JP5030936B2 - Driving assistance device - Google Patents

Description

  The present invention relates to a driving support device provided with driving support means for performing driving support for a driver of a host vehicle in order to avoid the host vehicle from colliding with a target vehicle.

A road ahead of the vehicle based on the information of other vehicles obtained by the radar device, the vehicle-to-vehicle communication means and the road-to-vehicle communication means by detecting the road on which the vehicle travels by the navigation device and the vehicle position on the road. Japanese Patent Application Laid-Open Publication No. 2004-151867 discloses that the possibility of collision between the own vehicle and another vehicle at the intersection of the vehicle and notifying the driver of the information on the other vehicle when there is a possibility is known.
JP 2002-340583 A

  By the way, in the above-mentioned conventional one, when the vehicle travels while maintaining the current vehicle speed without stopping, the possibility of collision with another vehicle is judged. When there is an intersection to be stopped, there is a possibility that useless information for avoiding a collision with another vehicle may be notified even though there is no possibility that the own vehicle will collide with another vehicle. .

  The present invention has been made in view of the above-described circumstances, and when driving support for avoiding the collision of the host vehicle with the target vehicle, useless driving support for a vehicle having no possibility of collision. The purpose of this is to prevent this from happening.

  In order to achieve the above object, according to the first aspect of the present invention, in order to avoid the collision of the host vehicle with the target vehicle, driving support means for driving the driver of the host vehicle is provided. In the driving support device, the vehicle includes an intersection determination unit that determines whether there is an intersection on the road ahead of the host vehicle that the vehicle should temporarily stop, and when the intersection determination unit determines that the intersection exists, A driving support device is proposed in which the driving support means suppresses driving support for a target vehicle located beyond the intersection.

  According to the invention described in claim 2, in addition to the configuration of claim 1, the target vehicle for which the driving support means suppresses driving support is in the same direction on the same lane as the own vehicle. A driving assistance device is proposed, which is a traveling vehicle.

  According to the invention described in claim 3, in addition to the configuration of claim 1 or claim 2, it is provided with communication means mounted on the vehicle and performing communication with the outside of the vehicle, and the driving support means includes A driving support device is proposed, which performs driving support for the driver of the host vehicle based on information on the target vehicle obtained by the communication means.

  The vehicle-to-vehicle communication means M1 and the road-to-vehicle communication means M2 of the embodiment correspond to the communication means of the present invention.

  According to the configuration of the first aspect, when the driving assistance means performs driving assistance for the driver of the own vehicle by the driving assistance means in order to avoid the collision of the own vehicle with the target vehicle, the intersection determination means is arranged on the road ahead of the own vehicle. It is determined whether or not there is an intersection where the own vehicle should be temporarily stopped, and when the intersection exists, the driving support means suppresses driving support for the target vehicle existing beyond the intersection. It is possible to prevent wasteful driving assistance that is meaningless by temporarily stopping at an intersection.

  According to the configuration of claim 2, the target vehicle for which the driving support means suppresses driving support is a vehicle that travels in the same direction as the own vehicle, so that A vehicle that travels in the opposite direction and has a possibility of a collision can be left as a target vehicle for driving assistance.

  According to the third aspect of the present invention, the driving support means provides driving support for the driver of the own vehicle based on the information of the target vehicle obtained by the communication means that is mounted on the vehicle and communicates with the outside of the vehicle. Therefore, it is possible to reliably collect information on target vehicles around the host vehicle and to provide accurate driving support.

  Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

  1 to 3 show an embodiment of the present invention. FIG. 1 is a block diagram of a driving support system, FIG. 2 is a flowchart for explaining the operation, and FIG. 3 is an explanatory diagram of an intersection at which the vehicle is temporarily stopped. is there.

  As shown in FIG. 1, the driving support system mounted on the vehicle includes a vehicle-to-vehicle communication means M1 that performs wireless communication with other vehicles and a road-vehicle communication that performs wireless communication between a beacon or the like provided on the roadside. Communication means M2, map information storage means M3 that stores map information, GPS (global positioning system) M4 that receives position information from an artificial satellite, and vehicle information detection means that detects the vehicle speed and yaw rate of the host vehicle M5, driving support means M6 composed of a monitor and a speaker for notifying the driver of information of other vehicles with which the vehicle may collide with video or voice, the inter-vehicle communication means M1, the road-to-vehicle communication means M2, the map And information processing means M7 for processing signals inputted from the information storage means M3, GPS M4 and vehicle information detection means M5 and outputting them to the driving support means M6.

