JP2004086363A - Driving assist device for vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a driving assist device for a vehicle for realizing effective driving assist at an intersection. <P>SOLUTION: The driving assist device for a vehicle is provided with: an intersection approach detection means for detecting the approach of its own vehicle to an intersection based on predetermined map data including at least the location data of the intersection and the calculation result of the location and azimuth of its own vehicle; and a stop line detection means for detecting a stop line at a road where its own vehicle is passing by imaging the stop line. The driving assist of the vehicle at the intersection can be carried out based on the detection results of both the intersection approach detection means and the stop line detection means. The carrying out of the driving assist includes the output of warning, the output of a voice message by a navigation device, the carrying out of brake control, the carrying out of automatic control for a portable telephone, and the forced adjustment of the sound volume of an audio device. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a vehicle driving assistance device that outputs driving assistance information to a driver at an intersection.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, there has been proposed a vehicle driving assistance device that outputs driving assistance information to a driver using stop line information that is useful information for knowing a priority relationship between roads crossing an intersection.
[0003]
For example, based on the positional relationship between the stop line position obtained from the map data on the recording medium of the navigation device and the current position of the vehicle, the driver is notified of the stop point ahead of the course and the stop line at the intersection. 2. Description of the Related Art A vehicle driving assistance device that outputs an alarm at an appropriate timing in the vicinity is known (for example, see Patent Document 1). This conventional vehicle driving assistance device acquires position data of a stop point (position data of a center point of an intersection with a stop line) from map data as stop line information, and places the position of the stop point on a course. When the data exists, the driver is notified of the position of the stop line in advance, thereby reducing the burden on the driver during driving.
[0004]
There is also known a vehicle driving assistance device that detects an intersection with a magnetic marker set at a predetermined distance from a pause line position and outputs an alarm or the like to a driver based on the detection result of the intersection position ( For example, see Patent Document 2.) This conventional vehicle driving assistance device acquires pause line information by detecting a magnetic marker on a road using a sensor such as a millimeter wave radar.
[0005]
[Patent Document 1]
JP 2000-46574 A
[Patent Document 2]
JP-A-6-12222
[Problems to be solved by the invention]
By the way, it is useful to output a warning such as a recommendation for a stop or a deceleration command to a driver when approaching an intersection, but on the other hand, useless warning (especially in spite of the fact that there is no stop line on the passing road). A false alarm that is output) causes the driver to feel inconvenience, and therefore it is desirable that such an alarm output be realized with high accuracy. In particular, when braking control for stopping the vehicle at the stop line is involved, erroneous determination of the stop line is not allowed.
[0006]
For this reason, when acquiring the stop line information from the map data of the navigation device, it is not sufficient to detect the presence of the intersection with the stop line on the path of the own vehicle, and it is not sufficient to detect a plurality of roads intersecting at the intersection. It is necessary to determine which of the two lines has the stop line and then issue an alarm or execute braking control.
[0007]
However, according to the vehicle driving assistance device of Patent Literature 1, since only the position data of the stop point is included in the map data, it is possible to detect the presence of the intersection with the stop line on the path of the own vehicle. However, it cannot be determined whether the stop line exists on the road where the host vehicle passes or on the intersection. Therefore, the vehicle driving assistance device of Patent Document 1 has a problem that an erroneous warning such as a deceleration warning that prompts a temporary stop may be output even though there is no stop line on the passing road. In order to solve such a problem, in addition to the position data of the stop point which is not included in the general map data, data indicating the attribute of each stop line with respect to the road can be further included in the map data. However, considering the limited data capacity of the recording medium, it is not realistic.
[0008]
On the other hand, when a magnetic mark is detected by a sensor as in the vehicle driving assistance device of Patent Literature 2, a stop line (magnetic mark) is detected only on the road on which the vehicle is traveling. Although there is no such problem as described above, since it depends on the expansion of the infrastructure, no warning is issued in places where the magnetic mark is not set even though there is a pause line, and the accuracy of the warning output is reduced. It will leave a challenge.
