JP2000242898A - Peripheral vehicle notification device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To predict a possible range of future movement in addition to information regarding the positions of other vehicles and to make accurately supportable the state of a driver by providing a judging means which judges a possibility that another vehicle disturbs the travel of its own vehicle according to the arithmetic result of the area by which the prediction ranges of its own vehicle and the other vehicle overlap each other, a notification means which notifies the user of the judged result, etc. SOLUTION: According to the speed and travel direction of its own vehicle, a processing part 12 predicts a geometrical range where its own vehicle possibly moves a prediction time (n seconds) predetermined in the processing part 12 later, i.e., can move within the prediction time and displays it on the screen of a display part 14. Further, it is judged whether or not the ranges where other vehicles can move overlapping the range of movement predetermined about its own vehicle. The user is notified of overlapping movement ranges with an image or sound so that the user can recognize the vehicles having the overlapping movement ranges and the movement ranges of other vehicles and this vehicle are displayed at a display part 14 together.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a peripheral vehicle alerting device for ascertaining a relative position of another vehicle located in the vicinity of a host vehicle, including a range of movement thereafter.

[0002]

2. Description of the Related Art A driver of a vehicle performs a driving operation while visually confirming the position of another vehicle located around the own vehicle and recognizing a positional relationship with each vehicle. 2. Description of the Related Art A vehicle is provided with a rearview mirror, a side mirror, and the like in order to assist a driver with visual recognition. In addition, structures such as convex mirrors are installed at intersections with poor visibility, etc., to make it easy to recognize vehicles passing by.
It is also provided as a road facility. However, there are many factors that hinder recognition between vehicles, such as when traveling in a bad environment such as rain or fog, or when traveling at night.

On the other hand, in a conventional vehicle, a current position of the vehicle detected by a GPS receiver is displayed in a screen displaying a map database installed in advance, and a driver is notified of the current position. The system is installed. Using such a guidance system, GPS
There has been proposed a device that transmits information on the position of a vehicle detected by a receiver to other vehicles around the vehicle and displays the position of the vehicle as well as the position of the vehicle on a screen displaying a map.

[0004]

The driver can visually confirm the speed, direction of travel, etc. of other vehicles located in the surrounding area, and determine whether or not the vehicle is a vehicle that hinders traveling of the vehicle based on past experience. Alternatively, it is determined whether or not the vehicle needs attention.

[0005] However, simply displaying the vehicle position transmitted from another vehicle on the screen as it is does not mean that the speed, acceleration, and the like of the other vehicle can be directly visually recognized. For this reason,
It is difficult for a driver to judge from his or her own experience how much attention is required of another vehicle displayed on the screen in relation to the own vehicle. Such a determination becomes more difficult when, for example, a large number of other vehicles are displayed on the screen, and it becomes difficult to specify which vehicle should be specifically paid attention.

[0006] It is an object of the present invention to predict, in addition to information on the position of another vehicle, a range that may move in the future,
It is an object of the present invention to provide a peripheral vehicle notification device that can appropriately assist a driver in determining a situation.

[0007]

This and other objects are attained by the present invention described below.

(1) Current position detecting means for detecting the current position of the vehicle, and movable range predicting means for calculating a geographical predicted range in which the vehicle may be located after a predetermined predicted time has elapsed. Another vehicle information obtaining means for obtaining a current position of another vehicle and a geographical prediction range obtained by calculating a range that may be located after a predetermined prediction time has elapsed in the other vehicle; and a prediction range of the own vehicle. Determining an area where the predicted range of the other vehicle overlaps with the predicted range of the other vehicle, and determining, based on the calculated result, a possibility that the other vehicle will hinder the traveling of the own vehicle; and <notifying the user of the determined result. And a means for notifying surrounding vehicles.

(2) own vehicle position detecting means for detecting the current position of the own vehicle, intersection detecting means for detecting an intersection where the own vehicle and the path of another vehicle intersect, and reaching the detected intersection. A time range prediction means for calculating a temporal prediction range expected to be required, a current position of another vehicle, and a temporal prediction range expected to be required until reaching an intersection in another vehicle. The other vehicle information acquisition means to be acquired, the predicted time range of the own vehicle, and the time during which the predicted range of the other vehicle overlaps are calculated. A peripheral vehicle notification device, comprising: a determination unit that determines a determination; and a notification unit that notifies a user of a determination result.

(3) The notifying means further comprises a notifying means for notifying the user of a warning having a content corresponding to the possibility determined by the determining means (1) or (2).
2. A peripheral vehicle alerting device according to claim 1.

(4) The notifying means further comprises display means for displaying a current position of the own vehicle, a predicted range of the own vehicle, a current position of another vehicle, and a predicted range of another vehicle. The peripheral vehicle notification device according to any one of (1) to (3).

(5) A peripheral vehicle alerting device mounted on the own vehicle, the other vehicle movable range predicting means for predicting a geographical prediction range in which the other vehicle can move within a predetermined prediction time. A self-vehicle movable range prediction unit that predicts a geographical prediction range in which the vehicle can move within the prediction time, and a prediction range that overlaps with the prediction range predicted for the own vehicle. And a notifying means for notifying the user that the vehicle can be recognized.

(6) A peripheral vehicle notification device mounted on the own vehicle, the other vehicle movable range predicting means for predicting a geographical prediction range in which the other vehicle can move within a predetermined prediction time. Self-vehicle movable range predicting means for predicting a geographical prediction range in which the own vehicle can move within the prediction time, a prediction range predicted for the other vehicle and a prediction range predicted for the own vehicle And a display device for displaying the information together.

