JP2004178194A - Information providing device for vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide appropriate information even if a plurality of vehicles are on the same lane of the opposite road. <P>SOLUTION: When own vehicle turns to the right or goes in at an intersection, this information providing device for a vehicle provides information, which is received from road equipment and related to the oncoming vehicle, to an occupant on own vehicle. When it is determined that the following oncoming vehicle overtakes the precedent oncoming vehicle on the same lane of the opposite road, on which a plurality of oncoming vehicles travel, a predicted arrival time of the following oncoming vehicle at the intersection is offered with the higher priority recognizably to the occupant on own vehicle. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a technical field of providing information received from a road facility to an occupant of a vehicle.
[0002]
[Prior art]
Conventionally, in the field of automobiles, the presence or absence of an obstacle such as another vehicle existing at an intersection or a curve ahead of the own vehicle is recognized based on information received from the road facility side, and the received information and detection by the own vehicle are performed. An advanced cruise-assist highway system (AHS) technology has been proposed in which an alarm is output for avoiding danger or a driving support operation is performed based on a running state such as a vehicle speed that has been set (for example, see Patent Document 1).
[0003]
[Patent Document 1]
JP-A-2001-101593.
[0004]
[Problems to be solved by the invention]
According to the above-described conventional AHS, information (position, vehicle speed, estimated arrival time, etc.) on an oncoming vehicle is reported (provided) by the own vehicle even when, for example, a so-called right turn is waiting at an intersection. Therefore, danger such as collision with the oncoming vehicle due to inadvertent heading of the own vehicle to the oncoming road can be avoided.
[0005]
However, in the conventional AHS, for the vehicle (oncoming vehicle) located at the head of the same lane (single lane) of the oncoming road facing the road on which the host vehicle is traveling, for example, The estimated arrival time is reported on the display of the vehicle by the length of a symbol such as an arrow.
[0006]
Here, a case is considered in which the above-described conventional system is applied to an oncoming road R1 including a plurality of oncoming lanes as illustrated in FIG. In this case, the head vehicle existing in each oncoming lane is separately notified in the own vehicle V1. Therefore, on the same lane of the oncoming road R1, a plurality of oncoming vehicles V2 and V2 'are traveling back and forth as illustrated in FIG. When the vehicle speed in 2) is high, the following vehicle (2) is expected to change from the left oncoming lane to the adjacent right oncoming lane as shown by the broken line arrow in FIG. In this case, as described above, it is assumed that the system is configured to separately notify the leading vehicle existing in each oncoming lane, so that no other vehicle has existed in the right oncoming lane or exists in a distant place. Therefore, even when the vehicle V1 has not been notified by a symbol such as an arrow, the system changes the lane according to the following vehicle (2) in the right oncoming lane. Subsequent vehicle ▲ 2 ▼ Is recognized as the leading vehicle, the estimated time of arrival of the oncoming vehicle V ′ at the intersection is suddenly started by a newly displayed symbol such as an arrow, or an arrow that has been displayed so far. In such a situation, the driver of the host vehicle V1 is expected to be confused in determining the driving operation.
[0007]
Further, even if the following vehicle (2) does not change lanes to the right oncoming lane, or if it has a single lane with no space for changing lanes on the oncoming road, as shown in FIG. When the vehicle 2 is a two-wheeled vehicle, the vehicle 1 can pass through the leading vehicle 1 on the same lane while traveling. In this case, however, the conventional system is set as an object to be notified on the system. The leading vehicle that was being used will be switched from the preceding leading vehicle (1) to the succeeding vehicle (2), and the length of the arrow that has been displayed will suddenly become longer, and the own vehicle will also change. It is expected that the determination of the driving operation of the driver of V1 will be confused.
[0008]
Therefore, an object of the present invention is to provide a vehicle information providing apparatus capable of providing accurate information even when a plurality of oncoming vehicles exist on the same lane of an oncoming road.
[0009]
[Means for Solving the Problems]
In order to achieve the above object, a vehicle information providing device according to the present invention has the following configuration.
