CN113781836B

CN113781836B - Driving support device and driving support method

Info

Publication number: CN113781836B
Application number: CN202011319366.7A
Authority: CN
Inventors: 渡边文夫
Original assignee: Denso Corp
Current assignee: Denso Corp
Priority date: 2020-11-23
Filing date: 2020-11-23
Publication date: 2023-03-10
Anticipated expiration: 2040-11-23
Also published as: CN113781836A

Abstract

A driving assistance device and a driving assistance method. The driving assistance device is mounted on a vehicle, and includes: the vehicle-mounted positioning module is used for acquiring GPS position information of the vehicle; the vehicle-mounted information communication module receives information transmitted from the roadside information communication module of the roadside unit; the lane judging module is used for judging a lane where the vehicle is positioned based on the GPS position information acquired by the vehicle-mounted positioning module and lane identification information contained in the information received by the vehicle-mounted information communication module; and the right-turn auxiliary processing module outputs a corresponding right-turn auxiliary processing result based on a plurality of different signal state information received by the vehicle-mounted information communication module when the lane judgment module judges that the vehicle is in a right-turn lane. The system can process various signal state information from the roadside information communication module of the roadside unit to generate information helpful for a user in a right turn lane, and remind the user through different display modes, so that the safety of right turn can be improved.

Description

Driving support device and driving support method

Technical Field

The present invention relates to a driving assistance device and a driving assistance method, and particularly to a vehicle right turn assistance device.

Background

The electromotion, intellectualization and sharing become important directions for transformation and upgrading of the global automobile industry. Various technologies relating to intelligent driving have been proposed for intellectualization. Among them, an intelligent driving technique called V2X (Vehicle to electric Vehicle wireless communication) is known. As for the basic technology of V2X, there is an intelligent driving support system called "traffic light vehicle speed guidance system (TLOSA)" in the prior art. In this system, real-time traffic information is collected and shared by monitoring and data transmission devices installed in traffic signals and the like, so that information (red, green, yellow, and countdown) of each signal can be provided for each lane of a certain intersection. The traffic light speed guidance (TLOSA) system calculates reasonable speed in the driving process according to the information, and provides the optimal safe driving speed for the driver in a voice reminding or instrument screen display mode, so that the time for waiting for the red light and the traffic jam condition are reduced.

In the prior art, the road side unit RSU provides traffic signal information for each lane. For example, the "left turn signal state and countdown information", the "straight signal state and countdown information", and the like are provided for a general one-way three-lane intersection.

It should be noted that, for the right-turn lane, according to the chinese road traffic regulations, the right-turn lane may turn right directly if special attention is not required (if not prohibited). Thus, for right-turn lanes, the prior art TLOSA system provides the following two support schemes.

Supporting scheme 1: if the traffic light of the straight lane is red light, the TLOSA system provides the user with the same red light signal information as the traffic light information, and the user ignores the information and turns right.

Supporting scheme 2: since the right-turn lane can be directly turned to the right even if the traffic signal of the straight lane is a red light. Therefore, as for the red light signal information, it is displayed as green light signal information.

In the case of supporting the scheme 1, the information of the traffic signal provided to the user is identical to the information of the actual traffic signal, and this point does not cause confusion for the user. However, since the TLOSA system provides only red light signal information, the user still cannot know "is the lateral lane (RV-4) a green light? "" is the left-turn lane (RV-1, RV3) a green light? "is pedestrian crosswalk (P-1) a green light? "such information. That is, despite the existence of the TLOSA system, the user still needs to pay attention to the information by himself to ensure a safe right turn.

In the case of supporting the scheme 2, in addition to the problem that the user needs to pay attention to the information to ensure a safe right turn in the case of the above-described technical scheme 1, there is a problem that the user may be confused because the information of the traffic signal provided to the user is not identical to the information of the actual traffic signal.

That is, in the prior art, the TLOSA system does not provide a useful help for right-turn lane users. The inventors of the present application have proposed the present invention in view of this point, aiming to change the support scheme of the TLOSA system according to the information of other traffic signals in an attempt to provide beneficial help to the user of the right-turn lane.

Disclosure of Invention

The present invention has been made in view of the above-described problems, and an object thereof is to provide a driving assistance apparatus and a driving assistance method that can provide a user with useful right turn assistance information to ensure safety of right turn.