(7) A peripheral vehicle alerting device mounted on the own vehicle, the other vehicle movable range prediction for predicting a geographical prediction range in which the other vehicle can be moved within a predetermined prediction time. Means, a current position detecting means for detecting the current position of the vehicle for the own vehicle, and a display device for displaying the prediction range predicted for the other vehicle and the current position of the vehicle detected for the own vehicle, A peripheral vehicle notification device, comprising:

[0015]

BEST MODE FOR CARRYING OUT THE INVENTION
This will be described in detail with reference to the accompanying drawings. FIG. 1 is a block diagram showing a configuration of a peripheral vehicle notification device 1 according to the present invention. The peripheral vehicle notification device of the present embodiment is mounted on the own vehicle and receives vehicle information such as the current position and the vehicle speed of the other vehicle transmitted (or transmitted) from the other vehicles around the own vehicle (as a receiving means). Communication section). The peripheral vehicle notification device predicts (calculates) a geographical movable range in which the other vehicle can move within a preset movement prediction time (n seconds) based on the received vehicle speed or the like (the other vehicle can move). A processing unit that functions as a range prediction unit).
In addition, the peripheral vehicle notification device predicts (calculates) a geographical movable range in which the own vehicle can move within the same predicted time based on the vehicle speed of the own vehicle (processing that functions as own vehicle movable range prediction means). Department). The peripheral vehicle notification device determines whether the movable range of another vehicle overlaps the movable range predicted for the own vehicle (determination means). Then, an image, a sound, and a sound (change of sound) are notified so that the user (own vehicle driver such as the own vehicle driver) can recognize the other vehicle whose overlapping movable range is predicted (as notification means). Display unit, input / output unit). The movable range of the other vehicle and the own vehicle calculated as described above is displayed together with the display unit.

More specifically, the peripheral vehicle notification device 1 includes a communication unit 11, a processing unit 12, a GPS reception unit 13, a display unit 14, a command input unit 15, and an input / output unit 16. Have. The communication unit 11 is used when acquiring information from the outside, and for example, wirelessly receives other vehicle information transmitted from another vehicle. This wireless system is
Spread spectrum communication, FM communication, amateur radio, M
CA, mobile phone, PHS, and the like.

The information obtained by the communication unit 11 is converted into a digital signal and supplied to the processing unit 12. Processing unit 1
2 is a central processing unit (Central Processing Unit),
ROM (Read Only Memory) and RAM (Random Acces
s Memory). ROM and RAM are connected to the central processing unit via a bus line such as a data bus. In the ROM, the movable range of the own vehicle described later,
A program for determining a possibility of hindering traveling is stored. The RAM functions as a working memory when the central processing unit performs various arithmetic processing. The configuration of the processing unit 12 is not limited to the above configuration.

The GPS receiver 13 receives the radio wave emitted from the artificial satellite, measures the current position of the vehicle, and sends the measured position to the processing unit 12. The GPS receiver 13 has a function as a vehicle position detecting unit that detects the current position of the vehicle. As the vehicle position detecting means,
In addition to GPS receivers, geomagnetic sensors, distance sensors,
A sensor unit 17 including one or more of a steering sensor, a beacon sensor, a gyro sensor, and the like is provided, and in consideration of various values detected from these sensors, a more accurate The present position may be specified.

Here, the terrestrial magnetism sensor detects terrestrial magnetism to determine the direction in which the vehicle is facing, and the distance sensor detects and counts the number of revolutions of wheels,
A device that detects acceleration and integrates twice, or another measuring device is used. As the steering sensor, for example, an optical rotation sensor or a rotation resistance volume attached to a rotating portion of a steering wheel is used, but an angle sensor attached to a wheel portion may be used. The beacon sensor receives position information from a beacon placed on the road. The gyro sensor is configured by a gas rate gyro, a vibration gyro, or the like that detects the rotational angular velocity of the vehicle and integrates the angular velocity to obtain the azimuth of the vehicle.

The display unit 14 has a screen for displaying an image. On this screen, map information around the own vehicle, position information of another vehicle acquired by the communication unit 11, and calculation by the processing unit 12. Displayed image information such as the movable range of the own vehicle and the other vehicle, or visual information such as character information and graphic information for issuing a warning to the driver is displayed. The map information displayed on the display unit 14 is stored in various storage devices such as a DVD, MO, CD, optical disk, magnetic tape, IC card, and optical card. As the display unit 14, a CRT display, a liquid crystal display, a plasma display, a hologram device that projects a hologram on a windshield, or the like can be used.

The command input section 15 is an input means for inputting commands and the like for various operations. As an example of the configuration, the command input section 15 is disposed on a screen of a display constituting the display section 14 and displayed on the screen. And a touch panel for inputting information by touching keys and menus, a keyboard, a mouse, a barcode reader, a light pin, a remote control device for remote operation, and the like.

The sound / voice input / output unit 16 for inputting / outputting information by voice is constituted by a microphone, a speaker, and the like, and can input information by voice. It is also used when a warning is given to the driver by a sound output from the speaker, or when necessary information is transmitted to the driver according to a change or type of a pitch or rhythm other than the sound.

Here, in the present embodiment, the GPS receiving unit 1
The 3 and / or the sensor unit 17 function as a current position detecting means for detecting the current position of the own vehicle. Processing unit 12
Functions as a movable range predicting unit, as an intersection detecting unit, as a time range predicting unit, as another vehicle movable range predicting unit, as an own vehicle movable range predicting unit, or as a determining unit. The communication unit 11 and the processing unit 12 function as other vehicle information acquisition means. Further, the processing unit 12, the display unit 14, and the sound / voice input / output unit 16
It functions as a notifying means or a notifying means, and in particular, the display unit 14
Function as display means. On the other hand,
A vehicle information transmission device substantially similar to the peripheral vehicle notification device 1 of FIG. 1 is mounted. The vehicle information transmitting device mounted on another vehicle includes the same GPS receiving unit 13, sensor unit 17, command input unit 15, and processing unit 12 connected to them as the peripheral vehicle notification device 1. The vehicle information transmitting device has a storage device for vehicle information and a communication unit for transmitting the vehicle information stored in the storage device to the outside of the vehicle, and these devices are connected to the processing unit 12. .

