JP6190859B2 - Driving assistance device - Google Patents

Description

  The present invention relates to a driving support device that determines whether or not a traffic signal of a host vehicle can pass and recommends the driver to decelerate by turning off the accelerator when the vehicle cannot pass, thereby assisting driving so as to achieve better fuel consumption. It is.

  As a conventional technique, for example, in Patent Document 1, the arrival time to the next signal in the traveling direction of the vehicle is calculated, and the time until the traffic light changes from blue to yellow or red is detected. There has been disclosed a driving support device that notifies a driver of a vehicle to recommend deceleration when the arrival time of the vehicle to the signal is equal to or longer than the time until the signal changes.

JP 2010-244308 A (pages 3-7, FIG. 1)

In the conventional technique represented by Patent Document 1, the driving support device notifies the driver of the recommendation of deceleration when it is determined that the own vehicle cannot pass the traffic light regardless of the road condition.
For this reason, when the driver is notified and the vehicle starts to decelerate when the accelerator is turned off when another vehicle is driving behind the vehicle while the signal light color is still blue, the rear vehicle is not collided with the vehicle behind it. There was a problem that there was a risk.

  The present invention has been made to solve the above-described problems, and provides a driving assistance device that can perform deceleration assistance while avoiding a rear-end collision when it is determined that an intersection cannot be passed. The purpose is to obtain.

In the driving support device according to the present invention, within the communication area of the roadside device, traffic signal signal display information provided at the intersection located in front of the traveling direction of the host vehicle, distance information from the roadside device to the intersection, Based on the intersection information acquired from the road device, the vehicle speed detection unit for detecting the vehicle speed, the intersection information acquired by the intersection information acquisition unit and the vehicle speed detected by the vehicle speed detection unit, Judgment is made on whether or not the intersection where the vehicle is approaching can be indicated by a green signal, and when it is determined that the vehicle cannot pass, an intersection passage determination unit that notifies the deceleration, and notifies the driver of the deceleration notification by this intersection passage determination unit information providing unit that, the signal light color estimation section for estimating the current light color of the front signal from the intersection information, and includes a rear vehicle detection unit that detects a vehicle traveling behind the vehicle, rear If the following vehicle is detected by both detection unit, according to the current light color of the front signal estimated by the signal light color estimation unit, in the case other than the light color is blue, the notification of the intersection passage determining portion deceleration When the light color is blue, the intersection passage determination unit does not notify the deceleration.

According to this invention, within the communication area of the road unit, the intersection information including the signal display information of the traffic signal provided at the intersection located in front of the traveling direction of the host vehicle and the distance information from the road unit to the intersection The vehicle approaches based on the intersection information acquisition unit that acquires from the road device, the vehicle speed detection unit that detects the vehicle speed, the intersection information acquired by the intersection information acquisition unit, and the vehicle speed detected by the vehicle speed detection unit An intersection passing determination unit that determines whether or not it is possible to pass through an intersection with a green light, and notifies the driver of a deceleration by the intersection passing determination unit when it is determined that it is impossible to pass, and an information providing unit that notifies the driver of a deceleration by the intersection passing determination unit , the signal light color estimation section for estimating the current light color of the front signal from the intersection information, and includes a rear vehicle detection unit that detects a vehicle traveling behind the vehicle, rear wheel by the rear vehicle detection unit If but is detected, depending on the current light color of the front signal estimated by the signal light color estimation unit, in the case other than the light color is blue, together with the intersection passage determination unit notifies deceleration, light color When is blue, the intersection passage determination unit does not notify the deceleration, so that it is possible to avoid the rear-end collision of the rear vehicle and to assist the deceleration of the host vehicle.

It is a block diagram which shows the structure of the driving assistance apparatus by Embodiment 1 of this invention. It is a figure which shows an example of the road intersection to which this invention is applied. It is a flowchart which shows operation | movement of the driving assistance apparatus by Embodiment 1 of this invention. It is a figure which shows the recommended speed calculation process to the traffic signal of the driving assistance device by Embodiment 1 of this invention. It is a figure which shows the deceleration assistance process to the traffic signal of the driving assistance device by Embodiment 1 of this invention. It is a flowchart which shows operation | movement of the driving assistance apparatus by Embodiment 2 of this invention.