A first aspect of the present invention relates to a driving assistance device 20 that is mounted on a vehicle, including: a vehicle-mounted positioning module 22 for collecting GPS position information of the vehicle; an in-vehicle information communication module 23 that receives information transmitted from the roadside information communication module 13 of the roadside unit 10; a lane judging module 24, which judges the lane where the vehicle is located based on the GPS position information collected by the vehicle-mounted positioning module and the lane identification information included in the information received by the vehicle-mounted information communication module; and a right-turn auxiliary processing module 25, which outputs a corresponding right-turn auxiliary processing result based on the plurality of different signal state information received by the vehicle-mounted information communication module when the lane judgment module judges that the vehicle is in the right-turn lane.

According to the driving support device having this configuration, the received signal state information is not simply displayed for the vehicle about to turn right, but various signal state information from the roadside information communication module of the roadside unit is processed to generate information useful to the user of the right-turn lane. It is possible to provide useful help to the user who turns right into the lane.

Preferably, the right turn assisting module outputs the first to fourth processing results as the right turn assisting result based on a plurality of different signal state information of each traffic signal included in the information received by the in-vehicle information communication module.

According to the driving assistance device having this configuration, the processing result can be refined based on a plurality of different signal state information of each traffic signal.

Preferably, the right turn assisting processing module outputs the first processing result when the straight traffic light of the vertical vehicle traffic light VML corresponding to the lane where the vehicle is located is in the first signal state.

According to the driving assistance device having this configuration, in a specific case, for example, when the straight traffic light of the vertical vehicle traffic light VML corresponding to the lane in which the vehicle is located is in the first signal state, that is, the green light, a specific first processing result is output.

In addition, when the straight traffic light of the vertical motor vehicle signal VML corresponding to the lane in which the vehicle is located is in the second signal state, the right-turn auxiliary processing module outputs one of the second processing result to the fourth processing result according to a plurality of different signal states of the left-turn traffic light of the vertical motor vehicle signal and the other signal.

According to the driving assistance device having this configuration, in a case other than the specific case, for example, in a case where the straight traffic signal of the vertical vehicle traffic signal VML corresponding to the lane in which the vehicle is located is in the second signal state, that is, the red light, the right turn assistance processing module outputs one of the second processing result to the fourth processing result on the basis of a plurality of different signal states of the left turn signal of the vertical vehicle traffic signal and the other traffic signals.

Preferably, the right-turn assist processing module outputs the second processing result when only the non-motor vehicle left-turn special signal NLL and/or the vertical pedestrian signal VPL corresponding to the lane in which the vehicle is located is in the first signal state.

According to the driving assistance device of this configuration, when only the non-motor vehicle left-turn exclusive signal NLL and/or the vertical pedestrian signal VPL corresponding to the lane in which the vehicle is located is a green light that is the first signal state, at this time, only the non-motor vehicle B-1 ready for a left turn and/or the pedestrian ready for the crosswalk P-1 crossing the lateral lane exist on the right-turn passing path of the vehicle HV, and the right-turn assistance processing module outputs the second processing result, and can alert the driver to pay a little attention.

Preferably, the right turn assist processing module outputs the third processing result when a left turn signal of the vertical motor vehicle signal VML corresponding to the lane in which the vehicle is located is in the first signal state.

According to the driving assistance device with the structure, when the left turn signal lamp of the vertical motor vehicle signal VML corresponding to the lane where the vehicle is located is the green lamp in the first signal state, the vehicle RV-1 on the left turn lane of the opposite lane exists on the right turn passing path of the vehicle HV, and the right turn assistance processing module outputs the third processing result, so that the driver can be reminded to apply attention.

Preferably, the right turn assist processing module outputs the fourth processing result when only the lateral motor vehicle signal LML and/or the lateral pedestrian signal LPL corresponding to the lateral lane LL in the lane crossing direction in which the vehicle is located is in the first signal state.

According to the driving assistance device having this configuration, when only the lateral motor vehicle signal LML and/or the lateral pedestrian signal LPL corresponding to the lateral lane LL in the lane crossing direction in which the vehicle is located is the green light which is the first signal state, the right-turn assistance processing module outputs the fourth processing result, and can attract a high level of attention of the driver, in the case where the vehicle RV-4 which is running straight on the straight lane of the lateral lane and/or the pedestrian which is about to cross the crosswalk P-2 of the vertical lane are present on the right-turn traffic path of the vehicle HV.