The peripheral vehicle notification device 1 of the present invention configured as described above has the following operations. FIG. 2 is a schematic diagram illustrating a positional relationship between the own vehicle and another vehicle during traveling, and FIG. 3 is a schematic diagram illustrating a display mode of the own vehicle and another vehicle displayed on a screen of the display unit 14 of the own vehicle. . FIG. 2 shows the vehicle M traveling on the road R1 toward the intersection C and the other vehicle A traveling on the road R2 intersecting the road R1 toward the intersection C.
, And the arrow indicates the traveling direction of each vehicle.

The processing section 12 includes a movable range Ma of the vehicle M.
Is calculated and displayed on the display unit 14. Based on the vehicle speed of the own vehicle and the traveling direction, the position of the own vehicle after a predetermined (pre-stored) predicted time (n seconds) in the processing unit 12 (hereinafter simply referred to as “predicted time”) has elapsed. May
That is, a geographical prediction range (movable range) that can be moved within the prediction time is calculated (in other words, a distance prediction range is calculated) and displayed on the screen of the display unit 14. The estimated time may be changed as appropriate according to the speed of the vehicle or the type of road on which the vehicle is traveling. For example, as the vehicle speed increases, the prediction time can be set shorter,
The prediction time is set shorter as the road speed limit increases.

An example of a method of calculating a geographical prediction range is as follows. For example, in a case where the vehicle travels while maintaining the current traveling speed, a position Mb to be reached after a lapse of the prediction time is calculated, and the position Mb is set at the center. A circle is drawn, and the inside of the circle is defined as a movable geographical prediction range (movable range) Ma. As will be described later, the radius of the circle is determined based on data (learning value) measured in advance for the speed and direction that change after the elapse of the predicted time. Therefore, the radius or area of this circle also depends on the traveling speed, etc.
It can be determined each time.

On the other hand, the information on the other vehicle obtained via the communication unit 11 has, for example, the contents shown in Table 1. The information in Table 1 is stored in a storage device mounted on another vehicle. Table 1 shows an example of data that can be transmitted (transmitted) from another vehicle. These data are transmitted at regular intervals. When the data transmitted from the other vehicle is the current position and the vehicle speed of the other vehicle, the own vehicle that has received the data multiplies the predetermined predicted time (n seconds) by the received vehicle speed to obtain another data. The predicted movement distance of the car is determined. Then, it is possible to predict (calculate) a circular area having the received current position as the center and having the radius of the obtained predicted movement distance as a movable geographical prediction range (movable range) for other vehicles.

On the other hand, when the data transmitted from the other vehicle is the movable range calculated by the other vehicle itself, the own vehicle receiving the data need not calculate the movable range. In this case, the predicted movement time (n
(Seconds), it is possible to calculate the movable range in which the own vehicle can move within the received predicted movement time (n seconds) in the own vehicle that has received this. Further, when the data transmitted from the other vehicle is the current position, the vehicle speed, and the traveling direction of the other vehicle, in the own vehicle receiving these, by multiplying the received vehicle speed by a predetermined predicted time. , The predicted movement distance of the other vehicle is calculated, and when the traveling direction is added to this, the predicted movement position of the other vehicle is calculated. Centering on the calculated movement prediction position,
A circular area having a radius corresponding to the predicted movement distance may be predicted (calculated) as a movable range for another vehicle. The radius of the circular region may be a radius r described later.

[0029]

[Table 1]

The position information includes, for example, information relating to the position of the other vehicle A, the predicted position Ab after the elapse of the predicted time (n seconds), the vehicle speed at that position, the traveling direction, and the like. Based on the acquired position information, the position of the other vehicle is displayed on the display screen of the display unit 14 together with the current position of the own vehicle. The predicted time of the own vehicle is set in accordance with the predicted time for setting the movable range of the other vehicle. The time information is the time when the position of the vehicle is measured or the time when the vehicle reaches the predicted movable range. The vehicle movement performance is a movable range Aa predicted for the movement of another vehicle, and this range is displayed on the screen of the display unit 14 together with the movable range of the own vehicle. The vehicle color information includes the color of another vehicle, the presence or absence of a pattern, and other characteristic points in the color. This information is displayed on the display unit 14. As a display method, the color or pattern may be directly displayed, or other character information may be displayed. In addition, the voice may be output from the input / output unit 16.

The shape information of the vehicle includes information on a characteristic portion such as the size of the other vehicle such as the total length and the vehicle width, the presence or absence of modification, and the like.
Other information includes displacement, vehicle type, car manufacturer, car number, and the like. Both these and information are displayed on the display unit 14.
The display method may be a case where the shape or the like is directly displayed or other character information. In addition, the voice may be output from the input / output unit 16. The information on the relationship with the own vehicle includes information indicating a relationship with the own vehicle such as a friend, another person, a fellow trader, a family, and the same vehicle type. Then, such information may be displayed on the display unit 14 or output from the input / output unit 16 by voice. The above-mentioned vehicle information, in particular, the visual information (color information and shape information) of the vehicle and the information relating to the own vehicle are used because the driver directly recognizes the other vehicle displayed on the screen of the display unit 14 visually. By obtaining this information, it is easy to directly check the other vehicle with the naked eye.