[0009]
Therefore, the present invention provides a vehicle driving assistance device that can effectively output only necessary driving assistance information without increasing the data amount of map data of a navigation device and without depending on expansion of infrastructure. Aim.
[0010]
[Means for Solving the Problems]
In order to achieve the above object, according to one aspect of the present invention, based on given map data including at least intersection position data and calculation results of the position and orientation of the own vehicle, as described in claim 1 Intersection detection means for detecting the approach of the vehicle to the intersection,
A stop line detecting means for detecting a stop line on the road through which the own vehicle passes by imaging,
A driving assistance device for a vehicle is provided that performs driving assistance at the intersection based on detection results of both the intersection approach detection unit and the stop line detection unit.
[0011]
In the present invention, the intersection approach detection means calculates the position and orientation of the vehicle based on, for example, radio waves from GPS satellites, and based on the calculation result and the position data of the intersection in the given map data, Detects the approach of the vehicle to the intersection. The stop line detecting means detects the presence of a stop line on a passing road based on, for example, a scene in front of the vehicle captured by a CCD camera. The vehicle driving assistance device according to the present invention executes driving assistance such as output of an alarm and braking control when the own vehicle approaches an intersection. Incidentally, it is not always easy to determine the presence or absence of the stop line without error from only the captured image of the scenery in front of the vehicle. On the other hand, according to the present invention, when the driving assistance is executed, not only the detection result of the stop line by the imaging of the stop line detection unit but also the approach result to the intersection by the intersection approach detection unit is considered. Therefore, it is possible to reliably prevent the unnecessary execution of the driving assistance, such as outputting the alarm even though the stop line does not exist on the passing road. That is, according to the present invention, by assuming that the vehicle is approaching the intersection in advance, the accuracy of detection / judgment of the presence or absence of the pause line by the image processing is remarkably improved. The determination accuracy of the presence of the stop line under the approaching condition of the vehicle can be significantly improved, and the possibility of erroneously determining that the stop line exists when the vehicle is not approaching the intersection can be significantly reduced.
[0012]
Here, the intersection is preferably an intersection where there is a high need for driving assistance, and is an "no signal" intersection where a stop line may exist on any of the roads intersecting there. In addition, the execution of driving assistance includes turning on an auxiliary lighting device on the side of the vehicle, outputting an alarm, outputting a voice message by a navigation device, executing braking control, executing automatic control for a mobile phone, and controlling the volume of an audio device. May be included. In particular, when the auxiliary lighting device that illuminates the side of the vehicle is turned on at night, it is possible to effectively urge the driver to check the safety on the left and right sides.
[0013]
Further, the vehicle driving assistance device according to the present invention preferably further includes a driving condition detecting means for detecting a driving condition of the driver, and the driving condition is detected together with the detection results of both the intersection approach detecting device and the temporary stop line detecting device. The driving assistance at the intersection is executed based on the detection result of the detecting means. Thus, it is possible to determine the necessity of performing the driving assistance according to the driving situation of the driver, and thus it is possible to eliminate unnecessary execution of the driving assistance that makes the driver feel troublesome. For example, when the driver releases the depression of the accelerator pedal, it is considered that the driver recognizes the approach of the intersection and does not need to output an alarm for urging deceleration. The driving condition of the driver includes the accelerator operation condition and the brake operation condition of the driver, and further includes motion parameters such as a vehicle speed and a deceleration related to the operation condition.
[0014]
Furthermore, the vehicle driving assistance device according to the present invention preferably further includes a calculating unit that calculates the positional relationship between the temporary stop line and the vehicle by image processing, and the detection result of both the intersection approach detecting unit and the temporary stop line detecting unit. And / or driving assistance at the intersection is executed based on the detection result of the driving situation detecting means and the calculation result of the calculating means. As a result, the positional relationship between the stop line and the vehicle can be calculated with high accuracy, so that only necessary driving assistance can be executed at an appropriate timing, and as a result, effective driving assistance is realized. be able to.
