellow signal time from the optical beacon 10. Information is received (S12).

  The control unit 31 calculates the distance to the stop line (S13), determines whether or not a signal is received from the road devices 21 and 22 (S14), and if the signal is received (YES in S14), the stop line Is corrected (S15). For example, if the distance from the stop line to the point of communication with the road devices 21 and 22 is L, the position of the vehicle is corrected to be at the distance L from the stop line. Thereby, the distance error accumulated as the host vehicle travels toward the stop line can be reset, and the accuracy of the distance to the stop line can be improved. When the signal is not received (NO in S14), the control unit 31 performs the process of step S16 described later without performing the process of step S15.

  The control part 31 determines whether it is an automatic driving | operation start timing (S16). The automatic driving start timing is a predetermined time (for example, 5 to 10 seconds) when the vehicle ahead or the host vehicle is at a predetermined distance (for example, 200 m) from the stop line, and the time until switching to the yellow signal. The time point, the last communication time with the road device 22, or the communication time with the optical beacon 10 can be set as appropriate. The automatic driving start timing can be changed according to the speed of the preceding vehicle or the host vehicle.

  When it is the automatic driving start timing (YES in S16), the control unit 31 calculates the dangerous traveling area of the preceding vehicle (S17), and calculates the dangerous traveling area of the host vehicle (S18). The control unit 31 determines whether or not the preceding vehicle enters the dangerous traveling area (S19). When the preceding vehicle enters the dangerous traveling area (YES in S19), the control unit 31 determines whether or not the own vehicle enters the dangerous traveling area, assuming that the preceding vehicle has stopped before the stop line ( S20).

  FIG. 8 is an explanatory diagram showing an example of the dangerous traveling region determination for the preceding vehicle and the host vehicle. In the figure, the horizontal axis indicates the distance from the stop line, and the vertical axis indicates the speed of the vehicle. The determination as to whether or not the preceding vehicle is in the dangerous traveling area can be made in the same manner as in the example of FIG. In FIG. 8, it is assumed that the current position of the preceding vehicle with reference to the stop line is Xp, the current speed is V, and the time until the yellow signal starts is t (0 <t <signal cycle). The speed of the preceding vehicle can be obtained from the relative speed obtained from the temporal change in the distance from the host vehicle to the preceding vehicle and the speed of the host vehicle. If the vehicle speed does not change (Vy = V), the vehicle position Xpy at the yellow signal start time can be obtained in the same manner as in equation (4). Expression (4) is a determination condition E based on the current traveling state of the preceding vehicle.

  On the other hand, the stop condition Cp in which the preceding vehicle stops safely before the stop line and waits for a signal is obtained in the same manner as in the equation (5). Here, g is a standard deceleration of the vehicle, and α is a time delay until the driver steps on the brake after the yellow signal. That is, the front vehicle stop condition Cp is a curve indicating the speed of the front vehicle that can stop at the stop line and the limit of the distance to the stop line if the front vehicle decelerates.

  An approach condition Lp, which is a condition in which the preceding vehicle enters the stop line at the end of the yellow signal and does not wait for the signal, is obtained in the same manner as in equation (6). Here, Ty is the yellow signal time. The approach condition Lp of the preceding vehicle is that the speed of the preceding vehicle and the stop line that can reach the stop line within the yellow signal time (before becoming a red signal) when the preceding vehicle turns yellow while driving. It is a straight line indicating the limit of the distance. The dilemma area and the option area of the preceding vehicle are areas surrounded by the stop condition Cp and the entry condition Lp, as shown in FIG.

  When the preceding vehicle is in the dangerous driving area, the dangerous driving area of the host vehicle can be determined as follows. First, when the preceding vehicle stops at the intersection to avoid the dangerous driving area, the own vehicle must also stop before the intersection and behind the preceding vehicle. From the curve represented by the stopping condition C of the own vehicle If it is in the lower area, the dangerous driving area can be avoided. That is, the area above the curve represented by the stop condition C of the host vehicle is a dangerous traveling area that cannot be stopped at the intersection (behind the preceding vehicle). Here, the host vehicle can be a point on the upstream side by a predetermined distance (for example, a distance corresponding to the vehicle length of the front vehicle with reference to the stop line. Note that the distance between the vehicle and the front vehicle when stopped is taken into consideration. The stop condition C that stops safely before waiting for a signal and waits for a signal can be obtained by Expression (7). Here, g is a standard deceleration of the host vehicle, and α is a time delay from when the yellow signal is generated until the driver steps on the brake. Further, D is the distance between the stop line and a predetermined point, and is the distance between the heads when the preceding vehicle stops as the leading vehicle before the stop line. The stop condition C is a curve indicating the speed of the host vehicle that can stop at the stop line (behind the preceding vehicle) and the limit of the distance to the stop line if the host vehicle decelerates.

  Next, the following vehicle of the preceding vehicle can pass the intersection on the premise that there is no preceding vehicle, and the entry condition of the own vehicle is the same as the entry condition Lp of the preceding vehicle. Therefore, if the host vehicle is not in the area below the straight line represented by the entry condition Lp, there is a possibility that the vehicle will cross the intersection. Therefore, when the preceding vehicle stops at the intersection, the traveling area where the vehicle may collide It is. That is, the area above the straight line represented by the entry condition Lp of the preceding vehicle is a dangerous traveling area that cannot pass through the intersection.

  From the above, the dangerous traveling area of the own vehicle is an area on the upper side of the curve represented by the stop condition C of the own vehicle, and the entry condition Lp of the preceding vehicle (this is equal to the entry condition of the own vehicle) The region above the straight line represented by

  The determination as to whether or not the host vehicle is in the dangerous travel area can be made in the same manner as in the example of FIG. A predetermined point (for example, a point on the upstream side by a distance corresponding to the vehicle length of the preceding vehicle with respect to the stop line as a reference. Note that the distance between the vehicle and the preceding vehicle when the vehicle stops can also be considered). The current position of the host vehicle is X, the current speed is V, and the time until the yellow signal starts is t (0 <t <signal cycle). If the speed of the host vehicle does not change (Vy = V), the position Xy of the host vehicle at the yellow signal start time can be obtained by Expression (4). Expression (4) is a determination condition E based on the current traveling state of the host vehicle.