Embodiment 1 FIG.
FIG. 1 is a block diagram showing a configuration of a driving support apparatus according to Embodiment 1 of the present invention.
In FIG. 1, the driving support device 101 is realized as one function of a car navigation device or a road-vehicle communication device mounted on a vehicle, for example. The vehicle may be not only an automobile but also a motorcycle or a bicycle.
A beacon receiver 102 is attached to the driving support device 101. As a functional configuration of the driving support device 101, an intersection information acquisition unit 103, a vehicle state detection unit 104, a rear vehicle detection unit 105, a signal passage determination unit 106, and an information provision unit 108, which will be described later, are provided.

The beacon receiver 102 is mounted on the vehicle, receives intersection information from an optical beacon road device (road device) installed on a road on which the vehicle travels, and transfers the intersection information to the intersection information acquisition unit 103.
The intersection information acquisition unit 103 acquires, from the intersection information transferred from the beacon receiver 102, signal display information of traffic signals installed at one or more intersections ahead of the vehicle and the distance to the intersection.
The vehicle state detection unit 104 (vehicle speed detection unit) detects the vehicle state including the traveling speed of the host vehicle, and measures the traveling distance from the time when the host vehicle passes under the optical beacon road unit.
The rear vehicle detection unit 105 includes, for example, a millimeter wave radar, a back camera, or an inter-vehicle communication device, and detects the presence of a vehicle behind the host vehicle, the relative distance from the host vehicle, and the relative speed.

The signal passage determination unit 106 (intersection passage determination unit) includes the signal display information acquired by the intersection information acquisition unit 103, the distance to the intersection, the traveling speed detected by the vehicle state detection unit 104, and the optical beacon roadside device of the own vehicle. Based on the distance traveled from below, it is determined whether or not the vehicle can pass through a traffic light with a green light. That is, it is determined whether or not the intersection at the green light can pass. If the vehicle can pass, the recommended speed is calculated and notified, and if the vehicle cannot pass, a deceleration is notified.
Further, the signal passage determination unit 106 includes a signal lamp color estimation unit 107. The signal lamp color estimation unit 107 estimates the current signal lamp color (blue, yellow, red) from the signal display information acquired by the intersection information acquisition unit 103.
The information providing unit 108 notifies the driver of the recommended speed or deceleration notification calculated by the signal passage determining unit 106. For notification to the driver, a display, a meter, an LED, a beep sound, a sound output, or the like is used. You may utilize the separate apparatus provided in the vehicle, for example, the portable terminal etc. which the driver brought.

FIG. 2 is a diagram showing an example of a road intersection to which the present invention is applied.
In FIG. 2, a driving support device 101 is mounted on a vehicle 201. The optical beacon road device 202 is a road device that performs communication using an optical beacon output from an optical beacon header, and is installed on the road before the intersection for each of one or more intersections. When the vehicle 201 enters the communication area of the optical beacon header, the beacon receiver 102 receives the intersection information set in the optical beacon road unit 202.
In FIG. 2, it is assumed that intersection information regarding two intersections ahead of the installation location of the optical beacon road device 202 is set in the optical beacon road device 202.

The intersection information includes the signal display information of the traffic signals CS1 and CS2 installed at the intersection ahead of the installation location of the optical beacon road device 202 and the installation location of the optical beacon road device 202 (the optical beacon communication of the vehicle 201). The distance from the time position to the intersection is included.
The signal display information is information indicating the light color state of the traffic signals CS1 and CS2. For example, the current light color (blue, yellow, red) of the traffic signal, its remaining time, and the lamp after the remaining time has elapsed. Includes several cycles of color and its duration.
Therefore, from the signal display information, it is possible to obtain the color of the traffic lights CS1 and CS2 at an arbitrary time and the remaining time.