[0015]
When the approach to the intersection is detected by the intersection approach detection means and the stop line is not detected by the stop line detection means, it is preferable that the driving assistance is not executed, or that the vehicle travel is affected. Unnecessary driving that causes the driver to feel annoyed by executing mild driving assistance that does not affect the vehicle (for example, performing only warning output without performing braking control that affects vehicle running) Eliminate the execution of auxiliary.
[0016]
The driving assistance device for a vehicle according to the present invention may realize the execution of the effective driving assistance as described above in cooperation with the navigation device. In such a case, the driver may change the course at the intersection ahead. By incorporating information on the presence or absence of a traffic light at the intersection and / or the presence or absence of a pause line into the voice message of the navigation device for guiding the vehicle, and outputting a voice message incorporating the information, the message at the intersection is output. It is also possible to realize driving assistance. This eliminates the need to perform driving assistance separately from the output of the voice message of the navigation device, thereby preventing the driver from feeling annoying and providing a voice message that is very useful for the driver. Will be done.
[0017]
In order to achieve the above object, according to another aspect of the present invention, at least an intersection position data, a traffic light position data, a road width data, and data relating to a road type are included, as described in claim 10. A recording medium for storing map data,
Intersection approach detection means for detecting the approach of the vehicle to an intersection where no traffic light is installed, based on the position data of the intersection of the map data and the position data of the traffic light, and the calculation result of the position and direction of the own vehicle,
A stop line estimating means for estimating which of the roads intersecting at the intersection has a stop line based on the road width data and the road type data of the map data;
A driving assistance device for a vehicle is provided, which performs driving assistance at the intersection based on an estimation result of the stop line estimation means.
[0018]
In the present invention, recording media such as DVDs and CD-ROMs include intersection position data, traffic signal position data, road width data, and road type data that are usually included as map data. . The intersection approach detection means calculates the position and orientation of the vehicle based on, for example, radio waves from GPS satellites, and, based on the calculation result, the position data of the intersection and the position data of the traffic signal, moves to an intersection without a signal. Of the own vehicle is approached. The driving assistance device for a vehicle according to the present invention executes driving assistance such as output of an alarm and braking control when the own vehicle approaches an intersection where there is no signal. On the other hand, the stop line estimating means determines which road among the plurality of roads intersecting at the intersection where there is no traffic light (that is, which of the plurality of roads intersecting at the intersection has priority). Is estimated based on the width of the road and the superiority of the road type. According to the present invention, since the driving assistance is executed in consideration of the estimation result of the stop line estimating means, unnecessary execution of the driving assistance is performed without increasing the amount of map data of the navigation device. (For example, a warning issued even though the road through which the vehicle travels is an arterial road) can be eliminated.
[0019]
BEST MODE FOR CARRYING OUT THE INVENTION
FIG. 1 is a block diagram of an intersection warning system 10 to which a vehicle driving assistance device according to the present invention is applied. The intersection warning system 10 mainly includes an electronic control unit 30 for a navigation device (hereinafter, referred to as a “navigation ECU 30”). The navigation ECU 30 mainly includes a CPU, and includes a ROM, a RAM, an I / O, and the like.
[0020]
The navigation ECU 30 includes a recording medium 32 such as a DVD and a CD-ROM on which map data is recorded, a GPS (Global Positioning System) receiver 33, a beacon receiver 35, an FM multiplex receiver 39, a route guidance message, A voice input / output device 34 for outputting driving assistance information such as a warning by voice, a display device 36 such as a liquid crystal display for outputting driving assistance information near an intersection or the like by video, an operation unit 38, other mobile phones, A mobile phone 20 that performs two-way communication with a fixed telephone is connected to various sensors such as a vehicle speed sensor and a gyro sensor.
[0021]
Further, the image processing device 16 is connected to the navigation ECU 30 so as to obtain information on the pause line. The image processing device 16 is mounted so as to capture a scene in front of the vehicle, and is connected to, for example, a CCD (stereo) camera 12 fixed near a room mirror in the vehicle interior. The image processing device 16 receives and processes the image data captured by the CCD camera 12, detects the presence of the pause line, and determines the distance from the position of the host vehicle to the stop line, for example, by the principle of triangulation. Is calculated using When detecting the presence of the stop line, the image processing device 16 supplies the calculated distance to the stop line to the navigation ECU 30.