FIG. 2 shows an intersection C where the own vehicle M and the other vehicle A are the same.
It shows a situation in which the vehicle is traveling in the direction of the arrow toward. The other vehicle A transmits the current position, the traveling direction, and the vehicle speed of the other vehicle A by a communication device such as an SS wireless device at regular time intervals. For own vehicle M, predicted movement time (for example, 5 seconds)
Are preset by the user and stored in the storage device. Hereinafter, the operation of the peripheral vehicle notification device mounted on the own vehicle M under the same situation will be mainly described.

FIG. 4 is a flowchart of a process of displaying a movable range of another vehicle in the own vehicle M and a process of notifying a user about the other vehicle. The other vehicle predicted movable range display processing and warning processing routine
The processing program starts and ends when the ignition is turned off. When the processing program starts, it is determined whether or not the other vehicle information reception flag is on (step S10). The other-vehicle information reception flag is turned on when other-vehicle information (current position, heading, and vehicle speed) transmitted from another vehicle near the own vehicle is received. The on / off of the other vehicle information reception flag is processed in another processing routine. By this routine, the function as the other vehicle information acquiring means is exhibited.

If the other vehicle information reception flag is not on (step S10: No), the routine returns to step S10.
The judgment of 10 is repeated. When the other vehicle information reception flag is on (step S10: Yes), the movable range of the other vehicle is calculated and displayed on the display unit (step S10).
12). By this step S12, the function as the display means is exhibited. FIG. 3 is a display example of the movable range of the other vehicle A and the own vehicle M. In the figure, a substantially triangular symbol A indicates the current position of the other vehicle A, Ab indicates the predicted position of the other vehicle after the predicted time (5 seconds), and Aa indicates that the other vehicle A can move within the predicted time (5 seconds). Each represents a geographic area. The predicted position Ab of the other vehicle A after the predicted time is obtained by multiplying the received vehicle speed by the predicted time set in the own vehicle. In addition, the movable range Aa that can be moved within the predicted time of the other vehicle A
Can be obtained as a circular area with a radius r around the predicted position. The radius r can be obtained from the following equation, for example.

R = Gmax × 9.8 × Time × Time where r is the radius (unit: m) of the predicted movable range,
Gmax is the maximum acceleration (unit: G), and Time is the predicted time (unit: second). The maximum acceleration Gmax is obtained, for example, as (Gmax = limit acceleration by vehicle type × past learned driving value). The vehicle-type limit acceleration is set according to the type of vehicle, and acceleration exceeding this value is basically a value that is not expected to come out. The past driving learning value is
It can be obtained from an acceleration sensor or a trajectory of a car navigation system, and can be obtained as an average value of acceleration measured in the past. For example, when the vehicle-specific limit acceleration is 0.5 G and the learning value is 0.2 G, Gmax is set to 0.35 G with half the difference 0.3 G between the vehicle-specific limit acceleration and the learning value as a margin value. I do. The driving learning value is an average value of acceleration measured in the past, but may be the largest value among the accelerations measured in the past. The vehicle type limit acceleration is set in advance for each vehicle type, for example. Here, the type of the vehicle is determined by a combination of the type of the vehicle such as a sedan, a wagon, a coupe, a minivan, a four-wheel drive, or a displacement, an overall weight, and the like.

Next, the movable range of the vehicle M is calculated and displayed on the display unit (step S14). As a result, a function as a movable range prediction unit is exhibited. In FIG.
The substantially triangular symbol M indicates the current position of the vehicle M, Mb indicates the predicted position of the vehicle after the predicted time (5 seconds), and Ma indicates the predicted time (5 seconds).
Represents the geographical area within which the vehicle A can move. Note that the predicted position Mb of the own vehicle M after the predicted time is obtained by multiplying the vehicle speed of the own vehicle by the predicted time (5 seconds). The geographical range Ma that can be moved within the predicted time (5 seconds) of the vehicle M can be obtained as a circular area having a radius r with the predicted position as the center. The method of calculating the radius r is the same as described above.

In step S14, an overlap range (overlap area) of the movable range Aa of the other vehicle A and the movable range Ma of the own vehicle M calculated as described above is calculated. If the overlapping area is 0, there is no overlapping range, and if there is an overlapping area, there is an overlapping range. Step S
It is determined whether or not there is an overlapping range based on the calculation result in 14 (step S16). If there is no overlapping range (step S16: No), the process returns to step S16.
10 is executed again. If there is an overlapping range (step S16: Yes), a predetermined table is referred to (step S18). Steps S14 and S1
6. By S18, the function as the determination means is exhibited.

The contents of the warning determined based on the table are displayed on the screen of the display unit 14 as shown in FIG. 7 (step S20). By this step, a function as a notification means is exhibited. Here, as a display method, a warning display F other than a character may be added to the display portion of the other vehicle A corresponding to the warning content, in addition to the case of displaying as character information. This display pattern includes a case in which graphic (diagram) information is newly added to the normal display, such as a display F, a display of another vehicle A corresponding to the warning content, and a blinking display.
The color of the other vehicle A may be changed from a normally used color to another color (for example, red, yellow, or the like).

[0039]

[Table 2]

The table in Table 2 is a table in which the threshold value of the overlapping area of the movable range of the other vehicle and the movable range of the own vehicle is associated with the content of the warning (notification). For example, when the overlapping range is 0%, no warning is required because no warning is required. If the overlapping range is less than 30%, the display shows "A vehicle that may obstruct the course of the vehicle from the left (right) direction is approaching."
Ring the pip. If the overlapping range is less than 30% to 60%, the other vehicle symbol displayed on the screen blinks in addition to the warning when the overlapping range is less than 30%. If the overlapping range is 60% or more, the content of the warning is changed to "the vehicle obstructing the own vehicle's path from the left (right) direction is approaching." In addition, not only a warning but also a subsequent avoidance action may be instructed. For example, after a warning, an instruction such as "Please slow down", "Stop", "Change route", "Change lane", etc. can be displayed or sound output. .