  When the preceding vehicle has entered the dangerous driving area and the own vehicle has entered the dangerous driving area (YES in S20), the control unit 31 notifies that the automatic speed control mode is entered (S21). In this case, the driver is informed that the vehicle decelerates, but without entering the automatic speed control mode by the control unit 31, the driver is instructed to decelerate, and the driver decelerates according to the instruction. It can also be configured as follows. The control unit 31 calculates the target speed and the stepwise target speed (S22). The target speed is a speed that is reached in order to decelerate the host vehicle with a moderate deceleration and avoid (escape) the dangerous traveling area. The target speed Vs can be calculated as follows. When it is determined that there is a possibility that the host vehicle may enter the dangerous driving area when the preceding vehicle stops at the intersection to avoid the dangerous driving area, Xy in Expression (4) and Expression (7) A speed Vs calculated by solving V as a variable is set as a target speed. When the formula (4) is smaller than the formula (7), the target speed Vs is expressed by the formula (8) and is obtained as a speed at the point P in FIG.

  Further, when it is determined that there is a possibility that the host vehicle may enter the dangerous driving area in a range where the lower limit value of the expression (7) is smaller than the expression (4), the above expressions (4) and ( In 6), the lower limit value of the speed Vs calculated by solving Xy and V as variables is set as the target speed. The target speed Vs is expressed by equation (9).

  When the difference between the current speed of the host vehicle and the target speed Vs is large, the stepped target speed Vr has a large speed change, so that the current speed of the host vehicle is prevented in order to prevent a situation in which the slow deceleration cannot be performed. This is a provisional target value between V and the target speed Vs, and is calculated each time a predetermined time (control cycle, for example, 0.05 to 1 second) elapses.

  The stepwise target speed Vr can be calculated so as to reduce the speed change during the control cycle when decelerating. For example, when the current speed V is larger than the target speed Vs, the difference is reduced by a value ΔV = (V−Vs) / n divided by n, and the target speed Vs is tracked so that the speed change becomes minute. Can be made. In this case, the stepwise target speed Vr is Vr = V−Δv = V− (V−Vs) / n. In this way, by adjusting Δv, the host vehicle can decelerate at a slow deceleration so as not to feel the deceleration of the subsequent vehicle, so that the subsequent vehicle depresses sudden braking. Can be prevented and safety is improved.

  Further, as a method of calculating the stepwise target speed Vr, using a predetermined threshold β (for example, β = 1 km / h), when V−Vs ≧ β, Vr = V−β and V−Vs <β In this case, Vr = Vs can be obtained.

  The control unit 31 performs deceleration control with a gentle deceleration to bring the current speed V closer to the calculated target speed Vs or the stepped target speed Vr (S23), and determines whether or not the control cycle has elapsed (S23). S24) If the control period has not elapsed (NO in S24), the process of step S24 is continued, and deceleration control is continued until the control period elapses. Thereby, it is possible to prevent the following vehicle from feeling the deceleration of the host vehicle. Instead of determining whether or not the control cycle has elapsed, it can also be determined whether or not the vehicle has moved a predetermined distance.

  When the control cycle has elapsed (YES in S24), the control unit 31 determines whether or not the host vehicle has reached the boundary of the dangerous traveling area (S25). For example, the determination is made based on whether or not the speed of the host vehicle has reached the stop limit speed indicated by the stop condition C. If the boundary of the dangerous traveling area has not been reached (NO in S25), the control unit 31 continues the processing from step S22. Accordingly, since the deceleration control process is performed every time the control cycle elapses, the target speed Vs and the stepped target speed Vr are gradually changed, and smooth deceleration control can be realized.

  When the boundary of the dangerous traveling area is reached (YES in S25), the control unit 31 maintains the speed at the speed when the boundary of the dangerous traveling area is reached, that is, the stop limit speed (S26). As a result, after reaching the boundary of the dangerous traveling area, the speed is kept constant so that the vehicle can maintain the state of the host vehicle at the boundary of the dangerous traveling area. As a result, it is possible to prevent the danger that the following vehicle collides with the own vehicle or overtakes the own vehicle.

  The control unit 31 determines whether or not a predetermined time has elapsed since the start of the yellow signal (S27). In this case, the predetermined time may normally be adjusted to a time delay until the driver steps on the brake when the driver switches to the yellow signal, and is, for example, a value of about 0.5 seconds. If the predetermined time has not elapsed (NO in S27), the control unit 31 continues the processing from step S26 and continues to travel at a constant speed until the predetermined time elapses.

When the predetermined time has elapsed (YES in S27), the control unit 31 performs deceleration control with standard deceleration (S28). The standard deceleration g can be set to 3 m / s ² , for example. Thereby, the speed of the host vehicle can be decelerated by moving on the curve indicating the speed of the vehicle that can stop at the stop line and the limit of the distance to the stop line.

  The control unit 31 determines whether or not the vehicle ahead is sure to pass the intersection (S29). If the vehicle is sure to pass the intersection (YES in S29), the control unit 31 performs speed control with a deceleration equal to or less than the standard deceleration (S29). S30). Whether or not the preceding vehicle passes through the intersection can be determined based on, for example, the distance to the intersection (stop line) of the preceding vehicle and the speed of the preceding vehicle. If the speed of the vehicle ahead approaches the intersection and the speed is greater than or equal to a predetermined value, it can be determined that the vehicle is sure to pass the intersection. Further, the speed control with a deceleration equal to or lower than the standard deceleration is a speed control with a deceleration slower than the standard deceleration, and includes a deceleration control and an acceleration control. For example, when the vehicle is decelerated too much, the speed is adjusted by accelerating at a moderate acceleration.