[0022]
The GPS receiver 33 receives a signal output from a GPS satellite via a GPS antenna. The GPS receiver 33 converts the received signal into a signal of a predetermined format and supplies the signal to the navigation ECU 30. The navigation ECU 30 calculates the current vehicle position and vehicle direction based on signals supplied from the GPS receiver 33 and various sensors.
[0023]
In the present embodiment, the map data of the recording medium 32 may be general data. For example, the map data includes the respective data corresponding to the intersection / junction of the intersection / highway on the map. Coordinates of nodes, coordinates of installation points of traffic lights, coordinates of each vertex of polygon figures, links connecting adjacent nodes, width of road corresponding to each link, distance and travel time between each adjacent node, corresponding to each link The road type, such as a national road, a prefectural road, or an expressway, stored as such is included.
[0024]
As will be described in detail below, the navigation ECU 30 determines that an intersection to be temporarily stopped, that is, an intersection (hereinafter, referred to as a “temporary road”) at which there is a stop line at a road through which the vehicle passes (hereinafter, referred to as “passing road”) and there is no signal. When the host vehicle approaches the "stop intersection", an alarm relating to the stop intersection (for example, an alarm prompting a pause or deceleration is made based on the positional relationship between the temporary stop intersection and the host vehicle, the speed of the host vehicle, and the like. ) Output control.
[0025]
FIG. 2 is a block diagram illustrating functions of the navigation ECU 30 according to the present embodiment. The navigation ECU 30 according to the present embodiment includes an intersection detection unit 40 that detects a stop intersection on a passing road, a positional relationship between the position of the stop intersection and the current position of the vehicle, and a driving situation near the stop intersection. (For example, the speed of the host vehicle) and an alarm control unit 42 that controls an alarm output according to the monitoring result.
[0026]
The intersection detection unit 40 detects a temporary stop intersection based on the map data of the recording medium 32. Specifically, the intersection detection unit 40 detects the “intersection without a signal” on the passing road using the map data of the recording medium 32, and according to the temporary stop intersection determination algorithm according to the present invention, the “no signal”. It is determined whether or not "intersection" is a temporary stop intersection.
[0027]
FIG. 3 is a flowchart for explaining the temporary stop intersection determination algorithm according to the present invention.
[0028]
In step 100, a process of specifying the nearest “intersection without traffic light” on the passing road is executed. The passing road may be a road on the guide route when the guide route to the destination is set by the route setting function of the navigation device, and may be the current vehicle when the guide route is not set. It may be a road on a route with the highest accuracy estimated based on the position and the vehicle direction, the map data, and the like.
[0029]
In subsequent steps 102 to 106, the priority relationship between the passing road and the crossing road intersecting at the “intersection without signal” specified in step 100 is determined using the map data of the recording medium 32.
[0030]
That is, in step 102, the relationship between the type of the passing road (that is, the type of the national road, the prefectural road, the main road, etc.) and the type of the intersection road is compared. If the type of the crossing road is superior to the type of the passing road (for example, if the type of the crossing road is a national road and the type of the passing road is a prefectural road), in step 108, it is determined that the crossing road has priority. It is determined that the “intersection without signal” specified in step 100 is a temporary stop intersection. On the other hand, in other cases, the process proceeds to step 104.
[0031]
In step 104, the width of the passing road is compared with the width of the intersection road. If the width of the crossing road is larger than the width of the passing road, in step 108, it is determined that the crossing road has priority, and the “intersection with no traffic light” specified in step 100 is determined to be a temporary stop intersection. On the other hand, in other cases, the process proceeds to step 106.
[0032]
In step 106, it is determined whether or not the passing road of the own vehicle is connected to a main road. When the passing road of the own vehicle is connected to the main road, in step 108, it is determined that the intersection road has priority, and the “intersection without signal” specified in step 100 is determined to be the temporary stop intersection. On the other hand, in other cases, the process proceeds to step 110, where it is determined that the “intersection with no signal” specified in step 100 is not a temporary stop intersection.