Preferably, the vehicle driving device further includes a notification module 26 that outputs a first display, a second display, a third display, and a fourth display in accordance with the result of the right turn assisting process by the right turn assisting process module. The first display is a normally bright green light, the second display is a flashing green light, the third display is a flashing yellow light, and the fourth display is a flashing red light.

In this way, the notification module outputs a corresponding display according to the right turn auxiliary processing result of the right turn auxiliary processing module. The user can be reminded through different display modes, and the safety of turning right can be improved.

A second aspect of the invention relates to a driving assistance method executed by a driving assistance apparatus, including: a vehicle-mounted positioning step of acquiring GPS position information of a vehicle; a vehicle-mounted information communication step of receiving information transmitted from the roadside information communication module 13 of the roadside unit 10; a lane determining step of determining a lane where the vehicle is located based on the GPS position information acquired in the vehicle-mounted positioning step and lane identification information included in the information received in the vehicle-mounted information communicating step; and a right-turn assist processing step of outputting a right-turn assist processing result based on the plurality of different signal state information received in the vehicle-mounted information communication step when it is determined by the lane determination step that the vehicle is in a right-turn lane.

Drawings

Fig. 1 is a schematic configuration diagram of a driving assistance system including a driving assistance device according to an embodiment of the present invention.

Fig. 2 is an explanatory view of the driving assistance device according to the embodiment of the present invention.

Fig. 3 is an explanatory diagram of the assist processing of the right turn assist processing module of the driving assist device according to the embodiment of the present invention.

Fig. 4 is an explanatory diagram of the assist processing of the right turn assist processing module of the driving assist device according to the embodiment of the present invention in the case of state 1.

Fig. 5 is an explanatory view of the assist processing by the right turn assist processing module of the driving assist device according to the embodiment of the present invention in the case of state 2.

Fig. 6 is an explanatory view of the assist processing by the right turn assist processing module of the driving assist device according to the embodiment of the present invention in the case of state 3.

Fig. 7 is an explanatory diagram of the assist processing of the right turn assist processing module of the driving assist device according to the embodiment of the present invention in the case of state 4.

Fig. 8 is an explanatory diagram of the assist processing of the right turn assist processing module of the driving assist device according to the embodiment of the present invention in the case of state 5.

Fig. 9 is an explanatory diagram of the assist processing of the right turn assist processing module of the driving assist device according to the embodiment of the present invention in the case of state 6.

Fig. 10 is an explanatory view of the assist processing by the right turn assist processing module of the driving assist device according to the embodiment of the present invention in the case of state 7.

Fig. 11 is an explanatory diagram of the assist processing of the right turn assist processing module of the driving assist device according to the embodiment of the present invention in the state 8.

Fig. 12 is an explanatory view of the assist processing by the right turn assist processing module of the driving assist device according to the embodiment of the present invention in the case of state 9.

Fig. 13 is an explanatory diagram of the assist processing of the right turn assist processing module of the driving assist device according to the embodiment of the present invention in the state 10.

Fig. 14 is an explanatory view of the assist processing of the right turn assist processing module of the driving assist device according to the embodiment of the present invention in the state 11.

(description of symbols)

1. Driving assistance system

10. Road side unit

11. Road side information acquisition module

12. Roadside positioning module

13. Roadside information communication module

20. Vehicle unit (Driving assistant device)

21. Vehicle-mounted information acquisition module

22. Vehicle-mounted positioning module

23. Vehicle-mounted information communication module

24. Lane judging module

25. Data processing module (Right-turn auxiliary processing module)

26. Notification module

Detailed Description

First, the driving assist system is described with reference to fig. 1.

As shown in fig. 1, the driving assistance system 1 generally includes a roadside unit 10 and an on-board unit 20 as a whole. As the road side unit 10, a road side unit of a direct communication mode and a road side unit based on a network communication mode may be mentioned, and the road side unit 10 is disposed at an intersection and is used for collecting and sending out information of all traffic signals of the intersection. The on-board unit 20 is mounted on the vehicle, and is configured to collect and send vehicle information.