  Based on the captured image, the control unit 31 determines whether or not a stop line has been detected (S31). If a stop line has not been detected (NO in S31), the processing from step S30 is continued. When the stop line is detected (YES in S31), the control unit 31 calculates the distance to the stop line, corrects the distance to the stop line, controls the speed by fine adjustment control (S32), and stops the vehicle. (S33), the automatic speed control mode is canceled, and a notification to that effect is made (S34), and the process is terminated. In the fine adjustment control, the position of the stop line is detected every moment, the distance to the stop line is calculated, and the speed is gradually changed based on the distance to the stop line. Thereby, the speed of the vehicle can be finely adjusted, and the vehicle can be reliably stopped on the stop line.

  When it is not certain that the front vehicle has passed the intersection, that is, when the front vehicle is surely stopped (NO in S29), the control unit 31 causes the host vehicle to follow the rear of the front vehicle and decelerates at a substantially standard deceleration. Control (S35), stop behind the vehicle ahead (S36), and perform the process of step S34.

  If the preceding vehicle does not enter the dangerous driving area (NO in S19), the control unit 31 determines whether the preceding vehicle is in the intersection passing area (S37), and if it is in the intersection passing area (YES in S37). ), It is determined whether or not the own vehicle enters the dangerous driving area (S38).

  FIG. 9 is an explanatory diagram illustrating another example of the dangerous traveling region determination for the preceding vehicle and the host vehicle. FIG. 9 illustrates a case where the vehicle ahead is likely to pass through an intersection without entering the dangerous driving area, and the host vehicle may enter the dangerous driving area. That is, the current position of the preceding vehicle with reference to the stop line is Xp, the current speed is V, and the time until the yellow signal starts is t (0 <t <signal cycle). The state of the vehicle ahead (position Xpy, speed Vy) at the start time of the yellow signal is outside the dangerous traveling area (intersection passing area), and can safely enter the stop line (pass the stop line).

  On the other hand, let X be the current position of the host vehicle with reference to the stop line, V be the current speed, and t be the time until the start of the yellow signal. The state of the host vehicle (position Xy, speed Vy) at the yellow signal start time is in the dangerous traveling area, and speed control for avoiding the dangerous traveling area is performed.

  When the preceding vehicle is in the intersection passing area and the own vehicle enters the dangerous traveling area (YES in S38), the control unit 31 notifies that the automatic speed control mode is entered (S39). In this case, the driver is informed that the vehicle decelerates, but without entering the automatic speed control mode by the control unit 31, the driver is instructed to decelerate, and the driver decelerates according to the instruction. It can also be configured as follows. The control unit 31 calculates the target speed and the stepwise target speed (S40). The control unit 31 performs deceleration control with a slow deceleration to bring the current speed V close to the calculated target speed Vs or the stepped target speed Vr (S41), and determines whether or not the control cycle has elapsed (S41). S42) If the control cycle has not elapsed (NO in S42), the process of step S42 is continued. Thereby, it is possible to prevent the following vehicle from feeling the deceleration of the host vehicle.

  When the control cycle has elapsed (YES in S42), the control unit 31 determines whether or not the host vehicle has reached the boundary of the dangerous traveling region (S43). For example, when the dangerous driving area is a dilemma area, the determination is made based on whether or not the speed of the host vehicle has reached the stop limit speed indicated by the stop condition C. If the boundary of the dangerous traveling area has not been reached (NO in S43), the control unit 31 continues the processing from step S40. Accordingly, since the deceleration control process is performed every time the control cycle elapses, the target speed Vs and the stepped target speed Vr are gradually changed, and smooth deceleration control can be realized. Instead of performing the deceleration control process every time the control cycle elapses, the deceleration control process can be performed every time the vehicle moves a predetermined distance.

  When reaching the boundary of the dangerous traveling area (YES in S43), the control unit 31 maintains the speed at the speed when the boundary of the dangerous traveling area is reached, that is, the stop limit speed (S44). As a result, after reaching the boundary of the dangerous traveling area, the speed is kept constant so that the vehicle can maintain the state of the host vehicle at the boundary of the dangerous traveling area. As a result, it is possible to prevent the danger that the following vehicle collides with the own vehicle or overtakes the own vehicle.

  The control unit 31 determines whether or not a predetermined time has elapsed since the start of the yellow signal (S45). Usually, the predetermined time may be adjusted to a time delay until the driver steps on the brake after seeing the yellow signal. If the predetermined time has not elapsed (NO in S45), the control unit 31 continues the process from step S44 and continues to travel at a constant speed until the predetermined time elapses.

When the predetermined time has elapsed (YES in S45), the control unit 31 performs deceleration control with standard deceleration (S46). The standard deceleration g can be set to 3 m / s ² , for example. Thereby, the speed of the host vehicle can be decelerated by moving on the curve indicating the speed of the vehicle that can stop at the stop line and the limit of the distance to the stop line.

  Based on the captured image, the control unit 31 determines whether or not a stop line has been detected (S47). If no stop line has been detected (NO in S47), the processing from step S46 is continued. When the stop line is detected (YES in S47), the control unit 31 performs the processing after step S32.

  On the other hand, when the own vehicle does not enter the dangerous driving area (NO in S20 and NO in S38), the control unit 31 ends the process. If the preceding vehicle is not in the intersection passing area, that is, if it is in the intersection stop area (NO in S37), the control unit 31 ends the process. Instead of ending the process, automatic follow-up control for the vehicle ahead can be performed.

  If it is not the automatic operation start timing (NO in S16), the control unit 31 determines whether or not the stop line has been passed (S48). If the stop line has not been passed (NO in S48), step S13 and subsequent steps are performed. If the process is continued and the stop line is passed (YES in S48), the processes after step S11 are continued.

