JP2005234778A - Device and method for generating road information and device for preventing collision in intersection - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To generate road information on the basis of information collected during travelling and prevent a collision of vehicles in an intersection on the basis of the generated road information. <P>SOLUTION: An encounter determining part 106a determines whether or not its own vehicle encounters with other vehicles on the basis of outputs from a steering sensor 101, a vehicle speed sensor 102, a blinkers switch 103 and a navigation system 104. Then, the number of times of the encounters are counted at each encounter points. At prescribed points, a registration determining part 106b registers encounter situations into a road information database 105, based on the number of times of the travelling and the counted number of times of the encounters. An alarm determining part 106c alarms a driver when its own vehicle approaches the points registered in the database 105. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a road information creation apparatus and method for creating road information based on information collected during travel of a vehicle, and an intersection collision prevention apparatus for preventing a vehicle collision at an intersection based on the created road information.

  Patent Document 1 discloses a navigation device that provides safe route guidance to a driver based on map data that stores road information relating to a traffic accident occurrence location.

JP 2002-156239 A

  However, in the conventional navigation device, a place where a traffic accident has occurred in the past is removed from the route, or attention is urged when passing. For this reason, there has been a problem that even a location that is currently less dangerous due to a change in road conditions is warned as a dangerous location.

  The present invention counts the number of times that the host vehicle has reached a specific intersection, counts the number of times the host vehicle encounters another object at the specific intersection, and determines whether the host vehicle is another at the specific intersection based on the counted number of times. The frequency of encountering an object is calculated, and when the frequency is high, the specific intersection is registered in the road information as an intersection with high encounter frequency. Furthermore, the vehicle is warned when it is detected that the vehicle approaches a specific intersection registered in the road information.

  According to the present invention, based on the number of times the host vehicle has reached the intersection and the number of times the host vehicle has encountered another object, the encounter situation between the host vehicle and the other object is registered in the road information. In addition, the driver is warned based on the registered road information. For this reason, it is possible to create road information in consideration of the current road conditions, and it is possible to give a warning at a point where the driver actually needs attention.

-First embodiment-
The road information creation device in the present embodiment monitors the steering operation by the driver and the vehicle speed of the host vehicle when it is determined that the host vehicle has entered the intersection based on the output from the navigation system. Thereby, it is determined whether or not the host vehicle has encountered another object such as a pedestrian, an oncoming vehicle, or a crossing vehicle (hereinafter referred to as “other vehicle etc.”). When the host vehicle frequently encounters another vehicle or the like at a specific intersection, the intersection is determined as an intersection that requires a warning to the driver, and is registered in the road information database. The intersection collision prevention device warns the driver when the host vehicle reaches an intersection that requires a warning based on the intersection information in the road information database. Details will be described below.

  FIG. 1 is a block diagram showing a configuration of an embodiment of a vehicle equipped with a road information creation device and an intersection collision prevention device according to the present embodiment. A vehicle 100 includes a steering sensor 101 that detects operation information of a steering wheel by a driver, a vehicle speed sensor 102 that detects a vehicle speed of the host vehicle, a winker switch 103 that detects a winker operation by the driver, and a current position of the host vehicle. And a navigation system 104 for detecting a road condition during traveling based on the map data held and guiding the host vehicle to a destination, and a road information database 105 for storing road information data.

  The vehicle 100 also has a control device 106 that controls the entire device, a counter storage memory 107 that has a traveling number counter 107a and an encounter number counter 107b for each intersection, a monitor 108 that displays a map and warning information, and a driver. And a speaker 109 that outputs a warning by voice. The counter storage memory 107 includes a travel number counter 107a that counts the number of times that each intersection has been traveled, and an encounter number counter 107b that counts the number of times other vehicles have been encountered at each intersection.

  The control device 106 includes an encounter determination unit 106a, a registration determination unit 106b, and a warning determination unit 106c. When the encounter determination unit 106a determines that the host vehicle has entered the intersection based on the output from the navigation system 104, the host vehicle monitors the steering operation by the driver and the vehicle speed of the host vehicle so that the host vehicle It is determined that it has been encountered. Then, the number of encounters is stored in the encounter number counter 107b. The registration determination unit 106b determines a specific intersection as an intersection that requires a warning to the driver based on the count values of the traveling number counter 107a and the encounter number counter 107b, and registers the intersection in the road information database 105. Based on the information in the road information database 105, the warning determination unit 106c warns the driver when the host vehicle reaches an intersection that requires a warning.

  Hereinafter, road information creation processing when the vehicle 100 equipped with the road information creation device and the intersection collision prevention device according to the present embodiment encounters a pedestrian at an intersection will be described with reference to the flowchart shown in FIG. The processing shown in FIG. 2 is executed by a program that is activated when an ignition switch (not shown) is turned on.

