JP2004151803A - Service system for supporting travel on highway having continuous curve - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a service system for preventing beforehand any accident such as road deviation or lane deviation due to vehicle entrance into a curve at an excess speed by reliably informing a driver of continuous curve information. <P>SOLUTION: This system is provided with: communication equipment 1 for supplying information being the base point of a curve position from a road side facility to a vehicle 3 to be serviced through spot communication with respect to a vehicle entering a speedway having sites where curves are continued without the interruption of any straight line such as winding curves; communication equipment 2 for supplying the curve information from the road side through the spot communication; and a device for displaying the curve information and caution information through a human/machine interface to the driver on the basis of the information such as information received from the road side to the traveling vehicle, a traveling speed recognized by the vehicle itself and a traveling distance from the base point. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a technical field of a road-vehicle coordination system for realizing safe road traffic in the field of ITS (Intelligent Transport System), so that the vehicle can travel safely on a highway with continuous curves. The present invention relates to a driving support service system.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, as a system that enables a vehicle traveling on a highway having a continuous curve to travel safely, a warning signal for a continuous curve is conventionally issued by an electronic information board installed on a road side near a start point of the curve. A vehicle that has entered a curve starting point at high speed often overlooks such an information board installed on the roadside, and particularly when it is raining or driving at night, the probability is high, leading to an accident.
[0003]
On the other hand, a curve entry danger prevention service system has been devised as one of the advanced cruise-assist highway system (hereinafter abbreviated as AHS system) which is one field of ITS.
[0004]
In a system where the vehicle running at the service upper limit speed is likely to deviate from the lane unless decelerating just before the curve, the infrastructure will use the appropriate position before the curve, that is, according to the information provided from the vehicle to the driver, The point where information can be transmitted to the vehicle at the timing when the driver can decelerate and enter the curve at the target speed is the information transmission point.) In the curve information (road linear information from the service start point to the curve end point, Curve configuration information including curve configuration information, curve shape information, a flag indicating whether or not the curve is visible, etc.) is transmitted to the vehicle using spot communication.
[0005]
The service target vehicle provides the driver with the information obtained from the roadside equipment through the human machine interface (HMI) by voice and image in the vehicle to reduce the accident rate at the curve point. It is to let. Here, the curve section refers to a section obtained by adding a relaxation curve connected to an arc portion having a radius of curvature R as a center. The length of the mitigation section is stipulated by the Road Structural Ordinance, and the value is stipulated by the Road Structural Ordinance, and the length of the easing curve is determined according to the design speed. In this system, accurate information could be provided for a vehicle traveling on a road with a single curve.However, such as a broken curve, a part where a curve is continuous without going through a straight part is used. If the driver receives the information at the information providing position according to the conventional design, the driver may misunderstand the content of the provided information or feel uncomfortable when traveling on the curve in front of the driver. Was.
[0006]
As described above, according to the conventional technology, information provided to a vehicle entering a continuous curve section cannot be transmitted accurately and without discomfort.
[0007]
[Problems to be solved by the invention]
The present invention has been made in order to solve the above-described problems, and by notifying a driver of continuous curve information reliably, an accident such as an off-road deviation or a lane deviation due to entering a curve at an excessive speed. It is an object of the present invention to provide a service system for preventing the problem beforehand.
[0008]
[Means for Solving the Problems]
In order to achieve the above object, in the present invention, the information provision regarding the first service target curve is performed as conventionally designed. For the second and subsequent service target curves, the curve information is provided to the driver up to the clothoid starting point in front of the arc portion of each curve. For the second and subsequent service target curves, when passing the clothoid start point in front of the circular arc part of each curve, if the safety speed of the curve is exceeded, information is provided to the driver to prompt deceleration to the end of the congestion. To help prevent rear-end collisions.
[0009]
That is, according to the first aspect of the present invention, a vehicle which enters a highway having a portion where a curve is continuous without passing through a straight line portion, such as a meandering curve, is spot-communicated by roadside equipment. A communication device that gives information as a base point of a curve position to a service target vehicle, a communication device that gives curve information from the roadside by spot communication, and a traveling speed and a base point that are received by the roadside and the traveling speed and the vehicle itself recognized in the traveling vehicle. And a device for displaying curve information and caution information to a driver via a human-machine interface based on information such as the mileage of the vehicle.