[0010]
That is, a vehicle information providing device that provides information on an oncoming vehicle received from road facilities to an occupant of the vehicle when the vehicle turns right or enters the intersection,
Determining means for determining whether a succeeding oncoming vehicle (for example, a two-wheeled vehicle) overtakes a preceding oncoming vehicle on the same lane of an oncoming road on which a plurality of oncoming vehicles travel;
When the determining means determines that the succeeding oncoming vehicle overtakes the preceding oncoming vehicle on the same lane, priority is given to the estimated time of arrival of the following oncoming vehicle within the intersection so that the occupant of the own vehicle can be recognized. Information providing means for providing.
[0011]
In a preferred embodiment, the determination means considers whether or not there is a space on the same lane where the following oncoming vehicle can overtake the preceding oncoming vehicle, and the following oncoming vehicle determines the preceding oncoming vehicle on the same lane. It is good to judge whether to overtake or not.
[0012]
Further, for example, in a case where the information provision by the information provision means is performed by a single symbol corresponding to the oncoming road including at least one oncoming lane,
The information providing means may provide the oncoming vehicle, of the preceding oncoming vehicle and the following oncoming vehicle, which has a shorter expected arrival time at the intersection so that the occupant of the own vehicle can recognize the oncoming vehicle.
[0013]
【The invention's effect】
According to the present invention described above, it is possible to provide a vehicle information providing apparatus capable of providing accurate information even when a plurality of oncoming vehicles exist on the same lane of an oncoming road.
[0014]
That is, according to the invention of claim 1, it is detected that the preceding oncoming vehicle is decelerating on the same lane (claim 4) or that the preceding oncoming vehicle is about to turn right or left at the intersection (claim 5). Accordingly, when it is determined that the succeeding oncoming vehicle overtakes the preceding oncoming vehicle, priority is given to the estimated time of arrival of the following oncoming vehicle within the intersection, and the own vehicle is determined by the length of a symbol such as an arrow. The driver of the own vehicle is informed that the following oncoming vehicle may arrive earlier than the preceding oncoming vehicle due to the lane change, slip-through, etc. of the following oncoming vehicle. It can be accurately predicted. Thereby, the driving operation of the driver of the own vehicle from the situation where the traveling state of the following oncoming vehicle cannot be visually recognized to the situation where it can be visually recognized can be accurately supported.
[0015]
Further, according to the invention of claim 2, when the succeeding oncoming vehicle is a two-wheeled vehicle, the priority notification is made as in the invention according to claim 1. As a result, even when there is not enough space for changing lanes, it is possible to easily pass the preceding oncoming vehicle on the same lane, and to be behind the preceding oncoming vehicle from the own vehicle such as waiting for a right turn at an intersection. Thus, it is possible to provide accurate information in consideration of the characteristics of the two-wheeled vehicle that it is not easy for the driver of the own vehicle to recognize the existence itself.
[0016]
According to the invention of claim 3, since the presence or absence of a space for overtaking on the same lane is taken into consideration, when both the preceding oncoming vehicle and the following oncoming vehicle are ordinary passenger vehicles, the following oncoming vehicle Even when the vehicle speed is faster than the vehicle speed of the preceding oncoming vehicle, realistic information provision is realized.
[0017]
According to the invention of claim 6, when the information provision by the information provision means is performed by a single symbol corresponding to an oncoming road including at least one oncoming lane, the information is provided by the single symbol in advance. Information is provided for the oncoming vehicle, of the oncoming vehicle and the following oncoming vehicle, which has the shorter predicted arrival time at the intersection. This makes it possible to provide information with a minimum amount of information when there are a plurality of oncoming vehicles on the same lane of the oncoming road, and facilitates the recognition of the driver.
[0018]
According to the invention of claim 7, since the occupant of the own vehicle can recognize both the succeeding oncoming vehicle and the preceding oncoming vehicle determined to overtake, the behavior of each oncoming vehicle on the same lane can be determined. Thus, the driver of the own vehicle can be accurately predicted.
[0019]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, an embodiment of a vehicle information providing device according to the present invention will be described in detail with reference to the drawings, taking a case where a vehicle travels in a left lane of a road as an example.
[0020]
FIG. 1 is a diagram exemplifying a configuration near an intersection of a vehicle information providing system to which the present invention can be applied. FIG. 2 is a block diagram showing a device configuration mounted on the vehicle and a device configuration provided on the road facility side in the vehicle information providing system according to the present embodiment.