  In step S <b> 10, the current position of the host vehicle is detected based on the output from the navigation system 104, and map data is read from the navigation system 104. At the same time, the steering operation information by the driver is detected based on the output from the steering sensor 101, and the vehicle speed of the vehicle is detected based on the output from the vehicle speed sensor 102.

  In step S11, based on the output from the navigation system 104, it is determined whether or not the host vehicle has approached within a predetermined distance from the intersection, for example, within 10 m. If it is determined that the host vehicle has approached within a predetermined distance from the intersection, the process proceeds to step S20.

  In step S20, 1 is added to the traveling number counter 107a of the intersection corresponding to the current position of the host vehicle read in step S10. The travel counter 107a has a counter value set for each intersection where the host vehicle has traveled, and the counter value can determine how many times the host vehicle has traveled the intersection in the past. When the host vehicle travels for the first time at the intersection, a counter corresponding to the intersection is newly created, and the count value is set to 1 and stored.

  In step S30, it is determined whether the host vehicle has reached the departure side of the intersection from the current position of the host vehicle detected in step S10 and the map data. When it is determined that the host vehicle has not reached the departure side of the intersection, the process proceeds to step S80 described later. If it is determined that the host vehicle has reached the departure side of the intersection, the process proceeds to step S40.

  In step S40, it is determined whether or not the steering operation amount by the driver detected in step S10 is a predetermined value or more, for example, 10 ° or more. When the steering operation amount by the driver is less than the predetermined value, the process proceeds to step S80. If the steering operation amount by the driver is greater than or equal to the predetermined value, the process proceeds to step S50.

  In step S50, based on the vehicle speed of the host vehicle detected in step S10, it is determined whether the host vehicle is stopped, that is, whether the host vehicle speed is zero. If it is determined that the host vehicle is not stopped, the process proceeds to step S80. If it is determined that the host vehicle is stopped, the process proceeds to step S60.

  In step S60, the encounter determination unit 106a determines that the host vehicle has encountered a pedestrian. That is, based on the determination results in steps S30 to S50 described above, as shown in FIG. 3, the host vehicle 3a encounters a pedestrian 3b crossing during a right turn or a left turn at the intersection leaving side and is in a stopped state. Judge.

  In step S70, 1 is added to the encounter number counter 107b. The encounter number counter 107b has a counter value set for each intersection, and the counter value can determine how many times the vehicle has encountered a pedestrian in the past at the intersection.

  In step S80, it is determined whether or not to register in the road information database 105. In the present embodiment, registration into the road information database 105 is automatically performed every predetermined time, for example, every 10 minutes. If it is not determined that registration is to be performed in the road information database 105, the process returns to step S10, and the processes in steps S10 to S70 described above are repeated. If it is determined to register in the road information database 105, the process proceeds to step S90.

In step S90, the counter value N of the travel counter 107a and the counter value Ns of the encounter counter 107b at each intersection are read. In step S100, the encounter rate with respect to the number of travels at each point is calculated by the following equation (1).
Encounter rate = Ns / N (1)

  In step S110, it is determined whether the encounter rate at each point calculated in step S100 is equal to or greater than a predetermined value, for example, 80% or more, sufficient to determine the intersection that requires a warning to the driver. If it is determined that the encounter rate is less than the predetermined value, the registration determination unit 106b determines that no warning is required for the driver at the intersection, and the process proceeds to step S130. If it is determined that the encounter rate is equal to or greater than the predetermined value, the registration determination unit 106b determines that a warning is required for the driver at the intersection, and the process proceeds to step S120.

  In step S120, the registration determination unit 106b registers the driver with the road information database 105 as an intersection that requires a warning that the intersection is a high-risk intersection with a pedestrian. In step S130, it is determined whether or not the ignition switch is turned off. If it is determined that the ignition switch is turned off, the process is terminated. On the other hand, when it is determined that the ignition switch is not turned off, the process returns to step S10 and the above process is repeated until the ignition switch is turned off.

  Next, when the navigation system 104 performs route guidance, based on the road information created by the above-described processing shown in FIG. 2, when the own vehicle reaches an intersection that requires a warning to the driver. The warning process will be described with reference to the flowchart shown in FIG. The process shown in FIG. 4 is executed by a program that is activated when an ignition switch (not shown) is turned on.

  In step S210 of FIG. 4, it is determined whether route guidance by the navigation system 104 has been started. When it is determined that the route guidance is not started, the route guidance start determination process is continued until the route guidance is started. If it is determined that the route guidance has been started, the process proceeds to step S220. In step S220, the current position of the host vehicle is detected based on the output from the navigation system 104, and map data is read.