[0033]
According to the above-mentioned temporary stop intersection determination algorithm according to the present invention, the priority relationship between the passing road and the intersection road of the own vehicle crossing at the “intersection without signal” specified using the map data is determined using only the map data. Since the determination is appropriately made, the determination accuracy of the temporary stop intersection using only the map data is improved. Further, the determination of the stop intersection can be realized without further including information about the stop line (for example, information indicating the attribute of the stop line to each road intersecting at the intersection) in the map data. Do not increase the volume.
[0034]
First, the alarm control unit 42 monitors the positional relationship between the position of the temporary stop intersection detected by the intersection detection unit 40 as described above and the current position of the host vehicle, and checks the position of the vehicle near the temporary stop intersection. Monitor vehicle speed and driving conditions.
[0035]
At this time, the alarm control unit 42 preferably monitors the positional relationship between the temporary stop intersection and the current position of the vehicle based on the result of the image processing performed by the image processing device 16 instead of the intersection position information in the map data. Thereby, in addition to the center position data of the intersection normally included in the intersection position information of the map data, it is not necessary to further include accurate stop line position data for each intersection in the intersection position information. The positional relationship between the temporary stop intersection and the current position of the vehicle can be monitored with high accuracy. As a result, it is possible to realize an effective warning output near a temporary stop intersection described later without increasing the data amount of the map data.
[0036]
Second, the alarm control unit 42 determines the necessity of an alarm output when the vehicle approaches or passes the temporary stop intersection so as not to make the driver feel annoying based on the above monitoring result. The alarm which is indispensable for judging and ensuring safety is output via the voice input / output device 34 without fail.
[0037]
Next, an example of the alarm control realized by the above-described navigation ECU 30 according to the present invention will be described based on the flowchart of FIG. 4 while associating with the positional relationship between the temporary stop intersection and the vehicle position shown in FIG.
[0038]
In step 200, similarly to step 100, a process of specifying the nearest “intersection without signal” on the passing road is executed, and then, it is determined whether or not the “intersection without signal” is a paused intersection. Is executed according to the above-mentioned temporary stop intersection determination algorithm. If it is determined that the “intersection without a signal” is not a temporary stop intersection, no warning or the like is required, and the process ends without executing the subsequent processing. On the other hand, when it is determined that the “intersection without a signal” is a temporary stop intersection, the process proceeds to step 202.
[0039]
In the following step 202, the distance to the stop intersection is monitored by approximation based on the intersection position information of the map data (that is, the center position data of the intersection), and the approximate distance to the stop intersection is within a predetermined range. It is determined whether the vehicle has been decelerated (or whether the depression of the brake pedal has been detected) or whether the depression of the accelerator pedal has been released at the stage (ie, the vehicle position I in FIG. 5). Is done. Specifically, based on a vehicle speed detected by a vehicle speed sensor (or an ON signal from a pressure switch of a master cylinder) or an accelerator position detected by an accelerator position sensor, a predetermined deceleration (or brake operation) or an accelerator off is performed. It is determined whether or not is detected, and if deceleration or the like is not detected, a first alarm that prompts deceleration (for example, an alarm that indicates that the vehicle will pass an intersection with no signal soon) is output. , Proceed to step 204. On the other hand, if deceleration or the like is detected, it is determined that the driver has recognized the presence of the temporary stop intersection ahead, and the process proceeds to step 204 without issuing any warning.
[0040]
Since the determination of the temporary stop intersection is made in step 202 according to the temporary stop intersection determination algorithm, for example, the first warning is issued even though the vehicle is traveling on a main road. Is reliably prevented.
[0041]
In step 204, the calculated distance from the vehicle position to the suspension line based on the image processing result (the image captured by the CCD camera 12) by the image processing device 16 is monitored. Note that the calculated distance based on the image processing of the image processing device 16 is higher in accuracy than the approximate distance based on the intersection position information of the map data, and therefore, the subsequent steps 206 to 210 are realized with high accuracy. .