FIG. 4 is a diagram showing a recommended speed calculation process for the traffic signal of the driving support apparatus according to Embodiment 1 of the present invention.
FIG. 4 shows an outline of a traffic signal determination process by the signal passage determination unit 106 and a recommended speed calculation process when the traffic signal can pass. The horizontal axis represents the distance from the vehicle 201 to the intersection, and the vertical axis represents the elapsed time from the current time. FIG. 4 shows a case where a region where V1, which is a speed range that can pass through the first intersection, overlaps with predetermined recommended speed ranges Vmin to Vmax can be obtained.

FIG. 5 is a diagram showing a deceleration support process for the traffic signal of the driving support apparatus according to the first embodiment of the present invention.
In FIG. 5, the outline of the traffic signal pass / fail judgment process by the signal pass judgment unit 106 is shown. The horizontal axis represents the distance from the vehicle 201 to the intersection, and the vertical axis represents the elapsed time from the current time. FIG. 5 shows a case where a region where V1 that is a speed range that can pass through the first intersection and a predetermined recommended speed range Vmin to Vmax cannot be obtained.

Next, the operation will be described.
FIG. 3 is a flowchart showing the operation of the driving support apparatus according to the first embodiment, in which a process for informing a recommended speed calculated by determining whether or not a traffic signal can pass and a process for informing a deceleration when it cannot pass And the process which suppresses the notification according to the surrounding condition of a vehicle is shown.

First, in step S101, the beacon receiver 102 receives intersection information from an infrastructure device (optical beacon roadside unit 202) installed on the road. The intersection information received by the beacon receiver 102 is transferred to the intersection information acquisition unit 103. Further, the intersection information acquisition unit 103 outputs the intersection information to the signal passage determination unit 106.
In step S102, the signal passage determination unit 106 uses the intersection information input from the intersection information acquisition unit 103 and the travel distance from the lower side of the optical beacon of the own vehicle measured by the vehicle state detection unit 104. It is determined whether or not the vehicle has passed through the last intersection (support section) set to. If it does not pass the final intersection, the process proceeds to step S103. If it has passed, the process ends.

In step S <b> 103, the vehicle state detection unit 104 measures the travel distance from the time when the host vehicle passes under the optical beacon road unit 202 based on the detected travel speed and the elapsed time from the reception of the host vehicle's optical beacon. .
In step S104, the signal passage determination unit 106 detects the signal display information acquired by the intersection information acquisition unit 103, the distance to the intersection, the travel speed detected by the vehicle state detection unit 104, and the travel of the own vehicle from below the optical beacon road unit. Based on the distance, it is determined whether or not the vehicle can pass through a traffic light with a green light.

In step S105, based on the determination result in step S104, the process proceeds to step S106 if the traffic signal can be passed through the green light, and to step S108 if it is not possible.
In step S <b> 106, the signal passage determination unit 106 displays the signal display information acquired by the intersection information acquisition unit 103, the distance to the intersection, the traveling speed detected by the vehicle state detection unit 104, and the traveling of the own vehicle from below the optical beacon road unit. Based on the distance, a recommended speed at which the traffic light can pass with a green light is calculated.
In step S107, the signal passage determining unit 106 notifies the information providing unit 108 of the recommended speed calculated in step S106. The information providing unit 108 notifies the driver of the notified recommended speed.

In step S108, based on the detection result of the rear vehicle by the rear vehicle detection unit 105, if not detected, the process proceeds to step S109, and if detected, the process proceeds to step S110.
In step S109, the signal passage determination unit 106 notifies the information providing unit 108 of deceleration. Based on the notification, the information providing unit 108 notifies the driver of a deceleration notification and prompts the driver to turn off the accelerator.
In step S110, based on the current lamp color of the signal in front of the vehicle estimated by the signal lamp color estimation unit 107, the process proceeds to step S109 if the signal is other than blue, and a deceleration is notified. If it is blue, the notification is suppressed.