  In step S230, road information stored in the road information database 105, that is, intersection information requiring a warning is read. In step S240, based on the current position of the host vehicle, map data, and road information, it is determined whether or not the host vehicle is approaching an intersection that requires a warning. If it is determined that the host vehicle is not approaching the intersection that requires a warning, the process proceeds to step S260 described later. If it is determined that the host vehicle is approaching an intersection requiring warning, the process proceeds to step S250.

  In step S250, the warning determination unit 106c determines that a warning is required for the driver, and approaches the intersection where the host vehicle may encounter a pedestrian through the monitor 108 and the speaker 109. Warning to that effect. In step S260, it is determined whether or not the route guidance by the navigation system 104 is finished. If it is judged that the route guidance is finished, the processing is finished. If the route guidance has not ended, the process returns to step S220 and the above process is repeated.

As described above, according to the first embodiment, the following operational effects can be obtained.
(1) Based on the current position of the host vehicle, the steering operation status, and the map data, the encounter status with the pedestrian at the intersection is determined. For this reason, it is possible to specify a point where the driver actually needs attention in consideration of the current road conditions.
(2) At a specific intersection, the encounter rate is calculated based on the number of times the intersection has traveled and the number of encounters with pedestrians, and only intersections with an encounter rate equal to or greater than a predetermined value are registered in the road information database 105. . Thereby, only intersections with higher encounter frequency can be targeted for warning, and useless warning can be omitted.
(3) Based on the road information registered in the road information database 105, the driver is warned. Thereby, it is possible to warn the driver in advance at the intersection where the encounter rate with the pedestrian is high, and to prevent a collision with the pedestrian.

-Second embodiment-
In 1st Embodiment, the road information creation process when the own vehicle encountered a pedestrian in the intersection was demonstrated. In the second embodiment, road information creation processing will be described when the host vehicle encounters an intersecting vehicle traveling on a front intersection road at an intersection. Since the configuration diagram of the vehicle 100 shown in FIG. 1 is the same as that of the first embodiment, the description thereof is omitted.

  FIG. 5 is a flowchart of processing in the second embodiment. The process shown in FIG. 5 is executed as a program that starts when an ignition switch (not shown) is turned on. In FIG. 5, the processes in steps S310 to S320 and steps S360 to S420 are the same as the processes in steps S10 to S20 and steps S70 to S130 of FIG. 2 in the first embodiment. The description of the processing contents is omitted.

  In step S330, it is determined from the current position of the host vehicle detected in step S310 and the map data whether the host vehicle has reached an intersection without a signal. If it is determined that the host vehicle has not reached an intersection without a signal, the process proceeds to step S370 to be described later. If it is determined that the host vehicle has reached an intersection without a signal, the process proceeds to step S340.

  In step S340, based on the vehicle speed detected in step S10, the host vehicle is stopped before the intersection, that is, at the boundary position between the running road and the intersection road at the intersection for a predetermined time or more, for example, for one minute or more. It is determined whether or not. If it is determined that the host vehicle is not stopped for a predetermined time or more before the intersection, the process proceeds to step S370. If it is determined that the host vehicle is stopped for a predetermined time or more before the intersection, the process proceeds to step S350.

  In step S350, from the determination results in steps S330 to S340 described above, the host vehicle 3a encounters the intersection vehicle 6a at the intersection as shown in FIG. 6, and stops for a predetermined time or more to wait for the passage of the intersection vehicle 6a. Therefore, the encounter determination unit 106a determines that the own vehicle has encountered the crossing vehicle 6a.

  Based on the number of times that the host vehicle has traveled the intersection, that is, the count value of the traveling number counter 107a, and the number of times that the host vehicle has encountered the intersection vehicle, that is, the count value of the encounter number counter 107b, counted by the above processing. The encounter rate is calculated as in the first embodiment. Based on the calculated encounter rate, information on the intersection that requires a warning to the driver is registered in the road information database 105. In the present embodiment, information is registered that the intersection is an intersection with a high risk of encountering an intersecting vehicle. Then, by executing the process shown in FIG. 4 in the first embodiment based on the data stored in the road information database 105, the vehicle needs to be warned during the route guidance by the navigation system 104. The driver is warned when approaching an intersection.

  As described above, according to the second embodiment, in addition to the effects in the first embodiment, the following effects can be obtained. It is possible to create road information that also considers encounters with crossing vehicles at intersections. Furthermore, by giving a warning based on the road information, it is possible to prevent a collision with an intersecting vehicle at an intersection.

-Third embodiment-
In the third embodiment, when the host vehicle makes a right turn at an intersection, it encounters an oncoming vehicle that goes straight on the oncoming lane, and when the host vehicle goes straight on the intersection, it encounters an oncoming vehicle that makes a right turn. The road information creation processing in the case of having been performed will be described. Since the configuration diagram of the vehicle 100 shown in FIG. 1 is the same as that of the first embodiment, the description thereof is omitted.