  FIG. 10 is an explanatory diagram showing an example of a travel locus when the deceleration control is performed while avoiding the dangerous travel region. FIG. 10 shows a case where the preceding vehicle in the dangerous driving area stops at the stop line, and the host vehicle safely stops behind the preceding vehicle. In the figure, the upper part shows the relationship between the distance to the stop line of the host vehicle and the speed, and the lower part shows the relationship between the distance to the stop line and the signal change. From the stop line to the position of 200 m is a manual operation region in which the driver performs manual operation. At a position 200 m from the stop line, the in-vehicle device 30 determines whether or not the preceding vehicle and the host vehicle enter the dangerous traveling area and performs automatic driving control. The automatic operation start timing is not limited to this.

  If it is determined that the preceding vehicle is in the dangerous driving area and it is determined that the host vehicle is in the dangerous driving area, automatic speed control by the in-vehicle device 30 is performed from this point to avoid the dangerous driving area first. This is an avoidance control area for performing the above control. For example, the in-vehicle device 30 performs deceleration control with a slow deceleration so that the speed of the host vehicle reaches a stop limit speed (target speed) that satisfies the stop condition C. After reaching the target speed, the speed is maintained and constant speed control is performed until the yellow signal starts.

  In the automatic speed control, after the start of the yellow signal, it is a standard deceleration control region in which the host vehicle is decelerated and controlled with standard deceleration. That is, the in-vehicle device 30 performs the deceleration control at the standard deceleration from the yellow signal start time (yellow signal start position). The host vehicle constantly monitors the front vehicle by the ultrasonic sensor 60, follows the rear of the front vehicle, performs deceleration control with substantially standard deceleration, and stops behind the front vehicle.

  FIG. 11 is an explanatory diagram illustrating another example of a travel locus when the deceleration control is performed while avoiding the dangerous travel region. FIG. 11 shows a case where a preceding vehicle in a dangerous driving area enters a stop line (passes an intersection), and the host vehicle stops at the stop line. From the stop line to the position of 200 m is a manual operation region in which the driver performs manual operation. At a position 200 m from the stop line, the in-vehicle device 30 determines whether or not the preceding vehicle and the host vehicle enter the dangerous traveling area and performs automatic driving control. The automatic operation start timing is not limited to this.

  If it is determined that the preceding vehicle is in the dangerous driving area and it is determined that the host vehicle is in the dangerous driving area, automatic speed control by the in-vehicle device 30 is performed from this point to avoid the dangerous driving area first. This is an avoidance control area for performing the above control. For example, the in-vehicle device 30 performs deceleration control with a slow deceleration so that the speed of the host vehicle reaches a stop limit speed (target speed) that satisfies the stop condition C. After reaching the target speed, the speed is maintained and constant speed control is performed until the yellow signal starts.

  In the automatic speed control, after the start of the yellow signal, it is a standard deceleration control region in which the host vehicle is decelerated and controlled with standard deceleration. That is, the in-vehicle device 30 performs the deceleration control at the standard deceleration from the yellow signal start time (yellow signal start position). The own vehicle constantly monitors the vehicle ahead by the ultrasonic sensor 60, and when it is ensured that the vehicle ahead passes through the intersection, speed control is performed at a deceleration equal to or less than the standard deceleration. The speed control at a deceleration lower than the standard deceleration is a speed control with a deceleration slower than the standard deceleration, and includes a deceleration control and an acceleration control. For example, when the vehicle is decelerated too much, the speed is adjusted by accelerating at a moderate acceleration. Further, when a stop line is detected by the video camera 40, thereafter, deceleration control is performed with a slight deceleration smaller than the standard deceleration while correcting the distance to the stop line. Thereby, the stop control based on the initial stop predicted position of the preceding vehicle can be corrected, and the host vehicle can be stopped at the stop line.

  FIG. 12 is an explanatory diagram showing another example of a travel locus when the deceleration control is performed while avoiding the dangerous travel region. FIG. 12 shows a case where the preceding vehicle does not enter the dangerous driving area and enters the stop line (passes the intersection). The host vehicle avoids the dangerous driving area and stops at the stop line. From the stop line to the position of 200 m is a manual operation region in which the driver performs manual operation. At a position 200 m from the stop line, the in-vehicle device 30 determines whether or not the preceding vehicle and the host vehicle enter the dangerous traveling area and performs automatic driving control. The automatic operation start timing is not limited to this.

  When it is determined that the preceding vehicle is not in the dangerous traveling area and the preceding vehicle is in the intersection passing area, and it is determined that the host vehicle is in the dangerous traveling area, automatic speed control by the in-vehicle device 30 is performed from this point. First, it becomes an avoidance control area in which control for avoiding the dangerous traveling area is performed. When the dangerous traveling region is a dilemma region, the in-vehicle device 30 performs deceleration control at a moderate deceleration so that the speed of the host vehicle reaches a stop limit speed (target speed) that satisfies the stop condition C. After reaching the target speed, the speed is maintained and constant speed control is performed until the yellow signal starts.

  In the automatic speed control, after the start of the yellow signal, it is a standard deceleration control region in which the host vehicle is decelerated and controlled with standard deceleration. That is, the in-vehicle device 30 performs the deceleration control at the standard deceleration from the yellow signal start time (yellow signal start position). When the stop line is detected by the video camera 40, the in-vehicle device 30 thereafter becomes a fine adjustment region for controlling the speed by fine adjustment control while correcting the distance to the stop line. In the fine adjustment control, the position of the stop line is detected every moment, the distance to the stop line is calculated, and the speed is gradually changed based on the distance to the stop line. Therefore, when the vehicle is decelerated too much, the speed is adjusted by accelerating at a moderate acceleration.