[0010]
According to a second aspect of the present invention, in the first aspect, the information on the continuous curve and the caution information are based on the speed of the traveling service target vehicle at a point where the vehicle can be decelerated to a legal speed at the start point of each curve. It is characterized by being given. According to a third aspect of the present invention, in the first or second aspect, caution information is first given to a vehicle entering each curve at a speed higher than a legal speed, and the vehicle enters the vehicle without being decelerated by this information. It is characterized by giving warning information to a coming vehicle.
[0011]
According to a fourth aspect of the present invention, in any one of the first to third aspects, the information transmitted to the driver from the human-machine interface includes attention information by a voice as well as attention information by a display screen. According to a fifth aspect of the present invention, in any one of the first to fourth aspects, in the screen information transmitted to the driver from the human machine interface in the first curve, information on all curves appearing in the future in the area is provided by voice and model. It is characterized by being displayed in the figure.
[0012]
A sixth aspect of the present invention is characterized in that, in any one of the first to fifth aspects, when the traveling of each curve in a continuous curve is completed, the completion of the curve traveling is displayed. According to a seventh aspect of the present invention, in the sixth aspect, when indicating that the curve traveling has been completed at the time when the traveling of each curve is completed in the continuous curve, the number of the current curve relative to the total number of curves is displayed. Is displayed. The invention according to claim 8 is the invention according to any one of claims 1 to 7, wherein when the vehicle entering the continuous curve is at a legal speed or lower, only the information of the continuous curve is provided, and the caution and warning information is provided. It is characterized by not giving.
[0013]
BEST MODE FOR CARRYING OUT THE INVENTION
An embodiment of the present invention will be described with reference to the accompanying drawings.
[0014]
FIG. 1 shows a communication configuration between a road and a vehicle in a driving support service system according to an embodiment, and a base point beacon 1 as a communication device for providing information serving as a base point of a curve position to a service target vehicle 3 by roadside equipment by spot communication; An information beacon 2 as a communication device that gives curve information (linear, position) from the roadside by communication, information received from the roadside mounted on the service target vehicle 3, a traveling speed recognized by the vehicle itself, a traveling distance from a base point, and the like. And a device for displaying curve information and caution information to the driver via the HMI based on the above information. In this service system, continuous curve information and caution information are provided from the information beacon 2 at points where the speed can be reduced to a legal speed at each curve start point based on the speed of the service target vehicle 3 running.
[0015]
Here, the deceleration start point is a point where the road side communicates with the service target vehicle 3 and is located upstream of the curved portion start point by a distance obtained by adding the vehicle braking distance and the error correction distance. Here, the braking distance is the distance traveled by the vehicle 3 during a time T (information provision / reaction time) from when the vehicle 3 receives the information provision from the road side to when the vehicle 3 starts decelerating, and the deceleration to the target speed after the deceleration is started. Is the sum of the distances needed to Here, the information provision / reaction time T is the sum of the HMI time of the vehicle-mounted device, the response delay time of the driver, and the roadside delay time. Thus the service upper limit speed V, usually deceleration alpha, braking distance and the target vehicle speed V _t becomes the following equation.
[0016]
L = (V ² −V _t ² ) / 2α + V · T
Further, the error correction distance is a distance for correcting an error when the vehicle 3 recognizes the position of the base point and a distance for correcting a measurement error of the accumulated traveling distance after the position of the base point is recognized. It is sum.
[0017]
It is necessary to correct the information transmission position using the error correction distance. The error when the vehicle (AHS vehicle) 3 recognizes the position of the base point follows a normal distribution with a standard deviation σ = 2.5 m, and is corrected within the range of 2σ = 5 m (probability of about 95%). . The measurement error of the accumulated traveling distance is 5%, and if the distance between the base information transmission point and the service information transmission point is L, the correction distance is L × 0.05. The error correction distance is 5 + L × 0.05 because it is the sum of the two correction distances.
[0018]
Next, specific road-vehicle communication will be described with reference to FIG. The vehicle 3 that has entered the road having the continuous curve portion receives the information “Attention to continuous curve” at the point (1). Next, at the point (2), the user receives the information “Attention to right curve”. Further, when the traveling speed exceeds the prescribed (legal) value at the point of (3), the information of "decrease the right curve speed" is received.