  FIG. 7 is a flowchart of processing in the third embodiment. The process shown in FIG. 7 is executed as a program that is activated when an ignition switch (not shown) is turned on. In FIG. 7, the processing of step S520, step S534, and step S570 to step S630 is the same as that of step S20 and step S70 to step S130 of FIG. 2 in the first embodiment. Description of is omitted.

  In step S510, a winker operation by the driver is detected based on the output from the winker switch 103 in addition to the information detected in step S10 in the first embodiment. In step S530, it is determined from the winker operation information detected in step S710 whether or not the driver has turned the winker in the right direction, that is, whether or not the host vehicle makes a right turn. If it is determined that the host vehicle does not turn right, the process proceeds to step S531, which will be described later. If it is determined that the host vehicle turns right, the process proceeds to step S540.

  In step S540, it is determined whether the amount of steering operation by the driver detected in step S510 is equal to or less than a predetermined value, for example, 10 ° or less. When the steering operation amount by the driver is larger than the predetermined value, the process proceeds to step S580 described later. If the steering operation amount by the driver is equal to or less than the predetermined value, the process proceeds to step S550.

  In step S550, based on the current position of the host vehicle detected in step S510 and the vehicle speed of the host vehicle, it is determined whether the host vehicle is stopped at the center of the intersection. If it is determined that the host vehicle is not stopped at the center of the intersection, the process proceeds to step S580. If it is determined that the host vehicle is stopped at the center of the intersection, the process proceeds to step S560.

  In step S560, from the determination results in steps S530 to S550 described above, the host vehicle 3a encounters the oncoming vehicle 8a during a right turn at the intersection and waits for the oncoming vehicle 8a to pass at the center of the intersection as shown in FIG. Since it can be determined that the vehicle is stopped, the encounter determination unit 106a determines that the host vehicle has encountered the oncoming vehicle 8a.

  Next, a process when it is determined in step S530 that the host vehicle does not turn right will be described. In step S531, based on the output from the winker switch 103, it is determined whether or not the driver is operating the winker switch, that is, whether or not the host vehicle goes straight. If it is determined that the host vehicle does not travel straight, the process proceeds to step S580. If it is determined that the host vehicle travels straight, the process proceeds to step S532.

  In step S532, it is determined whether or not the host vehicle is stopped at the center of the intersection as in step S550. If it is determined that the host vehicle is not stopped at the center of the intersection, the process proceeds to step S580. If it is determined that the host vehicle is stopped at the center of the intersection, the process proceeds to step S533.

  In step S533, from the determination results in steps S531 to S532 described above, the host vehicle encounters an opposite right turn vehicle when going straight at the intersection, and is in a state of stopping at the center of the intersection to wait for the passage of the opposite right turn vehicle. Since it can be determined, the encounter determination unit 106a determines that the host vehicle has encountered an oncoming right turn vehicle.

  Based on the count value of the travel number counter 107a and the count value of the encounter number counter 107b counted by the above processing, the encounter rate is calculated in the same manner as in the first embodiment. Based on the calculated encounter rate, information on the intersection that requires a warning to the driver is registered in the road information database 105. In the present embodiment, information is registered that the intersection is an intersection with a high risk of encountering both the oncoming vehicle and the oncoming right turner. Then, by executing the processing shown in FIG. 4 in the first embodiment based on the data stored in the road information database 105, the vehicle needs a warning during route guidance by the navigation system 104. The driver is warned when approaching an intersection.

  As described above, according to the third embodiment, in addition to the effects in the first embodiment, the following effects can be obtained. Road information can be created taking into account encounters with oncoming vehicles when making a right turn at an intersection and encounters with an opposite right turn vehicle when going straight at an intersection. Furthermore, by giving a warning based on the road information, it is possible to prevent a collision with an oncoming vehicle when turning right at the intersection and a right-turn vehicle when going straight ahead.

-Fourth embodiment-
In the fourth embodiment, a description will be given of a road information creation process when the vehicle encounters a motorcycle or bicycle that has run in parallel when making a left turn at an intersection. Since the configuration diagram of the vehicle 100 shown in FIG. 1 is the same as that of the first embodiment, the description thereof is omitted.

  FIG. 9 is a flowchart of processing in the fourth embodiment. The process shown in FIG. 9 is executed as a program that is activated when an ignition switch (not shown) is turned on. In FIG. 9, the processing of step S720 and step S770 to step S830 is the same as the processing of step S20 and step S70 to step S130 of FIG. Omitted.