The roadside unit 10 includes: the road side information acquisition module 11, where the road side information acquisition module 11 is configured to acquire signal state information and signal lamp timing information of all current signal machines at the intersection where the road side unit 10 is located; a roadside locating module 12, where the roadside locating module 12 is configured to collect GPS position information and time information of an intersection signal 100 where the roadside unit 10 is located; and a roadside information communication module 13, where the roadside information communication module 13 is configured to transmit the collected signal state information, signal lamp timing information, GPS position information of the signal, lane identification information, and the like to the on-board unit 20.

As the lane identification information, taking the case of an intersection shown in fig. 2 as an example, the roadside information communication module 13 transmits coordinate information of virtual points L1, L2, L3, L4 for a left-turn lane, coordinate information of virtual points S1, S2, S3, S4 for a straight-going lane, and coordinate information of virtual points R1, R2, R3, R4 for a right-turn lane.

The on-board unit 20 (corresponding to a driving assistance device) includes: the vehicle-mounted information acquisition module 21 is used for acquiring the speed and acceleration information of a vehicle entering the intersection; the vehicle-mounted positioning module 22 is used for acquiring GPS position information and time information of vehicles entering the intersection; a vehicle-mounted information communication module 23, wherein the vehicle-mounted information communication module 23 is used for receiving the information transmitted by the roadside information communication module 13; a lane judging module 24, wherein the lane judging module 24 judges the lane where the vehicle is located based on the GPS position information of the vehicle collected by the vehicle-mounted positioning module 22 and the lane identification information contained in the information received by the vehicle-mounted information communication module 23; the data processing module 25, the data processing module 25 is used for processing the data information in the vehicle-mounted information acquisition module 21 and the vehicle-mounted information communication module 23; and a notification module 26, wherein the notification module 26 is used for notifying the information processed by the data processing module 25.

The roadside information communication module 13 and the vehicle-mounted information communication module 23 are wireless communication modules matched with each other, and wireless communication technologies such as WiFi or LiFi are adopted. The data processing module 25 is a single chip system.

Next, a driving assistance device and a driving assistance method according to the present invention will be described with reference to fig. 2 and 3.

Here, a case of an intersection shown in fig. 2 will be described as an example.

In FIG. 2, symbol LL represents a lateral lane, VL represents a vertical lane, P-1 represents a crosswalk of the lateral lane, and P-2 represents a crosswalk of the vertical lane. Be provided with horizontal motor vehicle semaphore LML and horizontal pedestrian semaphore LPL to horizontal lane LL, be provided with vertical motor vehicle semaphore VML, vertical pedestrian semaphore VPL and non-motor vehicle special signal NLL that turns left to vertical lane VL. Further, symbol HV represents a vehicle on a right-turn lane of the vertical lane, RV3 represents a vehicle on a left-turn lane of the vertical lane, RV2 represents a vehicle on a straight lane of the vertical lane, RV-4 represents a vehicle on a straight lane of the lateral lane, and RV-1 represents a vehicle on a left-turn lane of the opposite lane. B-1 represents a non-motor vehicle preparing for a left turn adjacent to the right turn lane of the vertical lane.

The roadside unit 10 can collect signal state information and signal light timing information of a transverse motor vehicle annunciator LML and a transverse pedestrian annunciator LPL on a transverse lane LL, and signal state information and signal light timing information of a vertical motor vehicle annunciator VML, a vertical pedestrian annunciator VPL and a non-motor vehicle left-turn special annunciator NLL on a vertical lane VL.

When a vehicle enters a predetermined range of an intersection, the on-board unit 20 mounted on the vehicle receives information transmitted from the roadside information communication module 13 provided in the roadside unit 10 through the on-board information communication module 23, and thereby grasps a lane where the vehicle is located, signal state information of each traffic signal, signal timing information, and the like.

For example, when the GPS position information of the vehicle acquired by the on-board positioning module 22 of the on-board unit 20 of the vehicle continuously matches the coordinate information (equivalent to the lane identification information) of the virtual points R1, R2, R3, R4 for the right-turn lane transmitted from the roadside information communication module 13 of the roadside unit 10, the lane judgment module 24 of the on-board unit 20 judges that the vehicle is located in the right-turn lane. Likewise, when the GPS position information of the vehicle collected by the on-board positioning module 22 of the on-board unit 20 of the vehicle continuously matches the coordinate information of the virtual points L1, L2, L3, L4 for the left-turn lane transmitted from the roadside information communication module 13 of the roadside unit 10, the lane determination module 24 of the on-board unit 20 determines that the vehicle is located in the left-turn lane.