  In the above example, when the preceding vehicle passes through the intersection without being in the dangerous driving area, when the host vehicle also passes through the intersection, it is determined whether acceleration control is possible with the required acceleration, and if acceleration control is possible, It is also possible to pass through the intersection with acceleration control.

  In this case, the determination of whether or not acceleration control is possible is to confirm whether or not it is safe to accelerate the host vehicle. For example, it is essential that the speed when the host vehicle is accelerated is not more than a predetermined speed (for example, a speed limit, a speed obtained by adding a slight margin to the speed limit, etc.) If the selection condition is that there is no following vehicle), that there is a subsequent vehicle behind the host vehicle, and that the traffic on the intersection road at the intersection is quiet. It can be determined that acceleration is possible. Note that the approaching front vehicle is, for example, a case where the speed of the host vehicle and the relative speed with the front vehicle are detected from the ultrasonic sensor in a predetermined cycle, and the vehicle is accelerated to a predetermined speed based on the detected relative speed. Vehicles that exist within a range where it can be determined that there is a possibility of collision with the vehicle. Whether the traffic is quiet or not is a case where the traffic volume is small. For example, the traffic volume is usually 20 to 30 cars per minute during the green hour, and 15 cars per minute. Considering the saturation flow rate at each point, such as when there are fewer, it is judged that it is quiet. The regulated speed may be acquired from the map database 34 or may be acquired from the outside such as the optical beacon 10. In addition, the situation of other vehicles around the host vehicle can be acquired from the ultrasonic sensor 60, and traffic information of the intersection can be acquired from the external optical beacon 10 or another communication device 70 described later. .

  In the above example, the standard deceleration g can be determined based on road information including a road gradient. For example, when the road gradient is 0, the equation (5) is used. When the road gradient is considered, the equation (10) and the equation (12) or the equation (7) is used instead of the equation (5). ) May be used instead of Formula (11) and Formula (12). Here, g is a standard deceleration, h is a gradient coefficient that is a unique constant for each vehicle type, and γ is a gradient (unit is degrees, climb is positive).

  Further, the corrected standard deceleration g ′ can be used based on the road surface condition and the tire condition. Here, g ′ = g × (μ + 1), μ is a friction coefficient. FIG. 13 is an explanatory diagram showing an example of the friction coefficient. The road information can be acquired from the outside such as the optical beacon 10 or may be acquired from the map database 34.

  Accordingly, for example, when the host vehicle travels on a downhill, the deceleration control amount is increased by the amount of force applied on the downward slope so that the standard deceleration is not reduced (h · tan | γ |, γ <0), When traveling on an uphill, the deceleration control amount is decreased (−h · tan | γ |, γ <0) by the amount of force applied on the ascending slope so that the standard deceleration does not become too large. Also, the standard deceleration can be changed depending on whether the road surface is dry, wet, sandy, snowy, or depending on the tire wear state. Thereby, the stop or approach of the vehicle can be controlled with higher accuracy.

  Even when the host vehicle is not in a dangerous driving state, it is an intersection stop region or an intersection passing region and in the vicinity of the dangerous driving region in order to prevent a situation where the driver falls into a dangerous driving state due to a driver's operation error. A dangerous driving vicinity region can also be provided.

  FIG. 14 is an explanatory diagram showing the concept of the dangerous driving vicinity region. In the figure, the horizontal axis indicates the distance from the stop line, and the vertical axis indicates the speed of the vehicle. The dangerous driving area is the same as that in FIG. The dangerous driving vicinity area includes an intersection stop area that is close to the dangerous driving area, and an intersection passing area that is close to the dangerous driving area.

  That is, the determination as to whether or not the vehicle is in the dangerous driving vicinity region is based on, for example, the degree of proximity between the host vehicle state specified by the distance and speed to the intersection at the start of the yellow signal and the stop condition C or the entry condition L. Can be determined. As a result, even when the host vehicle is not in a dangerous driving state, it is possible to prevent a situation in which the host vehicle enters a dangerous driving state due to a driver's operation error.

  FIG. 15 is a schematic diagram showing another example of the outline of the vehicle driving support system according to the present invention. As shown in FIG. 15, only the optical beacon 10 can be installed without installing the road devices 21 and 22. In this case, the optical beacon 10 can be provided at a position about 200 m to 1000 m upstream of the stop line. Also in this case, a radio wave beacon, DSRC, or the like can be used instead of the optical beacon 10.

  FIG. 16 is a schematic diagram showing another example of the outline of the vehicle driving support system according to the present invention. As shown in FIG. 16, a communication device 70 is provided in addition to the optical beacon 10 and the road devices 21 and 22. The communication device 70 has a mid-range communication function such as a wireless LAN, and transmits signal information over a wide range. Note that the communication device 70 may use a device that performs processing such as signal control, traffic information collection, and traffic information provision. The communication device 70 is not limited to mid-range communication, and may be a device having a wide-area communication function such as FM broadcast, mobile phone, and Internet communication.

  Next, a specific example of speed control for avoiding the dangerous traveling area will be described. A case will be described in which the preceding vehicle in the dangerous traveling area passes through the intersection and the own vehicle stops on the stop line. The position of the optical beacon 10 upstream of the intersection is assumed to be a point 1000 m from the stop line. It is assumed that the vehicle switches to a yellow signal after 52 seconds based on signal information acquired by communicating with the optical beacon 10. Thereafter, it is assumed that the speed of the host vehicle is 18 m / s at a point 200 m before the stop line and there are 8 seconds until the yellow signal start time.

It is assumed that automatic speed control is started from this point. When the host vehicle travels at this speed, the yellow signal start time is 56 m from the stop line. In the above equation (4), it can be calculated from X = 200 m, V = 18 m / s, and t = 8 s. When the standard deceleration g is 3 m / s ² , the brake time delay α is 0.5 s, and the yellow signal time Ty is 3 s, the above formulas (5) and (6) are not established and it is determined that the vehicle enters the dilemma area. Is done.