  In step S710, as in step S510 in the third embodiment, the winker operation by the driver is detected based on the output from the winker switch 103 in addition to the information detected in the first embodiment. In step S730, it is determined from the winker operation information detected in step S710 whether or not the driver has left the winker in the left direction, that is, whether or not the vehicle makes a left turn. If it is determined that the host vehicle does not turn left, the process proceeds to step S780 described later. If it is determined that the host vehicle turns left, the process proceeds to step S740.

  In step S740, it is determined whether the amount of steering operation by the driver detected in step S710 is equal to or less than a predetermined value, for example, 10 ° or less. If the steering operation amount by the driver is greater than the predetermined value, the process proceeds to step S780. If the steering operation amount by the driver is equal to or less than the predetermined value, the process proceeds to step S750.

  In step S750, based on the current position of the host vehicle detected in step S710 and the speed of the host vehicle, it is determined whether the host vehicle is stopped before the intersection. If it is determined that the host vehicle is not stopped before the intersection, the process proceeds to step S780. If it is determined that the host vehicle is stopped before the intersection, the process proceeds to step S760.

  In step S760, as shown in FIG. 10, the own vehicle 3a encounters the parallel running vehicle 10a during the left turn at the intersection and waits for the passage of the parallel running vehicle 10a from the determination result in step S730 to step S750 described above. Since it can be determined that the vehicle is stopped in front, the encounter determination unit 106a determines that the host vehicle has encountered the parallel running vehicle 10a.

  Based on the count value of the traveling number 107a counter and the count value of the encounter number counter 107b counted by the above processing, the encounter rate is calculated in the same manner as in the first embodiment. Based on the calculated encounter rate, information on the intersection that requires a warning to the driver is registered in the road information database 105. In the present embodiment, information is registered that the intersection is an intersection having a high risk of encountering a parallel running vehicle when the host vehicle turns left. Then, by executing the processing shown in FIG. 4 in the first embodiment based on the data stored in the road information database 105, the vehicle needs a warning during route guidance by the navigation system 104. The driver is warned when approaching an intersection.

  As described above, according to the fourth embodiment, in addition to the effects in the first embodiment, the following effects can be obtained. When making a left turn at an intersection, it is possible to create road information that takes into account encounters with parallel vehicles. Furthermore, by giving a warning based on the road information, it is possible to prevent a collision with a parallel running vehicle when turning left at an intersection.

-Fifth embodiment-
In the fifth embodiment, an approach with a preceding vehicle is detected, and an intersection with a high approach frequency is registered in the road information database 105 as an intersection that requires a warning to the driver. FIG. 11 is a block diagram showing a configuration of an embodiment of a vehicle equipped with the road information creation device and the intersection collision prevention device according to the present embodiment. In FIG. 11, the same reference numerals as those in FIG. 1 are given to components common to those in FIG. 1 in the first embodiment, and description thereof is omitted.

  The vehicle 100 includes a laser radar 110 that detects an inter-vehicle distance between the host vehicle and a preceding vehicle and a relative speed of the preceding vehicle with respect to the host vehicle. The laser radar 110 is attached to the front grill or bumper of the vehicle and scans the infrared light pulse in the horizontal direction. Then, the reflected wave of the infrared light pulse reflected at the rear end of the preceding vehicle is measured, and the inter-vehicle distance to the preceding vehicle and the relative speed are detected from the arrival time of the reflected wave.

  FIG. 12 is a flowchart of processing in the fifth embodiment. The process shown in FIG. 12 is executed as a program that is activated when an ignition switch (not shown) is turned on. In FIG. 12, the processing of step S920 and step S970 to step S1030 is the same as the processing of step S20 and step S970 to step S130 of FIG. 2 in the first embodiment. Omitted.

  In step S910, based on the output from the laser radar 110 in addition to the information detected in the first embodiment, the inter-vehicle distance to the preceding vehicle traveling ahead of the host vehicle and the relative speed of the preceding vehicle are detected. The

  In step S930, it is determined whether the inter-vehicle distance from the preceding vehicle detected in step S910 is a predetermined value or less, for example, 5 m or less. If it is determined that the inter-vehicle distance from the preceding vehicle is greater than the predetermined value, the process proceeds to step S980 described later. If it is determined that the inter-vehicle distance from the preceding vehicle is equal to or less than the predetermined value, the process proceeds to step S940.

  In step S940, it is determined whether or not the relative speed of the preceding vehicle detected in step S910 is equal to or higher than a predetermined value, for example, 20 km / h. If the relative speed of the preceding vehicle is less than the predetermined value, the process proceeds to step S980. If the relative speed of the preceding vehicle is greater than or equal to the predetermined value, the process proceeds to step S950.

  In step S950, based on the vehicle speed of the host vehicle detected in step S910, it is determined whether the host vehicle is traveling at a reduced speed, for example, 20 km / h or less. If it is determined that the host vehicle is not decelerating, the process proceeds to step S980. If it is determined that the host vehicle has decelerated, the process proceeds to step S960.