Next, attention is paid to a right-turn traffic situation of the vehicle HV located in the right-turn lane. As for the passing state at the time of right turn of the vehicle HV, the following 11 states can be conceived.

The assist processing of the right turn assist processing module of the driving assist device according to the embodiment of the present invention in the state 1 will be described with reference to fig. 4. In the state 1, the straight traffic light of the vertical motor vehicle signal VML is green (first signal state), and the vertical pedestrian signal VPL is red (second signal state). At this time, the data processing module 25 of the on-board unit 20 of the vehicle HV generates a "safe" (first processing result) processing result without considering the information of the left turn signal lamp of the vertical motor vehicle signal VML, the lateral motor vehicle signal LML, the non-motor vehicle left turn exclusive signal NLL, and the lateral pedestrian signal LPL received by the on-board information communication module 23, and causes the notification module 26 to display a normally bright green lamp (first display).

Fig. 5 is an explanatory diagram of the assist processing of the right turn assist processing module of the driving assist device according to the embodiment of the present invention in the case of state 2. In the case of state 2, the straight-going signal lamp of the vertical motor vehicle signaler VML is a green lamp, and the vertical pedestrian signaler VPL is a green lamp. At this time, the data processing module 25 of the on-board unit 20 of the vehicle HV does not consider the information of the left turn signal lamp of the vertical motor vehicle traffic signal VML, the lateral motor vehicle traffic signal LML, the non-motor vehicle left turn exclusive signal NLL, and the lateral pedestrian traffic signal LPL received by the on-board information communication module 23, and makes a processing result of "safety" (a first processing result) and causes the notification module 26 to display a normally bright green light (a first display).

The assist processing of the right turn assist processing module of the driving assist device according to the embodiment of the present invention in state 3 will be described with reference to fig. 6. Under the condition of state 3, the signal lamp of going straight of vertical motor vehicle semaphore VML is the red light, the signal lamp of turning left is green, and horizontal motor vehicle semaphore LML is the red light, and non-motor vehicle special signal NLL that turns left is the red light, and vertical pedestrian semaphore VPL is the red light, and horizontal pedestrian semaphore LPL is the red light. At this time, only the vehicle RV-1 on the left-turn lane of the opposite lane exists on the right-turn traffic path of the vehicle HV, but since the vehicle speed is high, the processing result of the data processing module 25 of the on-board unit 20 of the vehicle HV is "attention required" (third processing result), and the notification module 26 is caused to blink a yellow light (third display).

Fig. 7 is an explanatory diagram of the assist processing of the right turn assist processing module of the driving assist device according to the embodiment of the present invention in the case of state 4. Under the condition of state 4, the signal lamp of going straight of vertical motor vehicle semaphore VML is the red light, the signal lamp of turning left is green, and horizontal motor vehicle semaphore LML is the red light, and non-motor vehicle special signal NLL that turns left is green, and vertical pedestrian semaphore VPL is the red light, and horizontal pedestrian semaphore LPL is the red light. At this time, not only the vehicle RV-1 on the left-turn lane of the opposite lane but also the non-motor vehicle B-1 to make a left turn are present on the right-turn passage of the vehicle HV. The processing result of the data processing module 25 of the on-board unit 20 of the vehicle HV is "attention required" (third processing result), and the notification module 26 is caused to blink a yellow light (third display).

Next, in the case of state 5, as shown in fig. 8, the straight traffic signal of the vertical motor vehicle signal VML is a red light, the left turn signal is a green light, the horizontal motor vehicle signal LML is a red light, the non-motor vehicle left turn exclusive signal NLL is a green light, the vertical pedestrian signal VPL is a green light, and the horizontal pedestrian signal LPL is a red light. At this time, on the right-turn passage of the vehicle HV, there are not only the vehicle RV-1 on the left-turn lane of the opposite lane but also the non-motor vehicle B-1 to make a left turn and the pedestrian on the pedestrian crossing P-1 crossing the lateral lane. The processing result of the data processing module 25 of the on-board unit 20 of the vehicle HV is "attention required" (third processing result), and the notification module 26 is caused to blink a yellow light (third display).