[0021]
The vehicle information providing system shown in FIG. 1 is a system that assists in preventing a collision with an oncoming vehicle traveling on an oncoming road when the vehicle turns right (including waiting for a right turn) at an intersection. Whether or not a vehicle and / or another vehicle is present at an intersection and its surroundings is detected using an advanced cruise-assist highway system (AHS) having the system configuration shown in FIGS. 1 and 2.
[0022]
The configuration shown in FIG. 1 includes an intersection of a road R1 with at least one lane on one side where a traffic light is installed, a road R2 with at least one lane on one side intersecting with the road R1, and a vicinity of the intersection (for example, 30 m). ), A base point 11 installed on the road side of the traveling lane of the own vehicle V1 on the road R1 and a base point 11 installed on the road lane side of the other vehicle (oncoming vehicle) V2 opposite to the traveling lane of the own vehicle V1 on the road R1. A vehicle detection sensor 12 and two roadside antennas 13 installed diagonally on both the driving lane side (traveling road side) and the oncoming lane side (opposite roadside) of the vehicle V1 on the road R1 near the intersection. Is provided.
[0023]
Here, the road R1 includes a traveling road including a traveling lane in which the host vehicle V1 travels and an oncoming road including at least one lane (oncoming lane) in which the oncoming vehicle V2 travels.
[0024]
The base point 11 is a base point detector mounted on the host vehicle V1 that includes unique identification information (hereinafter, referred to as base point ID) and provided ID (described later) for identifying provided information associated with the base point ID. 71 (see FIG. 2), the own vehicle V1 detects that the vehicle V1 has passed through the base point 11 by the base point detector 71, and uses the base point ID and the provision ID at the time of passing the base point. 11
[0025]
The base point 11 is a reference position for measuring the traveling distance of the vehicle V1 from the base point 11 to the intersection. The traveling distance from the base point 11 to the intersection is a reference for specifying the provided information receiving section A1 by the roadside antenna 13.
[0026]
The vehicle detection sensor 12 detects another vehicle (oncoming vehicle) V2 existing on the road opposite to the own vehicle V1 in the predetermined detection range B1 just before the intersection from near the intermediate point (point Z) in the intersection, and detects the predetermined detection range B1. , The vehicle position information, the vehicle speed information, the vehicle type information, and the like of the other vehicle V2 are detected and transmitted to the system base station 41.
[0027]
Here, the point Z, which is near the intermediate point in the intersection, is the reference position (T = 0, L = 0) of the expected arrival time T of the oncoming vehicle at the intersection in the present embodiment.
[0028]
The roadside antenna 13 has unique identification information (hereinafter referred to as “provided ID”) and a base ID associated with the provided ID similarly to the base 11, and is detected by the base ID and the vehicle detection sensor 12 together with the provided ID. Information on the position information, vehicle speed information, vehicle type information, and road shape (the state of the intersection and its surroundings, the lane width, the number of lanes, etc.) of the other vehicle V2 transmitted to the own vehicle V1 in the provided information receiving section A1. (provide.
[0029]
The information on the road shape is not obtained through the roadside antenna 13 but is obtained from the map information database 72 which is mounted on the own vehicle V1 and is referred to when displaying a road map or guiding a route. You may.
[0030]
That is, in the provided information receiving section A1, the road-to-vehicle communication device 36 mounted on the own vehicle V1 includes the base ID transmitted from the roadside antenna 13, the provided ID, the position information of the other vehicle V2, the vehicle speed information, the vehicle type information, and the road. The system controller 31 receives information on the shape (hereinafter, these are collectively referred to as provided information), and uses the display device 37 and / or the speaker 38 based on the received provided information to transmit the information of the vehicle V1. A control process for providing information (presenting information) to the occupant is performed. This information presentation includes, in addition to displaying images and characters using the display device 37, outputting a voice message and a warning sound from the speaker 38, and the like.
[0031]
Further, in the present embodiment, the system base station 41 (the roadside antenna 13) can provide the above provided information for each lane that constitutes the predetermined detection range B1 of the oncoming road on which the other vehicle V2 travels. If there are a plurality of vehicles before and after on the same lane within the predetermined detection range B1, it is assumed that up to a predetermined number of vehicles can be provided as information on the other vehicle V2.