  The information processing means M7 is the other vehicle map matching processing means M8 connected to the vehicle-to-vehicle communication means M1 and the road-to-vehicle communication means M2, and the own vehicle map matching connected to the map information storage means M3, the GPS M4 and the vehicle information detection means M5. Processing means M9, intersection determination means M10 connected to other vehicle map matching processing means M8 and own vehicle map matching processing means M9, other vehicle map matching processing means M8, own vehicle map matching processing means M9, intersection determination means M10 And a TTC calculating means M11 connected to the driving support means M6.

  The inter-vehicle communication means M1 transmits the position of the other vehicle on the map and other information obtained by the navigation system of the other vehicle to the other vehicle map matching processing means M8 by wireless communication. The road-to-vehicle communication means M2 transmits the position of the other vehicle passing through the vicinity of the road-to-vehicle communication means M2 and other information to the other-vehicle map matching processing means M8 by wireless communication.

  Since the other vehicle position obtained by the inter-vehicle communication means M1 is a position on the map of the navigation system of the other vehicle, in order to make it correspond to the position on the map of the navigation system of the own vehicle with high accuracy, Is subjected to a map matching process on the road of the map of the own vehicle using information such as the vehicle speed and the yaw rate. On the other hand, the position information of other vehicles obtained by the road-to-vehicle communication means M2 is relatively highly accurate with reference to the position of a beacon or the like fixed on the road side. Map matching processing is performed in order to correspond to the position of.

  The own vehicle map matching processing means M9 uses the map information stored in the map information storage means M3, the absolute position of the own vehicle acquired by the GPS M4, and the vehicle speed and yaw rate detected by the vehicle information detection means M5. The vehicle position on the road of the vehicle map is specified. That is, since there is a slight error in the map information stored in the map information storage means M3 and the absolute position of the own vehicle acquired by the GPSM4, the absolute position of the own vehicle acquired by the GPSM4 is the road of the map of the own vehicle. If the vehicle position deviates from the road, the vehicle position is corrected on the road on the map of the vehicle, and the estimated course of the vehicle estimated from the vehicle speed and yaw rate is that the vehicle position on the road deviates from the road. And correct using the estimated position.

  The intersection determination means M10 is the position of the other vehicle (and the traveling direction) on the road of the map of the own vehicle specified by the other vehicle map matching processing means M8 and the road of the map of the own vehicle specified by the own vehicle map matching processing means M9. Determines whether there is an intersection with the host vehicle position (and direction of travel) above, and if there is an intersection, determines whether the intersection is an intersection where the vehicle should pause To do.

  In order to determine whether or not the vehicle is an intersection to be temporarily stopped, among the map information stored in the map information storage means M3, information on priority roads, information on the presence or absence of traffic lights, information on the presence or absence of a stop sign Information on the presence / absence of a crossing is used. In addition to the map information stored in the map information storage means M3, information obtained from the road-to-vehicle communication means M2, information obtained by image analysis of a video image taken by a television camera provided in the vehicle, and the like are used.

  For example, (1) in FIG. 3 is a case where a non-priority road intersects with a priority road on which the vehicle travels. In this case, the own vehicle does not pause at the intersection.

  (2) in FIG. 3 is a case where the priority road on which the vehicle travels is a non-priority road after the intersection. In this case, the vehicle is temporarily stopped at the intersection.

  FIG. 3 (3) shows a case where a priority road intersects with a non-priority road on which the vehicle travels. In this case, the vehicle stops temporarily at the intersection.

  FIG. 3 (4) shows a case where the non-priority road on which the vehicle travels is a priority road after the intersection. In this case, the own vehicle temporarily stops at the intersection.

  (5) in Fig. 3 shows a case where a non-priority road intersects with a priority road on which the vehicle travels, and the traffic light provided at the intersection is red. Pause at the intersection.

  (6) in Fig. 3 shows a case where a non-priority road intersects with a priority road on which the vehicle travels, and a stop sign is provided at the intersection. Pause at.