In order to avoid entry into the dilemma area, the vehicle is decelerated and stopped at the intersection stop line. From the above equation (7), Vs = 17.5 m / s. Furthermore, in the above formula of Vr = V−Δv = V− (V−Vs) / n, when n = 1, Vr = 17.5 m / s. Now, when the unit time of the control is set to 1 second and the speed control of the host vehicle is started, the speed changes from 18 m / s to 17.5 m / s after 1 second due to a control delay or the like. Suppose that it becomes 75 m / s. In the determination after 1 second, X = 200-17.75 = 182.25 m, t = 7 s, V = 17.5 m / s, Xy = 59.75 m, V ² = 306.25 m ² / s ² , 2g (Xy−αV) = 306 m ² / s ² , and it can be seen that the state of the host vehicle is substantially on the curve represented by the stop condition C.

Further, similar processing is repeated in the next control cycle. When the target speed Vs is calculated again by the equation (7) as the target speed of the next control cycle, Vs = 17.497 m / s. In this case, X = 182.25 m and t = 7 s are used. Further, in the above formula Vr = V−Δv = V− (V−Vs) / n, when n = 1, Vr = 17.497 m / s. Thus, when the vehicle speed control is performed, in the determination after 1 second, X = 182.25-17.497 = 164.753 m, t = 6 s, V = 17.497 m / s, Xy = 59.77 m, It can be seen that V ² = 306.14 m ² / s ² , while 2 g (Xy−αV) = 306.13 m ² / s ² , which is completely on the curve of the stop condition C.

  Therefore, after this, the above-mentioned speed V is maintained, and after 0.5 seconds taking into account the time delay from the point when the signal turns yellow, the deceleration control is performed with the standard deceleration to ensure that the vehicle ahead passes the intersection. In such a case, the host vehicle can be stopped at the stop line by performing deceleration control at a deceleration equal to or lower than the standard deceleration. In this way, by determining the necessity of avoiding the dangerous traveling area at a required point upstream of the stop line and controlling the speed, the pole is only 0.5 m / s, that is, 1.8 km / s. It is possible to avoid the entry into the dilemma area naturally without decelerating by a slight speed change and noticing the subsequent vehicle of the deceleration.

  Although not described in the above example for the sake of simplicity of explanation, when the target speed is once reached by the avoidance control and deviated from the dangerous traveling area, if the dangerous traveling area is entered again for some reason, It is necessary to set the target speed again and perform avoidance control. Moreover, in the above-mentioned example, in order to make the explanation easy to understand, the case where the host vehicle stops at the intersection in FIGS. 4 to 7 has been described, but the intersection can also be passed. In this case, before entering the avoidance control, it is determined whether or not acceleration control is possible, and it is determined whether to stop the intersection or pass the intersection. Furthermore, when the acceleration condition is not satisfied, the intersection stop control may be performed.

  As described above, in the present invention, even when another vehicle travels ahead of the host vehicle, the host vehicle can be safely and surely stopped before the intersection by avoiding the dangerous driving state. Can be determined. Further, when the vehicle is stopped at an intersection in order to avoid a dangerous driving state, the vehicle can be decelerated at a gradual deceleration, and the vehicle can be stopped safely and reliably on the stop line.

  In the above-described embodiment, the stop condition C and the entry condition L are used in order to avoid the dangerous driving area. However, the present invention is not limited to this, so that the dangerous driving area can be avoided with a margin. It is also possible to preliminarily set the dangerous traveling area. Also, instead of using the critical speed stop limit speed or approach limit speed (boundary speed) itself as the target speed, for example, the limit speed was calculated by multiplying the speed limit by a predetermined constant, for example. Numerical values can also be used.

  In the above-described embodiment, the avoidance of the dangerous traveling area based on the yellow start time is shown. However, for the purpose of giving a margin without passing by the yellow signal, for example, the yellow signal time Ty is intentionally reduced, or the stop line is passed by the blue signal with the yellow signal time before the yellow signal start time as a reference. Various formulas, constants, etc. are added or changed within a range that does not impair the concept of the present application, such as correcting the expressions (4) to (7) to widen the dangerous driving area. May be used. Further, the target dangerous driving area may be only the dilemma area, or may be only the option area. Moreover, you may limit the speed of the vehicle made into object so that it may be 20 km / s or more and 100 km / s or less, for example.

  In the above-described embodiment, the automatic speed control mode is set until the vehicle stops at the stop line or passes through the stop line after it is determined that the host vehicle may enter the dangerous driving area. It is also possible to end the automatic speed control mode when reaching the boundary line of the dangerous driving area and then switch to manual driving by the driver.

  In the above-described embodiment, the avoidance control for escaping from the dangerous traveling area is not limited to the above-described example, and various methods can be taken. For example, in the avoidance control region, the vehicle can be decelerated at a constant deceleration from the current speed, and the stop condition C can be satisfied at the yellow signal start time. Also, in this case, of the time t until the yellow signal start time, the vehicle is decelerated at a predetermined deceleration for the first time t1 (t1 <t), and the remaining time (t−t1) is controlled at a constant speed. It is also possible to satisfy the stop condition C at the yellow signal start time. Further, of the time t until the yellow signal start time, the vehicle travels at a constant speed without changing the speed for the first time t1, and then decelerates at a predetermined deceleration rate so that the stop condition C is satisfied at the yellow signal start time. You can also

  In the above-described embodiment, even when the host vehicle accelerates to enter the dangerous driving area and enters the stop line (passes the intersection), the automatic speed control is performed as in the case of decelerating, and the dangerous driving area is Control to avoid this. For example, when the dangerous traveling area is a dilemma area, the in-vehicle device 30 performs acceleration control at a moderate acceleration so that the speed of the host vehicle reaches an entry limit speed (target speed) that satisfies the entry condition L. After reaching the target speed, the speed is maintained and constant speed control is performed until the yellow signal starts. After the yellow signal starts, the speed is maintained and the stop line is passed at a constant speed. The in-vehicle device 30 finely adjusts the speed while correcting the distance to the stop line after the video camera 40 detects the stop line, and the host vehicle enters (passes through) the stop line when the yellow signal ends. ) Can be controlled. As a result, the host vehicle can pass through the stop line safely and reliably at the end of the yellow signal.