[0032]
Further, in the present embodiment, the system base station 41 (the roadside antenna 13) may provide the lateral position (for example, the distance from the road shoulder) of each other vehicle V2 on the same lane within the predetermined detection range B1. I can do it.
[0033]
In the above-mentioned system, contrary to the case shown in FIG. 1, the other vehicle V2 is also an information providing vehicle similar to the own vehicle V1, and the other vehicle V2 transmits the provided information of the own vehicle V1 traveling on the opposite road to the roadside. The signal is received from the antenna 13.
[0034]
Next, a functional configuration showing a device configuration mounted on the vehicle (own vehicle) V1 and a vehicle (other vehicle, oncoming vehicle) V2 and a device configuration provided on the road facility side will be described with reference to FIG. .
[0035]
In FIG. 2, the base point ID and the provision ID are input to the system controller 31 via the base point detector 71 when passing through the base point 11, and the base point ID transmitted from the system base station 41 via the roadside antenna 13. Provided information such as a provided ID, position information of other vehicles, vehicle speed information, vehicle type information, and information on road shape is input via the on-vehicle antenna 35 and the road-vehicle communication device 36.
[0036]
The system controller 31 first determines whether or not the base point ID and the provision ID received from the roadside antenna 13 match the base point ID and the provision ID acquired at the time of passing through the base point. The provision information from the roadside antenna 13 having the provision ID is provided to the occupant by screen display on the display device 37 or by outputting sound (alarm sound, synthetic sound, etc.) to the speaker 38.
[0037]
Further, the system controller 31 detects the traveling distance of the own vehicle V1 after receiving the base point ID, and determines whether the own vehicle V1 has entered the intersection based on the detected traveling distance.
[0038]
In the present embodiment, a car navigation system that performs route guidance to a destination and the like can be used for the system controller 31, the display device 37, and the speaker 38. The map information database 72 stores map information that is referred to when displaying a road map or guiding a route.
[0039]
Further, in the present embodiment, the inter-vehicle communication device 73 can receive route information such as a right / left turn of another vehicle V2 at an intersection, and the system controller 31 uses the received information for information provision control described later. .
[0040]
Hereinafter, using the provided information acquired from the AHS system, when the own vehicle V1 makes a right turn (including a right turn wait) at an intersection where the oncoming road R2 and the oncoming road R1 composed of a plurality of oncoming lanes intersect, FIG. As shown in FIG. 4, as the information on the other vehicles V2 and V2 '(oncoming vehicles (1) to (4)), the estimated arrival time T of the other vehicle V2 at the intersection is displayed for each lane as shown in FIG. The information provision control performed by the system controller 31 to provide (notify) to the occupant of the host vehicle based on the difference in the length of the displayed symbol such as an arrow will be described.
[0041]
FIG. 4 is a diagram exemplifying a display mode performed by the own vehicle V1 in order to notify the expected arrival time T of the oncoming vehicle to the intersection by the information provision control process according to the present embodiment, and the expected arrival time at the intersection. T is represented by the difference in the length of one arrow displayed for each lane. The longer the length of the arrow is, the shorter the expected arrival time T is, and it is not possible to “start” for a right turn at an intersection (In FIG. 4, the symbol “△” indicates the host vehicle V1).
[0042]
That is, in the present embodiment, when it is determined by the information provision control (FIG. 5) described below that the succeeding oncoming vehicle overtakes the preceding oncoming vehicle on the same lane of the oncoming road on which a plurality of oncoming vehicles travel. Priority is given to the estimated arrival time T of the following oncoming vehicle within the intersection, and the occupant of the own vehicle V1 is provided so that it can be recognized.
[0043]
Here, “searching out” means moving to a place where the driver of the own vehicle can visually determine the traveling state of the oncoming vehicle (other vehicle) V2 at the intersection.
[0044]
The notification of the estimated arrival time T to the occupant is not limited to the display mode using the arrow-shaped symbol, and the display color may be changed, the number and size of the segments to be displayed, the alarm sound and the guidance display may be appropriately used. Various modes, such as performing, are assumed.
[0045]
FIG. 5 is a flowchart illustrating an information provision control process performed by a system controller mounted on the vehicle in the vehicle information provision system according to the present embodiment.
[0046]
In FIG. 5, in step S1, the provided information is obtained by using the road-to-vehicle communication device 36, so that position information, vehicle speed information, and vehicle type information regarding the oncoming vehicle (V2) are obtained for each lane. At the same time, information such as the lane width and the number of lanes is obtained as the road shape at the intersection and its vicinity (the road shape is obtained by referring to the map information database 72 as necessary).
[0047]
In the present embodiment, when a plurality of oncoming vehicles (V2) existing on the same lane in the predetermined detection range B1 are present before and after, a predetermined number of vehicles and the lateral position of each other vehicle V2 are detected. Is possible.
[0048]
Further, in step S1, the system controller 31 determines the received base point ID and provided ID as the base point 11 so that appropriate information provision in the own vehicle (that is, information provision matching the traveling environment in which the own vehicle travels) is performed. It is also determined whether or not they match the base point ID and the provision ID acquired at the time of passing, and if the determination is affirmative, the position information, the vehicle speed information, etc., to which information is to be provided in the own vehicle. Recognize as vehicle (V2).
[0049]
In step S2, by referring to the provided information obtained in step S1, it is determined whether there are a plurality of oncoming vehicles V2 and V2 'traveling back and forth on the same lane in the individual lanes constituting the oncoming road R1. Is detected. In the case of the example shown in FIG. 3, in the oncoming lane on the left side (the lane closer to the center), vehicle (1), which is a normal passenger vehicle, is detected as a preceding oncoming vehicle, and vehicle (2), which is a motorcycle, is detected as a following oncoming vehicle. In the right oncoming lane (outside lane), vehicle (3), a normal passenger vehicle, is detected as a preceding oncoming vehicle, and vehicle (4), a motorcycle, is detected as a following oncoming vehicle.
[0050]
If it is detected in step S2 that a plurality of oncoming vehicles V2 and V2 'run back and forth on the same lane, it is determined in step S3 whether the detected vehicles are both motorcycles for each lane. If the result of this determination is that a plurality of motorcycles are traveling back and forth on the same lane, the process proceeds to step S6, and if not, the process proceeds to step S4.
[0051]
Even if it is determined from the result of the determination in step S3 that the plurality of oncoming vehicles detected before and after on the same lane are different in vehicle type, even if the following oncoming vehicle is a two-wheeled vehicle as illustrated in FIG. Can relatively easily pass through the side of the preceding oncoming vehicle on the same lane. Therefore, in step S4, one of a plurality of oncoming vehicles on the same lane traveling back and forth is a two-wheeled vehicle, and a collision occurs based on a relative speed with another oncoming vehicle (ordinary passenger car, truck, etc.) different from the two-wheeled vehicle. Is determined, and considering the lane width included in the provided information obtained in step S1 and the predetermined vehicle width of the vehicle type, whether there is a space for passing through on the same lane. Judge. If the result of this determination is that there is a space for slip-through, the process proceeds to step S6, and if not, the process proceeds to step S5.
[0052]
Even if it is determined from the result of the determination in step S4 that there is no space for passing, even if the preceding oncoming vehicle is stopping or decelerating in the vicinity of the intersection, for example, due to a right or left turn, the following oncoming vehicle The vehicle is also expected to pass in a state where the vehicle has entered (runs off) an adjacent oncoming lane or a traveling lane on which the host vehicle V1 is traveling. Therefore, in step S5, it is determined whether the preceding oncoming vehicle is stopping or decelerating near the intersection, and whether the following oncoming vehicle is expected to change lanes. Then, as a result of this determination, if it is expected that the following oncoming vehicle will change lanes, the process proceeds to step S6, and if not, the process proceeds to step S8.
[0053]
In step S6, it is determined whether or not the following oncoming vehicle will overtake the preceding oncoming vehicle due to the slippage predicted in step S3 or step S4, or the lane change predicted in step S5. This determination is made by comparing the estimated arrival time T (T1, T2) at the intersection calculated for the preceding oncoming vehicle and the following oncoming vehicle.
[0054]
That is, the estimated arrival time T of each oncoming vehicle at the intersection is obtained by setting the point Z as a reference position (T = 0, L = 0).
T = L / V (1),
(Where L: distance of the oncoming vehicle from point Z near the center of the intersection, V: actual vehicle speed of the oncoming vehicle).
[0055]
In step S6, for each oncoming lane, if the predicted arrival time T2 of the following oncoming vehicle is smaller than the predicted arrival time T1 of the preceding oncoming vehicle, it is determined that the following oncoming vehicle will overtake the preceding oncoming vehicle. Then, the process proceeds to step S7. If the estimated arrival time T2 is equal to or shorter than the estimated arrival time T1, it is determined that the overtaking is not performed, and the process proceeds to step S8.
[0056]
More specifically, in steps S3 to S6, the following determination processing is performed.
[0057]
If it is determined in step S3 that both oncoming vehicles traveling in the same lane before and after the same lane are two-wheeled vehicles, in step S6, the smaller of the estimated arrival times T of both is compared in step S7 or step S8. Information is provided.
[0058]
If it is determined in step S4 that the preceding oncoming vehicle on the same lane is a two-wheeled vehicle and the following oncoming vehicle is a normal car or the like different from the two-wheeled vehicle, the following processes a and b are performed in step S6.
[0059]
a: In this embodiment, the positions of the preceding oncoming vehicle and the following oncoming vehicle on the same lane available in step S1 in the traveling direction are compared. The smaller one of the times T is set as the information provision target in step S7 or step S8.
[0060]
b: When the inequality sign is satisfied in the following equation (2), it can be determined that the ordinary car, which is the subsequent oncoming vehicle, arrives at the intersection first. Alternatively, the information is to be provided in step S8.
[0061]
Lv−Lb + Vb × (Vv−Vb) / α <(Vv ² −Vb ² ) / 2α (2),
Here, Lv: distance from the center of the intersection of the vehicle, Lb: distance from the center of the intersection of the motorcycle Vv: vehicle speed of the vehicle, Vb: vehicle speed of the motorcycle, α: average deceleration at normal time.
[0062]
If it is determined in step S4 that the preceding oncoming vehicle on the same lane is a normal vehicle and the following oncoming vehicle is a two-wheeled vehicle, the following process a or b is performed in step S6.
[0063]
a: In the present embodiment, when the lane width of the same lane available in step S1 is equal to or greater than the threshold, the smaller of the estimated arrival times T of both lanes is the information provision target in step S7 or step S8. And
[0064]
b: If the inequality sign is satisfied in the following equation (3), it can be determined that the two-wheeled vehicle or the like, which is the succeeding oncoming vehicle, will arrive at the intersection first. The information is provided in step S8.
[0065]
Lb−Lv + Vv × (Vb−Vv) / α <(Vb ² −Vv ² ) / 2α (3),
Here, Lv: distance from the center of the intersection of the vehicle, Lb: distance from the center of the intersection of the motorcycle Vv: vehicle speed of the vehicle, Vb: vehicle speed of the motorcycle, α: average deceleration at normal time.
[0066]
In the case where there is a preceding oncoming vehicle that is stopped at the intersection of the lane closer to the center (the left lane in FIG. 3) and a subsequent oncoming vehicle approaching from behind, in step S5, among the multiple lanes of the oncoming road , When it is determined that the approaching succeeding oncoming vehicle changes lanes to the outside lane (the right lane in FIG. 3), the expected arrival time T2 of the following oncoming vehicle and the estimated arrival time of the preceding oncoming vehicle T1 is compared, and the smaller one is set as the information providing target in step S7 or step S8. In this case, the determination that the approaching oncoming vehicle is changing lanes to the outer lane (the right lane in FIG. 3) is made when all of the following conditions a to c are satisfied. .
[0067]
a: Unless the lane is changed, it is determined using the following equation (4) that there is a high possibility that the approaching oncoming vehicle will collide with the stopped oncoming vehicle.
[0068]
Lsa <Va ² / 2α (4),
Here, Lsa is the distance between the stopped vehicle and the approaching vehicle, Va is the speed of the approaching vehicle, and α is a general average deceleration.
[0069]
b: As a result of comparing the distance from the center of the intersection between the approaching oncoming vehicle and vehicle (3) in the outside lane (the right lane in FIG. 3), the following oncoming vehicle is closer to the intersection or the difference in distance Is equal to or more than a predetermined value (in this case, it can be determined that the lane change is not an unreasonable interruption but a normal lane change), and it can be determined that the following oncoming vehicle changes lane before the vehicle (3).
[0070]
c: When route information such as right / left turn or the like is obtained from each oncoming vehicle by inter-vehicle communication, information indicating that it is not a right turn at the intersection is received.
[0071]
In step S7, since it is determined in step S6 that the succeeding oncoming vehicle will overtake the preceding oncoming vehicle on the same lane, the occupant of the own vehicle V1 can recognize the estimated arrival time T2 of the following oncoming vehicle in the intersection. provide.
[0072]
In step S8, since it is determined in step S6 that the following vehicle on the same lane is not overtaking the preceding vehicle, the occupant of the vehicle V1 determines the estimated arrival time T1 of the preceding vehicle in the intersection. Provide recognizable.
[0073]
That is, in the present embodiment, the display mode on the display device 37 by the information provision performed in the above-described steps S7 and S8 is one in each step as shown in FIG. This is a display mode in which a single arrow-shaped symbol is displayed. However, in the present embodiment, the expected arrival time T notified by the displayed arrow-shaped symbol is the expected arrival time T2 of the following oncoming vehicle when step S7 is executed in the process flow for each control cycle. When step S8 is executed, the expected arrival time T1 of the preceding oncoming vehicle is represented.
[0074]
As described above, in the present embodiment, when it is determined that the succeeding oncoming vehicle overtakes the preceding oncoming vehicle on the same lane of the oncoming road on which a plurality of oncoming vehicles travel, at step S7, the intersection of the succeeding oncoming vehicle is determined. The occupant of the own vehicle V1 is provided so as to be recognizable by giving priority to the estimated arrival time T2 in the vehicle. This allows the driver of the own vehicle V1 to accurately predict that the succeeding oncoming vehicle may arrive at the intersection earlier than the preceding oncoming vehicle, and visually recognizes the traveling state of the following oncoming vehicle. The driving operation of the driver of the own vehicle V1 from an impossible state to a visible state can be accurately supported.
[0075]
Further, in the present embodiment, information is provided on the oncoming vehicle, of the preceding oncoming vehicle and the succeeding oncoming vehicle, which has the shorter estimated time of arrival at the intersection by using a single symbol (arrow) for each oncoming lane. Therefore, when a plurality of oncoming vehicles are present on the same lane of the oncoming road, information can be provided with a minimum amount of information, and the driver can be easily recognized.
[0076]
In the above-described embodiment, when one of the determinations in steps S3 to S5 is satisfied, when the overtaking is predicted in step S6, the expected arrival time T2 of the rear oncoming vehicle is displayed with priority. If at least when the succeeding oncoming vehicle is detected as a two-wheeled vehicle and the above-described priority notification for the two-wheeled vehicle is performed, even if there is not enough space for changing lanes, the same is performed. It is easy to pass through the oncoming vehicle on the lane, and it is hidden behind the oncoming vehicle from the own vehicle waiting for a right turn at the intersection, and it is not easy for the driver of the own vehicle to recognize its existence. Accurate information provision considering the characteristics of two-wheeled vehicles that do not exist is realized.
[0077]
<Modification of Embodiment>
FIG. 6 is a diagram exemplifying a display mode performed by the host vehicle V1 to notify the estimated arrival time T of the oncoming vehicle to the intersection by the information provision control process in the modification of the present embodiment.
[0078]
In the above-described embodiment, as illustrated in FIG. 4, a display mode is described in which, for each oncoming lane, one arrow is displayed for the oncoming vehicle having the shortest predicted arrival time T at the intersection, but is limited to this. Instead, as described in this modification, the estimated arrival times T1 and T2 of the preceding oncoming vehicle and the following oncoming vehicle existing on the same lane as shown in FIG. 3 may be individually displayed for each lane. . In this case, since the occupant of the own vehicle can recognize both the succeeding oncoming vehicle and the preceding oncoming vehicle determined to overtake, the behavior of each oncoming vehicle on the same lane can be accurately notified to the driver of the own vehicle. Can be predicted.