[0042]
In this step 204, if the calculated distance to the stop line cannot be obtained from the image processing device 16 (that is, if the stop line is not detected from the image captured by the CCD camera 12), the subsequent processing is executed. Quit without. As a result, the presence or absence of a stop line on a passing road that cannot be determined by the above-mentioned temporary stop intersection determination algorithm is reliably determined, and a false alarm issued even though there is no stop line on the passing road is determined. Completely prevented. In the present embodiment, since the pause line is detected based on the image captured by the CCD camera 12, even if no magnetic mark is set near the pause line, the pause line is reliably detected. Can be detected.
[0043]
By the way, it is not always easy to detect the presence or absence of the pause line without error from only the captured image of the scenery in front of the vehicle, depending on the accuracy of the image processing. On the other hand, in the present embodiment, the process of step 204 is executed at a stage after it is determined in step 200 that a temporary stop intersection exists based on the map data. For this reason, in the present embodiment, the accuracy of the determination of the presence of the stop line under the approaching condition to the “intersection without signal” is significantly improved, and the approaching condition at the “intersection without signal” is improved. The possibility of erroneously determining that a pause line is present when none is present is reliably excluded.
[0044]
In the following step 206, the relationship between the calculated distance to the stop line and the vehicle speed is monitored from the stage where the calculated distance to the stop line can be obtained (that is, the vehicle position II in FIG. 5), and the stop line is monitored. It is determined whether or not the vehicle speed can stop. If it is determined that the vehicle speed cannot be stopped at the stop line, a second warning prompting a stop (for example, a warning indicating that there is a stop line ahead) is output, and the process proceeds to step 208. . On the other hand, if it is determined that the vehicle speed can stop at the stop line, the process proceeds to step 208 without issuing any warning.
[0045]
In the following step 208, at the stage when the vehicle arrives at the stop line (that is, the vehicle position III in FIG. 5), it is determined whether or not the safety confirmation time at the stop line is sufficient. If it is determined that the safety confirmation time at the stop line is not enough, a third alarm (for example, an alarm to the effect that "Please check left and right") is output to prompt safety confirmation, and the process proceeds to step 210. move on. On the other hand, if it is determined that the safety confirmation time at the stop line is sufficient, the process proceeds to step 210 without issuing any warning.
[0046]
In the following step 210, it is determined whether or not there is a traveling vehicle that may be an obstacle at the intersection at a stage where the vehicle attempts to enter the intersection beyond the stop line (ie, the vehicle position IV in FIG. 5). You. In the present embodiment, the obstacle on the crossing road is detected based on the image processing result of the CCD camera 14 (hereinafter, referred to as “corner camera 14”) that captures the left and right landscapes. The corner camera 14 includes left and right transmission windows (not shown) and a prism that reflects light from the transmission windows to an imaging surface, and is provided, for example, on a front grill portion of a vehicle.
[0047]
If it is determined in step 210 that there is a traveling vehicle that may become an obstacle on the intersection road, a fourth warning for warning (for example, a warning to the effect of "left and right attention") is output and the processing ends. . On the other hand, if it is determined that there is no traveling vehicle that can be an obstacle on the intersection road, the process ends without issuing any warning.
[0048]
As is clear from the above description, for example, if the vehicle approaches the temporary stop intersection at a safe speed and passes through the temporary stop intersection after sufficient safety confirmation, no warning is output. If it is predicted that the vehicle cannot be stopped at the stop line, an appropriate alarm will be output. Therefore, according to the alarm control of the present invention, only necessary driving assistance information is output at an appropriate timing during a period from when the vehicle approaches the temporary stop intersection to when it passes by, so that the driver feels troublesome. Thus, efficient output of driving assistance information is realized.