The transmission pattern is set so that the interval between the transmission sounds becomes narrower in the order of the overlapping range of less than 30%, 30 to less than 60%, and 60% or more, so that the driver can sense the degree of importance of the warning. You may make it recognize it. After the warning step S20 is completed, the other vehicle information reception flag is turned off (step S22). For example, when the positional relationship between the own vehicle M and the other vehicle A is shown in FIG. 3, no warning is issued because the movable ranges Ma and Aa of the own vehicle M and the other vehicle A do not overlap.

However, as the own vehicle M and the other vehicle A travel, as shown in FIG. 5, both movable ranges Ma and Aa overlap, and if the overlap area becomes, for example, 20%,
The warning (or notification) in the right column corresponding to the column of less than 30% in Table 2 is performed. In addition, when the own vehicle M and the other vehicle A further travel and the overlapping area of both movable ranges Ma and Aa becomes, for example, 50% as shown in FIG.
Warning (or notification) in the right column corresponding to the column of less than ~ 60%
Is performed.

As described above, the peripheral vehicle alerting device according to the present embodiment is mounted on the own vehicle, and the user (autonomous vehicle) for the other vehicle whose movable range determined to be overlapped with the movable range of the own vehicle is predicted. The vehicle, such as a car driver, is notified by images, sounds, and sounds (changes in sound) so that the user can recognize the vehicles in the vicinity of the vehicle that may obstruct the course of the vehicle. Can be recognized relatively early.

Further, the movable range of the other vehicle and the movable range of the own vehicle are displayed together on the display unit, so that the user can control the vehicle around the own vehicle which may obstruct the course of the own vehicle. You can judge by glance at the screen. The same effect can be obtained by displaying the movable range for the other vehicle and displaying only the current position of the own vehicle for the own vehicle.

In the present embodiment, a description has been given of notifying the other vehicle in which the movable range overlapping with the movable range of the own vehicle is predicted by an image or the like so that the user can recognize the other vehicle. When the movable range of the other vehicle overlaps with the movable range, braking may be performed by, for example, switching the speed of the automatic transmission to a speed lower than the current speed.

Further, in the present embodiment, the movable range of the own vehicle and the other vehicle is calculated by using the estimated time stored in the storage device of the own vehicle. It is also possible to receive a predicted time and a movable range calculated in the other vehicle using the predicted time. In this case, for the other vehicle, the received movable range is displayed and the like, while for the own vehicle, the movable range is calculated and displayed using the received predicted time.

Further, the movable range transmitted from another vehicle may be corrected to a range within which the vehicle can move within the estimated time stored in the storage device of the own vehicle. In this case, for the other vehicle, the corrected movable range is displayed or the like, while for the own vehicle, the movable range is calculated and displayed using the predicted time stored in the storage device of the own vehicle. .

Also, the own vehicle transmits a predicted time (calculation of a geographical movable range in which the vehicle can move within a specific predicted time with respect to another vehicle, and transmission as a request for transmitting this). May be configured to calculate the movable range of the other vehicle using the received predicted time, and transmit the calculated movable range to the own vehicle.
In this case, for the other vehicle, the received movable range is displayed or the like, while for the own vehicle, the movable range is calculated and displayed using the predicted time transmitted to the other vehicle.

Also, in the present embodiment, the notification (warning) of the surrounding vehicles at the intersection has been described. However, the surrounding vehicles at various points and places other than the intersection (for example, at a junction of a highway, a branch road, etc.). Can be similarly performed.

In the above configuration, since the driver can visually recognize the movable range of the own vehicle and the other vehicle, it is possible to recognize whether or not another vehicle will hinder traveling in the near future. It will be easier.

When determining the possibility that another vehicle will hinder the traveling of the own vehicle based on the overlapping range, the increasing speed of the area of the overlapping range may be used as a parameter. For example,
Even if the overlapping range is less than 30%, it can be determined that there is a high possibility that the overlapping range will be hindered if the increasing speed of the area of the overlapping range is high. Further, even when the overlapping range is 60% or more, the possibility of obstruction can be reduced if there is no increase in the area of the overlapping range. In such a case, for example, there is a case where two vehicles are running in parallel on a road having a plurality of lanes.

Next, a method of calculating the movable range of the own vehicle will be described with reference to the own vehicle predicted movable range display processing routine shown in FIG. By this routine, the function as the own vehicle movable range predicting means is exhibited. This routine starts when the ignition is turned on and ends when the ignition is turned off.

First, it is determined whether or not the own vehicle position measurement flag is on (step S30). This flag is turned on when the position of the own vehicle is measured by the GPS receiving unit 13.
Alternatively, the vehicle position is calculated based on a signal from the sensor unit 17 every time the vehicle travels a predetermined distance, and the vehicle position measurement flag is turned on each time the vehicle position is calculated. It may be. When the flag is off, that is, when the own vehicle position is not measured (step S3
0: No), the following processing is not performed, and the routine returns.
If the flag is ON, that is, if the own vehicle position has been measured (step S30: Yes), the next step S32
Execute In step S32, it is determined whether or not the other vehicle information reception flag is on. When the other-vehicle information is received via the communication unit 11, the flag is turned on. Whether or not other vehicle information has been received is determined by another determination routine.

When the other vehicle information reception flag is ON, that is, when other vehicle information is received (step S3).
2: Yes), the prediction time (n seconds) for calculating the movable range determines to use the prediction time set in the other vehicle as the prediction time of the own vehicle (step S).
34). If the other vehicle information reception flag is off, that is, if no other vehicle information has been received (step S3
2: No), it is determined that the predicted time (n seconds) for calculating the movable range is to use the predicted time set in the own vehicle as it is (step S40).