  As described above, when the intersection determination unit M10 does not determine that there is an intersection between the host vehicle and another vehicle ahead of the host vehicle, the TTC calculation unit M11 TTC (Time to Collision), which is a margin time until the own vehicle collides with another vehicle, is calculated. The TTC can be calculated from the relative distance between the host vehicle and the other vehicle and the relative speed between the host vehicle and the other vehicle. The driving support means M6 notifies the driver of information such as the position of the other vehicle and TTC when the TTC is less than a predetermined value and the vehicle may collide with another vehicle. It is possible to prevent the own vehicle from colliding with another vehicle.

  Next, the above operation will be described in more detail with reference to the flowchart of FIG.

  First, in step S1, the vehicle map matching processing means M9 maps the position of the vehicle on the road of the map of the own vehicle, and in step S2, the intersection determination means M10 extracts the current and future road links of the vehicle. To do. The road data of the host vehicle stored in the map information storage means M3 is composed of a plurality of nodes that are coordinate points on the road and a plurality of links that connect adjacent nodes. It represents the shape of the road.

In the subsequent step S3, the data of the surrounding vehicles (other vehicles) obtained by the vehicle-to-vehicle communication means M1 and the road-to-vehicle communication means M2 is subjected to map matching processing by the other vehicle map matching processing means M8, and the position is mapped on the road of the map of the own vehicle. In step S4, the intersection determination means M10 determines whether or not an intersection exists between the own vehicle and the other vehicle. If there is an intersection at the step S4, the intersection is determined whether the intersection should stop the vehicle momentarily in step S5, lever cry at the intersection to be paused, the TTC in step S6 If the TTC is less than the predetermined value and there is a possibility that the host vehicle collides with another vehicle, the driving support means M6 performs driving support that informs the driver of the position and TTC of the other vehicle in step S7. The driver can be alerted and rear-end collisions can be avoided.

  As described above, the TTC, which is the basis for determining whether or not the own vehicle collides with another vehicle, is calculated using the relative speeds of the own vehicle and the other vehicle. The TTC calculated when the vehicle is temporarily stopped at the intersection does not accurately represent the margin time until the collision, and the vehicle is temporarily stopped at the intersection. Since the distance to the car increases, the possibility of a collision is almost eliminated. Therefore, the determination of the possibility of collision using TTC becomes substantially meaningless.

  Therefore, the intersection determination means M10 determines whether or not there is an intersection on the road ahead of the host vehicle where the vehicle is to be temporarily stopped, and when the intersection exists, the driving support means M6 is an object existing beyond the intersection. Since the driving support for the vehicle is suppressed, it is possible to prevent the driving support that becomes meaningless when the own vehicle temporarily stops at the intersection.

  The above explanation is based on the assumption that the host vehicle and the other vehicle travel in the same direction on the same lane, but the other vehicle approaches the opposite lane of the host vehicle in the opposite direction. In this case, even if the own vehicle is temporarily stopped at the intersection, there is a possibility that the vehicle may collide with another vehicle in front of each other. In this case, the driving support means M6 executes the driving support without suppressing it.

  The embodiments of the present invention have been described above, but various design changes can be made without departing from the scope of the present invention.

  For example, instead of providing the driver with other vehicle information that may cause a collision by the driving support means M6, automatic braking for collision avoidance or steering assist for collision avoidance is performed according to the degree of urgency. be able to.

Block diagram of driving support system Flow chart explaining operation Illustration of the intersection where the vehicle stops temporarily

Explanation of symbols

M1 Inter-vehicle communication means (communication means)
M2 Road-to-vehicle communication means (communication means)
M6 driving support means M10 intersection determination means

Claims (3)

In a driving support device provided with driving support means (M6) for performing driving support for the driver of the own vehicle in order to avoid the own vehicle colliding with the target vehicle,
Intersection judging means (M10) for judging whether or not there is an intersection where the own vehicle should be temporarily stopped on the road ahead of the own vehicle,
When the said intersection determination means (M10) determines that the said intersection exists, the said driving assistance means (M6) suppresses the driving assistance about the target vehicle which exists beyond the said intersection, The driving assistance apparatus characterized by the above-mentioned.   The driving support according to claim 1, wherein the target vehicle for which the driving support means (M6) suppresses driving support is a vehicle that travels in the same direction on the same lane as the own vehicle. apparatus.   Communication means (M1, M2) that is mounted on a vehicle and communicates with the outside of the vehicle is provided, and the driving support means (M6) includes information on the target vehicle obtained by the communication means (M1, M2). The driving support device according to claim 1, wherein driving support for the driver of the own vehicle is performed based on the driving support device.

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