[0049]
It is also effective to turn on an auxiliary lighting device (hereinafter, referred to as a "corner lamp") for illuminating the front left and right sides of the vehicle instead of or in addition to the fourth warning for alerting (see FIG. 5). In particular, when the cornering lamp is turned on at night, it is possible to effectively urge the driver to confirm left and right safety. It is also effective to reduce the volume of the audio device mounted on the vehicle instead of or in addition to the second, third and fourth alarms. In particular, when executed together with an alarm, the degree of alerting of the alarm can be substantially increased, and when executed instead of an alarm, the annoyance can be reduced and the quietness in the vehicle interior can be reduced. The driver's concentration can be increased.
[0050]
Also, only when it is determined in step 206 that the vehicle speed is such that the vehicle can stop at the stop line, the vehicle moves from the stage before the vehicle reaches the stop line (for example, the stage at which the distance to the stop line is 5 m) from It is also effective to display the image captured by the corner camera 14 on the display device 36 (see FIG. 1) as driving assistance information. As a result, the left and right landscapes that flow so fast that the driver cannot see them are not displayed on the display device 36, and unnecessary output of driving assistance information can be eliminated. That is, by displaying the image captured by the corner camera 14 only when the driver is trying to slow down or stop, it is possible to output only driving assistance information required by the driver.
[0051]
In addition, the first and second warnings are provided when a guidance route is set by the navigation device and a course change (for example, right turn) is scheduled at a temporary stop intersection. It can also be included in the message (eg, "turn right at the intersection 500 meters ahead"). For example, when the driving assistance information "Please turn right at an intersection without a traffic light 500 meters ahead" is output as the voice guidance message on which the first warning is superimposed, the output of the warning is omitted. On the other hand, the driver can be made aware of the necessity of a temporary stop, and the driver can easily identify an intersection to be turned right.
[0052]
As described above, according to the vehicle driving assistance device of the present invention, the presence of the stop line at the intersection where no signal is installed is present on the road where the vehicle is traveling. Since it is possible to confirm by using, it is possible to reliably prevent useless alarms (especially false alarms) at intersections where no signal is installed. As a result, it is possible to effectively support the safe driving of the driver without causing the driver to feel troublesome. In addition, since the positional relationship between the pause line and the vehicle position is monitored by the image data of the CCD camera, only necessary driving assistance information suitable for the vehicle position (and vehicle speed) can be output at an appropriate timing with high accuracy. Can be.
[0053]
Although the preferred embodiment of the present invention has been described in detail, the present invention is not limited to the above-described embodiment, and various modifications and substitutions can be made to the above-described embodiment without departing from the scope of the present invention. Can be added.
[0054]
For example, in the above-described embodiment, a warning regarding a stop intersection is mentioned, but the present invention is not particularly limited to this, and can be applied to a crossing point having a stop line. Further, in the above-described embodiment, the vehicle driving assistance device of the present invention is embodied by the navigation ECU 30, but may be embodied by another control device connected to the navigation ECU 30.
[0055]
Further, in the above-described embodiment, the warning regarding the stop intersection is referred to. However, according to the present invention, as described above, it is possible to completely guarantee that the stop line exists on the passing road, and Since the distance from the vehicle position to the stop line can be calculated with high accuracy based on the image data of the CCD camera, the braking control for stopping the vehicle at the stop line can be intervened. Therefore, in the above-described embodiment, it is also possible to realize multi-step driving assistance including execution of braking control in addition to output of an alarm and video. For example, in the above-described embodiment, it is also possible to execute the braking control together with the output of the second alarm in step 206 described above.
[0056]
Similarly, in the above-described embodiment, it is also possible to realize multi-stage driving assistance including execution of automatic control for a mobile phone, in addition to output of an alarm and video. For example, in the above-described embodiment, the control for restricting the incoming call and / or the call of the mobile phone is executed together with the output of the first alarm in the step 202, and the call of the mobile phone is output together with the output of the second alarm in the step 206. It is also possible to execute a control for shutting off.