In step S34, the accuracy of the warning can be ensured by unifying the estimated time for estimating the movable range between the own vehicle and the other vehicle. It is possible to easily determine the possibility that another vehicle will interfere with the own vehicle. this is,
The predicted time may be unified to the time adopted for one of the own vehicle and the other vehicle, and the predicted time set for the own vehicle may be used. In this case, it is necessary to recalculate the movable range displayed for the other vehicle based on the predicted time set for the own vehicle.

Based on the predicted time determined in the previous step, the predicted movable range of the own vehicle is calculated (step S3).
6). The predicted movable range in step S36 is represented as the predicted movable range Ma inside a circle centered on the movement position Mb after the elapse of the predicted time (n seconds). Regarding the method of calculating the radius r of the circle centered on Mb, in the description of the flowchart of the display process of the movable range of the other vehicle and the process of notifying the user of the other vehicle shown in FIG. The calculation method described in (Description of FIG. 3) is used.

The predicted movable range of the own vehicle calculated based on step S36 and the already measured own vehicle position are displayed on the display screen of display unit 14 (step S38), and the own vehicle position measurement flag is turned off. (Step S39). When the predicted movable range of the other vehicle is calculated by the own vehicle, it is calculated in accordance with the above method based on other vehicle information (including past driving learning values) obtained through communication.

In the above description, the example in which the predicted movement range is circular is described. However, the predicted movement range may be set according to the characteristics of the vehicle or the state of the road on which the vehicle is traveling. For example, a general vehicle changes direction using two front wheels. For this reason, it is possible to set the predicted movable range in consideration of the moving characteristics of the vehicle, for example, the vehicle cannot move right beside. For example, as shown in FIG.
The predicted movable range of the stopped vehicle is a range in which the front and the rear are spread left and right. Further, if the predicted movable range according to the turning performance of the vehicle is determined even during the movement, the rear becomes a range bulging left and right as shown in FIG. 10 in consideration of the case of turning left and right. On the other hand, when the moving speed is low, the shape is close to the shape at the time of stopping as shown in FIG. The parameters for determining such a predicted movable range include a minimum turning radius (unit: m), a moving speed, and the above-described vehicle-type limit acceleration that differ depending on the vehicle type.

Further, depending on the road, there may be a median strip or a guardrail. Since it is usually impossible for a car to move beyond the median strip or the guardrail, the road element can be added to the parameter for determining the predicted movable range. FIG. 12 is a schematic diagram showing a predicted movable range of a vehicle traveling on a road having a median strip or a guardrail. As shown in FIG. 12, the shape of the predicted movable range Ma is a shape defined so as not to spread outside the median strip 22 and the guardrail 21. With such a rule, an overlapping range is unlikely to occur for another vehicle in the opposite lane approaching from the front, and it is suppressed that the vehicle in the opposite lane is recognized as a vehicle that hinders the course.

The own vehicle position, the predicted movable range of the own vehicle, the position of another vehicle, and the predicted movable range of the other vehicle obtained based on the result calculated in the above steps are displayed on the screen of the display unit 14. . Here, when the other-vehicle information is not normally received, as shown in FIG. 13A, the predicted movable range is based on the predicted time (3 seconds in the figure) set by the own vehicle. Is displayed on the screen. If the predicted time of the received other vehicle information (in the figure: 5 seconds) is different from the predicted time of the own vehicle, the predicted time of the own vehicle is changed to the predicted value of the other vehicle setting as shown in FIG. The display content changes on the screen that displays the predicted movable range calculated by changing to the time (5 seconds).
By changing the display content in this way, the determination as to the possibility that another vehicle will hinder the traveling of the own vehicle becomes more accurate. Conversely, as shown in FIG.
By applying the predicted time (3 seconds) set for the own vehicle to the other vehicle information, the predicted movable range of the other vehicle may be corrected and displayed.

Next, transmission of vehicle information transmitted from another vehicle will be described. FIG. 14 is a flowchart showing a vehicle information transmission processing routine. The processing of the program starts when the ignition is turned on, and ends when the ignition is turned off.

First, it is determined whether or not the position measurement flag is on (step S50). The position measurement flag is turned on when the position is measured by the GPS receiver. Or
The position of the own vehicle may be calculated based on a signal from the sensor unit 17 every time the other vehicle travels a predetermined distance, and the position measurement flag may be turned on each time the position of the own vehicle is calculated. .

That is, in step S50, it is determined whether or not the position has been measured. When the flag is off, that is, when the position is not measured (step S50: N
o), it returns and the following processing is not performed. If the flag is ON, that is, if the position is measured, a predicted movable range after a lapse of a predicted time (n seconds) from the measured position is calculated (step S52). This calculation method is the same as the calculation described in step S12 (description of FIG. 3) in the description of the flowchart of the display processing of the movable range of the other vehicle and the processing of notifying the user of the other vehicle shown in FIG. Method.

The predicted movable range calculated in step S52, the measured position information, and other position information shown in Table 1 are stored in the buffer (step S5).
4). The information stored in the buffer is transmitted to another vehicle when a signal requesting information transmitted from another vehicle is received (step S56). After the transmission, the position measurement flag is turned off (step S58), and the process returns. A signal requesting information transmitted by the own vehicle or another vehicle to surrounding vehicles is transmitted, for example, at predetermined intervals or at a predetermined time. Such transmission in response to the information request may be transmitted as update information when the vehicle speed is changed by an operation such as a course change, a brake-on or an accelerator-on, or the like.