  In the above-described embodiment, when both of the two vehicles traveling in front of the host vehicle are in the dangerous driving region, the probability that the host vehicle enters the dangerous driving region is very low. In this case, it can be excluded because it is considered that the driver is driving with an awareness of stopping at the intersection.

  The disclosed embodiments are to be considered in all respects as illustrative and not restrictive. The scope of the present invention is defined by the terms of the claims, rather than the description above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

1 is a schematic diagram showing an outline of a vehicle driving support system according to the present invention. It is a block diagram which shows the structure of a vehicle-mounted apparatus. It is explanatory drawing which shows the concept of a dangerous driving | running | working area | region. It is a flowchart which shows the process sequence of a vehicle-mounted apparatus. It is a flowchart which shows the process sequence of a vehicle-mounted apparatus. It is a flowchart which shows the process sequence of a vehicle-mounted apparatus. It is a flowchart which shows the process sequence of a vehicle-mounted apparatus. It is explanatory drawing which shows an example of dangerous driving | running | working area | region determination of a preceding vehicle and the own vehicle. It is explanatory drawing which shows the other example of dangerous driving | running | working area | region determination of a preceding vehicle and the own vehicle. It is explanatory drawing which shows an example of the driving | running locus | trajectory in the case of carrying out deceleration control avoiding a dangerous driving | running | working area | region. It is explanatory drawing which shows the other example of a driving | running track | truck in the case of carrying out deceleration control avoiding a dangerous driving | running | working area | region. It is explanatory drawing which shows the other example of the driving | running | working locus | trajectory in the case of carrying out deceleration control avoiding a dangerous driving | running | working area | region. It is explanatory drawing which shows an example of a friction coefficient. It is explanatory drawing which shows the concept of dangerous driving | running | working vicinity area | region. It is a schematic diagram which shows the other example of the outline | summary of the vehicle driving assistance system which concerns on this invention. It is a schematic diagram which shows the other example of the outline | summary of the vehicle driving assistance system which concerns on this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Optical beacon 21, 22 Road apparatus 30 Car-mounted apparatus 31 Control part 32 Communication part 33 Positioning part 34 Map database 35 Display part 36 Image processing part 37 Operation part 38 Storage part 39 Notification part 40 Video camera 50 Vehicle control part 60 Ultrasonic sensor
70 Communication device

Claims (18)