[0057]
【The invention's effect】
Since the present invention is as described above, the following effects can be obtained. According to the present invention, the detection result of the pause line by the image processing is taken into consideration when detecting the approach of the intersection of the vehicle and performing the driving assistance such as the output of the warning. Unnecessary driving assistance such as a false alarm that is output even though the driving does not exist can be reliably prevented. Further, by executing driving assistance based on the positional relationship between the vehicle stop line and the own vehicle based on the image processing, effective driving assistance can be realized.
[Brief description of the drawings]
FIG. 1 is a block diagram of an intersection warning system to which a vehicle driving assistance device of the present invention is applied.
FIG. 2 is a functional block diagram showing a navigation ECU according to the present invention.
FIG. 3 is a flowchart illustrating a temporary stop intersection determination algorithm according to the present invention.
FIG. 4 is a flowchart showing alarm control of the navigation ECU according to the present invention.
FIG. 5 is a diagram showing a positional relationship between a temporary stop intersection and a vehicle position in relation to the alarm control of the present invention.
[Explanation of symbols]
10 intersection warning system
12 CCD camera
14 Corner camera
16 Image processing device
20 mobile phones
30 Navigation ECU
32 recording media
33 GPS receiver
34 Voice input / output device
34a speaker
34b microphone
35 Beacon Receiver
36 Display device
38 Operation unit
39 FM multiplex receiver
40 intersection detector
42 Alarm control unit

Claims (10)

Intersection approach detection means for detecting approach of the vehicle to the intersection based on given map data including at least the position data of the intersection and the calculation result of the position and orientation of the vehicle,
A stop line detecting means for detecting a stop line on the road through which the own vehicle passes by imaging,
A driving assistance device for a vehicle, wherein driving assistance at the intersection is performed based on detection results of both the intersection approach detection unit and the stop line detection unit. Further provided is a driving situation detecting means for detecting a driving situation of the driver,
The vehicle driving assistance device according to claim 1, wherein driving assistance at the intersection is further performed based on a detection result of the driving situation detection means. Further comprising a calculating means for calculating the positional relationship between the pause line and the vehicle by image processing,
The driving assistance device for a vehicle according to claim 1, wherein driving assistance at the intersection is further performed based on a calculation result of the calculation unit. When the approach to the intersection is detected by the intersection approach detection means, and when the stop line is not detected by the stop line detection means, the driving assistance at the intersection is not executed. The vehicle driving assist device according to any one of claims 1 to 3. The vehicle driving assistance device according to any one of claims 1 to 4, wherein various driving assistances according to detection results of the detection units can be performed.
In the case where the approach to the intersection is detected by the intersection approach detection means, and when the stop line is not detected by the stop line detection means, light driving assistance that does not affect the vehicle traveling is provided. A driving assistance device for a vehicle, characterized by executing the driving assistance device. The vehicle driving assistance device according to any one of claims 1 to 5, wherein the intersection is an intersection where no traffic light is installed. The execution of the driving assistance is at least one of output of an alarm, output of a voice message by a navigation device, execution of braking control, execution of automatic control for a mobile phone, and forcible adjustment of the volume of an audio device. The driving assistance device for a vehicle according to any one of claims 1 to 6. The vehicle driving assistance device according to any one of claims 1 to 6, wherein the execution of the driving assistance includes lighting of an auxiliary lighting device on a side of the vehicle. The vehicle driving assistance device according to any one of claims 1 to 7, which cooperates with a navigation device.
By incorporating information about the presence or absence of a traffic light and / or a stop line at the intersection into a voice message of the navigation device for guiding a driver to change course at the intersection in front of the intersection, A driving assistance device for a vehicle, which performs driving assistance. A recording medium for storing at least intersection data, traffic light position data, road width data, and map data including data on road types;
Intersection approach detection means for detecting the approach of the vehicle to an intersection where no traffic light is installed, based on the position data of the intersection of the map data and the position data of the traffic light, and the calculation result of the position and direction of the own vehicle,
A stop line estimating means for estimating which of the roads intersecting at the intersection has a stop line based on the road width data and the road type data of the map data;
A driving assistance device for a vehicle, wherein driving assistance at the intersection is performed based on an estimation result of the stop line estimation means.

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