Next, with reference to FIG. 4, an outline of processing for determining whether or not a traffic signal can be passed by the signal passage determination unit 106 and calculating a recommended speed when the traffic signal can be passed will be described.
First, the signal passage determination unit 106 calculates the start time and the end time of the green signals of the traffic signals CS1 and CS2 based on the signal display information regarding the traffic signals at the respective intersections, and the transitable time zones of the traffic signals CS1 and CS2 Ask for. As a result, as shown in FIG. 4, the passable time zones of each of the two traffic signals CS1 and CS2 from the first intersection to the second intersection are obtained.

Next, two straight lines connecting the lower end and the upper end of each passable time zone are drawn from the origin of the figure. Since the slope of each straight line corresponds to the speed, the upper limit and the lower limit of the speed at which each signal can pass can be calculated from the slope of both straight lines. For example, in FIG. 4, the speed range that can pass through the first intersection is indicated by V1.
If there is a region where predetermined recommended speed ranges Vmin to Vmax and V1 overlap, it is determined that the first intersection can be passed. Furthermore, if the overlapping range of both areas is obtained, it is obtained as a recommended speed range through which the traffic signal can pass.
The signal passage determination unit 106 notifies the information providing unit 108 of the same speed range. The notification from the information providing unit 108 to the driver upon receiving the notification may notify the same speed range or may notify the upper limit speed of the same speed range.

Next, the case where the region where V1 and the recommended speed range Vmin to Vmax overlap cannot be obtained will be described with reference to FIG.
FIG. 5 shows an outline of the traffic signal passage pass / fail judgment process by the signal passage judgment unit 106 as in FIG. 4. In FIG. 5, it is not possible to obtain a region where V1 and the recommended speed range Vmin to Vmax overlap. In this case, the signal passage determination unit 106 determines that it cannot pass through the first intersection, and notifies the information providing unit 108 of deceleration. The notification from the information providing unit 108 to the driver in response to the notification is for urging deceleration by turning off the accelerator using an image, a sound, an arousing sound, or the like.

As described above, according to the first embodiment, the signal is based on the intersection information acquired by the intersection information acquisition unit 103, the average speed of the host vehicle detected by the vehicle state detection unit 104, and the travel distance from optical beacon reception. The passage determination unit 106 determines whether or not the forward signal can pass.
If the signal cannot be passed, the signal passing determination unit 106 further determines that the forward signal is based on the detection result of the rear vehicle by the rear vehicle detection unit 105 and the current lamp color estimation result of the front signal by the signal lamp color estimation unit 107. If the vehicle is blue and there is a vehicle behind it, the deceleration notification to the driver is suppressed.
That is, the driving assistance apparatus according to the present invention can suppress the deceleration assistance notification when the rear vehicle is detected and the front signal is a green signal.
As a result, it is possible to avoid the risk that the vehicle starts to decelerate while the front signal is still blue and the rear vehicle collides.

Embodiment 2. FIG.
The configuration of the driving support apparatus 101 according to the second embodiment is the same as that of the first embodiment.
Next, the operation of the driving support apparatus according to Embodiment 2 of the present invention will be described with reference to FIG.

  The processing from step S201 to step S209 is the same as the processing from step S101 to S109 in FIG.

In step S210, it is determined whether or not the relative distance from the host vehicle of the rear vehicle detected by the rear vehicle detection unit 105 is less than a predetermined distance (predetermined value). If it is less than the predetermined distance, it is determined that the possibility of a rear-end collision is high during deceleration, and the process proceeds to step S211.
If the distance is equal to or longer than the predetermined distance, it is determined that the possibility of rear-end collision is small, and the process proceeds to step S209 to notify the deceleration.
In step S210, it is determined whether the relative speed between the rear vehicle and the host vehicle is equal to or greater than a predetermined value (predetermined value). If the relative speed is equal to or greater than the predetermined value, it is determined that the possibility of a rear-end collision during deceleration is high. You may make it transfer to S211.