  In step S960, from the determination results in steps S930 to S950 described above, as shown in FIG. 13, the host vehicle 3a approaches the preceding vehicle 13a at the intersection and is decelerated to avoid a collision with the preceding vehicle 13a. Therefore, the encounter determination unit 106a determines that the host vehicle has encountered an approaching state to the preceding vehicle 13a.

  Based on the count value of the travel number counter 107a and the count value of the encounter number counter 107b counted by the above processing, the encounter rate is calculated in the same manner as in the first embodiment. Based on the calculated encounter rate, information on a point requiring a warning to the driver is registered in the road information database 105. In the present embodiment, information is registered that the intersection is an intersection with a high risk of the host vehicle approaching the preceding vehicle. Then, by executing the processing shown in FIG. 4 in the first embodiment based on the data stored in the road information database 105, the vehicle needs a warning during route guidance by the navigation system 104. The driver is warned when approaching a critical point.

  As mentioned above, according to 5th Embodiment, in addition to the effect in 1st Embodiment, the following effects can be acquired. Road information can be created based on points where the host vehicle frequently approaches the preceding vehicle. Furthermore, by giving a warning based on the road information, it is possible to prevent a collision with a preceding vehicle.

-Sixth embodiment-
In the sixth embodiment, when the encounter determination is performed in the first to fifth embodiments and the driver is warned based on the road information registered in the road information database 105, the first to fifth A warning to the driver when two encounter situations can occur simultaneously at a certain point among the encounter situations determined in the embodiment will be described. Specifically, as shown in FIG. 14, the following three cases are considered.

(1) When going straight at an intersection As a situation where the host vehicle encounters when going straight at an intersection, as shown by reference numeral 14a in FIG. 14, the vehicle encounters an opposite right turn vehicle when going straight at the intersection determined in the third embodiment. And the case where it approaches the preceding vehicle determined in 5th Embodiment is considered.
(2) When turning right at the intersection As the situation where the vehicle encounters when turning right at the intersection, as shown by reference numeral 14b, when the vehicle encounters a pedestrian when making an intersection determination in the first embodiment, It is conceivable that the vehicle encounters an oncoming vehicle when turning right at the intersection where the encounter determination is performed in the embodiment.
(3) When turning left at the intersection As a situation where the vehicle encounters when turning right at the intersection, as shown by reference numeral 14c, when the vehicle encounters a pedestrian at the time of turning left at the intersection determined in the first embodiment, It is conceivable that the vehicle encounters a parallel vehicle when turning left at the intersection where the encounter determination is performed in the embodiment.

  When it is determined by the warning determination unit 106c that the own vehicle has approached an intersection that requires a warning, the intersection is an intersection having two encounter situations as in the cases (1) to (3) above. In this case, the driver is warned as follows.

  If an intersection that requires a warning has two encounter situations, the driver will need to pay attention to the two objects at the same time. Therefore, when warning the driver, it is necessary to notify the two subjects of attention. In this case, the warning determination unit 106c performs warning by distinguishing the notifications for the two encounter situations into “main notification” and “sub notification”. At this time, an object that is more easily overlooked by the driver and an object that is more likely to be neglected are mainly warned as “main notification”.

  In the present embodiment, “main notification” is a warning by outputting sound from the speaker 109 to give a warning mainly, and “sub notification” is a warning by displaying the warning content on the monitor 108. Shall.

  FIG. 14 shows the contents of “main notification” and “sub notification” in each situation in the above (1) to (3). As indicated by reference numeral 14a, when the host vehicle is traveling straight at the intersection, “main notification” is “preceding vehicle caution” and “sub notification” is “counter right turn vehicle caution”. As indicated by reference numeral 14b, when the host vehicle turns right, the “main notification” is “pedestrian attention” and the “sub-notification” is “oncoming vehicle attention”. Further, as indicated by reference numeral 14c, when the host vehicle turns left, the “main notification” is “pedestrian attention” and the “sub notification” is “parallel runner attention”.

  As described above, according to the sixth embodiment, the following operational effects can be obtained. When two encounter situations occur at the intersection at the same time, warnings for the respective encounter situations are classified into “main notice” and “sub notice”. As a result, when it is necessary for the driver to pay attention to two objects at the same time, it is possible to preferentially warn the object that is more likely to be overlooked by the driver and the object that is likely to neglect attention. A warning can be given according to the degree.