A transmission device that transmits signal information including a yellow signal start time and a yellow signal time of a traffic light installed at an intersection, and a driving support device that receives the signal information transmitted by the transmission device and supports safe driving of the vehicle. In a vehicle driving support system comprising:
The driving support device includes:
Forward vehicle speed acquisition means for acquiring speed information of the preceding vehicle;
First distance information acquisition means for acquiring information related to the distance between the preceding vehicle and the intersection;
Based on the distance between the preceding vehicle and the intersection, the speed of the preceding vehicle, and the signal information, the stop condition for stopping before the intersection at the start of the yellow signal of the traffic light and the entry condition for entering the intersection First determination means for determining whether or not there is the preceding vehicle in either the dilemma area or the option area of the preceding vehicle;
Speed acquisition means for acquiring speed information of the host vehicle;
Second distance information acquisition means for acquiring information related to the distance between the host vehicle and the predetermined point;
If the forward vehicle is in either a dilemma regions and optional regions of the front vehicle is determined by said first determination means, based on the distance between the front Symbol predetermined point of the vehicle, the speed of the vehicle, and the signal information Te, there is the vehicle in any of the stop condition and dilemmas area and optional area of the vehicle which is determined by the entry conditions for entering the intersection and stops in front of the front Kisho constant point at yellow light start time point of the traffic And a second determination means for determining whether or not the vehicle driving support system. The first determination means includes
2. The apparatus according to claim 1, wherein the vehicle is configured to determine whether the preceding vehicle is in one of a dilemma region and an option region of the preceding vehicle based on a predetermined standard deceleration. Vehicle driving support system. The driving support device includes :
If it is determined that any of the dilemma regions and optional regions of the vehicle in front Symbol second determination means, according to claim 1, characterized by further comprising output means for outputting information for accelerating or decelerating the vehicle Alternatively, the vehicle driving support system according to claim 2. The predetermined point is
The vehicle driving support system according to any one of claims 1 to 3, wherein the vehicle driving support system is a point upstream by one vehicle length from the intersection. The driving support device includes:
The vehicle driving support system according to claim 4, further comprising vehicle length information acquisition means for acquiring vehicle length information of a preceding vehicle. The driving support device includes:
A third distance information acquisition means for acquiring information related to the distance between the host vehicle and the intersection;
The second determination means includes
If the front vehicle is not in any of the dilemma regions and optional regions of the front vehicle is determined by said first determination means, based on the distance between the intersection of the vehicle, the speed of the vehicle, and the signal information, Yes so as to determine whether there is a vehicle in any of the stop condition and dilemmas area and optional area of the vehicle which is determined by the entry conditions for entering the intersection and stops in front of the front Symbol intersection,
The output means for outputting information for accelerating and decelerating the host vehicle when the second determining unit determines that the vehicle is in either the dilemma region or the option region of the host vehicle. The vehicle driving support system according to claim 2. The second determination means includes
Based on a predetermined standard deceleration, the vehicle is of Claims 1 to 6, characterized in that is arranged to determine whether any dilemma regions and optional regions of the vehicle The vehicle driving support system according to any one of the above. The output means includes
The information for decelerating the host vehicle at the standard deceleration is further output after the yellow signal start time when the information for decelerating the host vehicle is output. Or the vehicle driving assistance system of Claim 6 . The driving support device includes:
Each of the movement of each or a predetermined distance for a predetermined time elapses, the stop limit velocity calculation means for calculating a stop limit speed which the vehicle can stop in front of the predetermined locations, points,
An approach limit speed calculating means for calculating an approach limit speed at which the host vehicle can enter the intersection before the end of the yellow signal every time the predetermined time elapses or every predetermined distance of movement;
Control for controlling the acceleration / deceleration of the host vehicle based on the speed of the host vehicle and the stop limit speed or the approach limit speed when the second determination unit determines that the vehicle is in either the dilemma region or the option region of the host vehicle. The vehicle driving support system according to claim 1, further comprising: means. The driving support device includes:
Each of the movement of each or a predetermined distance for a predetermined time elapses, the stop limit velocity calculation means for calculating a stop limit speed which the vehicle can stop in front of the predetermined locations, points,
An approach limit speed calculating means for calculating an approach limit speed at which the host vehicle can enter the intersection before the end of the yellow signal every time the predetermined time elapses or every predetermined distance of movement;
A target speed calculating means for calculating a target speed every time the predetermined time elapses or every predetermined distance of movement based on the speed of the host vehicle and the stop limit speed or approach limit speed;
Control that controls acceleration / deceleration of the host vehicle according to the difference between the speed of the host vehicle and the target speed when the second determination unit determines that the host vehicle is in either the dilemma region or the option region of the host vehicle. The vehicle driving support system according to claim 1, further comprising: means. The driving support device includes:
Road information acquisition means for acquiring road information including a road gradient;
The vehicle driving support system according to any one of claims 1 to 10, further comprising: a determining unit that determines the standard deceleration based on road information acquired by the road information acquiring unit. The driving support device includes:
Surrounding vehicle determination means for determining the presence or absence of a surrounding vehicle;
Traffic information acquisition means for acquiring traffic information relating to traffic at the intersection,
The output means includes
Satisfy the condition that the speed when the host vehicle is accelerated is less than or equal to the predetermined speed, and that there is no approaching forward vehicle, that there is a following vehicle, and that traffic on the intersection road at the intersection is quiet. The vehicle operation according to any one of claims 3 , 6 and 8 , wherein information for accelerating the host vehicle is output when at least one of the conditions is satisfied. Support system. The acceleration / deceleration control means for controlling the acceleration / deceleration of the host vehicle based on the information output by the output means is provided. The claim 3 , claim 8, claim 12, or claim 12. Vehicle driving support system. The system according to any one of claims 3 , 6, 8, 12, and 13 , further comprising a reporting unit that reports acceleration / deceleration of the host vehicle based on information output by the output unit. The vehicle driving support system described in 1. Wherein a distance in a predetermined place Tenma, based on the speed information and the signal information of the own vehicle, determine whether the vehicle is in the vicinity of the dilemma region or options area of the vehicle judged in the second judging means A proximity determining means for
The notification means includes
If it is determined that in the vicinity of the dilemma region or options area of the vehicle in the near neighbor determination unit that is arranged to the notification to the effect that enters the effect or intersection stops in front of the predetermined locations, points The vehicle driving support system according to claim 14, wherein In the driving support device for supporting the safe driving of the vehicle by receiving the signal information including the yellow signal start time and the yellow signal time of the traffic light installed at the intersection,
Forward vehicle speed acquisition means for acquiring speed information of the preceding vehicle;
First distance information acquisition means for acquiring information related to the distance between the preceding vehicle and the intersection;
Based on the distance between the preceding vehicle and the intersection, the speed of the preceding vehicle, and the signal information, the stop condition for stopping before the intersection at the start of the yellow signal of the traffic light and the entry condition for entering the intersection First determination means for determining whether or not there is the preceding vehicle in either the dilemma area or the option area of the preceding vehicle;
Speed acquisition means for acquiring speed information of the host vehicle;
Second distance information acquisition means for acquiring information related to the distance between the host vehicle and the predetermined point;
If the forward vehicle is in either a dilemma regions and optional regions of the front vehicle is determined by said first determination means, based on the distance between the front Symbol predetermined point of the vehicle, the speed of the vehicle, and the signal information Te, there is the vehicle in any of the stop condition and dilemmas area and optional area of the vehicle which is determined by the entry conditions for entering the intersection and stops in front of the front Kisho constant point at yellow light start time point of the traffic And a second determination means for determining whether or not the driving support device.   A vehicle equipped with the driving support device according to claim 16. In a vehicle driving support method for supporting safe driving of a vehicle by receiving signal information including a yellow signal start time and a yellow signal time of a traffic light installed at an intersection with a driving support device,
The driving support device includes:
Get speed information of the vehicle ahead,
Get information about the distance between the vehicle ahead and the intersection,
Based on the distance between the preceding vehicle and the intersection, the speed of the preceding vehicle, and the signal information, the stop condition for stopping before the intersection at the start of the yellow signal of the traffic light and the entry condition for entering the intersection Determining whether there is the preceding vehicle in either the dilemma area or the option area of the preceding vehicle,
Get speed information of your vehicle,
Get information about the distance between your vehicle and a given point,
Wherein when a forward vehicle has been determined to be either a dilemma regions and optional regions of the front vehicle, based on the distance between the front Symbol predetermined point of the vehicle, the speed of the vehicle, and the signal information, the traffic whether if there is a vehicle in any of the stop condition and dilemmas area and optional area of the vehicle which is determined by the entry conditions for entering the intersection and stops in front of the front Kisho constant point in the yellow signal beginning A vehicle driving support method characterized by determining.

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