The assist processing of the right turn assist processing module of the driving assist device according to the embodiment of the present invention in state 6 will be described with reference to fig. 9. Under the condition of state 6, vertical motor vehicle semaphore VML's straight going signal lamp is the red light, and the signal lamp of turning left is the red light, and horizontal motor vehicle semaphore LML is green light, and non-motor vehicle special signal machine NLL that turns left is the red light, and vertical pedestrian semaphore VPL is the red light, and horizontal pedestrian semaphore LPL is the red light. At this time, the vehicle RV-4 traveling straight on the straight lane of the lateral lane exists on the right turn passing path of the vehicle HV, and the vehicle RV-4 has a fast speed and is located on the left side of the vehicle HV. The result of the processing by the data processing module 25 of the on-board unit 20 of the vehicle HV is "danger" (fourth processing result), and the notification module 26 is caused to blink red light (fourth display).

Fig. 10 is an explanatory view of the assist processing by the right turn assist processing module of the driving assist device according to the embodiment of the present invention in the case of state 7. Under the condition of state 7, vertical motor vehicle semaphore VML's straight going signal lamp is the red light, and the signal lamp of turning left is the red light, and horizontal motor vehicle semaphore LML is green light, and non-motor vehicle special signal NLL that turns left is the red light, and vertical pedestrian semaphore VPL is the red light, and horizontal pedestrian semaphore LPL is green light. At this time, not only the vehicle RV-4 traveling straight on the straight lane of the lateral lane but also a pedestrian preparing a crosswalk P-2 crossing the vertical lane exist on the right turn passing path of the vehicle HV. The processing result of the data processing module 25 of the on-board unit 20 of the vehicle HV is "danger" (fourth processing result), and the notification module 26 is caused to blink red light (fourth display).

Next, in the case of state 8, as shown in fig. 11, the straight traffic signal of the vertical motor vehicle signal VML is a red light, the left turn signal is a red light, the horizontal motor vehicle signal LML is a red light, the non-motor vehicle left turn exclusive signal NLL is a green light, the vertical pedestrian signal VPL is a green light, and the horizontal pedestrian signal LPL is a red light. At this time, only the non-motor vehicle B-1 ready for a left turn and the pedestrian ready to cross the crosswalk P-1 of the crosswalk are present on the right turn passing path of the vehicle HV. The processing result of the data processing module 25 of the on-board unit 20 of the vehicle HV is "general safety" (second processing result), and the notification module 26 is caused to blink a green light (second display).

The assist processing of the right turn assist processing module of the driving assist device according to the embodiment of the present invention in the state 9 will be described with reference to fig. 12. Under the condition of state 9, vertical motor vehicle semaphore VML's straight going signal lamp is the red light, and the signal lamp of turning left is the red light, and horizontal motor vehicle semaphore LML is the red light, and non-motor vehicle turns left special semaphore NLL is green light, and vertical pedestrian semaphore VPL is the red light, and horizontal pedestrian semaphore LPL is the red light. At this time, only the non-motor vehicle B-1 ready for a left turn exists on the right turn passing path of the vehicle HV. The processing result of the data processing module 25 of the on-board unit 20 of the vehicle HV is "general safety" (second processing result), and the notification module 26 is caused to blink a green light (second display).

Fig. 13 is an explanatory diagram of the assist processing of the right turn assist processing module of the driving assist device according to the embodiment of the present invention in the state 10. Under the condition of state 10, the signal lamp of going straight of vertical motor vehicle semaphore VML is the red light, the signal lamp of turning left is the red light, and horizontal motor vehicle semaphore LML is the red light, and non-motor vehicle special signal NLL that turns left is the red light, and vertical pedestrian semaphore VPL is green light, and horizontal pedestrian semaphore LPL is green light. At this time, on the right-turn passage path of the vehicle HV, there are not only pedestrians who are ready to cross the crosswalk P-2 of the vertical lane but also pedestrians who are ready to cross the crosswalk P-1 of the lateral lane. The processing result of the data processing module 25 of the on-board unit 20 of the vehicle HV is "danger" (fourth processing result), and the notification module 26 is caused to blink red light (fourth display).

Next, in the state 11, as shown in fig. 14, the straight traffic signal of the vertical motor vehicle signal VML is red, the left turn signal is red, the horizontal motor vehicle signal LML is red, the non-motor vehicle left turn exclusive signal NLL is red, the vertical pedestrian signal VPL is green, and the horizontal pedestrian signal LPL is red. At this time, only the pedestrian who is ready to cross the crosswalk P-1 of the lateral lane is present on the right-turn passing path of the vehicle HV. The processing result of the data processing module 25 of the on-board unit 20 of the vehicle HV is "general safety" (second processing result), and the notification module 26 is caused to blink a green light (second display).

The 11 states described above are summarized as follows.

In the

states

1 and 2, that is, in the case where the straight-ahead traffic light of the vertical vehicle traffic signal VML is green, the data processing module 25 (corresponding to the right-turn auxiliary processing module) outputs the first processing result to turn on the notification module 26 constantly regardless of whether the vertical vehicle traffic signal VPL is red or green. At this time, the signal states of other signal lamps are not considered.

In the states 3 to 11, that is, in the case where the forward traveling signal lamp of the vertical vehicle signal VML is a red lamp, the data processing module 25 performs signal processing in combination with a plurality of different signal states of other signals, outputs one of the second processing result to the fourth processing result, and causes the notification module 26 to perform corresponding display.

In the case of

states

8, 9, 11, i.e. only the non-motor vehicle left turn signal NLL and/or the vertical pedestrian signal VPL is green, the notification module 26 is caused to flash green.

In the

states

3, 4, and 5, that is, in the case where the left turn signal lamp of the vertical vehicle traffic signal VML is green, the notification module 26 is caused to blink yellow.

In the

states

6, 7, 10, i.e. when only the transverse motor traffic signal LML and/or the transverse pedestrian traffic signal LPL associated with the transverse lane LL is green, the notification module 26 is caused to flash red.

The driving assistance device having the above configuration can exhibit the following unique technical effects as compared with the conventional art.

In the conventional TLOSA system, the notification module of the on-board unit simply displays only the signal status information received by the on-board information communication module from the roadside information communication module of the roadside unit. According to the driving assistance device of the invention, the received signal state information is not simply displayed, but various signal state information of each signal machine of the road side information communication module from the road side unit is processed to generate information helpful for a user in a right turn lane, and the user is reminded through different display modes, so that the safety of right turn can be improved.

Although the present invention has been described in terms of embodiments, it should be understood that the present invention is not limited to the embodiments and configurations described above. The present invention also includes various modifications and modifications within an equivalent range. In addition, various combinations and modes, and other combinations and modes including only one element, one or more elements, and one or less elements also belong to the scope and the idea of the present invention.

In the above embodiment, the notification module 26 is a display device of a vehicle dashboard or a display device externally connected to the vehicle dashboard, and may also be a display device externally connected to the vehicle dashboard and displaying the display information on the front windshield of the vehicle in a virtual form. Note that the notification is not limited to a mode in which the notification is performed by a display image, and may be performed by voice, vibration, or the like.

In addition, in the above embodiment, when the GPS position information acquired by the on-board positioning module 22 of the on-board unit 20 of the vehicle continuously matches the coordinate information of the four virtual points for the corresponding lane transmitted from the roadside information communication module 13 of the roadside unit 10, the lane determination module 24 of the on-board unit 20 determines that the vehicle is located in the corresponding lane. It is also possible that the lane determining module 24 of the on-board unit 20 determines that the vehicle is located in the corresponding lane when the GPS position information acquired by the on-board positioning module 22 of the on-board unit 20 of the vehicle continuously matches the coordinate information of the three virtual points for the corresponding lane transmitted from the roadside information communication module 13 of the roadside unit 10. .

In the above embodiment, the data processing module 25 of the on-board unit 20 outputs the first to fourth processing results as the right turn assisting processing result based on the information received by the on-board information communication module 23. However, the right turn assist processing result is not limited to the four types of processing results, and may be any processing result of different degrees. The display of the notification module 26 is not limited to the first to fourth displays, and may be displayed in a manner that is distinguishable according to the result of the right turn assisting process.