In the above, an example has been described in which the other vehicle transmits the predicted movable range calculated in the other vehicle, but other vehicle information is also stored in the transmission buffer at a predetermined time interval or at a preset time. Will be sent to In the above example, the case where the number of other vehicles around the own vehicle is one has been described, but the number of other vehicles around the own vehicle may be two or more. For example, as shown in FIG. 15, when there are many vehicles around,
Information is received from each vehicle, and information on each other vehicle is also displayed on the screen of the display unit 14. In this way, by simultaneously displaying information about other vehicles on one screen, the relative positional relationship with respect to a plurality of other vehicles can be grasped at a glance. The possibility of obstruction is easy to grasp at a glance.

Next, the operation of another embodiment will be described. In the following embodiments, a car navigation system is used to determine the possibility of an obstacle in the own vehicle path at a predetermined point such as an intersection, and issue a warning. Hereinafter, the processing content will be described based on a flowchart showing a warning processing routine based on the own vehicle / other vehicle predicted time range shown in FIG. For example, as shown in FIG. 17, a warning process is performed when two other vehicles A1 and A2 are traveling toward two intersections C1 and C2 located in the traveling direction of the own vehicle M, respectively. explain.

The warning processing routine based on the predicted time range of the own vehicle / other vehicle starts when the ignition is turned on and ends when the ignition is turned off. It is determined whether or not the other vehicle information reception flag is on (step S60). The other vehicle information reception flag is turned on when other vehicle information transmitted from another vehicle near the own vehicle is received. When the flag is off, since other vehicle information has not been received, the subsequent processing is not performed and the routine returns. When the flag is ON, other vehicle information has been received, and the subsequent processing is performed based on the information. Whether or not other vehicle information has been received is determined in another routine. By this other routine and step S60, a function as other vehicle information acquisition means is exhibited.

Here, the transmitted other vehicle information includes, in the information shown in Table 1, the estimated vehicle arrival time range up to the nearest intersection in the vehicle traveling direction instead of the vehicle movement performance. Will be sent as The number and coordinates of the intersection are also transmitted as vehicle information. In this embodiment, an intersection is adopted as an intersection where the path of the own vehicle and another vehicle intersect.

The temporal prediction range expected to be required to reach the detected intersection is defined as the prediction time range. There is a range in the predicted time range, depending on the size of the intersection, the arrival time differs between the near side and the back side, and as with the width of the predicted movable range, depending on the vehicle type and past behavior, etc. This is because there is a difference.

Based on the acquired other vehicle information, the position of the other vehicle,
The intersection closest to the other vehicle traveling direction and the predicted time range of the other vehicle up to the same intersection are displayed on the display unit 14 (step S62). With this display, the driver confirms the presence of another vehicle. It is determined whether or not the intersection displayed based on the other vehicle information is on the path of the own vehicle (step S64). By this step, the function as intersection detection means is exhibited. If the vehicle does not exist (Step S64: No), the process is returned without performing the following processing since the other vehicle does not prevent the own vehicle from running. If it exists (step S6
4: Yes), calculate a predicted vehicle time range to reach the displayed intersection based on the other vehicle information (by this processing, a function as a time range predicting unit is exhibited).
An overlapping range with the other vehicle predicted time range displayed in step S62 is calculated (step S66).

Based on the calculation result of step S66, it is determined whether or not there is an overlapping range (step S68). If there is no overlapping range, that is, 0% (step S6
8: No), the process returns because there is no possibility that the other vehicle will interfere with the running of the own vehicle. If there is an overlapping range (Step S68: Yes), the contents of the warning are determined with reference to the table shown in Table 2 (Step S70), and the warning is displayed on the display unit 14 and the sound is output. Alternatively, a warning is issued by sound (step S72). Finally, the other vehicle information reception flag is turned off (step S74), and the process returns. The function as the judging means is exerted by step S70, and the function as the notifying means is exerted by step S72.

When the example of FIG. 17 is displayed on the display unit 14, it is displayed as shown in FIG. 18, and the predicted time range to the intersection C1 is
The vehicle M is 20 to 30 seconds, the other vehicle A1 is 10 to 22 seconds, and overlaps for 2 seconds, and there is a possibility that the other vehicle A1 may hinder the traveling of the vehicle, and a warning is issued. Regarding the predicted time range to the intersection C2, the own vehicle M is 40 to 45 seconds, and the other vehicle A2 is 12 to 2 seconds.
There is no overlap at 0 seconds, and there is no possibility that the other vehicle A2 will hinder the traveling of the own vehicle, so no warning is issued.

In the embodiment described above, the calculated predicted movable range and the own vehicle position are displayed on the screen of the display unit 14. However, the display of the other vehicle position and the movable range is not performed. Alternatively, only the configuration that calculates the possibility that another vehicle will hinder the traveling of the own vehicle and issues a warning based on the possibility may be used.

[0074]

According to the first aspect of the present invention, the predicted movable range of the own vehicle and the other vehicle is calculated, and there is a possibility that the other vehicle obstructs the running of the own vehicle according to the overlapping area of the range. Is determined, it is easy for the driver to grasp other vehicles that hinder the progress of the own vehicle. In addition, since the determination is made according to the degree of the overlapping area, the driver can change the degree to which the driver pays attention to another vehicle according to the determination result.

According to the second aspect of the present invention, it is easy to avoid the other vehicle because the point where the other vehicle may hinder the traveling of the own vehicle is clarified.

According to the third aspect of the present invention, the movable range is displayed simultaneously in addition to the current positions of the own vehicle and the other vehicle.
It is possible to relatively easily grasp other vehicles that may obstruct the course of the own vehicle.

According to the fourth aspect of the present invention, since a warning according to the determination result is notified, the driver can easily take a coping operation according to the content.

According to the fifth aspect of the present invention, since other vehicles whose movable ranges are predicted to be overlapped are notified, the driver can easily grasp other vehicles obstructing the course.