[0019]
The same applies to the second and subsequent service target curves, and the curve information is provided to the driver up to the clothoid starting point before the arc portion of each curve. For the second and subsequent service target curves, when passing the clothoid start point in front of the arc portion of each curve, if the safety speed of the curve is exceeded, information to prompt the driver to decelerate is provided. The points to receive such information are (4) to (7) in FIG. By providing the driver with information that prompts deceleration, it is possible to assist in preventing a rear-end collision at the end of traffic congestion. The information transmitted to the driver from the HMI includes caution information on the display screen as shown in FIG. 3, "reduce right curve speed", and "right curve speed caution", as well as voice caution information.
[0020]
Further, the form of the information provided is that the screen information transmitted from the HMI to the driver in the first curve includes information on all curves appearing in the area in the future in the form of audio and schematic diagrams. When displaying that the curve traveling has been completed at the time of finishing the traveling of each curve, and displaying that the curve traveling has been completed at the time of completing the traveling of each curve in a continuous curve, all The number of curves is displayed to indicate the number of the current curve. If the vehicle entering the continuous curve is below the legal speed, only the information on the continuous curve is provided. No alarm information is given.
[0021]
【The invention's effect】
As described above, according to the present invention, it is possible to reliably notify the driver of continuous curve information, so that accidents such as departure from the road or departure from the lane due to entering a curve at an excessive speed can be prevented. can do. That is, even in a vehicle running on a portion where a curve is continuous without passing through a straight line portion, such as a skewing curve, the second or subsequent service target curve is required to reach a clothoid starting point in front of the arc portion of each curve. Since the curve information is provided to the driver, the information is provided without feeling uncomfortable with the road condition visually recognized by the driver, and the acceptability of the service is improved. In addition, since the vehicle can be surely decelerated to a safe speed, lane departure and off-road deviation can be prevented, and there is an excellent effect that it can contribute to prevention of traffic accidents in the area.
[Brief description of the drawings]
FIG. 1 is a schematic plan view showing a communication configuration between road and vehicle in a driving support service system in a continuous curve section, showing an embodiment of the present invention.
FIG. 2 is a conceptual diagram of providing service information according to the first embodiment.
FIG. 3 is a drawing showing an example of an attention information display screen (HMI) on the vehicle-mounted device in the continuous curve approach danger prevention support service according to the first embodiment.
[Explanation of symbols]
1 base point beacon (communication device)
2 Information beacon (communication device)
3 Vehicles subject to service

Claims (8)

For vehicles entering a highway that has a portion where the curve is continuous without going through a straight line, such as a meandering curve, it becomes the base point of the curve position for the service target vehicle by spot communication from the roadside equipment. A communication device for providing information, a communication device for providing curve information from the roadside by spot communication, and a human based on information received from the roadside of the traveling vehicle and information such as a traveling speed recognized by the vehicle itself and a traveling distance from a base point. A highway driving support service system having a continuous curve, comprising: a device for displaying curve information and caution information to a driver via a machine interface. The highway driving having a continuous curve according to claim 1, wherein the information on the continuous curve and the caution information are given at a point where the speed can be reduced to a legal speed at each curve starting point based on the speed of the traveling vehicle to be serviced. Support service system. 3. A cautionary information is first given to a vehicle entering each curve at a speed higher than a legal speed, and a warning information is given to a vehicle entering the curve without deceleration by this information. A highway driving support service system having the continuous curve described in the above. The highway driving support service system having a continuous curve according to any one of claims 1 to 3, wherein the information transmitted to the driver from the human-machine interface includes warning information by voice as well as warning information by a display screen. The continuous information according to any one of claims 1 to 4, wherein in the screen information transmitted to the driver from the human machine interface in the first curve, information on all curves appearing in the area in the future is displayed by voice and a schematic diagram. Highway driving support service system with curves. The highway driving support service system having a continuous curve according to any one of claims 1 to 5, wherein when the running of each curve in the continuous curves is completed, the completion of the curve driving is displayed. 7. The continuous curve according to claim 6, wherein when displaying the end of the curve running at the end of running of each curve in a continuous curve, the number of the current curve is displayed with respect to the total number of curves. Expressway driving support service system with An expressway having a continuous curve according to any one of claims 1 to 7, wherein when a vehicle entering the continuous curve is at a legal speed or less, only information on the continuous curve is provided and no warning or warning information is given. Driving support service system.

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