Claims

1. A driving assistance device (20) mounted to a vehicle, comprising:

an on-board location module (22) for collecting GPS location information of the vehicle;

an on-vehicle information communication module (23) that receives information transmitted from a roadside information communication module (13) of a roadside unit (10);

the lane judging module (24) judges the lane where the vehicle is located based on the GPS position information acquired by the vehicle-mounted positioning module and the lane identification information contained in the information received by the vehicle-mounted information communication module;

a right-turn auxiliary processing module (25) which outputs a first processing result, a second processing result, a third processing result and a fourth processing result as a right-turn auxiliary processing result based on a plurality of different signal state information of each signal machine contained in the information received by the vehicle-mounted information communication module when the lane judgment module judges that the vehicle is in the right-turn lane; and

a notification module (26) which correspondingly outputs a first display, a second display, a third display and a fourth display according to the right turn auxiliary processing result of the right turn auxiliary processing module,

the first display is a normally bright green light, the second display is a flashing green light, the third display is a flashing yellow light, and the fourth display is a flashing red light,

when the right-turn auxiliary processing module outputs the first processing result, the notification module turns on a green light constantly, when the right-turn auxiliary processing module outputs the second processing result, the notification module flashes a green light, when the right-turn auxiliary processing module outputs the third processing result, the notification module flashes a yellow light, and when the right-turn auxiliary processing module outputs the fourth processing result, the notification module flashes a red light,

when a straight signal lamp of a vertical motor vehicle signal (VML) corresponding to the lane where the vehicle is located is in a second signal state, namely a red light, the right-turn auxiliary processing module outputs one of a second processing result and a fourth processing result according to a plurality of different signal state information of a left-turn signal lamp of the vertical motor vehicle signal and other signals,

the other annunciators include: a vertical pedestrian signal machine (VPL) and a non-motor vehicle left-turning special signal machine (NLL) corresponding to the lane where the vehicle is located; and a transverse motor vehicle signal (LML) and a transverse pedestrian signal (LPL) corresponding to the lane where the vehicle is located.

2. The driving assistance apparatus according to claim 1,

and when a straight running signal lamp of a vertical motor vehicle signal (VML) corresponding to the lane where the vehicle is located is in a first signal state, the right turn auxiliary processing module outputs a first processing result.

3. The driving assistance apparatus according to claim 1,

and when only the non-motor vehicle left-turn special signal (NLL) and/or the vertical pedestrian signal (VPL) corresponding to the lane where the vehicle is located are/is in the first signal state, the right-turn auxiliary processing module outputs a second processing result.

4. The driving assistance apparatus according to claim 1,

and when a left turn signal lamp of a vertical motor vehicle signal (VML) corresponding to the lane where the vehicle is located is in a first signal state, the right turn auxiliary processing module outputs a third processing result.

5. The driving assistance apparatus according to claim 1,

the right turn assist processing module outputs a fourth processing result when only a lateral motor traffic signal (LML) and/or a lateral pedestrian traffic signal (LPL) corresponding to a Lateral Lane (LL) in a lane crossing direction in which the vehicle is located is in a first signal state.

6. A driving assistance method that is a driving assistance method performed by the driving assistance apparatus of claim 1, comprising:

a vehicle-mounted positioning step of acquiring GPS position information of the vehicle;

a vehicle-mounted information communication step of receiving information transmitted from a roadside information communication module (13) of a roadside unit (10);

a lane determination step of determining a lane in which the vehicle is located, based on the GPS position information acquired in the vehicle-mounted positioning step and lane identification information included in the information received in the vehicle-mounted information communication step;

a right-turn assist processing step of, when it is determined by the lane determination step that the vehicle is in a right-turn lane, outputting a first processing result, a second processing result, a third processing result, and a fourth processing result as a right-turn assist processing result based on a plurality of different signal state information of each traffic signal included in the information received in the in-vehicle information communication step; and

a notification step of outputting a first display, a second display, a third display, and a fourth display in accordance with a result of the right turn assist processing in the right turn assist processing step,

the notifying step of constantly turning on a green light when the first processing result is output by the right-turn assisting processing step, blinking a green light when the second processing result is output by the right-turn assisting processing step, blinking a yellow light when the third processing result is output by the right-turn assisting processing step, blinking a red light when the fourth processing result is output by the right-turn assisting processing step,

when a straight traffic light of a vertical motor vehicle signal (VML) corresponding to the lane where the vehicle is located is in a second signal state, namely a red light, in the right-turn auxiliary processing step, one of a second processing result and a fourth processing result is output according to a plurality of different signal state information of a left-turn signal light of the vertical motor vehicle signal and other signals,