According to the sixth aspect of the present invention, since the movable range of the own vehicle and the other vehicle is displayed, the relative position of the movable range can be grasped, and the influence of the other vehicle on the course of the own vehicle can be grasped. Easier to do.

According to the seventh aspect of the present invention, since the movable range of the other vehicle and the current position of the own vehicle are simultaneously displayed, it is more clear that the other vehicle obstructs the course of the own vehicle. I can understand.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a configuration of the present invention.

FIG. 2 is a schematic diagram illustrating a positional relationship between a running vehicle and another vehicle.

FIG. 3 is a schematic diagram showing a display mode of a vehicle and another vehicle displayed on a screen of a display unit.

FIG. 4 is a flowchart showing a display process of a predicted movement range of another vehicle and a warning process routine;

FIG. 5 is a schematic diagram showing an overlapping state of a movable range.

FIG. 6 is a schematic diagram showing an overlapping state of a movable range.

FIG. 7 is a schematic diagram illustrating the contents of a warning displayed on a screen of a display unit.

FIG. 8 is a flowchart illustrating an own vehicle predicted movable range display processing routine.

FIG. 9 is a schematic diagram illustrating another example of the shape of the predicted movable range.

FIG. 10 is a schematic diagram showing another example of the shape of the predicted movable range.

FIG. 11 is a schematic diagram illustrating another example of the shape of the predicted movable range.

FIG. 12 is a schematic diagram showing another example of the shape of the predicted movable range.

FIG. 13 is a schematic diagram showing a display mode of a predicted movable range of the own vehicle and another vehicle displayed on the screen of the display unit.

FIG. 14 is a flowchart illustrating a vehicle information transmission processing routine.

FIG. 15 is a schematic diagram showing a display mode of a predicted movable range of the own vehicle and another vehicle displayed on the screen of the display unit.

FIG. 16 is a flowchart illustrating a warning processing routine based on a predicted time range of the own vehicle / other vehicle.

FIG. 17 is a schematic diagram showing a positional relationship between a running vehicle and two other vehicles.

FIG. 18 is a schematic diagram showing a display mode of the own vehicle and another vehicle displayed on a screen of a display unit in another embodiment.

[Explanation of symbols]

 Reference Signs List 11 communication unit 12 processing unit 13 GPS receiving unit 14 display unit 15 input unit 16 input / output unit 17 sensor unit M own vehicle A other vehicle

 ──────────────────────────────────────────────────続 き Continued on the front page F term (reference) 5H180 AA01 BB04 BB05 BB12 BB13 CC01 CC17 CC27 EE02 FF05 FF13 FF22 FF27 FF33 LL04 LL07 LL08

Claims (7)

[Claims] 1. A current position detecting means for detecting a current position of a vehicle, a movable range predicting means for calculating a geographical prediction range in which a vehicle is likely to be located after a predetermined prediction time has elapsed, Another vehicle information obtaining means for obtaining a current position of the other vehicle and a geographical prediction range obtained by calculating a range that may be located after a predetermined prediction time has elapsed in the other vehicle; a prediction range of the own vehicle; A calculating unit that calculates an area where the prediction range of the other vehicle overlaps, a determining unit that determines a possibility that the other vehicle will hinder the traveling of the own vehicle according to the calculation result, and a notifying unit that notifies the user of the determination result. A peripheral vehicle notification device comprising: 2. A current position detecting means for detecting a current position of the own vehicle, an intersection detecting means for detecting an intersection at which a path of the own vehicle and another vehicle intersects, and A time range prediction means for calculating a temporal prediction range expected to be required; a current position of another vehicle; and a temporal prediction range expected to be required until reaching an intersection in another vehicle. The other vehicle information acquisition means, calculates the time when the predicted range of the own vehicle and the predicted range of the other vehicle overlap, and determines the possibility that the other vehicle will hinder the running of the own vehicle according to the overlapping time. A peripheral vehicle notification device comprising: a determination unit; and a notification unit that notifies a user of a determination result. 3. The peripheral vehicle notification device according to claim 1, wherein the notification unit further includes a notification unit that notifies a user of a warning corresponding to the possibility determined by the determination unit. 4. The notifying means further comprises display means for displaying a current position of the own vehicle, a predicted range of the own vehicle, a current position of another vehicle, and a predicted range of another vehicle. A peripheral vehicle notification device according to any one of the above. 5. A peripheral vehicle alerting device mounted on the own vehicle, the other vehicle movable range predicting means for predicting a geographical predictable range in which the other vehicle can move within a predetermined prediction time. An own-vehicle movable-range predicting means for predicting a geographical prediction range in which the own vehicle can move within the prediction time; and another vehicle in which a prediction range overlapping with the prediction range predicted for the own vehicle is predicted. And a notifying means for notifying the user of the surrounding vehicle. 6. A surrounding vehicle alerting device mounted on the own vehicle, the other vehicle movable range estimating means for estimating a geographical forecasting range in which the other vehicle can move within a predetermined estimated time. A self-vehicle movable range prediction unit that predicts a geographic prediction range that can move within the prediction time for the own vehicle; a prediction range predicted for the other vehicle and a prediction range predicted for the own vehicle. A peripheral vehicle notification device, comprising: a display device that also displays the information. 7. A surrounding vehicle notification device mounted on the own vehicle, wherein the other vehicle movable range prediction means predicts a geographical prediction range in which the other vehicle can move within a predetermined prediction time. A current position detecting means for detecting a current position of the vehicle with respect to the own vehicle, and a display device for displaying the predicted range predicted for the other vehicle and the current position of the vehicle detected for the own vehicle. A peripheral vehicle notification device, characterized in that: