JP2004185108A - Vehicle travel support system in visibility failure - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a travel support system for enabling a vehicle to stably travel even when visibility failure arises on a road. <P>SOLUTION: This vehicle travel support system in visibility failure makes a front road linear display system section (2) of an on-vehicle PC system (1) display the three-dimensional front road linear CG(computer graphics) of a driver's point of view matched with the traveling position of its own vehicle (61) measured by an on-vehicle DGPS(differential global positioning system) (13). Also, a front existing object detected by an on-vehicle milliwave radar (21) is three-dimensionally graphic displayed by a front monitoring system section (3) of the on-vehicle system (1). Then, both images are composed and displayed at an on-vehicle display (4). <P>COPYRIGHT: (C)2004,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a vehicle driving support system when visibility is impaired.
[0002]
[Prior art]
On expressways managed by JH, traffic interruptions due to visibility impairments such as snowfall and dense fog occur on average about 8,000 hours per year (H9-H11 average), and about one-third of all traffic closures is occupying. As a countermeasure, infrastructure measures such as installing fog nets and improving the visibility of signs have been implemented, but the number of closed roads has not been significantly reduced. On the other hand, a method of avoiding road closure in the event of visibility impairment by conducting ladder guidance traveling of general vehicles led by the management vehicle has been studied, but the safety of the management vehicle has been secured. Has not been implemented yet.
2. Description of the Related Art There is known an on-vehicle radar driving support device that detects a vehicle traveling ahead of its own lane with a millimeter-wave radar, performs image processing on a front captured image, recognizes a pattern of a preceding vehicle, and controls traveling according to an inter-vehicle distance (patent). Reference 1).
Further, a millimeter-wave radar device and an inter-vehicle distance control device that detect and calculate the distance and relative speed with respect to a preceding vehicle or an obstacle using a millimeter-wave radar and control the inter-vehicle distance in accordance with the relative speed with respect to the own vehicle are also known. (See Patent Document 2).
Further, there is also known a self-propelled vehicle with an obstacle detection device for working an unmanned dump truck that emits electromagnetic waves in the traveling direction and receives reflected waves from the obstacle to detect the obstacle (Patent) Reference 3).
[0003]
[Patent Document 1]
JP-A-2002-207077
[Patent Document 2]
JP-A-2001-33545
[Patent Document 3]
JP-A-11-249740
[0004]
[Problems to be solved by the invention]
None of the inventions disclosed in Patent Literatures 1 to 3 are directed to the case where visibility is poor. Also, it does not employ GPS (Global Positioning System) and does not have CG (Computer Graphics) navigation function linked to DGPS (Differential Global Positioning System). .
The present invention superimposes the road or the like of the selected road on the display unit of the on-vehicle device and obstacles or the like ahead of the travel detected by the millimeter wave radar, so that even when visibility impairment occurs on this road. It is another object of the present invention to provide a driving support system that can safely drive a vehicle.
[0005]
[Means for Solving the Problems]
The vehicle travel support system for a visibility impairment according to the present invention uses a three-dimensional forward road linear CG (Computer Graphics) from the driver's viewpoint, which coincides with the travel position of the vehicle measured by an onboard DGPS (Differential Global Positioning System). , Is displayed by the front road linear display system section of the in-vehicle PC system.
In addition, a forward object detected by the onboard millimeter-wave radar is displayed three-dimensionally by the forward monitoring system of the onboard PC system.
Then, the two images are combined and displayed on the in-vehicle display.
[0006]
In the in-vehicle PC system of the own vehicle, the alignment of the selected road, structures such as tunnels and bridges existing on the way, signs accompanying the road, and the like are built in advance as a road alignment database. When the front road alignment display system unit is started, this database is displayed, and the road alignment, signs, structures, and the like ahead are continuously displayed as the vehicle advances. Then, this alignment changes continuously as the vehicle travels so as to match the actual road.
[0007]
The forward monitoring system detects an obstacle or another vehicle on the traveling road by the millimeter wave radar, and converts the detected data into a graphic by graphic display software.
[0008]
When the forward visibility is extremely poor, the pilot steers his / her vehicle while looking at the screen of the in-vehicle display. On the screen of this in-vehicle display, the same line as the line of sight when actually driving the vehicle is displayed, and furthermore, an obstacle such as a falling object, a moving vehicle, or a stopped vehicle in front of the traveling road. If there is an existing vehicle, the result of detection by the millimeter-wave radar is graphically output and superimposed on the screen displayed by the front road linear display system unit.
For this reason, even if there is visibility impairment due to heavy fog, snowstorm, heavy rain, etc., the driver can drive while grasping the situation ahead ahead in a realistic and accurate manner with the display screen on the in-vehicle display, and safe driving is possible. Become.
[0009]
DETAILED DESCRIPTION OF THE INVENTION
FIG. 1 shows the configuration of the present support system.
Reference numeral 1 denotes an in-vehicle PC system, which includes a forward road linear display system unit 2 and a forward monitoring system unit 3 and is connected to an in-vehicle display 4.
[0010]
The front road alignment display system unit 2 specifies the traveling position of the own vehicle via the on-board DGPS 13 linked to the GPS satellite 11 and the correction data 12, and displays the front road alignment CG from the road alignment database of the on-vehicle PC system 1. do.
The road alignment database records not only the alignment of the road, but also various signs related to the road, structures such as bridges, and the like.
[0011]
The forward monitoring system unit 2 includes a millimeter-wave radar 21, and data obtained by the millimeter-wave radar 21 is graphically displayed by graphic display software.
[0012]
FIG. 2 is a diagram illustrating the principle of the DGPS 13 mounted on a vehicle.
61 is a host vehicle, 62 is a receiving antenna, 63 is a ground reference point, 641, 642, ... 64n are communication satellites. The own vehicle 61 receives the electromagnetic waves emitted from the respective communication satellites 641, 642,... 64n by the receiving antenna 62, and the ground reference point 63 similarly converts the electromagnetic waves received from the communication satellites 641, 642,. From the ground reference point 63 to specify the current position of the vehicle 61.
[0013]
FIG. 3 is a front road linear CG display screen according to this system.
While the vehicle is running, the on-vehicle DGPS 13 determines the position of the host vehicle, and from the road alignment database stored in the on-vehicle PC system 1, displays a three-dimensional road alignment CG from the driver's viewpoint corresponding to the specified position on the on-vehicle display 4. The information is displayed in real time as the vehicle 61 moves.
The front road alignment display system unit 2 can display the road alignment in three dimensions, while displaying the road map three-dimensionally, while the normal navigation system mainly performs plane display of the route map and does not perform display for each lane. Enables to grasp the position of
[0014]
FIG. 4 is an explanatory diagram of a forward monitoring situation by the millimeter-wave radar 21, and FIG. 5 is a graphic display by graphic display software.
[0015]
During traveling, the traveling vehicle traveling ahead on the own lane 65 of the own vehicle 61, the stopped vehicle existing ahead, obstacles 66 such as falling objects, and attachments outside the own lane 65 by the vehicle-mounted millimeter-wave radar 21 during traveling. The object 67 and the like are detected and three-dimensionally displayed as a graphic. The graphics can be easily distinguished by distinguishing them by colors or shapes between those on the own lane 65 and those other than those. For those on the own lane 65, the distance between the own vehicle 61 and the obstacle 66 is set, and the obstacle 66 'approaching within the set distance is emphasized by changing the color or shape of the figure, thereby giving a warning. To give.
[0016]
FIG. 6A shows a forward viewing situation in fine weather when the travel assist system according to the present invention moves, and FIG. 6B shows an output screen of the system in the same situation. Although the output screens of FIG. 3 and FIG. 5 have different images because the traveling points are different, the method of synthesizing is substantially the same. The obstacle 66, the accessory 67, and the like displayed in FIG. 5 are set so as to be displayed in accordance with the actual position on the screen in FIG. 3, and the same applies to the case of FIG. Is set to
[0017]
As can be seen from FIG. 6B, the synthesized content is displayed on the vehicle-mounted display 4.
For the obstacle 66 ′ within the own lane 65 to be warned and within the set distance, the warning sound 5 may be sounded to warn.
[0018]
FIG. 7A shows a forward viewing situation in bad weather during movement of the driving support system according to the present invention, and FIG. 7B shows an output screen of the system in the same situation. 6A and 6B, the traveling points are different and the images are different, but there is no substantial difference in the combining method.
[0019]
As can be seen from FIG. 7B, the synthesized contents are displayed on the vehicle-mounted display 4.
In FIG. 7A, the presence of the obstacle 66 and the accessory 67 is clear on the in-vehicle display 4 in FIG. Also, an obstacle 66 'approaching within the set distance is specified. Therefore, the driver can safely operate the vehicle 61 while watching the display on the in-vehicle display 4 even if the visibility is poor.
[0020]
【The invention's effect】
According to the present invention, even when visibility is significantly reduced due to dense fog, snowstorm, heavy rain, etc., the traveling position of the own vehicle, the traveling lane, the linear shape of the road ahead (curves, branching junctions, structures, etc. Objects, etc.) can be accurately grasped on the on-vehicle display screen, so that it is possible to prevent a single accident on a road structure due to a deviation from the lane, etc. In some cases, obstacles such as falling objects can be detected in advance, so that collisions and rear-end collisions due to delays in discovery can be prevented.
[Brief description of the drawings]
FIG. 1 is a configuration diagram of an example of a vehicle traveling support system at the time of a visibility impairment according to the present invention.
FIG. 2 is a principle diagram of DGPS.
FIG. 3 is an example of a front road linear CG.
FIG. 4 is an explanatory diagram of a forward monitoring situation by a millimeter wave radar.
FIG. 5 is a display by graphic display software.
FIG. 6A is a diagram showing an actual forward visual recognition situation when the vehicle moves in fine weather, and FIG. 6B is an output screen of the traveling support system at the same visual recognition time.
FIG. 7A is a diagram showing an actual forward visual recognition situation when the vehicle moves in bad weather, and FIG. 7B is an output screen of the traveling support system at the same visual recognition time.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Onboard PC system 2 Forward road linear display system part 3 Forward monitoring system part 4 Onboard display 5 Warning sound 11 GPS satellite 12 Correction data 13 Onboard DGPS
21 Millimeter-wave radar 61 Own vehicle 62 Receiving antenna 63 Satellite base 64 ₁ , 64 ₂ ... 64n Communication satellite 65 Own lane 66 Obstacle 66 'Obstacle 67 Attachment

Claims (1)

A three-dimensional front road linear CG (Computer Graphics) (32) from the driver's viewpoint that matches the traveling position of the vehicle (61) measured by the on-vehicle DGPS (Differential Global Positioning System) (13) is connected to the on-vehicle PC system (1). ) Is displayed by the front road linear display system unit (2), and the front object detected by the on-board millimeter-wave radar (21) is three-dimensionally displayed by the front monitoring system unit (3) of the on-vehicle PC system (1). A vehicle driving support system at the time of visibility impairment characterized in that a graphic is displayed on the display, and both images are combined and displayed on the in-vehicle display (4).

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