-Modification-
The present invention is not limited to the first to fourth and sixth embodiments, and can be modified as follows.
(1) The laser radar 110 in the fifth embodiment may be added to the vehicle 100 in the first to sixth embodiments. Thereby, when the cause which the own vehicle stopped or decelerated is due to the influence of the preceding vehicle, this can be detected. Therefore, when the encounter determination unit 106a determines encounter with another vehicle or the like at the intersection, it is possible to accurately determine the encounter with the other vehicle or the like by eliminating the influence of the preceding vehicle.

(2) The vehicle 100 in the first to sixth embodiments determines encounter with another vehicle or the like based on output signals from the sensors. However, another vehicle may be detected by mounting a CCD camera or a radar on the vehicle 100 and analyzing the acquired image information. Thereby, it is possible to detect an encounter with another vehicle or the like with higher accuracy.

(3) As shown in FIG. 15, the control device 201 having the information center 200 and having the registration determination unit 106 b and the road information database 105 may be arranged in the information center 200. In this case, the communication device 111 is mounted on the vehicle 100 and communication is performed via the communication device 202 mounted on the information center 200. The information center 200 can create road information based on data determined to be encountered by a plurality of vehicles and register it in the road information database 105. This makes it possible to create road information based on a large amount of data, rather than having a road information database 105 for each vehicle. Therefore, a wider range of road information can be held in the road information database 105 with high accuracy.

  In the configuration shown in FIG. 15, the encounter determination unit 106a is arranged on the vehicle 100 side, but may be arranged on the information center side. Thereby, the encounter determination based on the data collected from the plurality of vehicles can be performed, and the encounter determination with higher accuracy can be performed.

(4) In the sixth embodiment, the case where two encounter situations occur simultaneously at the intersection has been described, but the present invention can also be applied to the case where three or more encounter situations occur simultaneously. In this case, a plurality of “main notifications” or “sub notifications” may be provided, all “main notifications” may be output as audio from the speaker 109, and the contents of all “sub notifications” may be displayed on the monitor 108.

(5) If the navigation system 104 determines that the host vehicle is approaching an intersection that requires warning based on the road information stored in the road information database 105, the navigation system 104 warns the driver. It was decided to. However, a route search may be performed so as to avoid an intersection that requires a warning, and a route candidate to the destination may be provided to the driver.

  The correspondence between the constituent elements of the claims and the embodiment will be described. The traveling number counter 107a corresponds to the first counting means, the encounter number counter 107b corresponds to the second counting means, and the navigation system 104 corresponds to the intersection approach detecting means. The registration determination unit 106b corresponds to a registration unit, the warning determination unit 106c corresponds to a warning unit, and the communication device 202 corresponds to a reception unit. Note that the present invention is not limited to the configurations in the above-described embodiments as long as the characteristic functions of the present invention are not impaired.

It is a block diagram which shows the structure of one Embodiment of the vehicle carrying the road information preparation apparatus and intersection collision prevention apparatus in 1st Embodiment. It is a flowchart figure which shows the flow of the road information creation process in 1st Embodiment. It is a figure which shows the specific example when the own vehicle encounters a pedestrian in the intersection in 1st Embodiment. It is a flowchart which shows the flow of the intersection collision prevention process in 1st Embodiment. It is a flowchart figure which shows the flow of the road information creation process in 2nd Embodiment. It is a figure which shows the specific example when the own vehicle encounters the intersection vehicle in the intersection in 2nd Embodiment. It is a flowchart figure which shows the flow of the road information creation process in 3rd Embodiment. It is a figure which shows the specific example when the own vehicle encounters an oncoming vehicle during the right turn at the intersection in 3rd Embodiment. It is a flowchart figure which shows the flow of the road information creation process in 4th Embodiment. It is a figure which shows the specific example when the own vehicle encounters a parallel running vehicle during the left turn in the intersection in 4th Embodiment. It is a block diagram which shows the structure of one Embodiment of the vehicle carrying the road information preparation apparatus and intersection collision prevention apparatus in 5th Embodiment. It is a flowchart figure which shows the flow of the road information creation process in 5th Embodiment. It is a figure which shows the specific example when the own vehicle approaches the preceding vehicle in 5th Embodiment. It is the figure which showed concretely the content of the "main alert | report" and the "sub-notice | report" in 6th Embodiment. It is a block diagram which shows the structure of one Embodiment of the vehicle carrying the road information preparation apparatus and intersection collision prevention apparatus in a modification, and an information center.