[Brief description of the drawings]
FIG. 1 is a diagram illustrating a configuration near an intersection of a vehicle information providing system to which the present invention can be applied;
FIG. 2 is a block diagram showing a device configuration mounted on the vehicle and a device configuration provided on a road facility side in the vehicle information providing system according to the embodiment.
FIG. 3 is a diagram illustrating a case where a road shape on an intersection and an oncoming road (a predetermined detection range B1) around the intersection is a plurality of lanes, and not only an automobile but also a motorcycle is present as an oncoming vehicle V2 traveling in each lane. It is.
FIG. 4 is a diagram exemplifying a display mode performed by a host vehicle to notify an expected arrival time of an oncoming vehicle to an intersection by an information provision control process according to the embodiment;
FIG. 5 is a flowchart showing an information provision control process performed by a system controller mounted on the vehicle in the vehicle information provision system according to the embodiment.
FIG. 6 is a diagram exemplifying a display mode performed by a host vehicle to notify an expected arrival time of an oncoming vehicle to an intersection by an information provision control process in a modification of the embodiment;
FIG. 7 shows a cross-section of an intersection and its surrounding road (predetermined detection range B1) having a plurality of lanes. On the same lane, an ordinary passenger car exists as a preceding oncoming vehicle (vehicle (1)), and a subsequent oncoming vehicle. FIG. 7 is a diagram illustrating a case where a motorcycle having a higher vehicle speed than the preceding oncoming vehicle exists as a vehicle (vehicle (2)).
[Explanation of symbols]
11: Base point,
12: Vehicle detection sensor,
13: Roadside antenna,
31: system controller,
35: In-vehicle antenna,
36: Road-to-vehicle communication device,
37: display device,
38: speaker,
41: system base station,
71: Reference point detector,
72: map information (map information database),
73: Vehicle-to-vehicle communication device

Claims (7)

A vehicle information providing device that provides information on an oncoming vehicle received from road facilities to an occupant of the vehicle when the vehicle turns right or enters the intersection,
Determining means for determining whether or not a subsequent oncoming vehicle overtakes a preceding oncoming vehicle on the same lane of an oncoming road on which a plurality of oncoming vehicles travel;
When the determining means determines that the succeeding oncoming vehicle overtakes the preceding oncoming vehicle on the same lane, priority is given to the estimated time of arrival of the following oncoming vehicle within the intersection so that the occupant of the own vehicle can be recognized. An information providing device for a vehicle, comprising: an information providing unit that provides the information. The vehicle information providing apparatus according to claim 1, wherein the following oncoming vehicle is a two-wheeled vehicle. The determining means includes:
On the same lane, considering whether or not there is a space where the following oncoming vehicle overtakes the preceding oncoming vehicle, determining whether the following oncoming vehicle overtakes the preceding oncoming vehicle. The vehicle information providing device according to claim 1. The determining means includes:
2. The vehicle information providing apparatus according to claim 1, wherein when the preceding oncoming vehicle is decelerating on the same lane, it is determined that the following oncoming vehicle overtakes the preceding oncoming vehicle. The determining means includes:
The vehicle information according to claim 1, wherein when the preceding oncoming vehicle is about to make a right or left turn at the intersection on the same lane, the preceding oncoming vehicle is determined to overtake the preceding oncoming vehicle. Providing device. In a case where the information provision by the information provision means is performed by a single symbol corresponding to the oncoming road including at least one oncoming lane,
The information providing means,
2. The vehicle information according to claim 1, wherein, of the preceding oncoming vehicle and the following oncoming vehicle, an oncoming vehicle having a shorter expected arrival time at the intersection is provided so that an occupant of the own vehicle can recognize the oncoming vehicle. 3. Providing device. The information providing means,
The estimated time of arrival of the following oncoming vehicle determined to overtake by the determination means into the intersection and the estimated time of arrival of the preceding oncoming vehicle into the intersection can both be recognized by the occupant of the own vehicle. The vehicle information providing apparatus according to claim 1, wherein the information is provided.

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