  In step S211, based on the current lamp color of the signal ahead of the vehicle estimated by the signal lamp color estimation unit 107, the process proceeds to step S209 in the case of other than blue, and a deceleration is notified. If it is blue, the notification is suppressed.

As described above, according to the second embodiment, the signal is based on the intersection information acquired by the intersection information acquisition unit 103, the speed of the host vehicle detected by the vehicle state detection unit 104, and the travel distance from the reception of the optical beacon. The passage determination unit 106 determines whether or not the traffic signal in front can pass, and if it cannot pass through the traffic signal, the relative signal to the rear vehicle by the rear vehicle detection unit 105 and the front signal from the signal lamp color estimation unit 107 are further determined. Based on the current lamp color estimation result, the signal passage determination unit 106 suppresses deceleration notification to the driver when the front signal is blue and the rear vehicle is in the vicinity of the host vehicle.
As a result, it is possible to avoid the risk that the vehicle starts to decelerate while the front signal is still blue and the rear vehicle collides.

  In the first embodiment and the second embodiment, the case where an optical beacon is used for communication between the vehicle and the infrastructure device has been described. However, wireless LAN, WAVE inter-vehicle communication, Bluetooth (registered trademark), 700 MHz band between vehicles Communication, communication via an infrastructure communication device such as 5 GHz band inter-vehicle communication, 5.8 GHz DSRC (Dedicated Short Range Communications), or communication using a mobile phone via a mobile phone base station may be used.

  Further, within the scope of the invention, the present invention can be freely combined with each other, or can be appropriately modified or omitted.

DESCRIPTION OF SYMBOLS 101 Driving assistance apparatus, 102 Beacon receiver, 103 Intersection information acquisition part, 104 Vehicle state detection part, 105 Rear vehicle detection part, 106 Signal passage determination part, 107 Signal lamp color estimation part, 108 Information provision part, 201 Vehicle, 202 Optical beacon Road device

Claims (7)

Intersection information including traffic signal signal display information provided at an intersection located in front of the traveling direction of the host vehicle and distance information from the road unit to the intersection in the communication area of the road unit. Intersection information acquisition unit acquired from the vessel,
A vehicle speed detector for detecting the vehicle speed;
Based on the intersection information acquired by the intersection information acquisition unit and the own vehicle speed detected by the vehicle speed detection unit, it is determined whether or not it is possible to pass an intersection approached by the host vehicle with a green light, and it is determined that the vehicle cannot pass. An intersection passage determination unit that notifies deceleration when
An information providing unit for notifying the driver of the deceleration notification by the intersection passage determining unit;
A signal lamp color estimation unit that estimates the current lamp color of the forward signal from the intersection information,
And a rear vehicle detection unit for detecting a vehicle traveling behind the host vehicle,
When a rear vehicle is detected by the rear vehicle detection unit, according to the current lamp color of the front signal estimated by the signal lamp color estimation unit,
When the lamp color is other than blue, the intersection passage determination unit notifies the deceleration,
When the light color is blue, the intersection passage determination unit does not notify the deceleration.   The driving support device according to claim 1, wherein there is a plurality of pieces of intersection information acquired by the intersection information acquisition unit, and each piece of intersection information corresponds to each of a plurality of intersections. When the distance between the host vehicle and the detected rear vehicle is less than a predetermined value, the intersection passage determination unit may or may not notify the deceleration according to the current lamp color of the front signal. The driving support apparatus according to claim 1 or 2, wherein When the relative speed between the detected rear vehicle and the host vehicle is greater than or equal to a predetermined value, the intersection passage determination unit performs or does not notify the deceleration according to the current lamp color of the front signal. The driving support apparatus according to claim 1 or 2, wherein   The driving assistance apparatus according to any one of claims 1 to 4, wherein the rear vehicle detection unit includes a millimeter wave radar.   The driving assistance apparatus according to any one of claims 1 to 4, wherein the rear vehicle detection unit includes a back camera.   The driving assistance apparatus according to any one of claims 1 to 4, wherein the rear vehicle detection unit includes an inter-vehicle communication device.

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