Explanation of symbols

DESCRIPTION OF SYMBOLS 100 Vehicle 101 Steering sensor 102 Vehicle speed sensor 103 Blinker switch 104 Navigation system 105 Road information database 106, 201 Control device 106a Encounter determination unit 106b Registration determination unit 106c Warning determination unit 107 Counter storage memory 107a Travel count counter 107b Encounter counter 108 Monitor 109 Speaker 110 Laser radar 111, 202 Communication device 200 Information center

Claims (13)

First counting means for counting the number of times the host vehicle has reached a specific intersection;
Second counting means for counting the number of times the host vehicle has encountered another object at the specific intersection;
Based on the number of times counted by the first and second counting means, the frequency at which the host vehicle encounters another object at the specific intersection is calculated, and when the frequency is high, the specific intersection is A road information creation device comprising registration means for registering road information as a high intersection. In the road information creation device according to claim 1,
The second counting means is configured to detect the intersection when the host vehicle has reached the intersection leaving side, the steering operation amount is equal to or greater than a predetermined value, and the first condition in which the host vehicle is substantially stopped is satisfied. It is determined that the vehicle has encountered a pedestrian, and the number of times it is determined that the first condition is satisfied is counted. In the road information creation device according to claim 1 or 2,
The second counting means is configured such that when the second condition in which the host vehicle has reached a no-signal intersection and the host vehicle has substantially stopped for a predetermined time or longer is satisfied, A road information creating apparatus, characterized in that it is determined that it has been encountered and the number of times it has been determined that the second condition is satisfied is counted. In the road information creation device according to any one of claims 1 to 3,
The second counting means has a third condition that the own vehicle has reached the center of the intersection, the blinker instruction direction is right, the steering operation amount is not more than a predetermined value, and the own vehicle is substantially stopped. A road information creation device characterized in that, when established, it is determined that the host vehicle has encountered an oncoming vehicle when making a right turn at an intersection, and the number of times determined that the third condition has been established is counted. In the road information creation device according to any one of claims 1 to 4,
The second counting means determines that the host vehicle has reached the fourth condition in which the host vehicle has reached the center of the intersection, the winker operation is not performed, and the host vehicle is substantially stopped. Determining that the vehicle has encountered an opposite right turn vehicle when going straight at the intersection and counting the number of times it has been determined that the fourth condition has been satisfied. In the road information creation device according to any one of claims 1 to 5,
The second counting means has a fifth condition that the own vehicle has reached the intersection, the blinker instruction direction is left, the steering operation amount is not more than a predetermined value, and the own vehicle is substantially stopped. A road information creation device characterized in that, when established, it is determined that the host vehicle has encountered a parallel running vehicle when turning left at an intersection, and the number of times that the fifth condition is determined to be established is counted. . In the road information creation device according to any one of claims 1 to 6,
The second counting means determines that the distance between the host vehicle and the preceding vehicle is not more than a predetermined value, the relative speed of the preceding vehicle with respect to the host vehicle is not less than a predetermined value, and that the host vehicle has decelerated. Road information generation characterized in that it is determined that the host vehicle has encountered an approaching state with a preceding vehicle when the above condition is satisfied, and the number of times that the sixth condition is determined to be satisfied is counted apparatus. Intersection approach detection means for detecting that the vehicle approaches a specific intersection registered in the road information by the road information creation device according to any one of claims 1 to 7,
An intersection collision preventing apparatus, comprising: warning means for warning a driver when the intersection detection means detects that the host vehicle has approached the specific intersection. The intersection collision preventing apparatus according to claim 8,
When the intersection detected by the intersection approach detection means is registered in the road information as an intersection with a high encounter frequency where at least two of the first to sixth conditions are satisfied, the warning means An intersection collision prevention device that warns a driver of two or more encounter situations. In the intersection collision prevention apparatus according to claim 9,
When the warning means warns the driver of the two or more encounter situations, the warning means preferentially warns the encounter situations with a high degree of danger. Receiving means for receiving the number of times the host vehicle has reached a specific intersection and the number of times the host vehicle has encountered another object at the specific intersection, transmitted from the in-vehicle information terminal;
Based on the number of times of arrival and the number of encounters received by the receiving means, when it is determined that the frequency at which the host vehicle encounters another object is high at the specific intersection, the specific intersection is defined as an intersection with high encounter frequency. A road information creation device comprising: a registration means for registering road information. Receiving means for receiving the current position and the vehicle running status from the vehicle;
First counting means for counting the number of times the host vehicle has reached a specific intersection based on the current position received by the receiving means;
Second counting means for counting the number of times the host vehicle encounters another object at the specific intersection based on the vehicle running situation received by the receiving means;
Based on the number of times counted by the first and second counting means, the frequency at which the host vehicle encounters another object at the specific intersection is calculated, and when the frequency is high, the specific intersection is A road information creation device comprising registration means for registering road information as a high intersection. Count the number of times your vehicle has reached a specific intersection,
Count the number of times the vehicle has encountered other objects at the specific intersection,
Based on the counted number of times, the frequency at which the host vehicle encounters another object at a specific intersection is calculated,
A road information creation method, wherein when the frequency is high, the specific intersection is registered in the road information as an intersection with high encounter frequency.

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